CN207972492U - A kind of amphibious mobile controlling remote water system - Google Patents
A kind of amphibious mobile controlling remote water system Download PDFInfo
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- CN207972492U CN207972492U CN201820182858.8U CN201820182858U CN207972492U CN 207972492 U CN207972492 U CN 207972492U CN 201820182858 U CN201820182858 U CN 201820182858U CN 207972492 U CN207972492 U CN 207972492U
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Abstract
A kind of amphibious mobile controlling remote water system, including main vehicle, the main vehicle includes car body（1）, water pump transmission device（2）, traveling hydraulic jet propulsion system waterborne（4）And hydraulic system, the car body（1）On be provided with inlet and outlet, car body（1）Two bottom sides are symmetrically arranged with land crawler unit（3）, the water pump transmission device（2）Mounted on car body（1）Inside, the traveling hydraulic jet propulsion system waterborne（4）It is arranged in car body（1）Bottom, water pump transmission device（2）, land crawler unit（3）With traveling hydraulic jet propulsion system waterborne（4）It is connected respectively with hydraulic system.Main vehicle can move, and improve the dynamic flexibility of main garage；Have amphibious walking function, it is adaptable.
Description
Technical field
The utility model is related to a kind of water system, more specifically to a kind of amphibious mobile controlling remote is for water system
System, belongs to fire-fighting emergent domain technology field.
Background technology
Currently, remote automatic-taking-water system is mainly by groups such as floating ship pump module, boost module, hose laying and recycling modules
At workflow is：After complete equipment reaches working site, first by external force（Truck-mounted crane）Floating ship pump module is placed
In ground, during floating ship pump module can directly abort if water source bank is in arm distance range, needed if going beyond the scope
Want manpower will be in the lift water inlet of floating ship pump module；Achieve the purpose that remotely to send water by boost module after floating ship pump module water suction,
Boost module distributes the water to each fire fighting truck by the water knockout drum of water tape terminal.But the water system is huge, floats ship and pumps mould
Block weight is big, lower water speed is slow, it is cumbersome to be connect with boost module, water band connection is time-consuming longer, and that there are employments is more, time-consuming, takes
Power, it is dangerous the defects of；And difference is constituted according to the technology and systems of each remote automatic-taking-water system manufacturer, if to reach phase
Work as remote water supply, it is also necessary to secondary pressurized pump module is added, to ensure the pressure requirements of water tape terminal water outlet, therefore cost
It is higher.
Invention content
The purpose of this utility model is that huge, time-consuming, the laborious, cost for system existing for existing remote automatic-taking-water system
The defects of high, provides a kind of amphibious mobile controlling remote water system.
To achieve the above object, institute is the utility model using technical solution：A kind of amphibious mobile controlling remote
Water system, including main vehicle, the main vehicle include car body, water pump transmission device, traveling hydraulic jet propulsion system waterborne and hydraulic pressure
System is provided with inlet and outlet on the car body, and vehicle bottom both sides are symmetrically arranged with land crawler unit,
The water pump transmission device is mounted on vehicle body, and the traveling hydraulic jet propulsion system waterborne is arranged in vehicle bottom, water
Pump drive assembly, land crawler unit are connected with hydraulic system respectively with traveling hydraulic jet propulsion system waterborne.
The water pump transmission device includes water pump, diesel engine, one point of three transfer case and Hooks coupling universal coupling, described
Transfer case one outlet is connect by Hooks coupling universal coupling with water pump, and the outlet of transfer case another two is pumped with the open type of hydraulic system respectively
It pumps and connects with enclosed, clutch, the water outlet of water pump and water inlet end difference are provided between the water pump and Hooks coupling universal coupling
With on car body water outlet and water inlet be connected to.
The traveling hydraulic jet propulsion system waterborne includes hydraulic motor I, propeller, impeller and flow diversion cover system, described
Flow diversion cover system include Direction Control Unit, there are lift cylinders and oscillating cylinder, the impeller to be mounted on flow diversion cover system
Propeller tail end, the propeller front end are coupled by shaft coupling with hydraulic motor I, and the flow diversion cover system passes through flange
It is connected with propeller, the hydraulic motor I is connected with the open type of hydraulic system pump.
