CN104859391B - Three dwell unmanned boat - Google Patents
Three dwell unmanned boat Download PDFInfo
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- CN104859391B CN104859391B CN201410789141.6A CN201410789141A CN104859391B CN 104859391 B CN104859391 B CN 104859391B CN 201410789141 A CN201410789141 A CN 201410789141A CN 104859391 B CN104859391 B CN 104859391B
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Abstract
The invention discloses a kind of three dwell propulsion plant, under water heave compensation apparatus and airflight device in unmanned boat, including kayak body, water, in water, propulsion plant and lateral thruster are separately positioned on kayak body afterbody and front lower portion；Kayak body is vertically divided into median septum kayak body is longitudinally upper and kayak body is longitudinally lower, upper water tank, front fin storage cabin and rear fin storage cabin be arranged on kayak body it is longitudinally upper in, under water heave compensation apparatus and several watertight equipment compartments be arranged on kayak body it is longitudinally lower in.Heave compensation apparatus include two moon pools in front and back side by side under water, and elevating screw device is provided with moon pool.Airflight device includes respectively positioned at fin after fin before a pair of kayak body both sides and a pair, and the oar of going straight up to of airflight is respectively provided with fin, and before a pair, after fin end and a pair, fin launches flight by folding and unfolding cylinder respectively or is accommodated in kayak body.The present invention quickly can carry out under water, the water surface, aerial three dwell State Transferring, extensively application is obtained in civilian and military field.
Description
Technical field：
The present invention relates to a kind of unmanned boat, more particularly to it is a kind of integrate under water, the water surface, the three of aerial function dwell nobody
Ship, belongs to Marine engineering technical field.
Background technology：
Three dwell unmanned boat be one kind can under water, the water surface, aerial remote control or autonomous mode navigation, perform certain or it is various
The aircraft of mission.For defense needs is strengthened, world Navy actively joins in unmanned boat research.Current marine propulsion
Research and development degree of progress speed, ship autonomy are improved constantly.But existing unmanned boat ship type more be directed to specific environment, such as the water surface nobody
Ship and under water unmanned submarine.When such ship such as runs into working environment complicated and changeable, often lose ground.
Tradition under water unmanned submarine be by ballast tank pump priming and compressed air draining come realize ship sinking and
Float, it is many that the ballast tank pump that unmanned submarine is equipped with water causes kayak body weight to increase, while operation is complex.Aircraft
To such as realize under water, the water surface and airflight, its functional requirement is conflicting, and such as three aircraft of dwelling require oneself in flight
Heavy sensation of the body amount is more light more is conducive to flight, requires that own wt is more more conducive to dive to contradict again, how to solve this during diving
Contradiction, realizes both balances, is to put the big problem in face of shipbuilding industry engineers and technicians.
The content of the invention：
It is an object of the invention to provide a kind of compact conformation, it is easy to operate, adaptable under water, the water surface, aerial three dwell
Unmanned boat.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of three dwell unmanned boat, including imitative fish shape kayak body, extend to outside ship tail from kayak body water in propulsion plant, water
Lower heave compensation apparatus and airflight device, in the water, propulsion plant includes tail undercarriage and kuppe, kayak body front lower portion
Side pushes away propeller and groove and constitutes the lateral thruster for being turned to for kayak body under water, the tilting two pairs of kayak bodies in kayak body bottom longitudinal direction both sides
Bracing frame；Kayak body longitudinal direction is divided into down through median septum that kayak body is longitudinally upper and kayak body is longitudinally lower, upper water tank and respectively with
The adjacent front fin storage cabin in upper water tank two ends and rear fin storage cabin be arranged on kayak body it is longitudinally upper in, under water heave compensation apparatus with
And it is located at kayak body two ends and middle part and the several watertight equipment compartments adjacent with heave compensation apparatus under water are arranged under kayak body longitudinal direction respectively
In portion；The heave compensation apparatus under water include two in front and back side by side and the moon pool that traverses kayak body and communicate with ship internal upper part water tank, institute
Elevating screw device is provided with stating moon pool；The airflight device include respectively positioned at fin before a pair of kayak body both sides and
The oar of going straight up to of airflight is respectively provided with after fin after a pair, the pair of front fin and a pair in fin, it is the pair of
After front fin front end and a pair, fin front end is hinged with kayak body longitudinal direction front and rear part both sides respectively, fin after fin and a pair before a pair
Launch flight or be accommodated in kayak body to store up in cabin with rear fin in corresponding front fin storage cabin by folding and unfolding cylinder respectively.
