CN109017181A - A kind of small-scale underwater vehicle device carriage by air is laid and recovery system - Google Patents
A kind of small-scale underwater vehicle device carriage by air is laid and recovery system Download PDFInfo
- Publication number
- CN109017181A CN109017181A CN201710427368.XA CN201710427368A CN109017181A CN 109017181 A CN109017181 A CN 109017181A CN 201710427368 A CN201710427368 A CN 201710427368A CN 109017181 A CN109017181 A CN 109017181A
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- Prior art keywords
- small
- underwater vehicle
- recovery system
- vehicle device
- laid
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
The present invention provides a kind of small-scale underwater vehicle device carriage by air, lay and recovery system, the system include amphibious toter, power device, horizontal fixture, vertical pressing device, the devices such as hinge joining means.The amphibious toter is for the carryings, including two identical floating bodies, quadrotor structure of components such as the horizontal fixture of the system and vertical pressing device etc..The horizontal fixture is for components such as horizontal direction fixed small-scale underwater vehicle devices, including guide rail, sliding block, oscillating rod and fixed plate.The components such as vertical fixation, including cylinder barrel, piston rod, piston, arc pressuring plate after the vertical compression device small-scale underwater vehicle device level is fixed.All components contacted with small-sized aircraft cover the decompression layer that one layer of infiltration waterproof material is made into.The carriage by air of present system collection small-scale underwater vehicle device lays integrated with recycling, effectively overcomes the deficiencies such as existing submarine navigation device recovery system working efficiency is low.
Description
Technical field
The invention patent relates to submarine navigation device fields, refer in particular to one kind and are used for the carriage by air of small-scale underwater vehicle device, lay
And the system of recycling.
Background technique
It is an essential ring that recycling is laid in the process for using of submarine navigation device, and successfully laying recycling is to navigate under water
The basis that row device works normally under water, it is unsuccessful lay recycling then may to submarine navigation device generate damage, whole system
Can not work even submarine navigation device loss.Due to sea turn, wave, combined influence, the recycling of submarine navigation device is always
Global problem affects the promotion and application of Autonomous Underwater aircraft.
The recycling of submarine navigation device mainly has three ways, such as following at present:
The first is that underwater mating recycling operation is carried out using floating dock type and hoistable platform, although can be reduced the influence of stormy waves,
But dedicated support lash ship is needed, and dedicated lash ship cost and cost of use are expensive, are not suitable for present status in China；
Second is to be lifted by crane to recycle with lash ship on the water surface, is typically necessary staff and takes motorboat close to submarine navigation device
Completion is docked with recovering mechanism, but the operation mode is affected by stormy waves, is easy to appear equipment damage when sea situation difference
With injury to personnel situation；
The third is carried out using dedicated docking boom hoisting to taking back by drawing the traction rope dished out of submarine navigation device
Receive, although which solves the problems, such as that staff not descend motorboat that can recycle submarine navigation device, but its traction device with
Docking boom hoisting is special equipment, and structure is relative complex, higher cost.
Therefore a kind of more economical reliably recyclable device and recovery method is needed to navigate under nobody lower lash ship recycle-water
Row device is possibly realized.
Summary of the invention
The invention patent technical problems to be solved are to overcome current recycling submarine navigation device mode at high cost or personnel
The problem that risk is big or device is complicated, providing a kind of staff and being located at can be realized submarine navigation device on lash ship and transports in the air
Carry, lay and recycle the recovery system and its recovery method of function integration.
