CN103660820A - Crawler-type multifunctional underwater unmanned multi-purpose unmanned helicopter - Google Patents

Abstract

The invention discloses a crawler-type multifunctional underwater unmanned multi-purpose helicopter which will be popularized in the electronic industry due to the brand-new and unique mechanical transmission mode. According to the mechanical structure, a contactor swing arm is connected with a whole power device, a transmission bevel gear in a steel pipe is used for distributing and regulating power to work components, and various motions such as walking, rotating, snorkeling, advancing and retreating, turning, mechanical hand grabbing, mining and ore conveying are achieved. A walking device and a conveying and rotating device are driven by a worm and a gear, the snorkeling force is large, and self-locking capacity is good; snorkeling, advancing and retreating, turning, mechanical hand grabbing of the whole helicopter are adjusted and driven by a difference machine control contactor and a screw propeller; a mining device achieves horizontal and vertical 360-degree rotating, rolling and cutting through rotation and lifting of a rotary sleeve of a large swing arm of a planetary reducer. The whole crawler-type multifunctional underwater unmanned multi-purpose helicopter is novel and unique in transmission mechanical principle, compact and exquisite in structure, wide in application range and practical.

Description

Crawler-type multifunctional is the multiplex flying machine of going straight up to of driverless operation under water

Technical field

The present invention relates to a kind of construction machinery and equipment that applies to large-scale development ocean, be applicable to ocean reconnoitre, mining etc., the multiplex flying machine of going straight up to of driverless operation under a kind of multifunctional water particularly, not only can adapt to the exploitation to the various ore deposits of Sea World, also can be used for removing the submerged reef in maritime shipping way; As pressed upper various heavy types or light artillery device, missile trajectory feedway, also can under the cooperation of the multiplex flying machine of rubber-tyred driverless operation, carry out landing operations.

Background technology

Vast and mysterious ocean, is the potential strategic bases of various natural resourcess, thereby exploitation ocean is the mankind's dream always.The developed countries such as Great Britain and America have just proposed to develop ocean as far back as the '20s, but until still rest on the level of prospecting mineral resources today; " flood dragon " number that China manufactures recently seven kms of successfully diving under water, are worth congratulating; But only limit to prospecting and understand sea floor world, both without running gear, let alone mining.World today's electronics industry just develops rapidly, and so machinery industry stagnates all the time, makes a then ripple of world crisis one ripple.In China, construction machinery and equipment is dependence on import mostly.Advanced international standard is being caught up with in the defense Industry of China always; Although be greatly improved to a certain extent, may not necessarily adapt to extensive sea warfare in the future.

The war in any period, both sides first can point to logistics supply line striking target, and future war is no exception.Each naval formation will deal with the place ahead decisive strategic engagement on the one hand, also will tackle the attack of enemy to my supply line on the one hand, and time, place are all uncertain.As used crawler-type multifunctional of the present invention nolo flight multiple purpose aeroplane under water, under the multi-functional nolo flight machine of rubber-tyred coordinates, can utilize the various landform in seabed, on one side mining, make it to form spider net type tunnel on one side, once generation war, the advantage of fully using flight multiple purpose aeroplane mobility strong, makes it to be hidden in each tunnel, and each marine site, enemy's rear area of extending, one's own side's supply line can be ensured, enemy's supply line can be hit again; As in extensive sea warfare, also can, from assembling suddenly everywhere, both can, from a distance enemy being launched a offensive under water, also can closely to enemy, attack from sea; Thus, when I hit enemy, shoot with unfailing accuracy; Enemy can not find target while hitting me, in the face of this scape, probably in the world today, advanced person's aircraft carrier also will show slightly inferior again.As needing landing operations, the multiplex flying machine of going straight up to has great manoevreability, disguise, emergentness.

As can be seen here, the present invention will change the general layout of future naval battle.

Summary of the invention

Object of the present invention, will make mechanical industry and hyundai electronics industry run neck and neck exactly, changes the present situation that machinery industry does not catch up with electronics industry developing steps, realizes rich The nation is prosperous and the people are strong and powerful soldier's plan, and the epoch of the great rejuvenation of the Chinese nation are arrived early.