The purpose of the present invention can also be further realized by following technical measures.
Aforesaid three dwell unmanned boat, wherein the moon pool lower end is connected with kayak body lower through-hole, in the middle part of elevating screw device
It is fixed in the middle part of moon pool by cross bar, positioned at through hole in the kayak body on the upside of elevating screw device and kayak body lower through-hole position pair
Should.In the kayak body, in through hole and kayak body, through hole is respectively equipped with multiple rows of tilting deflector.
Aforesaid three dwell unmanned boat, wherein the elevating screw device includes propeller, lower propeller, upper propeller
Motor, transmission case body and the several travelling gears being arranged in transmission case body, upper propeller motor are vertically fixed on
In transmission case body, it is fixed in the middle part of moon pool by cross bar in the middle part of transmission case body；Upper propeller motor axle by shaft coupling with
Upper propeller shaft lower end is vertically connected, and upper propeller shaft bottom is fixedly connected with driving gear, upper propeller shaft upper end and upper spiral shell
Rotation oar is fixedly connected, positioned at upper propeller motor side power transmission shaft two ends respectively by bearing vertical support in transmission case body
Interior, driven gear is fixed on power transmission shaft upper end, and driving gear is engaged with driven gear；It is fixed on the underdrive tooth of power transmission shaft lower end
Wheel is engaged with the lower propeller drive gear for being fixed on lower propeller shaft upper end by idler gear, and lower propeller is fixed on lower spiral shell
Rotation oar axle lower end.
Aforesaid three dwell unmanned boat, wherein it is described go straight up to oar and be fixed on go straight up on oar motor shaft, go straight up to oar motor by
Strut is vertically fixed in central groove.
Aforesaid three dwell unmanned boat, wherein the folding and unfolding cylinder one end in being separately positioned on front fin storage cabin or rear fin storage cabin
It is hinged with median septum, the folding and unfolding cylinder other end is hinged with corresponding front fin lower end or rear fin lower end.The front fish of kayak body side
Fin and rear fin are hinged with kayak body by optical axis respectively, and the front fin and rear fin of kayak body opposite side pass through thread spindle and ship respectively
Body is hinged.
Aforesaid three dwell unmanned boat, wherein the front fin storage cabin hatch of the kayak body both sides is outer and rear fin storage cabin hatch outside
Watertight cover plate is respectively equipped with, is hinged by watertight plate shaft and kayak body on the upside of the watertight cover plate, covered on the watertight plate shaft
There is torsion spring.
Aforesaid three dwell unmanned boat, wherein kayak body front end termination is additionally provided with transparency cabin, the transparency cabin is built with taking the photograph
As equipment.
Present configuration is compact, quickly can carry out under water, the water surface, aerial three dwell State Transferring, with adaptive capacity to environment
By force, the high advantage of good concealment and mobility.By the effect of elevating screw device in moon pool, in can making to dive under water under the present invention
Or rise on the water surface.Side push away propeller compared with rudder manipulate it is convenient, turn to it is more flexible.Fish after fin and a pair before retractable a pair
When fin launches, the present invention is made to change into state of flight by oar of going straight up to therein；When needing to change into surface navigation or underwater navigation,
After a pair front fins and a pair, fin is accommodated in kayak body in corresponding front fin storage cabin and in rear fin storage cabin, kayak body period-luminosity outward
Suitable, ship resistance is little, and extensively application is obtained in civilian and military field.
