CN110316326A - A kind of adjustable flexible binary unmanned boat of posture - Google Patents
A kind of adjustable flexible binary unmanned boat of posture Download PDFInfo
- Publication number
- CN110316326A CN110316326A CN201910658793.9A CN201910658793A CN110316326A CN 110316326 A CN110316326 A CN 110316326A CN 201910658793 A CN201910658793 A CN 201910658793A CN 110316326 A CN110316326 A CN 110316326A
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- unmanned boat
- posture
- deck
- connecting rod
- flexural pivot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/322—Other means for varying the inherent hydrodynamic characteristics of hulls using aerodynamic elements, e.g. aerofoils producing a lifting force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B17/0081—Vibration isolation or damping elements or arrangements, e.g. elastic support of deck-houses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Vibration Prevention Devices (AREA)
- Accessories Of Cameras (AREA)
- Vibration Dampers (AREA)
Abstract
The invention belongs to unmanned boat technical fields, specifically disclose a kind of adjustable flexible binary unmanned boat of posture, including Powerpush Unit, Powerpush Unit two sides are equipped with symmetrical double air-cushion type cylindrical type support devices；Powerpush Unit is equipped with the spring vibration damper being connected with control device, and Powerpush Unit is equipped with a pair of of the telescopic device being connected with double air-cushion type cylindrical type support devices；The invention is by being equipped with symmetrical double air-cushion type cylindrical type support devices in Powerpush Unit two sides, to guarantee the ride easy of unmanned boat, Powerpush Unit is connected with double air-cushion type cylindrical type support devices using flexible structure, improve the stability of unmanned boat navigation, deck tail portion is connected with telescopic device, route speed and posture can be adjusted at any time, keep the modulability of unmanned boat more flexible, and the design of spring vibration damper plays good shock absorbing effect to control platform, alleviates the abrasion in control platform between each precision parts.
Description
Technical field
The invention belongs to unmanned boat technical fields, and in particular to a kind of adjustable flexible binary unmanned boat of posture.
Background technique
With the development of unmanned boat key technology, it is good to have developed many types of performance both at home and abroad, shallow draft, the long nothing of cruising ability
People's ship, and ship is followed to go to sea execution task.But due to the influence of own wt and marine adverse circumstances so that unmanned boat navigates by water
Posture is single, regulating power is poor, key components and parts serious wear, maintenance cost increase, and is not able to satisfy complicated field and severe ring
Multitask demand under border.Therefore, in face of complicated marine environment, the speed of a ship or plane and navigation posture of unmanned boat how is adjusted, is improved
The service life of unmanned boat is the key factor of unmanned boat development.
Summary of the invention
Speed of a ship or plane route speed and posture are easy to produce not to solve existing unmanned boat when in face of complicated marine environment
Stable problem can adjust route speed and posture the present invention provides one kind and can mitigate the abrasion of unmanned boat precise part
Flexible binary unmanned boat.
Based on above-mentioned purpose, the present invention is achieved through the following technical solutions:
A kind of adjustable flexible binary unmanned boat of posture, including Powerpush Unit, Powerpush Unit two sides are equipped with symmetrical
Double air-cushion type cylindrical type support devices；Powerpush Unit is equipped with to be filled by the control that spring vibration damper is connected
It sets, a pair of of the telescopic device being connected with double air-cushion type cylindrical type support devices is additionally provided on Powerpush Unit.
Preferably, spring vibration damper includes high-strength spring, and high-strength spring both ends are equipped with long connecting rod, and any length is even
Bar is equipped with short connecting rod far from one end of high-strength spring, and short connecting rod is equipped with shock-absorbing ball hinge head far from one end of long connecting rod；It is high
The cylindrical sleeves matched with both ends long connecting rod are arranged on intensity spring, cylindrical sleeves both ends are set as matching with long connecting rod
Movable span, movable span be equipped with sealing ring.
Preferably, double air-cushion type cylindrical type support devices include gas cell, and gas cell is equipped with support plate, in support plate
Equipped with a pair of universal axle bed.
Preferably, Powerpush Unit includes deck, and deck front end is equipped with deflector, and deck tail end is equipped with a pair along deck
Axisymmetric propeller, deck top surface are equipped with a pair of of rigid link, and rigid link end is equipped with connected ball hinge head, rigid link
It is connected by fixing seat with deck top surface；Deck top surface is additionally provided with two pairs of flexural pivot fixing seats, and deck top surface is equipped with a pair of of flexural pivot
Hole；Connected ball hinge head is matched with universal axle bed.