In physical construction, employing contact swing arm connects total output device, by transmission bevel gear in steel pipe, power distribution and regulation and control is arrived to each working component, realizes the various actions such as walking, rotation, snorkeling, advance and retreat, turning, gripper of manipulator, mining, fortune ore; Walking, conveying and rotating plate device, adopt worm and gear to drive, and snorkeling power is large, and self-lock ability is strong; The snorkeling of complete machine, advance and retreat are turned and gripper of manipulator, adopt difference machine control contactor and worm propeller to regulate and drive; Mining apparatus adopts the rotation of the large swing arm revoling tube of planetary reduction gear and lifting to realize the rotation rolling cutting of 360 ° anyhow; The gearing principle of complete machine is novel unique, and compact in design is ingenious, uses extensively and practicality.

Crawler-type multifunctional is the multiplex flying machine of going straight up to of driverless operation under water, comprising crawler belt base device (316), the large swing arm telescopic tube of planetary reduction gear device (320), worm propeller device (321), gap bridge gear case, connects robot device (327); It is characterized in that: described multiplex driving device of going straight up to flying machine, all adopt the type of drive of transmission bevel gear in steel pipe, tool closure is not strong, drive mechanism is simplified, fragile etc.; Wherein the power of crawler belt base device (316) is from top to bottom, connects total output four-way device (317) drive by worm case (319) by contactless switch swing arm; The power of the large swing arm rotary casing apparatus of planetary reduction gear (320) is wherein from bottom to top, and contactless switch swing arm connects total output four-way device (317), and by transmission bevel gear in steel pipe, through left and right, 360 ° of rotating plate devices (318) also drive by clamping plate transmission chain device (322); And one end of worm propeller device (321) connects left and right 360 ° of rotating plate devices (318), the other end connects planetary reduction gear swing arm rotary casing apparatus (320) in order to regulate the height of its angle; Gap bridge gear case wherein connects robot device (327) and through contactor arrangement (317), comes driving device hand to do exercises by the 360 ° of rotating plate devices in left and right (318), and regulates the lifting of manipulator and the height of angle by worm propeller (321).

Crawler-type multifunctional is the multiplex flying machine of going straight up to of driverless operation under water, also has following notable feature:

In multiplex crawler belt base device (316) of going straight up to flying machine without hydraulic efficiency gear, but be formed by combining by transmission bevel gear, worm and gear in steel pipe, snorkeling power is large, self-lock ability is strong, closed performance is good.

2. multiplex hollow of going straight up to the planetary reduction gear Telescopic rotating casing bit (320) of flying machine is cutting type center bevel gear (205) and cutting type central principal axis (206), be used for driving the saw blade on 360 ° of rotation rolling cutter sweeps (323) to produce rotation, its revoling tube, telescopic tube produce microrunning after planetary reduction gear, the transverse rotation of 360 ° of rotation rolling cutter sweeps (323) is significantly slowed down with vertical rotation, make saw blade produce powerful cutting force.

3. multiplex worm propeller device (321) of going straight up to flying machine, its power is slowed down after the silk tooth of screw rod, thereby produces powerful propelling and retraction force.

4. multiplex gap bridge gear case connection robot device (327) of going straight up to flying machine is to drive intersection chain bar by push-and-pull spiral shell seat, and its driving nut, screw rod etc. are all placed in steel pipe.

In addition, as multiplex planetary reduction gear Telescopic rotating casing bit (320) of going straight up to flying machine is changed to missile trajectory feedway (referring to standby Figure 14-3), just can fire a rocket or middle-size and small-size guided missile.

Accompanying drawing explanation

Fig. 1-1 is track unit cutaway view, the A-A cutaway view that Fig. 1-2 is gear system, and Fig. 1-3 are the B-B cutaway view of buoyant weight wheel apparatus, and Fig. 1-4 are the C-C cutaway view of worm and gear driving running gear, and Fig. 1-5 are base worm propeller device cutaway view;

Fig. 2-1 is messenger chain four-way connection center shaft device cutaway view, and Fig. 2-2 are closed caterpillar band device cutaway view, and Fig. 2-3 are rotating table and four-way cover pipe connection cutaway view;

