CN108820169A - A kind of electronic catheter type hydraulic propeller - Google Patents
A kind of electronic catheter type hydraulic propeller Download PDFInfo
- Publication number
- CN108820169A CN108820169A CN201810844792.9A CN201810844792A CN108820169A CN 108820169 A CN108820169 A CN 108820169A CN 201810844792 A CN201810844792 A CN 201810844792A CN 108820169 A CN108820169 A CN 108820169A
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- motor
- shell
- propeller
- water
- pod
- Prior art date
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 78
- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 3
- 238000007667 floating Methods 0.000 abstract description 2
- 101100495256 Caenorhabditis elegans mat-3 gene Proteins 0.000 description 7
- 210000004027 cell Anatomy 0.000 description 7
- 239000003921 oil Substances 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000009189 diving Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000282461 Canis lupus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
Abstract
The invention discloses a kind of electronic catheter type hydraulic propellers, and the hydraulic propeller is small compared with stock size, and light-weight, structure is simple, easily controllable, and the installation requirement and control that can satisfy small scale robot platform require.Including：Shell fixed cell and electric-motor drive unit；Shell fixed cell includes：Sequentially coaxially connected water inlet cover, shell, pod and water cover；The electric-motor drive unit includes：Motor and propeller；The motor is fixed on inside the pod, and as shaft towards the water inlet cover direction, the propeller is connected the power output shaft of motor with the shaft, is rotated under shaft drive.The water jet of this kind of structure type is since thrust can be realized greatly the underwater quick movement of underwater robot and realize the floating and dive of robot.
Description
Technical field
Invention is related to a kind of propeller, and in particular to a kind of hydraulic propeller.
Background technique
Along with human knowledge ocean, exploitation ocean, utilize the process of marine resources and protection marine resources, underwater
People as it is a kind of move under water, have vision and sensory perceptual system, by remote control or autonomous remote control mode, using it is mechanical or other
Tool replaces or auxiliary people goes to complete the device of underwater operation task, and important role is play in ocean development and utilization.
Underwater robot is typical dual-use technology, cannot be only used for the exploration and exploitation of marine resource, Er Qie
Also there is irreplaceable role in sea warfare.In order to fight for control of the sea, each state is all developing underwater robot for various purposes.Under water
Power supplier of the propeller as underwater robot, by extensive concern both at home and abroad.Several underwater propellers introduced below：
(1) pump-jet propulsor
The eighties in last century, Britain take the lead in being equipped on " Trafalgar " (Trafalgar) grade nuclear powered attack submarines
A kind of novel pump-jet propulsor (PumpJetThruster).The radiated noise of submarine can be effectively reduced in this propulsion mode,
Thus by the concern of each naval power of the world.
For the submarine promoted using pump spray compared with the submarine promoted using highly skewed propeller, biggest advantage is can be big
The radiated noise of amplitude reduction submarine propeller, the low noise speed of a ship or plane for improving submarine.With the U.S. " extra large wolf " grade nuclear powered attack submarines
For, more than underwater 30 section of highest speed of the ship (have been reported that up to 35 sections), low noise speed of a ship or plane at underwater 30 meters is greater than 20 sections,
Radiated noise is known as submarine most quiet, most fast in the world today by Official US close to ambient sea noise.
Although pumpjet propulsor is more superior than traditional propeller propulsion mode, itself there is also it is some not yet gram
The shortcomings that taking.First is that the power of its entrance loss is higher, good method is not found also at present to further decrease this damage
It loses.Second is that when pumpjet propulsor is when shallow draft navigates by water, the especially more waters of grit can exist and inhale rubble and grit
Enter the danger of system.
(2) WT series digs people's boost motor
The commercial underwater propeller (DPV) of Wuhan wiener Kai Piao engineering technology Co., Ltd production, is also frogman's boost motor,
It is one of the important assistance means that diving fan or special force carry out diving navigation, by the blueness of domestic and international user
Look at, be widely used in underwater frogman promote, water-bed shooting, diving amusement and auxiliary underwater lifesaving etc..
WT1-50 series underwater propeller is small in size, light-weight, is used as power using battery, is equipped with battery capacity and shows,
Charging is convenient.It is in water in neutral buoyancy state.Using special sealing structure.Working service is simple, safe and reliable.Maximum is latent
Water depth is 50 meters.