Preferably, telescopic device includes electric pushrod, and electric pushrod movable end is equipped with movable balls hinge head, and electric pushrod is fixed
End is equipped with deck flexural pivot head；Movable balls hinge head is matched with universal axle bed；Deck flexural pivot head is matched with flexural pivot hole.
Preferably, control device includes control platform, and control platform is equipped with laser radar, before laser radar side is equipped with
Lighting system is set, the laser radar other side is equipped with millimetre-wave radar；Control platform bottom surface is equipped with and matches with flexural pivot fixing seat
Globe hinge support seat.
Preferably, gas cell and the consistent one end of unmanned boat direction of advance are cone shape.
Preferably, deck and control platform clearance fit；Between spring vibration damper and Powerpush Unit, control device
It is obliquely installed.
Preferably, the shock-absorbing ball hinge head of spring vibration damper one end is connected with flexural pivot fixing seat, the shock-absorbing ball of the other end
Hinge head is connected with globe hinge support seat.
Compared with prior art, beneficial effects of the present invention are as follows:
(1) Powerpush Unit two sides are equipped with symmetrical double air-cushion type cylindrical type support devices, to guarantee the boat of unmanned boat
Row is steady, and the design of spring vibration damper plays good shock absorbing effect to control platform, alleviates in control platform
Abrasion between each precision parts improves the service life of unmanned boat in the presence of a harsh environment；Telescopic device can adjust boat at any time
Scanning frequency degree and posture keep the modulability of unmanned boat more flexible.
(2) it jolts when high-strength spring can reduce unmanned boat course line to greatest extent bring seismaesthesia, long connecting rod, short connecting rod
It is combined with shock-absorbing ball hinge head, is mounted on the position of needs, play effect that is fixed and keeping spring vibration damper stable, cylinder
Sleeve can protect high-strength spring, guarantee that high-strength spring can be used safely for a long time, it is ensured that high-strength spring it is reliable
Property, movable span guarantees that long connecting rod can be move freely, and can pass to high-strength spring the vibration being subject to.Sealing ring can have
Effect is sealed, and is prevented seawater etc. from entering cylindrical sleeves, is prevented high-strength spring from getting rusty, and high-strength spring service life is extended.
(3) gas cell can guarantee the buoyancy in the water surface to entire unmanned boat, support plate and universal shaft on gas cell
Seat matches, and plays fixed function to Powerpush Unit.
(4) deflector two sides are streamlined plays the role of reducing ship resistance, and a pair of symmetrical propeller is easier to control
The direction of advance and speed of unmanned boat processed, rigid link and connected ball hinge head match can be fixed safely with universal axle bed, ball
Hinge fixing seat plays the role of installing spring vibration damper, and fixed deck flexural pivot head is convenient in flexural pivot hole.
(5) electric pushrod plays effect flexible in time, passes through the flexible adjustment gas cell tail end of electric pushrod and deck
The distance between, it plays and adjusts route speed and posture at any time, make the more flexible effect of the modulability of unmanned boat, deck flexural pivot
Head is matched with flexural pivot hole, facilitates telescopic device fixed above deck, movable balls hinge head is matched with universal axle bed, can be adjusted
The direction of gas cell adjusts the posture of unmanned boat.
(6) for illuminating, laser radar matches the preposition lighting system in control platform with millimetre-wave radar, plays
Right, globe hinge support seat plays the role of connection and support spring damping device.
(7) gas cell and the consistent one end of unmanned boat direction of advance are cone shape, can reduce unmanned boat advance and bring
Resistance, give it the gun convenient for unmanned boat.
(8) deck and control platform clearance fit, avoid deck from directly contacting with control platform, use spring shock absorption completely
Device reduces the conduction of vibration, protects the precision equipment in control platform.Spring vibration damper and Powerpush Unit, control
It is obliquely installed between device, can effectively play the cushioning effect to control device.
(9) it is connected between flexural pivot fixing seat and globe hinge support seat by the shock-absorbing ball hinge head on spring vibration damper, it can
Deck bring jolts and trembles when largely mitigating navigation, in biggish mitigation control platform between each precision parts
Abrasion, improves the service life of unmanned boat in the presence of a harsh environment.