Description of the drawings：
Fig. 1 is the front view of the present invention；
Fig. 2 is the right view of the front fins of Fig. 1 and rear fin receiving state；
A-A profiles of the Fig. 3 for Fig. 1；
B-B profiles of the Fig. 4 for Fig. 2；
Structural representations of the Fig. 5 for elevating screw device；
Fig. 6 is the schematic diagram of fin before folding and unfolding cylinder folding and unfolding；
C-C sectional views of the Fig. 7 for Fig. 6；
Fig. 8 is the structural representation that watertight cover plate is connected with kayak body；
D-D cutaway view Amplified images of the Fig. 9 for Fig. 2.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1～Fig. 9, the present invention is pushed away including the kayak body 1 of imitative fish shape, from the 1 interior water extended to outside ship tail of kayak body
Enter device 2, heave compensation apparatus 3 and airflight device 4 under water, in water, propulsion plant 2 includes tail undercarriage 21 and is enclosed within spiral
Kuppe 22 outside oar 21 is higher using 2 propulsive efficiency of propulsion plant in the water of kuppe 22.The side of kayak body front lower portion pushes away spiral
Oar 51 and groove 52 constitute the lateral thruster 5 for being turned to for kayak body under water, the tilting two pairs of kayak bodies in 1 bottom of kayak body longitudinal direction both sides
Support 6.The longitudinal direction of kayak body 1 is divided into kayak body longitudinally upper 12 and kayak body longitudinally lower 13 down through median septum 11, upper water tank 121 with
And adjacent with 121 two ends of upper water tank front fin storage cabin 122 and rear fin storage cabin 123 are arranged on kayak body longitudinally upper 12 respectively
It is interior, heave compensation apparatus 3 and 1 two ends of kayak body and middle part and the 3 watertight equipment adjacent with heave compensation apparatus 3 under water are located at respectively under water
Cabin 131 is arranged in kayak body longitudinally lower 13.Watertight equipment compartment 131 is built with battery, motor and reception of wireless signals equipment.
It is uniformly arranged before and after watertight equipment compartment 131, contributes to 1 weight of kayak body and be uniformly distributed, so as to is conducive to present invention flight and dive.
1 front end termination of kayak body is additionally provided with transparency cabin 14, and the transparency cabin is built with the picture pick-up device for detection.Rise under water
Sink device 3 includes two in front and back side by side and the moon pool 31 that traverses kayak body 1 and communicate with ship internal upper part water tank 132, in upper water tank 121
The horizontal horizontal bar plate 124 in portion, for improving the intensity of upper water tank 121.Elevating screw device 32 is provided with moon pool 31.
Top water tank 132 is communicated with moon pool 31, increased damage proportion, offsets more reserve buoyancies, so that this
Gravity of the invention in water is increased.31 lower end of moon pool is connected with kayak body lower through-hole 15, is led in the middle part of elevating screw device 32
Cross cross bar 33 to be fixed in the middle part of moon pool 31, positioned at through hole in the kayak body on the upside of elevating screw device 32 16 and kayak body lower through-hole 15
Position correspondence, in kayak body, through hole 16 and kayak body lower through-hole 15 are respectively equipped with multiple rows of tilting deflector 151, improve kayak body hydrodynamic force
Performance.
Airflight device 4 is included respectively positioned at fin 42 after fin 41 before a pair of kayak body both sides and a pair, before a pair
Be respectively provided with airflight after fin 41 and a pair in fin 42 goes straight up to oar 43.As shown in fig. 7, go straight up to oar 43 being fixed on
Go straight up on oar motor shaft, go straight up to oar motor 431 and be vertically fixed in central groove 433 by support bar 432.Fin 41 before a pair
With a pair after four in fin 42 go straight up to oar 43 and constitute four rotor structures, and the more traditional single rotor structure of four rotor structures more has
Beneficial to flight, and loading capacity is bigger, and maneuverability is more preferable.
Front fin 41 and rear fin 42 are in wing shape, before a pair after 41 front end of fin and a pair 42 front end of fin respectively with
1 longitudinal front and rear part both sides of kayak body are hinged, and launch flight by folding and unfolding cylinder 44 respectively or be accommodated into corresponding front fish in kayak body
In fin storage cabin 122 and in rear fin storage cabin 123.As shown in Fig. 6 and Fig. 9, front fin storage cabin 122 or rear fin storage are separately positioned on
44 one end of folding and unfolding cylinder in cabin 123 is hinged with median septum 11,44 other end of folding and unfolding cylinder and corresponding 41 lower end of front fin or
42 lower end of fin is hinged afterwards.