The present invention is achieved by the following technical programs: carried including the empty amphibious delivery Da of water set, power device,
The devices such as horizontal fixture, vertical pressing device and hinge joining means.The empty amphibious delivery Da of the water carry set including
Two streamlined floating bodies, quadrotor structure etc., two propellers are located inside two streamlined floating body tail portions, pass through twin screw
Differential controls traveling and steering of the vehicle in surface navigation, and the streamlined floating body is symmetrically arranged with water conservancy diversion in tail portion
It improves propeller actual efficiency so that propeller comes into full contact with the water surface and plays the role of protecting propeller simultaneously in hole.Described four
Rotor is connected by " X " type carbon fiber support with two streamlined floating bodies, four air propellers relative to middle part equipment compartment two-by-two
Symmetrically.The control device is located in the middle part of quadrotor inside equipment compartment, is uniformly distributed solar panels at the top of the equipment compartment,
For promoting the cruising ability of vehicle, 360 degrees omnidirection camera is arranged in bottom, for feeding back visual angle, is convenient for staff
Manipulation.The horizontal fixture includes the components such as guide rail, sliding block, oscillating rod and fixed plate, and fixed plate is connected with oscillating rod, pendulum
Lever is fixed on sliding block, is slided on guide rail by two slider edges and is driven the fixed small-scale underwater vehicle device of fixed plate level, institute
Fixed plate lower part and submarine navigation device contact site are stated in arc shape to a certain degree, to prevent submarine navigation device in the horizontal direction
It glides after fixation.The vertical pressing device includes the components such as cylinder barrel, piston rod, piston, arc pressuring plate, and arc pressuring plate is fixed on
On piston rod, piston is connect with piston rod, and by piston, catenary motion drives piston rod catenary motion to band above and below cylinder barrel
Dynamic arc pressuring plate catenary motion, so that compressing submarine navigation device in vertical direction reaches locked effect.All and small-sized aircraft
Component of contact such as fixed plate, arc pressuring plate etc. covers the decompression layer that one layer of infiltration waterproof material is made on surface, to prevent
Damage when delivering, lay and recycle small-scale underwater vehicle device to small-sized aircraft destroys.
The present invention use couple structure, by VTOL realize it is amphibious, collection the carriage by air of small-scale underwater vehicle device, lay with
Recycling integration, effectively overcomes the deficiencies such as existing submarine navigation device recovery system working efficiency is low.System is promoted using aerial
System and two kinds of propulsion systems of surface propulsion system provide power for device, and the marine propulsion system is used for the amphibious carrying device water surface
It promotes and controls when navigation, predominantly dual-propeller thruster differential control；The Airborne Propellant System is used for amphibious carrying device
Floating body is lifted when surface navigation to reduce ship resistance or promote and control when the amphibious carrying device of severe sea condition being avoided to navigate by water in the sky
System mainly includes the components such as four air propellers, four brushless motors, and the revolving speed by changing four propellers makes different spiral shells
The lift that rotation paddle generates forms the combination of different power and torque to control attitude of flight vehicle and movement.In high sea situation or some
Special circumstances such as floating body breakage can be promoted using air propeller, can be completely disengaged the water surface, can be efficiently controlled amphibious carrying
The device speed of a ship or plane and posture.And when the invention device energy deficiency, supplement power source can be carried out by solar panels.
The working principle of present system are as follows: the small-scale underwater vehicle swims in the water surface, staff's control after having a high regard for business
It makes the amphibious vehicle to fly to submarine navigation device overhead, vertical landing passes through water above the water surface, traveling to submarine navigation device
Flat fixed device and vertical pressing device lock submarine navigation device on amphibious vehicle, and then by manipulating amphibious vehicle
Submarine navigation device is vertically landed on lash ship deck, similarly lays submarine navigation device using the same method, to reach
The delivery of present system collection underwater miniature aircraft lays and recycles integrated purpose.
The present invention is based on hull hydrodynamics, aerodynamics, system analysis engineering and control scientific multidisciplinary synthesis optimization
Design, can, low efficiency at high cost efficiently against current submarine navigation device recovery method the deficiencies of, in high sea situation, this
Invention has excellent sea-keeping, can completely disengage the water surface, influence it by severe marine environment, is suitable for any sea situation
Under the conditions of submarine navigation device delivery, lay and recycle operation.