Further include having auxiliary pump, the auxiliary pump is carried on the back pump undercarriage by auxiliary pump and connect with car body, and auxiliary pump includes immersible pump, bottom
Seat, self-propelling device, hydraulic motor II and hydraulic motor III, the diving pump output terminal are connect with the water inlet of main vehicle, are dived
Water pump is connected with hydraulic motor II, and the immersible pump is fixed on the base, and the self-propelling device is connected with pedestal,
Self-propelling device is connected with hydraulic motor III, and hydraulic motor II and hydraulic motor III pump with the enclosed of hydraulic system connect respectively
It connects.
Further include the fluid coupling having in car body, air cooler and fluid coupling hydraulic motor, the liquid
Mechanical couple input shaft is connected with fluid coupling hydraulic motor output end, and fluid coupling output shaft is connected with air cooler
It connects, the fluid coupling hydraulic motor is connected with the open type of hydraulic system pump.
Further include installation control device on the car body, the control device respectively with water pump transmission device, Waterborne running
Hydraulic jet propulsion system is sailed to connect with land crawler unit.
Further include having remote control, the remote control includes transmitter and receiver, and receiver setting exists
On car body, receiver is connect with control device.
Further include having water cannon, the water cannon is connected to by pipeline with the water outlet on car body.
The car body top is provided with platform, and platform surrounding is equipped with spraying protection system.
The car body tail end is provided with hydraulic wireline winch.
Compared with prior art, the utility model has the beneficial effects that：
1, vehicle bottom both sides are symmetrically arranged with land crawler unit, traveling hydraulic jet propulsion waterborne in the utility model
Device is arranged in vehicle bottom；It increases car body, land crawler unit etc. on the basis of original fixed immersible pump
Device so that main vehicle can move, and improve the dynamic flexibility of main garage；And have amphibious walking function, it is adaptable.
2, water pump transmission device is mounted on vehicle body in the utility model, and traveling hydraulic jet propulsion system waterborne is arranged in vehicle
Body bottom；It integrates immersible pump and main vehicle, and main vehicle can directly carry out high-pressure high-flow and remotely supply water, it is long-range when supplying water without
Boost module need to be set among water band, and the pressure and flow of the outlet of water band can meet national standard.
3, further include having auxiliary pump in the utility model, when limited by water source environment condition, main vehicle cannot be introduced into water source
When ground is fetched water, included auxiliary pump can enter narrow, dangerous region and complete water intaking water supply, and auxiliary pump has from walking, turns
To etc. functions.
Description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is water pump transmission device structural schematic diagram in the utility model.
Fig. 3 is traveling hydraulic jet propulsion system structural schematic diagram waterborne in the utility model.
Fig. 4 is auxiliary pump structural schematic diagram in the utility model.
Fig. 5 is crawler unit structural schematic diagram in land in the utility model.
Fig. 6 is that main vehicle high-pressure high-flow remotely supplies water fundamental diagram in the utility model.
Fig. 7 is that auxiliary pump is pressurized the laggard long-range conveying principle figure of horizontal high voltage big flow through main vehicle in the utility model.
1 in figure, car body 1, water pump transmission device 2, land crawler unit 3, traveling hydraulic jet propulsion system 4 waterborne, water
Pump 5, diesel engine 6, transfer case 7, Hooks coupling universal coupling 8, clutch 9, hydraulic motor I 10, propeller 11, impeller 12, water conservancy diversion
Cover system 13, auxiliary pump 14, immersible pump 15, pedestal 16, self-propelling device 17, water cannon 18, auxiliary pump back of the body pump undercarriage 19, guiding
Wheel 20, tensioning apparatus 21, crawler belt 22, thrust wheel 23, tugboat 24, driving wheel 25, water band I 26, water knockout drum 27, water pipe fire fighting truck
28, water band II 29, water band III 30.
Specific implementation mode
The utility model is described in further detail below in conjunction with description of the drawings and specific implementation mode.