As shown in figure 9, the front fin 41 and rear fin 42 on the right side of kayak body 1 is hinged with kayak body 1 by optical axis 45 respectively, kayak body
Front fin 41 and rear fin 42 on the left of in the of 1 is hinged with kayak body 1 by thread spindle 46 respectively.The contraction of folding and unfolding cylinder 44 causes front fish
When fin 41 and rear fin 42 are accommodated in corresponding front fin storage cabin 122 or rear fin is stored up in cabin 123, the front fish on the right side of kayak body 1
Fin 41 and rear fin 42 are rotated into kayak body 1 rotating around optical axis 45 and are accommodated into corresponding fin storage cabin, front fin 41 and rear fin
No difference in height between 42；Front fin 41 and rear fin 42 on the left of kayak body 1 is rotated into kayak body 1 rotating around thread spindle 46
Afterwards, as the pitch of thread spindle 46 is acted on, on the right side of front fin 41 after storage on the left of kayak body 1 and rear fin 42 and kayak body 1 before
There is vertical dimension difference H between fin 41 and rear fin 42, front fin 41 and rear fin 42 on the left of kayak body 1 can be made to be located at kayak body
Under front fin 41 and rear fin 42 on the right side of in the of 1.So as to after realizing before a pair fin 41 and a pair fin 42 can be accommodated into it is narrow
In little kayak body 1.
As shown in figure 5, elevating screw device 32 includes that propeller 321, lower propeller 322, upper propeller drive electricity
Machine 323, transmission case body 324 and the several travelling gears being arranged in transmission case body 324, wherein upper propeller 321 is lift oar,
Lower propeller 322 is drop power oar, and the fluoran stream surface of lift oar downwards, is fully contacted with current, it is to avoid other structures hinder current, from
And more fully lift is provided.Upper propeller motor 323 is vertically fixed in transmission case body 324, in the middle part of transmission case body 324
It is fixed in the middle part of moon pool 31 by cross bar 325；Upper propeller motor axle is by under shaft coupling 326 and upper propeller shaft 327
End is vertically connected, and 327 bottom of upper propeller shaft is fixedly connected with driving gear 320,327 upper end of upper propeller shaft and upper propeller
321 are fixedly connected, and 329 two ends of power transmission shaft on the right side of upper propeller motor 323 are propped up by bearing 3210 is vertical respectively
In transmission case body 325, driven gear 330 is fixed on 329 upper end of power transmission shaft, and driving gear 320 is nibbled with driven gear 330 for support
Close；The lower transmissioning gear 340 for being fixed on 329 lower end of power transmission shaft passes through idler gear 350 and is fixed on 328 lower end of lower propeller shaft
Lower propeller drive gear 360 engage.Such coaxial reverse drive route causes propeller 321 and lower propeller 322
Turn to contrary.When upper propeller 321 is rotated forward, lower propeller 322 is inverted, and elevating screw device 32 provides lift.Identical original
Reason, propeller 322 is rotated forward instantly, and when upper propeller 321 is inverted, elevating screw device 32 provides drop power.
As shown in figure 8, front fin storage 122 hatch of cabin of 1 both sides of kayak body is outer and rear fin is stored up and is respectively equipped with outside 123 hatch of cabin
Watertight cover plate 17, is hinged with kayak body 1 by watertight plate shaft 18 on the upside of the watertight cover plate 17, is cased with turning round on watertight plate shaft 18
Spring 19, torsion spring 19 cause watertight cover plate 17 to remain pressed against in kayak body 1, when only current fin 41 or rear fin 42 launch, water
Close cover plate 17 can just be backed down, and front fin 41 or rear fin 42 can just complete to launch；Current fin 41 or rear fin 42 are accommodated into
When in kayak body 1, torsion spring 19 causes watertight cover plate 17 to reply origin-location, it is ensured that the watertightness of kayak body 1 and good hydrodynamic force
Energy.
The course of work of the present invention is as follows：
Switch on power, open system, all operations instruction are sent by remote control, are said by three kinds of mode of operations respectively below
It is bright：
Offline mode
(1) while positive start four folding and unfolding cylinders 44, the piston rod of four folding and unfolding cylinders 44 is overhanging, fin 41 before a pair
With a pair after fin 42 rotate around respective optical axis 45 and thread spindle 46, from corresponding front fin storage cabin 122 or rear fin storage
The horizontality that watertight cover plate 17 is expanded to sustained height is pushed open in cabin 123.