Detailed description of the invention
Fig. 1 is the present invention two isogonism axonometric drawings up and down
Fig. 2 is top view of the present invention
Fig. 3 is left view of the present invention
Fig. 4 is main view of the present invention
Fig. 5 is horizontal fixture of the present invention and vertical pressing device overall diagram
Fig. 6 is two isogonism axonometric drawing of quadrotor of the present invention or so
Fig. 7 is floating body left view of the present invention
Wherein: 1. floating bodies；2. air propeller；3. equipment compartment；" 4. X " type carbon fiber support；5. horizontal fixture；6. hanging down
To pressing device；7. small-scale underwater vehicle device；8. deflector hole；9. propeller；10. omnidirectional camera；11. guide rail；12. sliding
Block；13. oscillating rod；14. fixed plate；15. cylinder barrel；16. piston rod；17. piston；18. arc pressuring plate；19. depressurizing layer；20. connecting
Connect bracket.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figs 1-4, recovery system of the invention includes two streamlined floating bodies 1, and two streamlined floating bodies 1 pass through four
A horizontal guide rail 11 connects, and is fixed with corner fittings, screw.Guarantee that the good aerodynamic quality of horizontal guide rail 11, level are led
Rail 11 is rule body, and the first two guide rail horizontal distance and latter two guide rail distance, solid with interior hexagonal tip screw
For fixed four blocks of square steel plates on guide rail, four blocks of square steel plates are symmetrical two-by-two about device center.Four are fixed respectively with bolt
A vertical connecting bracket 20 is then vertical with four respectively by 4 four axis of " X " type carbon fiber support on four blocks of square steel plates
Connecting bracket 20 is connected and fixed.An equipment compartment for being similar to square horizontal symmetrical is fixed with right above " X " type carbon fiber support 4
3, control device is respectively positioned on inside equipment compartment 3 in the recovery system, is uniformly distributed solar panels at the top of the equipment compartment 3, is used
In the cruising ability for promoting vehicle, 3 bottom of equipment compartment is disposed with 360 degree of full view cameras 10, can transmit letter in time
Breath manipulates vehicle delivery convenient for staff, lays and recycle small-scale underwater vehicle device 7.4 four axis of " X " type carbon fiber support
End arranges that symmetrical four brushless motors of left-right and front-back, four brushless motors are separately connected four different air propellers 2,
It is followed successively by No.1 propeller, No. two propellers, No. three propellers, No. four propellers counterclockwise.11 two sides of guide rail are equipped with horizontal solid
To determine device, specifically includes the components such as guide rail 11, sliding block 12, oscillating rod 13 and fixed plate 14, middle is equipped with vertical pressing device,
Specifically include the components such as cylinder barrel 15, piston rod 16, piston 17, arc pressuring plate 18.Due to the cloth of the air propeller 2 of the vehicle
It sets, it is desirable that " X " type carbon fiber support axial length distance should be greater than the blade radius of air propeller 2 so that 2 energy of air propeller
It works normally.
As shown in figure 5, horizontal fixture includes the components such as guide rail 11, sliding block 12, oscillating rod 13 and fixed plate 14, it is fixed
Plate 14 is connected with oscillating rod 13, and oscillating rod 13 is fixed on sliding block 12, by two slider edges 12 on guide rail 11 slip band movable pendulum
Lever 13 moves, so that fixed plate 14 can horizontal fixed small-scale underwater vehicle device 7,14 lower part of fixed plate and underwater boat
7 contact site of row device is in arc shape to a certain degree, to glide after preventing submarine navigation device 7 from fixing in the horizontal direction.Vertical pressure
Tight device includes the components such as cylinder barrel 15, piston rod 16, piston 17, arc pressuring plate 18, and arc pressuring plate 18 is fixed on piston rod 16,
Piston 17 is connect with piston rod 16, drives 16 catenary motion of piston rod to band in about 15 catenary motion of cylinder barrel by piston 17
Dynamic 18 catenary motion of arc pressuring plate, so that compressing submarine navigation device 7 in vertical direction reaches locked effect.All and small-sized navigation
Component such as fixed plate 14, arc pressuring plate 18 that device 7 contacts etc. covers the decompression layer that one layer of infiltration waterproof material is made on surface
19, damage when preventing from delivering, lay and recycling small-scale underwater vehicle device 7 to small-sized aircraft 7 destroys.
