CN109367333A - A kind of wheeled amphibious unmanned boat of hydraulic jet propulsion - Google Patents
A kind of wheeled amphibious unmanned boat of hydraulic jet propulsion Download PDFInfo
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- CN109367333A CN109367333A CN201811196052.5A CN201811196052A CN109367333A CN 109367333 A CN109367333 A CN 109367333A CN 201811196052 A CN201811196052 A CN 201811196052A CN 109367333 A CN109367333 A CN 109367333A
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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Abstract
The present invention discloses a kind of wheeled amphibious unmanned boat of hydraulic jet propulsion, it is characterised in that: including hull and the battery pack, hydraulic jet propulsion system and the running gear system that are mounted on hull；Running gear system includes driving unit, at least one front wheel drive unit, a pair of rear wheels gear unit, at least a tire steering unit and tire retractable unit；Front wheel drive unit and rear wheel unit are rotatably installed in the front and rear sides corresponding position of hull respectively, turn to unit rotational by a tire on front wheel drive unit and are equipped with a tire, a tire is rotatably equipped on rear wheel drive unit；The output shaft of driving unit respectively with the input axis connection of front and back wheel gear unit, the output shaft of front and back wheel gear unit respectively with the wheel axis connection of tire；Tire retractable unit respectively drives front and back wheel gear unit around the pivot axis of tire gear unit.The present invention is directed to shallow-water environment, has good shallow water landform handling capacity.
Description
Technical field
The invention belongs to amphibious unmanned boat technical fields, and in particular to a kind of wheeled amphibious unmanned boat of hydraulic jet propulsion.
Background technique
Unmanned boat is a kind of water surface autonomous robot, and the scale of construction is small, shallow draft, maneuverability, can enter traditional argosy
Oceangoing ship is not easy the shallow water area arrived at, is widely used to the numerous areas such as environmental monitoring, aquaculture, security protection patrol at present.But
For some special water environments, there are water, ebb phase anhydrous edge in marsh, beach area or flood tide phase as water route interweaves
Extra large intertidal zone etc., using traditional ship design unmanned boat be also difficult to enter operation, cause monitoring blank area and nobody
The blind area of ship operation.
Currently, amphibious ship mainly has crawler type and wheeled two kinds of distribution forms:
Crawler belt is generally arranged in hull two sides by crawler type amphibious craft, is promoted when navigating by water using propeller, is passed through crawler belt row
Walk the land traveling of mechanism, it is strong to complicated landform adaptive faculty, but in water navigate by water when pedrail mechanism increase ship resistance, serious shadow
Ring ship navigation performance.The amphibious unmanned boat as shown in patent CN106103673A, pedrail mechanism can not folding and unfolding, considerably increase
The resistance that ship navigates by water is not suitable for doing in water for a long time a wide range of motor-driven and cruise for a long time.
Wheeled amphibious craft using can folding and unfolding ratcheting mechanism realize the land traveling of amphibious craft, ratcheting mechanism is received when navigating by water
Onto the water surface, the performance of ship's navigation is improved, but existing wheeled amphibious craft driving device is mounted on wheel hub more, limits drive
Dynamic power influences the land driveability of amphibious craft, the amphibious craft as shown in patent CN106130332B, by installing in the hub
Hydraulic motor driving wheel advances, and travel speed is low, while each wheel drive motor is mutually indepedent, it is difficult to balance drive.
Therefore, it is necessary to one kind to be directed to special water environment, combine and navigate by water the two of performance and land driving performance
It dwells unmanned boat.
Summary of the invention
The present invention includes that unmanned boat cannot be introduced into particular job ring such as marsh, beach, intertidal zone for existing above water craft
The deficiency in border proposes a kind of amphibious unmanned boat combined using wheel type traveling mechanism with hydraulic jet propulsion, makes up above-mentioned area prison
The blank area of survey and the blind area of unmanned boat operation not only high speed operation but also can step on beach disembarkation in water, and mobility mentions significantly
It is high.