Fig. 3-1 is the large pantograph cutaway view of worm case and the push-and-pull of planetary reduction gear flange, and Fig. 3-2 are worm case and clamping plate transmission chain device cutaway view;

Fig. 4 is the R-R cutaway view of bull blade cutting device;

Fig. 5-1 is Multifunctional mechanical arm device stagewise cutaway view, and analyse and observe for multifunction manipulator grab bucket profile Fig. 5-2;

The A-A that 360 ° of slewing arrangements of double end saw blade are cut for bull in Fig. 6-1 analyses and observe, and analyse and observe for A-A cast-cutting saw slice amplifies Fig. 6-2, and analyse and observe for revoling tube center shaft total output device Fig. 6-3, and analyse and observe for saw blade vault device Fig. 6-4;

Fig. 7-1 is the B-B stagewise cutaway view of crawler belt bucket device, and Fig. 7-2 are four-way driving flange sleeve pipe step profile;

Analyse and observe for difference machine drives planetary reduction gear D-D Fig. 8-1, and the P-P that Fig. 8-2 are difference machine push-pull shaft analyses and observe, and Fig. 8-3 are the a-a stagewise cutaway view of sleeve pipe contactor arrangement, and Fig. 8-4 are the 1-1 cutaway view of worm propeller device;

Fig. 9-1 is four-way sleeve pipe connection diagram, and Fig. 9-2 are plane four-way connection power schematic diagram;

Figure 10 is that total output transmission four-way sleeve pipe drives crawler belt general layout schematic diagram;

Figure 11-1 is the k-k schematic diagram of saw blade cutting, Figure 11-2 connect large swing arm revoling tube outside drawing for large motor, Figure 11-3 connect large swing arm outer tube assembly drowing for Hough circle locks diving floating drum, Figure 11-4 are the b-b section-drawing of floating drum propeller, and Figure 11-5 are the E-E section-drawing of diving floating drum water inlet with water outlet;

Figure 12-1 is for watching from a height or a distance passenger cabin assembly drowing, and Figure 12-2 connect left and right angel's seat shape assembly drowing out of my cabin for Hough circle, and Figure 12-3 are passenger cabin section-drawing, and Figure 12-4 are C-C passenger cabin section-drawing;

Figure 13-1 is that diving floating drum is connected four-way assembly drowing with propeller, Figure 13-2 are that propeller horizontal distribution is in diving floating drum planar view, Figure 13-3 are the transmission cutaway view of propeller and diving floating drum, and the positive and negative rotation that Figure 13-4 are propeller drives snorkeling up and down and the propelling unit assembly drowing of complete machine;

Figure 14-1 is for B is to looking birds-eye view, and Figure 14-2 are the rotation rolling large head side of cutting when seabed and rolling cutting milling ground plain milling vault device outside drawing, and Figure 14-3 are A-A, the B-B of missile trajectory feedway, the cutaway view of C-C, E-E;

Figure 15 is the multiplex lateral plan of going straight up to flying machine of driverless operation under multifunctional water;

Figure 16 is the multiplex front view of going straight up to flying machine of driverless operation under multifunctional water.

The specific embodiment

In Fig. 1: 1-crawler belt tooth plate, 2-chain section seat, 3-chain double-headed shaft, 4-worm case, 5-worm gear case lid, 6-worm gear, 7-worm screw, 8-seal ring, 9-closed outer casing pipe, the two key worm-wheel shafts of 10-, 11-seals oil cap, 12-bearing Ka Gai, 13-hinge wheel, 14-double end sliding key shaft, 15-seals inner sleeve, 16-sliding key sleeve, 17-feather key bevel gear, 18-difference machine bearing inner sleeve, 19-feather key pull bar, 20-feather key cover for seat, the two flanged cross of 21-, 22-contactless switch transmission shaft, 23-contactless switch overcoat, 24, thread four-way, 25-difference machine inner sleeve, 26-bevel gear minor axis, 27-bearing locating bush, the horizontal outer tube of 28-, the tight crawler belt umbrella of 29-wheel shaft, the tight crawler belt flange sleeve of 30-, 31-regulates spiral tooth socket, 32-bearing sealing cover, 33-push-pull screw, 34-oil seal spacer ring, crawler belt big roller before 35-, 36-tightening seal washer, 37-push-and-pull sleeve, 38-crawler belt buoyant weight wheel, 39-buoyant weight wheel optical axis, 40-buoyant weight wheel major axis, 41-worm screw closed casing, 42-bearing inner sleeve, 43-umbrella wheel shaft, 44-transmission straight gear, 45-worm screw straight gear, 46-thread four-way, 47-bevel gear, 48-bearing cutting ferrule, 49-thread overcoat, 50-push-and-pull nut, 51-push-and-pull sleeve pipe, 52-push-pull screw, 53-push-and-pull spiral shell seat, 54-crawler belt base clamping plate,