As shown in fig. 6, four air propellers 2 relative to vehicle center line two-by-two bilateral symmetry.The first two air spiral shell
Rotation paddle 2 and latter two air propeller 2 fully meet bilateral symmetry geometrically respectively, and selected host model, power
It is also identical respectively with revolving speed, cruise when diameter, the number of sheets, paddle type and revolving speed of four air propellers 2 etc. are according to flight with most
Lift needed for some midrange speed between big speed and design determination, the present invention is by changing the revolving speeds of four air propellers 2
The lift for generating different propellers forms the combination of different power and torque to control attitude of flight vehicle and movement.Air spiral
The number of blade that each paddle of paddle 2 is selected depends on lift requirement and arrangement areas, this amphibious vehicle is due to using multiple propellers
Design, the lift that each paddle provides is small, and revolving speed is relatively low, and increasing blade quantity influences less the efficiency of single-blade.Blade ginseng
According to the design of lifting airscrew, cross-section blade is selected, cross sectional shape then uses NACA4418 aerofoil profile.
For the basic flying speed for guaranteeing amphibious vehicle, by closed-loop control device, which is symmetrically equipped with
Four air propellers 2, since the shaft of air propeller 2 can not vert, thus there are four inputs altogether for flight control system, divide
Not Wei a climbing power and three directions torque.The amphibious vehicle use four air propellers 2 mechanical structure, four
Direct driving force source of a motor as flight, the liter that the revolving speed by changing four air propellers 2 generates different propellers 2
Power forms the combination of different power and torque to control attitude of flight vehicle and movement, the two adjacent paddles of four air propellers 2
It is oppositely oriented, itself can both make torque offset each other, and be not required to realize balance reaction torque by tail-rotor.After left front paddle and the right side
Paddle rotates counterclockwise, and right bow oar and left back paddle rotate clockwise, and this reverse symmetry structure is instead of conventional helicopters tail rotor.
In flight course, change the revolving speed of four air propellers 2, amphibious unmanned vehicle can be made to generate various flight attitudes,
Amphibious unmanned vehicle can be made to move to each predetermined direction.This design concept significantly simplifies amphibious unmanned vehicle
The structure and kinetic model of flight system.
As shown in fig. 7, the ratio between the maximum length of floating body 1 and maximum transversal scale are 11-14, length to height ratio 6.5-8.5.It should
Vehicle surface speed is higher, and 1 maximum length of floating body and the ratio between maximum transversal scale are bigger, and length to height ratio is smaller；The vehicle water
The face speed of a ship or plane is lower, and 1 maximum length of floating body and the ratio between maximum transversal scale are smaller, and length to height ratio is bigger.In view of the left and right of the system
Symmetric designs entail, two floating bodies 1 are using two kinds of identical lower resistances, the elongated streamline cylinder of high lift-drag ratio, left and right
It is symmetrically arranged in vehicle lower part.
Floating body 1 uses carbon fibre composite, and grillage made of the skeleton and outside plate of the light materials such as aluminium alloy is constituted, and floats
All internal redundant spaces of body are all filled using small severe buoyant material, and unsinkability when being significantly increased damaged is
Under the conditions of breakage, ability to work is maintained to provide support.
Two propellers 9 are located inside two streamlined 1 tail portions of floating body, and delivery is controlled by 9 differential of twin screw
Traveling and steering of the device in surface navigation, the streamlined floating body 1 is symmetrically arranged with deflector hole 8 in tail portion, so that propeller 9
It is come into full contact with the water surface, plays the role of protecting propeller while improving 9 actual efficiency of propeller.