In order to solve the problems existing in the prior art, the present invention provides a kind of wheeled amphibious unmanned boats of hydraulic jet propulsion, including
Hull and the hydraulic jet propulsion system and running gear system being mounted on hull；
Running gear system includes driving unit, at least one front wheel drive unit, a pair of rear wheels gear unit, at least a tire
Steering unit and tire retractable unit；The front and rear sides that front wheel drive unit and rear wheel unit are rotatably installed in hull respectively are corresponding
At position, unit rotational is turned to by a tire on front wheel drive unit, one tire is installed, rotated on rear wheel drive unit
One tire is installed；
The output shaft of driving unit respectively with the input axis connection of front and back wheel gear unit, the output shaft of front and back wheel gear unit point
Not with the wheel axis connection of tire；Tire retractable unit respectively drives front and back wheel gear unit around the pivot center of tire gear unit
Rotation.
Further, the wheel retractable unit includes linear drive apparatus, the push rod of linear drive apparatus and corresponding tire
Gear unit is connected with the rotation of tire on the drive wheels gear unit.
Further, the tire retractable unit includes linear drive apparatus, gear and rack gear；Rack gear is moveably mounted
In the corresponding position of hull, gear is mounted on the shell of each tire gear unit, the push rod and tooth of linear drive apparatus
The connected drive rack linear movement of item, rack gear are engaged with respective gears.
Further, front and back wheel gear unit includes the tire driver for doubling as the shell of rocker arm and being set in shell
Structure；The upper end of shell is rotatably installed on hull, and lower end is rotatablely installed tire；The input shaft of tire transmission mechanism and motor are defeated
Shaft is connected, and output shaft is connected with the wheel shaft of tire.
Further, tire steering unit includes cage universal joint, rotation seat and steer-drive, and rotation seat can control
It is rotatably mounted on front wheel drive unit, the output shaft of front wheel drive unit passes through the wheel shaft phase of cage universal joint and tire
Even；Steer-drive is mounted on front wheel drive unit and is connected with rotation seat.
Further, driving unit further includes power device, differential mechanism and shaft coupling；The output shaft and differential of power device
The input shaft of device is connected, and the output shaft of differential mechanism passes through shaft coupling respectively and is connected with the input shaft of front and back wheel gear unit.
Further, the hydraulic jet propulsion system includes hydraulic jet propulsion device assembly and hydraulic propeller driving unit, water spray
On the quarter bottom, hydraulic propeller driving unit are arranged in hull for propulsion component setting, hydraulic jet propulsion device assembly and water spray
The connection of impeller driven unit.
Further, the hydraulic jet propulsion device assembly includes rotary nozzle and propeller blade, and the rotation of propeller blade is set
It sets in the tail portion of hull, rotary nozzle is rotatably arranged on the outside of propeller blade.
Further, it is additionally provided in hull bottom into water exhausting, exhausting is connected to rotary nozzle and propeller blade, shape
At with water stream channel.Exhausting entrance is additionally provided with antifouling flase floor.
Further, be additionally provided with deflector in the exhausting, deflector setting rotary nozzle and propeller blade it
Between.The invention has the benefit that
1. the present invention is reduced ship and navigated by water in water using the wheel type traveling mechanism that can be promoted compared to crawler type amphibious craft
Resistance, while hull uses for the recessed design of wheel income, navigates by water hour wheel income hull and hull syntype, maintains
Highly faired hull further improves navigation performance.
2. the present invention uses the rocker arm extension and retraction system of hydraulic linear driving device and multichannel bidirectional, dc hydraulic station component, liquid
Pressure linear drive apparatus has the advantages that thrust is big, positioning is quasi-, can be self-locking, while having and shaking under kicker effect in hydraulic cylinder
The incabloc function of arm；Multichannel bidirectional, dc hydraulic station can realize the synchronous operation of four-wheel lifting hydraulic cylinder, guarantee the land row of hull
Sail state balance.
3. the present invention is broken through, the land drive efficiency of Conventional drum amphibious craft is low, speed is slow, driving is uneven, steer ability
The defect of difference, synchronous driving before and after realizing four-wheel with the synchronous pulley in rocker arm using motor drive shaft assembly, by driving device
It is placed in hull, relieves limitation of the wheel hub installation to driving device, improve drive efficiency；Pass through wheel shaft cage in front-wheel simultaneously
Universal joint, wheel hub steering mechanism realize that the synchronous of front-wheel turns to by dedicated diverter, and steer ability is good.