(2) four are opened and goes straight up to oar 43, the present invention ascends into airflight state from the water surface, performs aerial mission.
(3) after the present invention completes aerial mission, on the water surface, kayak body 1 steadily swims in water in being slowly immersed in water to stable landing
Face is up to water line, or is fallen on ground using kayak body bracing frame 6；Elevating screw device 32 in moon pool 31 is totally submerged water
In.Four folding and unfolding cylinders 44 of reverse starting, the piston rod of four folding and unfolding cylinders 44 are retracted, fin after fin 41 and a pair before a pair
42 are accommodated in corresponding front fin storage cabin 122 or in rear fin storage cabin 123 around respective optical axis 45 and the rotation of thread spindle 46, its
In, the front fin 41 and rear fin 42 on the left of kayak body 1 is located under the front fin 41 on the right side of kayak body 1 and rear fin 42 respectively.
Surface navigation pattern
(1) start tail undercarriage 21, the present invention is navigated by water on the water surface.When needing to turn to, startup side pushes away propeller 51 and enters
Row is turned to.
Submariner pattern under water
(1) 32 co-rotating mode of elevating screw device is opened, upper water tank 121 is intake, kayak body 1 starts to sink.Upper water tank 121
Continue a large amount of water inlets, kayak body 1 starts quick sinking.Kayak body 1 is reached specifies the depth of water, elevating screw device 32 to quit work, ship
Body 1 suspends in water.Realize the diving function of the present invention.
(2) start tail undercarriage 21, the present invention is navigated by water under water.When needing to turn to, startup side pushes away propeller 51 to be carried out
Turn to.
(3) 32 reversing mode of elevating screw device is opened, kayak body 1 floats, and upper water tank 121 starts from two moon pools 31
Flow out, in upper water tank 121, water level begins to decline, kayak body 1 starts to float, and treats that kayak body 1 floats up to water line, elevating screw device
32 quit work, and kayak body 1 floats on the water surface, realize the floating function of the present invention.
In addition to the implementation, the present invention can also have other embodiment, all employing equivalents or equivalent transformation shape
Into technical scheme, all fall within the protection domain of application claims.
Claims (10)
1. one kind three is dwelt unmanned boat, including imitative fish shape kayak body and extend to outside ship tail from kayak body water in propulsion plant,
In the water, propulsion plant includes tail undercarriage and kuppe, and the side of kayak body front lower portion is pushed away propeller and constituted for ship with groove
The lateral thruster that body is turned under water, the tilting two pairs of kayak body bracing frames in kayak body bottom longitudinal direction both sides；It is characterized in that, also including under water
Heave compensation apparatus and airflight device, kayak body longitudinal direction are divided into down through median septum that kayak body is longitudinally upper and kayak body is longitudinally lower,
Upper water tank and respectively adjacent with upper water tank two ends front fin storage cabin and rear fin storage cabin be arranged on kayak body it is longitudinally upper in, water
Lower heave compensation apparatus and kayak body two ends and middle part are located at respectively and the several watertight equipment compartments adjacent with heave compensation apparatus under water are arranged
In kayak body is longitudinally lower；The heave compensation apparatus under water include two in front and back side by side and traverse kayak body and with ship internal upper part water tank phase
Logical moon pool, is provided with elevating screw device in the moon pool；The airflight device is included respectively positioned at kayak body both sides
Going straight up to for airflight is respectively provided with fin after fin after fin and a pair before a pair, the pair of front fin and a pair
After oar, the pair of front fin front end and a pair, fin front end is hinged with kayak body longitudinal direction front and rear part both sides respectively, fin before a pair
With a pair after fin launch flight by folding and unfolding cylinder respectively or be accommodated into corresponding front fin in kayak body to store up in cabin and rear fin
In storage cabin.
2. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, the moon pool lower end is connected with kayak body lower through-hole, lifting
It is fixed in the middle part of moon pool by cross bar in the middle part of propeller set, positioned at through hole and kayak body in the kayak body on the upside of elevating screw device
Lower through-hole position correspondence.