(3) underwater hollow is without hub paddle propeller
Liu Wenzhi, Li Haibo et al. have invented a kind of underwater hollow hub-free propeller.It includes motor housing that it, which is formed, fixed
Subcoil, stator silicon steel sheet, rotor permanent magnet, rotor, propeller and ceramic bearing, stator coil winding is in stator silicon steel sheet
On, the stator coil on stator silicon steel sheet is wrapped at the center of motor housing, and rotor is hollow annular construction, and rotor is forever
Magnet split pole is fixed on rotor, is formed the rotor of hollow structure, and propeller is fixed on inside sleeve rotor, propeller, rotor
Become an entirety with rotor permanent magnet group, rotor is fixed in motor housing by ceramic bearing.The paddle of the invention rotates
Shi Buhui generates induced drag and cavitation phenomena, substantially increases the efficiency of propeller.Additionally, due to the diameter for increasing motor
The number of poles for increasing motor improves the torque of motor, works, is easily installed in the environment being particluarly suitable under the big density of the big depth of water
On hull.
(4) underwater globular motor propeller
Zhang Qiang, Wang Hong et al. invention are a kind of underwater globular motor propellers.Stator core is spherical shape, spherical stator iron
Heart surface is opened along great circle there are three orthogonal slot, places three-phase concentratred winding respectively in slot, and winding is vertical two-by-two, three-phase around
The coil of group is connected on sealed plug underwater by cable, is surrounded by the spherical sealed being secured to together outside stator core
Shell, the outer rotor of spherical shell shape is through rubber axis bearing sleeve on capsul, and rubber shaft bearing surface is provided with sink, in two rubber shaft bearings
Between be rotor core, there are small gap between rotor core and capsul, outside rotor core, rubber shaft bearing and rotor
Shell is combined together, and propeller blade is directly anchored on rotor case.The invention realizes the vector of submersible machine propeller
It promotes, while improving propeller performance, underwater operation device can be made to simplify mechanical structure, mitigate quality, reduce volume,
With better application and higher reliability.
But existing underwater propeller has the following problems：Underwater robot mostly uses torpedo-shaped design and propeller to push away at present
Into mechanical structure determines that its advance and retreat can generate biggish speed, but its turning radius is big, is not suitable for making in narrow regions
Industry.In addition, screw propeller has the presence of air pocket, noise is big, and has the loss of biggish vacuole, all reduces concealment
And bioaffinity.When robot weight is larger, existing Waterjet Thrust deficiency is unable to satisfy the speed of sub-aqua sport
It is required that and cannot achieve in water because of thrust deficiency upper and lower drift along.
Summary of the invention
In view of this, the present invention provides a kind of electronic catheter type hydraulic propeller, hydraulic propeller protective value is good for this, makes an uproar
Sound is low, and can satisfy robot and quickly move and realize in water the requirement drifted along up and down.
The electronic catheter type hydraulic propeller, which is characterized in that including：Shell fixed cell and motor driven list
Member；
The shell fixed cell includes：Sequentially coaxially connected water inlet cover, shell, pod and water cover；It is described into
Water inlet is machined on water cover, the shell is for providing the installation position that the propeller is connected with external equipment；It is described to lead
Cable hole is machined on stream cover；Water jet is machined on the water cover；
The electric-motor drive unit includes：Motor and propeller；The motor is fixed on inside the pod, for pair
The control line that the motor is controlled is passed through from the cable hole；The power output shaft of the motor is as shaft described in
Water inlet cover direction, is set with oil sealing in the connecting pin of the shaft and motor；The propeller is connected with the shaft,
The shaft drives lower rotation.
Water inlet on the water inlet cover is latticed.
The water inlet cover is hemispherical shell.
Radome fairing is installed in one end of casing towards the water cover of the motor.
Beneficial effect：
(1) hydraulic propeller has the characteristics that the resistance of appendage is small, protective value is good, low noise, transmission mechanism are simple；It pushes away
Into device, in the case where blade rotation diameter is only 36.5mm, the maximum thrust of propeller can reach 2.9N, and propulsive efficiency is high；Peace
The electronic catheter type hydraulic propeller for filling this structure type may be implemented robot and quickly move and float downward in water on realizing
It is heavy, it is possible thereby to solve the deficiency of current robot sub-aqua sport.
(2) this electronic catheter type hydraulic propeller is easily controllable, and water pipe is longer, hydraulic propeller good directionality, energy
The influence of the interference such as water flow is effectively reduced, enough convenient for accurately controlling the direction of motion of robot by controlling water spraying direction.