In Fig. 2: 55-inner tube locating bush, 56-umbrella wheel shaft, 57-transmission bevel gear, 58-central longitudinal axis, 59-adjusting shaft bearing sleeve, 60-thread four-way, 61-positioning disc, 62-gap bridge pagoda screw, 63-planet carrier gear, 64-rotates locating bush, 65-rotating table internal tooth flange circle, 70-rotates coil, 71-worm case lower cover, 72-worm gear center sleeve gear, 73, central rotation worm gear, 74-worm case, 75-bearing positioning inner sleeve, 76-worm case upper cover, 77-duplex bearing positioning inner sleeve, 78-umbrella wheel minor axis, 79-gap bridge bevel gear, 80-unthreaded hole four-way, 81, gap bridge bevel gear major axis,

In Fig. 3: 82-gap bridge gear case, 83-flange inner sleeve, 84-feather key straight-tooth, 85-difference machine cover for seat, 86-sliding key shaft, 87-feather key pull bar, 88-feather key bevel gear, 89-gap bridge minor axis, 90-minor axis copper sheathing, 91-feather key pull bar, 92-feather key worm screw, 93-difference machine cover for seat, 94-gap bridge gear case, 95-gap bridge straight gear, 96-center bevel gear, sleeve in 97-center, 98-centralized positioning inner sleeve, 99-card lid bearing, 100-worm case upper cover, 101-worm gear, 102-transmission sleeve pipe, 103-worm case lower cover, 104-center driving sleeve pipe, 105-worm gear, 106-worm gear case lid, 107-planetary gear speed-reduction inner ring lid, 108-planetary wheel internally toothed annulus, 109-bridge gear shaft, 110-rotation planet carrier gear, 111-revoling tube blind flange, 112-feather key rotation inner sleeve, 113-duplex bearing Ka Gai, 114-push-and-pull center thread sleeve pipe, 115-push-and-pull nut, transmission sleeve pipe in 116-, 117-long keyway center shaft, 118-rotary flange cover, the 119-orienting sleeve that stretches, 120-duplex bearing positioning inner sleeve, 121-flanged cross,

In Fig. 4,122-sliding key shaft, 123-feather key seat, 124-feather key bevel gear, 125-flange inner sleeve, 126-flanged cross, 127-transmission bevel gear, 128-sliding key sleeve, 129-thread locating bush, 130-transmission minor axis, 131-keyway major axis, 132-silk tooth flange inner sleeve, 133-bridging bearing sleeve gear, 134-gap bridge spiral shell axle, 135-bearing cutting ferrule, 136-reduction pinion teeth, 137-gap bridge sun gear, 138-flange inner sleeve, 139-push-and-pull flange sleeve, 140-transmission sleeve pipe, 141-positioning inner sleeve, 142-silk tooth inner sleeve, 143-bearing Ka Gai, 144-transmission spiral shell axle, 145-sealing gasket, 146-bevel gear, 147-power straight gear, 148-closed gear case, 149-gap bridge transmission shaft, 150-power straight gear, 151-double end spiral shell axle, 152-central straight gear, 153-carousel gear case, 154-rotates big gear wheel, 155-gear guard, the little lining pipe of 156-, 157-bearing locating cover, 158-saw blade bevel gear, 159-long saw sheet umbrella wheel shaft, 160-unthreaded hole bevel gear, 161-flanged cross, 162-cast-cutting saw bar, 163-bearing Ka Gai, the large saw blade dish of 164-, 165-saw blade flanged cross, 166-saw blade bevel gear, 167-saw blade axis, 168-saw blade thread sleeve pipe, 169-saw blade silk tooth outer tube, 170-saw blade hobboing cutter, 171-saw blade dish