Referring to 1, a kind of amphibious mobile controlling remote water system, be mainly used for high-pressure high-flow remotely supply water, city
City's waterlogging draining, water craft job platform sprinkling fire, mining tunnel water leak accident are speedily carried out rescue work, and have amphibious walking work(
Energy；Including main vehicle, the main vehicle includes the car body 1, water pump transmission device 2, traveling waterborne for being suitable for waterborne and land traveling
Hydraulic jet propulsion system 4 and hydraulic system.Inlet and outlet are provided on the car body 1,1 two bottom sides of car body are symmetrically set
It is equipped with land crawler unit 3, the water pump transmission device 2 is mounted on inside car body 1, and the traveling waterborne water spray pushes away
It is arranged into device 4 in 1 bottom of car body, water pump transmission device 2, land crawler unit 3 and traveling hydraulic jet propulsion system 4 waterborne
It is connected respectively with hydraulic system.To enable car body 1 to float on the water, it is suitable for traveling waterborne, bodywork-type can be used in car body 1
Structure；Spine support may be used in car body 1, keeps 1 bearing capacity of car body strong, can meet traveling waterborne, can also meet on land
The requirement walked to 1 intensity of car body.
Referring to Fig. 2, the water pump transmission device 2 includes water pump 5,6, one point of three transfer case 7 of diesel engine and universal
Shaft coupling 8.Diesel engine 6 provides power source for whole system, is distributed power to each list by one point of three transfer case 7
Member；Transfer case 7 plays the role of power distribution.7 one outlet of transfer case is connect by Hooks coupling universal coupling 8 with water pump 5
To by 6 a part of power output of diesel engine to water pump 5, remotely supply water work so that water pump 5 carries out high-pressure high-flow；Point
It moves the outlet of 7 another two of case to connect with the open type of hydraulic system pump and enclosed pump respectively, Hydraulic Elements is dynamic in control hydraulic system
Make；It is provided with clutch 9 between the water pump 5 and Hooks coupling universal coupling 8.
Referring to Fig. 3, the traveling hydraulic jet propulsion system 4 waterborne includes hydraulic motor I 10, propeller 11,12 and of impeller
Flow diversion cover system 13.The impeller 12 is mounted on 11 tail end of propeller, and 11 front end of propeller passes through shaft coupling and liquid
Pressure motor I 10 is coupled；The hydraulic motor I 10 is connected with the open type of hydraulic system pump, and propeller 11 is by hydraulic motor I 10
Driving, to push car body 1 to move.The flow diversion cover system 13 is connected by flange with propeller 11, the kuppe
System 13 includes Direction Control Unit；There are lift cylinders and oscillating cylinder on flow diversion cover system 13, passes through lift cylinders and oscillating cylinder
It is flexible to realize steering waterborne.When depth of accumulated water is deeper, this system is swum on the water surface, and propeller is pushed by hydraulic motor I 10
11 push impeller impeller 12 to rotate to push the movement of whole equipment in turn.
Referring to Fig. 4, the present apparatus further includes having auxiliary pump 14, and the auxiliary pump 14 carries on the back pump undercarriage 19 and car body 1 by auxiliary pump
Connection, realizes auxiliary pump 14 and the connection of car body 1 and detaches.Auxiliary pump 14 includes immersible pump 15, pedestal 16, self-propelling device 17, liquid
Pressure motor II and hydraulic motor III.15 output end of immersible pump is connect with the water inlet of main vehicle 1, immersible pump 15 and hydraulic pressure horse
It is connected up to II, immersible pump 15 is driven by hydraulic motor II；The immersible pump 15 is fixed on pedestal 16, and described walks certainly
Device 17 is connected with pedestal 16, and self-propelling device 17 is connected with hydraulic motor III.Hydraulic motor II and hydraulic motor III divide
It does not pump with the enclosed of hydraulic system and is connect using high-pressure hose.Self-propelling device 17 is driven using hydraulic motor III, from walking dress
It is crawler travel mode to set 17, has amphibious walking function, can enter some the unapproachable stenosis areas of main vehicle 1
Domain.