(3) water inlet is provide with and is calculated as hemispherical shell, and water inlet be it is latticed, water plant can be effectively prevent to wind and gravel
Stone enters propeller, provides guarantee for the operation of highly effective and safe under robot water.
Detailed description of the invention
Fig. 1 is tomograph of the invention；
Fig. 2 is the explosive view of propeller of the present invention；
Fig. 3 is the structure chart of motor part in Fig. 2；
Fig. 4 and Fig. 5 is the structure chart of pod in Fig. 2；
Wherein：1- water cover, 2- tail bone, 3- motor；4- pod, 5- fixation hole, 6- propeller, 7- fixing shell, 8-
Water inlet is covered, 9- mounting hole, 10- cable hole, 1-1- water jet, 3-1- casing, 3-2- motor front end cover, 3-3- oil sealing, in 3-4-
Hexagonal holding screw, 3-5- shaft, 4-1- support base, 4-2- mounting hole, 4-3- pod shell, 4-4 motor fixing shell
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides a kind of electronic catheter type hydraulic propellers, and the hydraulic propeller is small compared with stock size, light-weight,
Structure is simple, easily controllable, and the installation requirement and control that can satisfy small scale robot platform require.
As illustrated in fig. 1 and 2, entire electronic catheter type hydraulic propeller appearance approximation cylindrical body, both meets amphibious robot
The requirement that underwater water-spraying promotes, while can reach that robot is land and the purpose of amphibious transitional environment leg formula driving again.
The hydraulic propeller includes：Shell fixed cell and electric-motor drive unit, wherein shell fixed cell include：Successively
Coaxially connected water inlet cover 8, shell 7, pod 4 and water cover 1.Water inlet cover 8 is designed as hemispherical shell, semispherical surface
On be machined with latticed water inlet, be that latticed can effectively reduce the volume due to sundries such as water plant, gravels by the design of intake
Enter and influence the possibility of underwater propeller work；Water inlet 8 shapes of cover are similar to a hemispherical, can increase water entering surface area,
Increase inflow.Mainly serve with water inlet 8 affixed shells 7 of cover and fixation is installed, for providing the propeller and outside
Entire hydraulic propeller, can be fixed on the leg of underwater robot by equipment connected installation position in portion's by threaded hole 9.Pod
4 be cylindrical sleeve, can not only be used for shell and shields and can play the guide functions of water spray motor water flow inside to mention
High propulsive efficiency.Cable hole 10 is machined on the periphery of pod 4, for connecting the motor being located inside shell fixed cell
It is passed through with the electric wire for the electron speed regulator being located at outside shell fixed cell from the cable hole 10, is thus connected electron speed regulator
Afterwards, motor speed is controlled by electron governor pwm signal.Water cover 1 is the hollow truncated cone-shaped shell that both ends are open,
It is relatively large in diameter end to be connected with pod 4, diameter small end is as water jet 1-1, so that the area of water jet 1-1 section is small
In the area of water inlet (being relatively large in diameter end) and pod water flow section, water flow speedup can be made to spray, to increase thrust.
The structure of pod 4 is as shown in Figure 4 and Figure 5, including pod shell 4-3, coaxially sets inside pod shell 4-3
It is equipped with motor fixing shell 4-4, passes through three circumferentially distributed supports between pod shell 4-3 and motor fixing shell 4-4
Seat 4-1 is connected and fixed.Motor 3 is placed on inside motor fixing shell 4-4 and by mounting hole 4-2 and motor fixing shell 4-4
It is fixed.Motor fixing shell 4-4 is annular closed shell with a central hole, the centre bore be flow through pod water flow it is logical
Road.Water flow enters from the inlet, and propeller high speed rotation constantly pushes water flow backward.Thus when flowing through pod 4,
Water flow has had certain speed, pod 4 can by the water flow outside the water flow and hydraulic propeller with certain speed every
It comes absolutely, plays the role of keeping propeller water flow inside speed to greatest extent.