In Fig. 5, 172-roundel closing cap, 173-bearing carrier ring gear, 174-gap bridge spiral shell axle, 175-screw worm case, 176-worm gear, 177-worm gear upper cover, axle in 178-rotation, 179-manipulator center shaft, 180-bearing location inner cap, 181-umbrella wheel shaft, 182-transmission straight gear, 183-gap bridge gear case, 184-unthreaded hole four-way, 185-locates overcoat, 186-location bearing inner sleeve, 187-feather key seat, 188-sliding key shaft, 189-transmission gear, 190-feather key bevel gear, 191-positioning inner sleeve, 192-transmission bevel gear, 193-duplex bearing cutting ferrule, 194-push-and-pull overcoat, 195-push-pull screw, 196-nut push-and-pull cover, 197-push-and-pull nut-198-strengthens outer tube, 199-track adjusting wheel, 200-push-and-pull spiral shell seat, 201-machinery bangle bar, 202-manipulator interlinkage seat, 203-crescent moon interlinkage seat, 204-mechanical-hand clamp

In Fig. 6, 205-cutting type center bevel gear, 206-cutting type central principal axis, 207-contactless switch inner sleeve, 208-contactless switch angular wheel shaft, 209-seals copper sheathing, 210-sliding key shaft, 211-feather key tooth cover, 212-feather key bevel gear, 213-feather key four-way gear case, 214-flange location four-way cover, the dull and stereotyped feather key of 215-, the long inner sleeve in 216-location, 217-deceleration center big gear wheel, 218-cuts four hole seats, 219-waterproof flange circle, the 220-miniature gears that rolls, 221-cast-cutting saw slice umbrella wheel major axis, 222-cast-cutting saw slice, 223-locking long keyway axle, 224-bevel gear cover, 225-regulates silk tooth bearing carrier ring, 226-flange Hough cover, 227-vault transmission shaft, 228-bearing silk tooth locating bush, 229-propeller-parachuting gear, the two flange sleeves of 230-, 231-props up a mouthful bearing locating bush, 232-vault flange seat, 233-saw blade location power control cover, 234-controls saw blade and falls along cover, 235-props up a mouthful locating bush

In Fig. 7: 236-chain bucket, 237-chain section seat, 238-chain bucket axle, 239-bucket backing plate, 240-hinge wheel, 241-worm gear sprocket shaft, 242-seals oil cap, the long clamping plate of 243-sprocket wheel, 244-worm gear case lid, 245-worm case, 246-power worm screw, 247-carrier gear, 248-flanged cross, 249-props up a mouthful positioning inner sleeve, 250-umbrella wheel minor axis, 251-closure fange four-way, 252-bearing inner sleeve, 253-feather key seat, 254-duplex bearing inner sleeve, 255-gap bridge bevel gear, 256-regulates crawler belt umbrella wheel shaft, 257-location bearing lid, 258-push-pull screw, 259-screw rod flange outer sleeve, 260-flange orienting sleeve, 261-push-and-pull nut

In Fig. 8: 262-transmission bevel gear, 263-umbrella wheel shaft, 264-bearing cutting ferrule, 265-thread four-way, 266-silk tooth bearing carrier ring, the 267-outer tube that leads, 268-guide thimble, 269-keyway major axis, 270-umbrella wheel minor axis, 271-bevel gear, 272-push-and-pull spiral shell seat, 273-leading sheave, 274-propelling unit outer tube, 275-positioning inner sleeve, 276-bevel gear, 277-push-pull screw, 278-angular wheel shaft, 279-bevel gear, 280-seals oil cap, 281-difference machine feather key tablet, 282-feather key cutting ferrule, 283-Hough copper sheathing, 284-Hough cutting ferrule, 285-guide draw bar, 286-difference machine adjusting shaft bearing sleeve, 287-push-and-pull nut sleeve, 288-push-and-pull spiral tooth socket, 289-difference machine flange outer sleeve, 290-difference machine planetary wheel inner ring, 291-gap bridge miniature gears, 292-difference machine reduction pinion teeth