Referring to Fig. 1, the present apparatus further includes the fluid coupling having in car body 1, air cooler and fluid coupling liquid
Pressure motor.The fluid coupling input shaft lean is connected with fluid coupling hydraulic motor output end, fluid coupling output
Axis is connected with air cooler is connected in air cooler offer power, and the open type of the fluid coupling hydraulic motor and hydraulic system pumps phase
Connection.Fluid coupling is connected on the oil return line of hydraulic system, in the shell for making hydraulic oil-returning input fluid coupling, and
Cycle can be formed between the pump impeller and turbine of fluid coupling to drive output shaft and then drive air cooler work；Air cooler is optional
With turbine type wind turbine.This system pushes fluid coupling to drive turbine when land works, using the oil return of hydraulic system
Formula wind turbine is rotated to produce cross-ventilation, and the air of convection current is that engine and hydraulic system radiate.
Referring to Fig. 1, the present apparatus further includes the control device having on car body 1, the control device respectively with water pump
Transmission device 2, traveling hydraulic jet propulsion system 4 waterborne and land crawler unit 3 connect；Control device controls water pump drive dress
Set 2, traveling hydraulic jet propulsion system 4 waterborne and land crawler unit 3.Control device can be the behaviour on car body 1
Make bar, operating personnel directly can control water pump transmission device 2, traveling hydraulic jet propulsion system 4 waterborne by operating operating lever
With the action of land crawler unit 3.Control device can be the PLC being arranged in car body 1, and water pump is controlled by PLC
The action of transmission device 2, traveling hydraulic jet propulsion system 4 and land crawler unit 3 waterborne；Operating mode in order to meet the vehicle is wanted
It asks, PLC output signals are set as the radiofrequency signal of switching value and the input of analog quantity two ways, output and multiple spot, can also basis
User needs to change the programming of PLC, or can increase function by loading PLC modules.
Further include having remote control further referring to Fig. 1, the remote control includes transmitter and receiver, institute
The receiver stated is arranged on car body 1, and receiver is connect with control device；Transmitter can pass through the form of button or touch screen
It inputs operation instruction and sends operational order to receiver, receiver receives operational order and operational order is sent to control
Device, thus, it is possible to realize the remote control to equipment by remote control.For the influence for preventing due to weather to wireless performance, wirelessly
Remote control uses radiofrequency signal；In the case where operating condition is severe, walking and row that remote control carrys out remote control equipment may be used
The start and stop that water conservancy project is made, can be far from draining scene, support personnel's safety to the personnel of control device.
Referring to Fig. 1, the present apparatus further includes having water cannon 18, and the water cannon 18 passes through pipeline and going out on car body 1
The mouth of a river is connected to.When there is unexpected fire to occur, the water cannon 18 on main vehicle 1 is connected to fire fighting truck water tank, makes fire fighting truck
Water tank give water cannon 18 supply water, i.e., by water cannon 18 connect fire fighting truck water tank, then be remotely controlled main vehicle 1 close to high-risk fire
Calamity scene closely put out the fire, that is, fire fighting truck is coordinated to replace the scene of fire for the high-risk that can not be manually approached to fire extinguishing personnel
Cooling of closely putting out the fire is carried out, to ensure the personal safety of fire fighter.
Referring to Fig. 1,1 tail end of car body is provided with 6T hydraulic wireline winch, and rope holds 45m, driven by winch hydraulic pump.This
Hydraulic wireline winch can be realized self to be rescued after the sunken vehicle of miriness, can be by liquid when the mud in ponding, which sticks vehicle, to walk
The steel wire rope of pressure winch is fixed on the fixture of bank, and at this moment hydraulic wireline winch and water system can start progress and self rescue simultaneously
It helps.