The working principle of present system are as follows: the water surface is swum in after 7 task of small-scale underwater vehicle device, work people
Member controls the amphibious vehicle and takes off vertically flight from lash ship to 7 overhead of submarine navigation device, and vertical landing is in the water surface, and traveling is extremely
Above submarine navigation device, slide to drive the horizontal sliding of oscillating rod 13 on guide rail 11 by manipulating two side slides 12, so that
Fixed plate 14 can fix submarine navigation device 7 in the horizontal direction, then by control piston 17 in about 15 catenary motion band of cylinder barrel
16 catenary motion of piston bar is to drive 18 catenary motion of arc pressuring plate, so that compressing submarine navigation device 7 in vertical direction will
Submarine navigation device 7 locks on amphibious vehicle, and then submarine navigation device 7 is returned to flight to mother by manipulating amphibious vehicle
Ship overhead vertically lands on lash ship deck, similarly lays submarine navigation device using the same method, to reach the present invention
The delivery of system collection small-scale underwater vehicle device lays and recycles integrated purpose, efficiently solves current submarine navigation device and returns
The deficiencies of debit's subtraction unit is complicated, at high cost, inefficiency.
Claims (10)
1. a kind of small-scale underwater vehicle device carriage by air is laid and recovery system, including the empty amphibious delivery Da of a water carry set,
The devices such as power device, horizontal fixture, vertical pressing device and hinge joining means, it is characterised in that: two streamlines
Type floating body (1) is connected by horizontal guide rail (11), supports " X " type carbon fiber support (4) with four vertical connecting brackets (20), and four
A air propeller (2) is located at (4) four shaft end of " X " type carbon fiber support, is fixed with right above " X " type carbon fiber support (4)
One is similar to the equipment compartment (3) of square horizontal symmetrical, and control device is respectively positioned on equipment compartment (3) inside in the recovery system,
Guide rail (11) two sides are equipped with horizontal fixture, and middle is equipped with vertical pressing device.
2. a kind of small-scale underwater vehicle device carriage by air according to claim 1 is laid and recovery system, it is characterized in that:
Horizontal fixture is made of guide rail (11), sliding block (12), oscillating rod (13) and fixed plate (14), fixed plate (14) and oscillating rod
(13) it is connected, oscillating rod (13) is fixed on sliding block (12), and by two slider edges (12), slip band movable pendulum is dynamic on guide rail (12)
Bar (13) and fixed plate (14) movement.
3. a kind of small-scale underwater vehicle device carriage by air according to claim 1 is laid and recovery system, it is characterized in that:
Vertical pressing device is made of cylinder barrel (15), piston rod (16), piston (17), arc pressuring plate (18), and arc pressuring plate (18) is fixed
One end on piston rod (16), piston (17) are connect with piston rod (16) other end, by piston (17) cylinder barrel (15) up and down
Catenary motion drives piston rod (16) catenary motion to drive arc pressuring plate (18) catenary motion.
4. a kind of small-scale underwater vehicle device carriage by air according to claim 2 is laid and recovery system, it is characterized in that:
Fixed plate (14) top is smoothing regulation body, lower part and submarine navigation device (7) contact site in arc shape to a certain degree, arc
Wire shaped is obtained by simulating Force Calculation.
5. a kind of small-scale underwater vehicle device carriage by air according to claim 2,3 is laid and recovery system, feature
Be: all component such as fixed plates (14) contacted with small-sized aircraft (7), arc pressuring plate (18) etc. cover one layer of infiltration on surface
The decompression layer (19) that saturating waterproof material is made into.
6. a kind of small-scale underwater vehicle device carriage by air according to claim 1 is laid and recovery system, it is characterized in that:
Two floating bodies (1) are identical streamlined cylinder, and are in same level, are relevant to present system center line pair
Claim.
7. a kind of small-scale underwater vehicle device carriage by air according to claim 6 is laid and recovery system, it is characterized in that:
The ratio between the maximum length of floating body (1) and maximum transversal scale are 11-14, length to height ratio 6.5-8.5.