3. as claimed in claim 2 three dwell unmanned boat, it is characterized in that, through hole and kayak body lower through-hole are respectively equipped with the kayak body
Multiple rows of tilting deflector.
4. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, the elevating screw device include propeller, under
Propeller, upper propeller motor, transmission case body and the several travelling gears being arranged in transmission case body, upper propeller drive
Motor is vertically fixed in transmission case body, is fixed in the middle part of moon pool by cross bar in the middle part of transmission case body；Upper propeller motor
Axle is vertically connected with upper propeller shaft lower end by shaft coupling, and upper propeller shaft bottom is fixedly connected with driving gear, upper spiral
Oar axle upper end is fixedly connected with upper propeller, vertical by bearing respectively positioned at upper propeller motor side power transmission shaft two ends
It is supported in transmission case body, driven gear is fixed on power transmission shaft upper end, driving gear is engaged with driven gear；It is fixed on power transmission shaft
The lower transmissioning gear of lower end is engaged with the lower propeller drive gear for being fixed on lower propeller shaft upper end by idler gear, lower spiral shell
Rotation oar is fixed on lower propeller shaft lower end.
5. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, it is described go straight up to oar and be fixed on go straight up on oar motor shaft, directly
Lifting rotor motor is vertically fixed in central groove by support bar.
6. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, be separately positioned in front fin storage cabin or rear fin storage cabin
Folding and unfolding cylinder one end be hinged with median septum, the folding and unfolding cylinder other end is hinged with corresponding front fin lower end or rear fin lower end.
7. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, the front fin and rear fin of kayak body side pass through light respectively
Axle is hinged with kayak body, and the front fin and rear fin of kayak body opposite side are hinged with kayak body by thread spindle respectively.
8. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, the front fin storage cabin hatch of the kayak body both sides it is outer and after
Watertight cover plate is respectively equipped with outside fin storage cabin hatch, is hinged by watertight plate shaft and kayak body on the upside of the watertight cover plate, it is described
Torsion spring is cased with watertight plate shaft.
9. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, the front end termination of the kayak body is additionally provided with transparency cabin, institute
Transparency cabin is stated built with picture pick-up device.
10. as claimed in claim 1 three dwell unmanned boat, it is characterized in that, the watertight equipment compartment built with battery, motor and
Reception of wireless signals equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410789141.6A CN104859391B (en) | 2014-12-19 | 2014-12-19 | Three dwell unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410789141.6A CN104859391B (en) | 2014-12-19 | 2014-12-19 | Three dwell unmanned boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104859391A CN104859391A (en) | 2015-08-26 |
| CN104859391B true CN104859391B (en) | 2017-04-05 |
Family
ID=53905746
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410789141.6A Expired - Fee Related CN104859391B (en) | 2014-12-19 | 2014-12-19 | Three dwell unmanned boat |
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| Country | Link |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143846A (en) * | 2016-09-06 | 2016-11-23 | 江苏科技大学 | A kind of small underwater binary sightseeing ship |
| CN107867139A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | One kind deformation three is dwelt robot |
| CN107866083A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of fighter toy |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
| CN109760836A (en) * | 2019-03-12 | 2019-05-17 | 姜佩奇 | A kind of amphibious submersible of air-sea |
| CN113580860A (en) * | 2021-08-10 | 2021-11-02 | 上海交通大学 | High-speed large-load combined propulsion type sea-air cross-domain flight detection platform |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1286624A (en) * | 1960-08-12 | 1962-03-09 | Improvements to submersible vehicles | |
| CN202541818U (en) * | 2012-04-27 | 2012-11-21 | 王常利 | Universal propeller type diving boat |
| CN103640445A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned vehicle with front-mounted double bodies on inclined sides and three bodies on water surface |
-
2014
- 2014-12-19 CN CN201410789141.6A patent/CN104859391B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1286624A (en) * | 1960-08-12 | 1962-03-09 | Improvements to submersible vehicles | |
| CN202541818U (en) * | 2012-04-27 | 2012-11-21 | 王常利 | Universal propeller type diving boat |
| CN103640445A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned vehicle with front-mounted double bodies on inclined sides and three bodies on water surface |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104859391A (en) | 2015-08-26 |
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