4. the present invention is directed to shallow-water environment, it is preferred to use there is the underwater propulsion mode of hydraulic jet propulsion shallow draft, shallow water to imitate
Advantage small, that transmission mechanism is simple, attachment resistance is small, protective value is good is answered, has good shallow water landform handling capacity.
Detailed description of the invention
Fig. 1 is the side view of a preferred embodiment of the invention；
Fig. 2 is the top view of a preferred embodiment of the invention；
Fig. 3 is the bottom view of a preferred embodiment of the invention；
Fig. 4 is the main view of a preferred embodiment of the invention；
Fig. 5 is the rearview of a preferred embodiment of the invention；
Fig. 6 is the perspective view of a preferred embodiment of the invention；
Fig. 7 is the tail portion enlarged drawing of a preferred embodiment of the invention；
Fig. 8 is the schematic diagram of driving mechanism preferred embodiment of the present invention；
Fig. 9 is another example structure schematic diagram of tire retractable unit of the present invention.
Appended drawing reference:
1. hull；2 shaft couplings；3 shells；4 hydraulic linear driving devices；5. differential mechanism；6 rotary nozzles；7 propeller blades；8.
Mounting bracket；9. hydraulic jet propulsion device assembly；10. water jet driving unit；11. battery pack；12. deflector；13. exhausting；14. anti-
Dirty flase floor；15. multichannel bidirectional, dc hydraulic station；16. front-wheel；17 rear-wheels；18 gears；19 rack gears.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Fig. 1 to 7, a kind of wheeled amphibious unmanned boat of hydraulic jet propulsion of the invention, including hull and it is mounted on hull 1
On hydraulic jet propulsion system and running gear system；Running gear system include driving unit, at least one front wheel drive unit,
A pair of rear wheels gear unit, at least a tire steering unit and tire retractable unit；Front wheel drive unit and rear wheel unit difference
It is rotatably installed in the front and rear sides corresponding position of hull, unit rotational is turned to by a tire on front wheel drive unit and is equipped with
One tire is rotatably equipped with a tire on rear wheel drive unit；The output shaft of driving unit is driven with front and back wheel single respectively
Member input axis connection, the output shaft of front and back wheel gear unit respectively with the wheel axis connection of tire；Tire retractable unit drives respectively
Pivot axis of the dynamic front and back wheel gear unit around tire gear unit.
Unmanned boat, which can be used, four wheeled can also be used Three-wheel type.The four wheeled unmanned boat with Three-wheel type is distinguished in its wheeled row
On walking apparatus, other structures are all the same.When unmanned boat uses Three-wheel type, the running gear system of unmanned boat includes a front-wheel
Gear unit, a pair of rear wheels gear unit, a tire steering unit and tire retractable unit, front wheel drive unit pass through a tire
Front-wheel is mounted on the middle part of 1 front end of hull by steering unit, and two rear-wheels are mounted on 1 rear end of hull by a pair of rear wheels gear unit
Two sides, tire retractable unit respectively drives front and back wheel gear unit around the pivot axis of tire gear unit.When nobody
When ship uses four wheeled, the wheel type traveling mechanism of unmanned boat includes a pair of of front wheel drive unit, a pair of rear wheels gear unit, a pair
Tire steering unit and tire retractable unit, a pair of of front wheel drive unit pass through tire steering unit respectively and install two front-wheels
In the two sides of 1 front end of hull, two rear-wheels are mounted on the two sides of 1 rear end of hull, tire folding and unfolding list by a pair of rear wheels gear unit
Member respectively drives front and back wheel gear unit around the pivot axis of tire gear unit.The unmanned boat of Three-wheel type is compared to four wheeled
Unmanned boat it is more weaker in terms of the stability of hull 1 and power, therefore present invention preferably employs four wheeled unmanned boats.
Tire retractable unit may include linear drive apparatus 4, gear 18 and rack gear 19；Rack gear 19 is movably mounted at ship
The corresponding position of body 1, gear 18 are mounted on the shell 3 of each tire gear unit, the push rod and tooth of linear drive apparatus 4
Item 19 is connected the linear movement of 19 straight line of drive rack, and rack gear 19 engages with the gear 18 in respective housings 3, and such linear drives fill
The push rod for setting 4 is implemented flexible to push rack gear 19, and then by 19 rotate gear 18 of rack gear, so that rotating tire transmission is single
Member completes the folding and unfolding of tire gear unit.It, can be dynamic by one since front and back tire gear unit needs synchronous folding and unfolding
Power source carries out drive control, and multiple power sources can also be used and individually synchronously control, and specific set-up mode is the prior art, therefore
It does not repeat.