In Fig. 9: 293-total output output outward flange four-way, 294-compound type silk tooth four-way, 295-total output gear case blind flange, 296-sealing motor flange lid, 297-joint flange four-way, the horizontal sleeve pipe of 298-crawler belt, 299-connecting filament facing pipe

In Figure 10: in the mono-flanged cross of 300-(controlling spiral transportation), 301-shovel Ore Transportation case 302-push-and-pull worm case, 303-difference machine, harness cord facing, 304-main frame connect long clamping plate, 305-motor total output planetary reduction gear equipment gear case

In Figure 11: the two Hough locking of 306-diving floating drum, 307-diving floating drum, 308-floating drum blind flange, 309-helicallobe, 310-spiral trichidium, 311-helical-blade inner sleeve, 312-floating drum inner sealing four-way, 313-closure fange cover

In Figure 12: 314-floating drum passenger compartment, 315-watch from a height or a distance cabin closing cap

In Figure 16: 316-crawler belt base device, 317-contactless switch swing arm connects total output four-way device, the 360 ° of rotating plate devices in 318-left and right, the large power self-locking worm gear of 319-case apparatus, the large swing arm Telescopic rotating of 320-planetary reduction gear casing bit, 321-worm propeller device, 322-clamping plate transmission chain device, 360 ° of 323-left and right rotation rolling cutter sweep, the vertical snorkeling of 324-multi-head spiral slurry diving floating drum and advance and retreat turning device, 325-personnel take and watch from a height or a distance prospecting device, 326-crawler type circulation bucket device, 327-gap bridge gear case connects robot device, 328-helical feed bucket device, 329-difference machine control setup, 330-electronic eyes and video head device.

What Figure 16 reflected is a side of the multiplex flying machine of driverless operation under multifunctional water, and another side is as the same.

Figure's is crawler belt base device (316) bottom, upper end is that contactless switch swing arm connects total output four-way device (317), connects large power self-locking worm gear case apparatus (319) carry out actuator track unit (316) by difference machine control setup (329); At contactless switch swing arm, connecting total output four-way device (317) has two rows to be the power hole of " two " font, 11 of every rows, upper row is that contactor arrangement (317) connects the rotation that drives crawler type circulation bucket device (326) from left to right in first hole; On to ranked fourth in hole be that worm propeller device (321) is for regulating the vertical angle of caterpillar circulation bucket device (326); On to ranked tenth in a hole be that difference machine control setup (329) connects worm case device (319) and drives helical feed bucket device (328); The transmission bevel gear that contactless switch swing arm connection total output four-way device (317) is controlled in inner steel pipe by difference machine (329) drives the multi-head spiral slurry diving floating drum vertical snorkeling and advance and retreat turning device (324) arranged side by side with it with contactor arrangement (317); The upper end that connects total output four-way device (317) at contactless switch swing arm is that the 360 ° of rotating plate devices in left and right (318) also have upper three, lower five power holes, lower row is that difference machine device (329) is controlled worm propeller device (321) and regulated gap bridge gear case to connect the angle of robot device (327) from left to right in first hole, under to ranked second in hole be contactor arrangement (317) connections in, to arrange from left to right in first hole, then connect a long contactor arrangement (317) and in upper end, by codifferential machine (329), control also grabbing of driving device hand (327) and take; Under rotating table (318), ranked third behind a hole, on to ranked second behind hole be under worm case device (319), to have contactless switch (317) to connect contactless switch swing arm total output four-way device (317), upper company also drives clamping plate transmission chain device (322); Lower row is that difference machine device (329) connects and control the liftings that angle that worm propeller device (321) regulates the large swing arm Telescopic rotating of planetary reduction gear casing bit (320) just regulates the 360 ° of rotation rolling cutter sweeps in left and right (323) from left to right in the 5th hole; Large power self-locking worm gear case apparatus (319) is housed in clamping plate transmission chain device (322), difference machine device (329) in the 3rd hole in left horizontal five holes is for controlling the flexible of the large swing arm Telescopic rotating of planetary reduction gear sleeve pipe, and the difference machine device (329) in fifth right hole is for controlling the rotation of large swing arm Telescopic rotating sleeve pipe (320); After vertical four holes of clamping plate transmission chain device (322), be that contactless switch (317) connects the rotation and just pitching that difference machine (329) regulated and controlled electronic eyes and video head device (330).