Electric-motor drive unit includes：Motor 3 and propeller 6；It is fixed single that the motor 3 that is sealed that treated is mounted on shell
On the central axis of member, as shown in figure 3, the mounting hole on motor front end cover 3-2 is fixed with 4 inside mounting hole 4-2 of pod, from
And realize fixation of the motor 3 in shell fixed cell.Motor front end cover 3-2 is towards one end of water cover 1 and the casing of motor
3-1 is connected, and the power output shaft on the central axes of 3 other end of motor is as shaft 3-5, shaft 3-5's and casing 3-1
Connecting pin is set with the oil sealing 3-3 for playing oil sealing dustproof effect.Interior hexagonal holding screw 3- is fixed on shaft 3-5 simultaneously
Fixation hole 5 on 4, interior hexagonal holding screw 3-4 and propeller 6 cooperates, and propeller 6 is fixed on shaft 3-5, realizes shaft
The function that 3-5 rotation drives propeller 6 to rotate.In order to make motor 3 become smooth ichthyoid to reduce the resistance of water,
In the tail portion (casing 3-1 towards one end of water cover 1) of motor case 3-1 plus the dome structure of a taper, referred to as tail bone
2。
The working principle of the hydraulic propeller is：
The hydraulic propeller is controlled using brushless electronic governor, gives pwm signal, and brushless motor rotation passes through shaft
3-5 rotation drives 6 high speed rotation of propeller；After water flow enters from water inlet cover 8, high-speed rotating blade is constantly a large amount of
Water pushes backward, and water flow is finally sprayed from water jet 1-1 outward by motor 3 and tail bone 2, generates thrust.It is accounted for by changing
The size of empty ratio changes the revolving speed of motor 3 so as to adjust the thrust of hydraulic propeller.
The maximum thrust of the water jet of this kind of structure type propeller in the case where blade rotation diameter is only 36.5mm
It can reach 2.9N, compared with similar hydraulic propeller, the hydraulic propeller size is small, and (axial full-size is 110mm, and radial direction is most
Large scale is 41mm), light-weight (quality in air be about 200g), mechanism is simple, compact-sized, easy to maintenance and convenient for peace
Dress is fixed, and the rapidity and maneuverability of robot can be improved.It is used in underwater robot, since its thrust greatly can be real
The existing underwater quick movement of underwater robot and the floating and dive for realizing robot.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of electronic catheter type hydraulic propeller, which is characterized in that including：Shell fixed cell and electric-motor drive unit；
The shell fixed cell includes：Sequentially coaxially connected water inlet cover (8), shell (7), pod (4) and water cover
(1)；Water inlet is machined on the water inlet cover (8), the propeller is connected by the shell (7) for providing with external equipment
Installation position；Cable hole (10) are machined on the pod (4)；Water jet (1-1) is machined on the water cover (1)；
The electric-motor drive unit includes：Motor (3) and propeller (6)；The motor (3) is fixed in the pod (4)
Portion, the control line for being controlled the motor (3) are passed through from the cable hole (10)；The power of the motor (3) is defeated
Shaft covers (8) direction towards the water inlet as shaft (3-5), in the connection end cap of the shaft (3-5) and motor (3)
Equipped with oil sealing (3-3)；The propeller (6) is connected with the shaft (3-5), rotates under the shaft (3-5) drive.
2. electronic catheter type hydraulic propeller as described in claim 1, which is characterized in that the water inlet on the water inlet cover (8)
Mouth is latticed.
3. electronic catheter type hydraulic propeller as claimed in claim 1 or 2, which is characterized in that the water inlet cover (8) is half
Spherical shell.
4. electronic catheter type hydraulic propeller as claimed in claim 1 or 2, which is characterized in that the casing in the motor (3)
One end of (3-1) towards water cover (1) is equipped with radome fairing.
5. electronic catheter type hydraulic propeller as claimed in claim 1 or 2, which is characterized in that the water cover (1) is rotary table
Shape shell is relatively large in diameter end and is connected with the pod (4), and diameter small end is as water jet (1-1).
6. electronic catheter type hydraulic propeller as claimed in claim 1 or 2, which is characterized in that the revolving speed of the motor (3) by
Electron speed regulator control, for connecting the electric wire of motor (3) and the electron speed regulator outside shell fixed cell from described
Cable hole (10) passes through, and controls motor speed by electron governor pwm signal.