As shown in figure 9, another embodiment, which also can be used, in tire retractable unit realizes turning for front and back tire gear unit
Dynamic, tire retractable unit includes linear drive apparatus 4, the push rod of linear drive apparatus 4 directly with each tire gear unit
Shell 3 is hinged, to realize that tire on the drive wheels gear unit rotates when push rod stretches.One linear drive apparatus 4 can drive
One tire gear unit rotation, at this point, the number of linear drive apparatus 4 is when current rear tyre gear unit is two
Four；Present tire gear unit is one, and when rear tyre gear unit is two, the number of linear drive apparatus 4 is three；
One linear drive apparatus 4 can also drive two tire gear unit rotations simultaneously, and current rear tyre gear unit is two
When a, the number of linear drive apparatus 4 is two；Present tire gear unit is one, when rear tyre gear unit is two,
The number of linear drive apparatus 4 two not yet.Above-mentioned connection type is the prior art, therefore is not repeated.
Above-mentioned linear drive apparatus 4 can be hydraulic cylinder or electric cylinders, when using hydraulic cylinder, with setting on hull
Multichannel bidirectional, dc hydraulic station 15 be connected, to drive its push rod flexible, hydraulic cylinder has that thrust is big, positioning is quasi-, can be self-locking
The advantages of, the embodiment can be paid the utmost attention to.When using electric cylinders, it is connected with battery pack, to drive its push rod flexible.
Front and back wheel gear unit includes the tire transmission mechanism for doubling as the shell 3 of rocker arm and being set in shell 3.Front-wheel
The upper end of the shell 3 of gear unit is rotatably installed in the corresponding position of 1 front side of hull, and lower end is rotatablely installed front-wheel 16.Afterwards
The upper end for taking turns the shell 3 of gear unit is rotatably installed in the corresponding position of 1 rear side of hull, and lower end is rotatablely installed rear-wheel 17.
The input shaft of tire transmission mechanism is connected with motor output shaft respectively, and output shaft is connected with the wheel shaft of corresponding tire respectively.Tool
Body, tire transmission mechanism can be any transmission mechanism such as tape handler, chain-drive mechanism or shaft transmission.
Tire steering unit includes cage universal joint, rotation seat and steer-drive, and rotation seat can pacify to left-right rotation
On front wheel drive unit, front-wheel 16 is rotatably installed on rotation seat, and the output shaft of front wheel drive unit is universal by cage
Section is connected with the wheel shaft of front-wheel 16；Steer-drive is mounted on the shell 3 of front wheel drive unit and is connected with rotation seat,
For hydraulic cylinder or electric cylinders, rotated by the flexible driving rotation seat of push rod.
Driving unit further includes power device, differential mechanism 5 and shaft coupling 2；The output shaft of power device is defeated with differential mechanism 5
Enter axis to be connected, the output shaft of differential mechanism 5 passes through shaft coupling 2 respectively and is connected with the input shaft of front and back wheel gear unit.Front and back wheel passes
Moving cell can realize the synchronously driven purpose of all tire by a power device driving, can also use front wheel drive list
Member and rear wheel drive unit realize the synchronously driven purpose of all tire, specific connection side by a power device respectively
Formula is the prior art, therefore is not repeated.Such gear unit designs so that the front and back wheel of unmanned boat can be realized synchronous driving, has
Standby good power.Power device can be motor and be also possible to oil-burning machine, need and battery pack 11 when using motor
It is connected, needs to be connected with fuel tank when using oil-burning machine.
Mounting bracket 8 is additionally provided in hull, the mounting height of mounting bracket 8 is near vessel draft line, hydraulic linear
Drive set component 4, motor drive shaft assembly A15 and motor drive shaft assembly B16 are installed in mounting bracket 8.Installation branch
Frame 8 is horizontal bracket, and the design of mounting bracket 8 is conducive to improve the stability of unmanned boat entirety.