Referring to Fig. 5, the connection between the construction and each component of 3 each component of land crawler unit is adopted with cooperation
With existing conventional design comprising guide wheel 20, tensioning apparatus 21, crawler belt 22, thrust wheel 23, tugboat 24, driving wheel 25, row
Walk speed reducer and hoofing part motor.Hydraulic motor form may be used in hoofing part motor, and driving speed reducer is planetary subtracts
Fast machine；Hoofing part motor drives planetary speed reducer, driving wheel 25 to be consistent with 22 pitch of crawler belt, and driving wheel 25 is mounted on planet
The outer shroud of formula speed reducer internal gear is to drive the crawler belt being arranged outside driving wheel 25 22.Thrust wheel 23 carries complete vehicle weight, it
Running orbit is on the ring-like runway in the inside of crawler belt 22.Guide wheel 20 is also referred to as tensioning wheel, elastic for adjusting crawler belt 22
Degree；Tensioning apparatus 21 includes tensioning hydro-cylinder and tensioning spring.Land crawler unit 3 makes amphibious mobile remote water system
It can walk on the ground, to meet mobile demand of the equipment between the different location of different danger zones or same danger zone.
Referring to Fig. 1, this system includes 3 liang of set walking dresses of traveling hydraulic jet propulsion system 4 and land crawler unit waterborne
It sets, land walking may be selected in phytal zone；Hydraulic jet propulsion may be selected to the ponding danger zone of unsuitable landing point, it will with immersible pump 15
Water gradually excludes, and crawler belt 22 is walked after landing using land crawler unit 3, amphibious to adapt to a variety of environment.Meanwhile this
System includes two kinds of way of supplying water：1, car body can directly descend water complete independently high-pressure high-flow remotely to supply water.2, when by water
The limitation of source environmental condition, when main vehicle cannot be introduced into water source region, auxiliary pump 14 can pull the plug water supply to main vehicle, through master from walking
Vehicle is pressurized laggard horizontal high voltage big flow and remotely conveys.
Referring to Fig. 6 to Fig. 7, the water that main vehicle is drawn from water source in this system can be directly big into horizontal high voltage by water band I 26
Flow remotely conveys, then is distributed to each water pipe fire fighting truck 28, water knockout drum 27 and water pipe by the water knockout drum 27 of I 26 terminal of water band
Fire fighting truck 28 is connected by water band II 29.It is limited when by water source environment condition, main vehicle, which cannot be introduced into water source, completes water intaking work
When making, being run in water certainly by remote control control by auxiliary pump 14, the water intaking of auxiliary pump 14 is delivered to main vehicle via water band III 30,
High-pressure high-flow can be directly carried out after the supercharging of main vehicle remotely to convey, and distributed extremely finally by the water knockout drum 27 of I 26 terminal of water band
Each water pipe fire fighting truck 28.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, above structure
It all shall be regarded as belonging to the scope of protection of the utility model.
Claims (10)
1. a kind of amphibious mobile controlling remote water system, it is characterised in that：Including main vehicle, the main vehicle includes car body
（1）, water pump transmission device（2）, traveling hydraulic jet propulsion system waterborne（4）And hydraulic system, the car body（1）On be provided with into
The mouth of a river and water outlet, car body（1）Two bottom sides are symmetrically arranged with land crawler unit（3）, the water pump transmission device
（2）Mounted on car body（1）Inside, the traveling hydraulic jet propulsion system waterborne（4）It is arranged in car body（1）Bottom, water pump drive
Device（2）, land crawler unit（3）With traveling hydraulic jet propulsion system waterborne（4）It is connected respectively with hydraulic system.
2. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：The water pump
Transmission device（2）Including water pump（5）, diesel engine（6）, one point of three transfer case（7）And Hooks coupling universal coupling（8）, described divides
Dynamic case（7）One outlet passes through Hooks coupling universal coupling（8）With water pump（5）Connection, transfer case（7）Another two outlet respectively with hydraulic pressure system
The open type pump of system and enclosed pump connection, the water pump（5）With Hooks coupling universal coupling（8）Between be provided with clutch（9）, water pump
（5）Water outlet and water inlet end respectively with car body（1）On water outlet be connected to water inlet.
3. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：Described is waterborne
Travel hydraulic jet propulsion system（4）Including hydraulic motor I（10）, propeller（11）, impeller（12）And flow diversion cover system（13）, described
Flow diversion cover system（13）Include Direction Control Unit, flow diversion cover system（13）On have lift cylinders and oscillating cylinder, the leaf
Wheel（12）Mounted on propeller（11）Tail end, the propeller（11）Front end passes through shaft coupling and hydraulic motor I（10）It is coupled,
The flow diversion cover system（13）Pass through flange and propeller（11）It is connected, the hydraulic motor I（10）With hydraulic system
Open type pump be connected.
4. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：Further include having pair
Pump（14）, the auxiliary pump（14）Pump undercarriage is carried on the back by auxiliary pump（19）With car body（1）Connection, auxiliary pump（14）Including immersible pump
（15）, pedestal（16）, self-propelling device（17）, hydraulic motor II and hydraulic motor III, the immersible pump（15）Output end with
Main vehicle（1）Water inlet connection, immersible pump（15）It is connected with hydraulic motor II, the immersible pump（15）It is fixed on pedestal
（16）On, the self-propelling device（17）With pedestal（16）It is connected, self-propelling device（17）It is connected with hydraulic motor III,
Hydraulic motor II and hydraulic motor III are pumped with the enclosed of hydraulic system respectively to be connected.
5. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：Further include having peace
Mounted in car body（1）Interior fluid coupling, air cooler and fluid coupling hydraulic motor, the fluid coupling input shaft lean with
Fluid coupling hydraulic motor output end is connected, and fluid coupling output shaft is connected with air cooler, the coupling fluid-structure
Device hydraulic motor is connected with the open type of hydraulic system pump.
6. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：It further include installation
In car body（1）On control device, the control device respectively with water pump transmission device（2）, traveling hydraulic jet propulsion waterborne dress
It sets（4）With land crawler unit（3）Connection.
7. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：Further include have it is distant
Device is controlled, the remote control includes transmitter and receiver, and the receiver is arranged in car body（1）On, receiver with
Control device connects.
8. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：Further include having height
Press water cannon（18）, the water cannon（18）Pass through pipeline and car body（1）On water outlet connection.
9. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：The car body
（1）Top is provided with platform, and platform surrounding is equipped with spraying protection system.
10. the amphibious mobile controlling remote water system of one kind according to claim 1, it is characterised in that：The vehicle
Body（1）Tail end is provided with hydraulic wireline winch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820182858.8U CN207972492U (en) | 2018-02-02 | 2018-02-02 | A kind of amphibious mobile controlling remote water system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820182858.8U CN207972492U (en) | 2018-02-02 | 2018-02-02 | A kind of amphibious mobile controlling remote water system |
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| Publication Number | Publication Date |
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| CN207972492U true CN207972492U (en) | 2018-10-16 |
Family
ID=63766752
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| CN201820182858.8U Active CN207972492U (en) | 2018-02-02 | 2018-02-02 | A kind of amphibious mobile controlling remote water system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248313A (en) * | 2018-02-02 | 2018-07-06 | 中国电建集团武汉重工装备有限公司 | A kind of amphibious mobile controlling remote water system |
| CN112278102A (en) * | 2020-10-31 | 2021-01-29 | 绍兴威格隆泵业有限公司 | Intelligent transportation emergency crawler |
| CN115384735A (en) * | 2022-06-28 | 2022-11-25 | 广东海洋大学 | Turnover shaftless water jet propulsion type submarine surveying vehicle |
-
2018
- 2018-02-02 CN CN201820182858.8U patent/CN207972492U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248313A (en) * | 2018-02-02 | 2018-07-06 | 中国电建集团武汉重工装备有限公司 | A kind of amphibious mobile controlling remote water system |
| CN112278102A (en) * | 2020-10-31 | 2021-01-29 | 绍兴威格隆泵业有限公司 | Intelligent transportation emergency crawler |
| CN115384735A (en) * | 2022-06-28 | 2022-11-25 | 广东海洋大学 | Turnover shaftless water jet propulsion type submarine surveying vehicle |
| CN115384735B (en) * | 2022-06-28 | 2024-04-12 | 广东海洋大学 | Turnover shaftless water jet propulsion type submarine survey vehicle |
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