7. electronic catheter type hydraulic propeller as claimed in claim 1 or 2, which is characterized in that the motor (3) is led described
Stream covers (4) internal fixed form：It is coaxially arranged with motor fixing shell (4-4) inside pod shell (4-3), it is described to lead
It is connected and fixed between stream cover shell (4-3) and motor fixing shell (4-4) by support base (4-1)；The motor (3) is fixed on
The motor fixing shell (4-4) is internal；The motor fixing shell (4-4) is annular closed shell with a central hole, should
Centre bore is the water stream channel for flowing through pod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810844792.9A CN108820169A (en) | 2018-07-27 | 2018-07-27 | A kind of electronic catheter type hydraulic propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810844792.9A CN108820169A (en) | 2018-07-27 | 2018-07-27 | A kind of electronic catheter type hydraulic propeller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108820169A true CN108820169A (en) | 2018-11-16 |
Family
ID=64152003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810844792.9A Pending CN108820169A (en) | 2018-07-27 | 2018-07-27 | A kind of electronic catheter type hydraulic propeller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108820169A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878667A (en) * | 2019-04-04 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN111319744A (en) * | 2018-12-14 | 2020-06-23 | 韦翔 | Underwater lightning water-jet propeller |
| CN112046719A (en) * | 2020-09-16 | 2020-12-08 | 浙江尤奈特电机有限公司 | Propeller for water |
| CN112874743A (en) * | 2021-01-19 | 2021-06-01 | 武汉波依迈科技有限公司 | Rim propeller and advancing tool adopting same |
| CN113071635A (en) * | 2021-03-31 | 2021-07-06 | 湖南翰坤实业有限公司 | Motion system of underwater combat robot |
| CN113665771A (en) * | 2020-05-13 | 2021-11-19 | 上海交通大学 | Underwater simple movement device based on fluid driving |
| CN114919725A (en) * | 2022-06-13 | 2022-08-19 | 上海大学 | Underwater movement device based on deformation Tesla valve |
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| US5289068A (en) * | 1990-08-23 | 1994-02-22 | Westinghouse Electric Corp. | Two-stage submersible propulsor unit for water vehicles |
| KR20110117835A (en) * | 2010-04-22 | 2011-10-28 | 삼성중공업 주식회사 | Propulsion efficiency enhancing apparatus for duct type thruster using nozzle |
| CN106081029A (en) * | 2016-06-17 | 2016-11-09 | 哈尔滨工程大学 | The thrust ducted propeller such as forward and reverse |
| CN207157470U (en) * | 2017-08-07 | 2018-03-30 | 西安工业大学 | A kind of small underwater propeller |
| CN208789911U (en) * | 2018-07-27 | 2019-04-26 | 北京理工大学 | A kind of electronic catheter type hydraulic propeller |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5289068A (en) * | 1990-08-23 | 1994-02-22 | Westinghouse Electric Corp. | Two-stage submersible propulsor unit for water vehicles |
| KR20110117835A (en) * | 2010-04-22 | 2011-10-28 | 삼성중공업 주식회사 | Propulsion efficiency enhancing apparatus for duct type thruster using nozzle |
| CN106081029A (en) * | 2016-06-17 | 2016-11-09 | 哈尔滨工程大学 | The thrust ducted propeller such as forward and reverse |
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| CN208789911U (en) * | 2018-07-27 | 2019-04-26 | 北京理工大学 | A kind of electronic catheter type hydraulic propeller |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319744A (en) * | 2018-12-14 | 2020-06-23 | 韦翔 | Underwater lightning water-jet propeller |
| CN109878667A (en) * | 2019-04-04 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN109878667B (en) * | 2019-04-04 | 2019-11-08 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN113665771A (en) * | 2020-05-13 | 2021-11-19 | 上海交通大学 | Underwater simple movement device based on fluid driving |
| CN113665771B (en) * | 2020-05-13 | 2022-07-15 | 上海交通大学 | Underwater simple movement device based on fluid driving |
| CN112046719A (en) * | 2020-09-16 | 2020-12-08 | 浙江尤奈特电机有限公司 | Propeller for water |
| CN112874743A (en) * | 2021-01-19 | 2021-06-01 | 武汉波依迈科技有限公司 | Rim propeller and advancing tool adopting same |
| CN113071635A (en) * | 2021-03-31 | 2021-07-06 | 湖南翰坤实业有限公司 | Motion system of underwater combat robot |
| CN114919725A (en) * | 2022-06-13 | 2022-08-19 | 上海大学 | Underwater movement device based on deformation Tesla valve |
| CN114919725B (en) * | 2022-06-13 | 2024-04-16 | 上海大学 | Underwater movement device based on deformation Tesla valve |
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