Hydraulic jet propulsion device assembly 9 and hydraulic propeller driving unit 10 are additionally provided in hull, hydraulic jet propulsion device assembly 9 is set
Bottom on the quarter is set, hydraulic propeller driving unit 10 is arranged in hull, and hydraulic propeller driving unit 10 connects battery pack
11, hydraulic jet propulsion device assembly 9 and hydraulic propeller driving unit 10 connect, and hydraulic jet propulsion device assembly 9 includes rotary nozzle 6 and pushes away
Into device blade 7, propeller blade 7 is rotatably arranged on the tail portion of hull, and rotary nozzle 6 is rotatably arranged on the outer of propeller blade 7
Side when unmanned boat navigates by water, is driven by the reaction force of the water flow of the ejection of propulsion hydrophone blade 7 of hydraulic jet propulsion device assembly 9
Ship, and the direction of jet flow is changed to realize the manipulation in ship direction by rotary nozzle 6.Double paddles propulsions, single-blade also can be used
The modes such as single rudder.Hydraulic jet propulsion selects scheme as main, and with shallow draft, shallow water effect is small, transmission mechanism is simple, attachment resistance
Advantage small, protective value is good, particularly suitable as the promotion program under shallow-water environment.
Hydraulic jet propulsion device assembly 9 can also connect the push rod of linear drive apparatus, when the push rod of linear drive apparatus retraction
Hydraulic jet propulsion device assembly 9 is driven to be upwards collected through to meet the requirement that unmanned boat travels on land, when pushing away for linear drive apparatus
Hydraulic jet propulsion device assembly 9 is driven to reset to meet unmanned boat in the requirement of surface navigation downwards when bar stretches out.Such scheme
It plays a protective role to a certain extent to hydraulic jet propulsion device assembly 9, avoids unmanned boat hydraulic jet propulsion device assembly 9 in land sailing
It is impaired.
It is additionally provided in hull bottom into water exhausting 13, exhausting 13 is connected to rotary nozzle 6 and propeller blade 7, is formed
With water stream channel, when unmanned boat navigates by water, water flow passes through from exhausting 13, successively sprays after propeller blade 7 and rotary nozzle 6
Out.Such design can more effectively utilize the power of hydraulic jet propulsion device assembly 9.13 entrance of exhausting is additionally provided with antifouling flase floor
14, prevent foreign matter in sucking water.
Stern bottom is additionally provided with deflector 12, and deflector 12 is arranged between rotary nozzle 6 and propeller blade 7, uses
In guidance water flow, propulsion is better implemented conducive to hydraulic jet propulsion device assembly 9.
For the streamlined of cooperation hull entirety, recessed portion can be set for receiving in the corresponding position of hull initial and tail sections tire
Enter tire, such unmanned boat is able to maintain hull when navigating by water streamlined, reduces air drag.
It when unmanned boat surface navigation, is shunk by the push rod of linear drive apparatus 4 and implements to lock, by tire and front and back wheel
Gear unit all income in the recessed portion of hull initial and tail sections to reduce surface navigation when resistance, hydraulic propeller group at this time
The operation of part 9, which promotes, realizes unmanned boat surface navigation, and is changed course by the rotation of rotary nozzle 6.Land when driving, passes through
The push rod of linear drive apparatus 4 stretches out and implements to lock, by under tire and front and back wheel gear unit Synchronous Radio to meet land shape
The needs of formula, the synchronous driving front and back wheel of power device operation at this time realizes unmanned boat land traveling, and is turned to by front-wheel.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of wheeled amphibious unmanned boat of hydraulic jet propulsion, it is characterised in that: including hull (1) and the spray being mounted on hull (1)
Water propulsion device and running gear system；
Running gear system includes driving unit, at least one front wheel drive unit, a pair of rear wheels gear unit, at least a tire
Steering unit and tire retractable unit；The front and rear sides that front wheel drive unit and rear wheel unit are rotatably installed in hull respectively are corresponding
At position, unit rotational is turned to by a tire on front wheel drive unit, one tire is installed, rotated on rear wheel drive unit
One tire is installed；
The output shaft of driving unit respectively with the input axis connection of front and back wheel gear unit, the output shaft of front and back wheel gear unit point
Not with the wheel axis connection of tire；Tire retractable unit respectively drives front and back wheel gear unit around the pivot center of tire gear unit
Rotation.
2. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 1, it is characterised in that: the wheel retractable unit
Including linear drive apparatus (4), the push rod of linear drive apparatus (4) is connected with corresponding tire gear unit to be driven with tire on the drive wheels
Unit rotational.
3. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 1, it is characterised in that:
The tire retractable unit includes linear drive apparatus (4), gear (18) and rack gear (19)；Rack gear (19) is movably pacified
Mounted in the corresponding position of hull (1), gear (18) is mounted on the shell (3) of each tire gear unit, linear drives dress
It sets the push rod of (4) and rack gear (19) is connected drive rack (19) linear movement, rack gear (19) is engaged with respective gears (18).
4. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 1, it is characterised in that: front and back wheel gear unit
The tire transmission mechanism for including the shell (3) as rocker arm and being set in shell (3)；The upper end of shell (3) is rotatablely installed
On hull (1), lower end is rotatablely installed tire；The input shaft of tire transmission mechanism is connected with motor output shaft, output shaft
It is connected with the wheel shaft of tire.
5. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 1, it is characterised in that: tire steering unit packet
Cage universal joint, rotation seat and steer-drive are included, rotation seat can be mounted on to left-right rotation on front wheel drive unit, front-wheel
The output shaft of gear unit is connected by cage universal joint with the wheel shaft of tire；Steer-drive is mounted on front wheel drive unit
Above and with rotation seat it is connected.
6. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 1, it is characterised in that: driving unit further includes
Power device, differential mechanism (5) and shaft coupling (2)；The output shaft of power device is connected with the input shaft of differential mechanism (5), differential mechanism
(5) output shaft passes through shaft coupling (2) respectively and is connected with the input shaft of front and back wheel gear unit.
7. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 1, it is characterised in that: the hydraulic jet propulsion dress
It sets including hydraulic jet propulsion device assembly (9) and hydraulic propeller driving unit (10), bottom on the quarter is arranged in hydraulic jet propulsion device assembly (9)
Portion, hydraulic propeller driving unit (10) are arranged in hull, hydraulic jet propulsion device assembly (9) and hydraulic propeller driving unit
(10) it connects.
8. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 7, it is characterised in that: the hydraulic propeller
Component (9) includes rotary nozzle (6) and propeller blade (7), and propeller blade (7) is rotatably arranged on the tail portion of hull, rotation
Spray head (6) is rotatably arranged on the outside of propeller blade (7).
9. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 8, it is characterised in that: also set in hull bottom
It being equipped with into water exhausting (13), exhausting (13) is connected to rotary nozzle (6) and propeller blade (7), it is formed with water stream channel,
Exhausting (13) entrance is additionally provided with antifouling flase floor (14).
10. the wheeled amphibious unmanned boat of a kind of hydraulic jet propulsion according to claim 9, it is characterised in that: the exhausting (13)
It is inside additionally provided with deflector (12), deflector (12) is arranged between rotary nozzle (6) and propeller blade (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811196052.5A CN109367333A (en) | 2018-10-15 | 2018-10-15 | A kind of wheeled amphibious unmanned boat of hydraulic jet propulsion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811196052.5A CN109367333A (en) | 2018-10-15 | 2018-10-15 | A kind of wheeled amphibious unmanned boat of hydraulic jet propulsion |
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| Publication Number | Publication Date |
|---|---|
| CN109367333A true CN109367333A (en) | 2019-02-22 |
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ID=65398309
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811196052.5A Pending CN109367333A (en) | 2018-10-15 | 2018-10-15 | A kind of wheeled amphibious unmanned boat of hydraulic jet propulsion |
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| CN (1) | CN109367333A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083945A (en) * | 2021-12-28 | 2022-02-25 | 华中科技大学 | Multi-propeller linkage folding and unfolding device and method applied to cross-domain unmanned platform |
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|---|---|---|---|---|
| US3566825A (en) * | 1967-06-05 | 1971-03-02 | Walter Ruf | Amphibious armored vehicle |
| JPS56174305U (en) * | 1980-05-26 | 1981-12-23 | ||
| CN2771100Y (en) * | 2005-03-22 | 2006-04-12 | 胡济荣 | Hydrojet propeller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114083945B (en) * | 2021-12-28 | 2022-08-05 | 华中科技大学 | Multi-propeller linkage folding and unfolding device and method applied to cross-domain unmanned platform |
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Application publication date: 20190222 |
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