8. a kind of small-scale underwater vehicle device carriage by air according to claim 1 is laid and recovery system, it is characterized in that:
(4) four shaft ends of " X " type carbon fiber support arrange that symmetrical four brushless motors of left-right and front-back, four brushless motors connect respectively
Connect four different air propellers (2).
9. a kind of small-scale underwater vehicle device carriage by air according to claim 1 is laid and recovery system, it is characterized in that:
Two propellers (9) are located inside two streamlined floating body (1) tail portions, control vehicle by twin screw (9) differential
Traveling and steering in surface navigation.
10. a kind of small-scale underwater vehicle device carriage by air according to claim 1 is laid and recovery system, it is characterized in that:
Streamlined floating body (1) tail portion is equipped with symmetrical deflector hole (8), to play while improving propeller (9) actual efficiency
Protect the effect of propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710427368.XA CN109017181A (en) | 2017-06-08 | 2017-06-08 | A kind of small-scale underwater vehicle device carriage by air is laid and recovery system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710427368.XA CN109017181A (en) | 2017-06-08 | 2017-06-08 | A kind of small-scale underwater vehicle device carriage by air is laid and recovery system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109017181A true CN109017181A (en) | 2018-12-18 |
Family
ID=64629504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710427368.XA Pending CN109017181A (en) | 2017-06-08 | 2017-06-08 | A kind of small-scale underwater vehicle device carriage by air is laid and recovery system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733137A (en) * | 2019-01-24 | 2019-05-10 | 江苏科技大学 | A kind of Multifunctional hanging applied to the empty amphibious search and rescue unmanned flight equipment of water, which carries, to be set |
| RU2706748C1 (en) * | 2019-03-19 | 2019-11-20 | Александр Георгиевич Семенов | Three-medium mobile unit "stack" |
| CN110481777A (en) * | 2019-08-20 | 2019-11-22 | 哈尔滨工程大学 | A kind of empty amphibious unmanned Succor plain stage of water |
| CN110901841A (en) * | 2019-12-30 | 2020-03-24 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN111409404A (en) * | 2020-03-02 | 2020-07-14 | 上海工程技术大学 | Turbojet-driven air-ground amphibious transportation aircraft |
| CN114180022A (en) * | 2021-12-23 | 2022-03-15 | 广东工业大学 | Triphibian boat structure |
| CN114571931A (en) * | 2022-04-24 | 2022-06-03 | 浙江大学 | Amphibious unmanned aerial vehicle |
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2017
- 2017-06-08 CN CN201710427368.XA patent/CN109017181A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733137A (en) * | 2019-01-24 | 2019-05-10 | 江苏科技大学 | A kind of Multifunctional hanging applied to the empty amphibious search and rescue unmanned flight equipment of water, which carries, to be set |
| RU2706748C1 (en) * | 2019-03-19 | 2019-11-20 | Александр Георгиевич Семенов | Three-medium mobile unit "stack" |
| CN110481777A (en) * | 2019-08-20 | 2019-11-22 | 哈尔滨工程大学 | A kind of empty amphibious unmanned Succor plain stage of water |
| CN110901841A (en) * | 2019-12-30 | 2020-03-24 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN110901841B (en) * | 2019-12-30 | 2024-04-26 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN111409404A (en) * | 2020-03-02 | 2020-07-14 | 上海工程技术大学 | Turbojet-driven air-ground amphibious transportation aircraft |
| CN111409404B (en) * | 2020-03-02 | 2022-10-04 | 上海工程技术大学 | Turbojet-driven air-ground amphibious transportation aircraft |
| CN114180022A (en) * | 2021-12-23 | 2022-03-15 | 广东工业大学 | Triphibian boat structure |
| CN114571931A (en) * | 2022-04-24 | 2022-06-03 | 浙江大学 | Amphibious unmanned aerial vehicle |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181218 |
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| WD01 | Invention patent application deemed withdrawn after publication |