The invention will be further described now:

1. by working mother boat, for it, propulsion source is provided and operates by screen.

As everybody knows, magical sea floor world is the same with ground high mountain, hills and Plain, and the present invention can adapt to and under various varying environments, explore and dig up mine.As high mountain, can rely on six propeller (324) at fuselage top that fuselage is suspended in water as stopped in dragonfly aloft, and rely on three screw propellers of afterbody (324) to push ahead; Front end is cleared the way and is advanced by the 360 ° of rotation rolling cutter sweeps in left and right (323), and after entering mountain, available caterpillar circulation bucket (326) transports ore; As Plain or hills, operating personal can pass through screen, open keg float blind flange (308), the pressure that adds upper propeller, fuselage sinks, and reduces by 360 ° of left and right rotation rolling cutter sweeps (323) by the worm propeller device (321) under difference machine (329) control, and rotation is rolled cutting (323) in front cutting like this, circulation bucket (326) is also carried at synchronous rotary, makes seabed mine once-forming.

2. as for fighting, just should use nuclear power source, and use whole closing appliance.Because the multiplex flying machine of crawler type has rotating plate device, be applicable to installing various heavy weapons or guided missile launcher.

Claims (5)

1. the multiplex flying machine of going straight up to of driverless operation under multifunctional water, connects robot device (307) comprising crawler belt base device (316), the large swing arm Telescopic rotating of planetary reduction gear casing bit (320), worm propeller device (301), gap bridge gear case; It is characterized in that: described multiplex driving device of going straight up to flying machine, all adopt the type of drive of transmission bevel gear in steel pipe, tool closure is not strong, drive mechanism is simplified, fragile etc.; Wherein the power of crawler belt base device (316) is from top to bottom, connects total output four-way device (317) drive by worm case (319) by contactless switch swing arm; The power of the large swing arm rotary casing apparatus of planetary reduction gear (320) is wherein from bottom to top, and contactless switch swing arm connects total output four-way device (317), and by transmission bevel gear in steel pipe, through left and right, 360 ° of rotating plate devices (318) also drive by clamping plate transmission chain device (322); And one end of worm propeller device (321) connects left and right 360 ° of rotating plate devices (318), the other end connects planetary reduction gear swing arm rotary casing apparatus (320) in order to regulate the height of its angle; Gap bridge gear case wherein connects robot device (327) and through contactor arrangement (317), comes driving device hand to do exercises by the 360 ° of rotating plate devices in left and right (318), and regulates the lifting of manipulator and the height of angle by worm propeller (321).

2. the multiplex flying machine of going straight up under multifunctional water according to claim 1, it is characterized in that: in described multiplex crawler belt base device (316) of going straight up to flying machine without hydraulic efficiency gear, but be formed by combining by transmission bevel gear, worm and gear in steel pipe, snorkeling power is large, self-lock ability is strong, and closed performance is good.

3. the multiplex flying machine of going straight up to of driverless operation under multifunctional water according to claim 1, it is characterized in that: described multiplex hollow of going straight up to the planetary reduction gear Telescopic rotating casing bit (320) of flying machine is cutting type center bevel gear (205) and cutting type central principal axis (206), be used for driving the saw blade rotation of the 360 ° of rotation rolling cutter sweeps in left and right (323), its revoling tube, telescopic tube produces microrunning after planetary reduction gear, the transverse rotation of 360 ° of rotation rolling cutter sweeps (323) is significantly slowed down with vertical rotation, make saw blade produce powerful cutting force.

4. the multiplex flying machine of going straight up to of driverless operation under multifunctional water according to claim 1, it is characterized in that: described multiplex worm propeller device (321) of going straight up to flying machine, its power is slowed down after the silk tooth of screw rod, thereby produces powerful propelling and retraction force.

5. the multiplex flying machine of going straight up to of driverless operation under multifunctional water according to claim 1, it is characterized in that: it is to drive intersection chain bar by push-and-pull spiral shell seat that described multiplex gap bridge gear case of going straight up to flying machine connects robot device (327), and its driving nut, screw rod etc. are all placed in steel pipe.

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