To sum up, the present invention is filled by being equipped with symmetrical double air-cushion type cylindrical type supporters in Powerpush Unit two sides
It sets, to guarantee the ride easy of unmanned boat, Powerpush Unit and double air-cushion type cylindrical type support devices use flexible structure
It is connected, improves the stability of unmanned boat navigation, deck tail portion is connected with telescopic device, can adjust route speed and appearance at any time
State keeps the modulability of unmanned boat more flexible, and the design of spring vibration damper plays buffering well to control platform and subtracts
Shake effect, alleviates the abrasion in control platform between each precision parts, improves the use longevity of unmanned boat in the presence of a harsh environment
Life, streamlined play in the deflector two sides of the deck front end of installation reduce ship resistance effect.
Detailed description of the invention
Fig. 1 is the binary unmanned boat schematic diagram of embodiment 1；
Fig. 2 is that the binary unmanned boat posture of embodiment 1 changes schematic diagram；
Fig. 3 is double air-cushion type cylindrical type supporting body structure schematic diagrames of embodiment 1；
Fig. 4 is the spring damper structural schematic diagram of embodiment 1；
Fig. 5 is the control platform schematic diagram of embodiment 1；
Fig. 6 is the propeller propulsion system structural schematic diagram of embodiment 1；
Fig. 7 is Fig. 6 left side structure schematic diagram of embodiment 1.
In figure, 1, double air-cushion type cylindrical type support devices, 2, spring vibration damper, 3, control device, 4, Powered Propulsion
Device, 5, telescopic device, 101, gas cell, 102, support plate, 103, universal axle bed, 201, shock-absorbing ball hinge head, 202, long connecting rod,
203, high-strength spring, 204, cylindrical sleeves, 205, short connecting rod, 301, preposition lighting system, 302, laser radar, 303, millimeter
Wave radar, 304, globe hinge support seat, 305, control platform, 401, rigid link, 402, connected ball hinge head, 403, fixing seat,
404, flexural pivot fixing seat, 405, deflector, 406, deck, 407, propeller.
Specific embodiment
Below by way of specific embodiment, invention is further described in detail, but does not limit the scope of the invention.
Embodiment 1:
A kind of adjustable flexible binary unmanned boat of posture, structure is as shown in Fig. 1-Fig. 7, including Powerpush Unit 4, and power pushes away
Symmetrical double air-cushion type cylindrical type support devices 1 are equipped with into 4 two sides of device；Powerpush Unit 4, which is equipped with, passes through spring
The control device 3 that damping device 2 is connected, is additionally provided on Powerpush Unit 4 and double 1 phases of air-cushion type cylindrical type support devices
A pair of of telescopic device 5 of connection.
Spring vibration damper 2 includes high-strength spring 203, and 203 both ends of high-strength spring are equipped with long connecting rod 202, any
Long connecting rod 202 is equipped with short connecting rod 205, the one end of short connecting rod 205 far from long connecting rod 202 far from one end of high-strength spring 203
It is equipped with shock-absorbing ball hinge head 201；The cylindrical sleeves 204 matched with both ends long connecting rod 202 are arranged on high-strength spring 203,
204 both ends of cylindrical sleeves are set as the movable span matched with long connecting rod 202, and movable span is equipped with sealing ring.Double air-cushion type circles
Column type support body device 1 includes gas cell 101, and gas cell 101 is equipped with support plate 102, and support plate 102 is equipped with a pair of universal
Axle bed 103.Powerpush Unit 4 includes deck 406, and 406 front end of deck is equipped with deflector 405, and 406 tail end of deck is equipped with a pair
Along the axisymmetric propeller 407 in deck 406,406 top surface of deck is equipped with a pair of of rigid link 401, and 401 end of rigid link is all provided with
There is connected ball hinge head 402, rigid link 401 is connected by fixing seat 403 with 406 top surface of deck；406 top surface of deck is additionally provided with
Two pairs of flexural pivot fixing seats 404,406 top surface of deck are equipped with a pair of of flexural pivot hole；Connected ball hinge head 402 is matched with universal axle bed 103.
Telescopic device 5 includes electric pushrod, and electric pushrod movable end is equipped with movable balls hinge head, and electric pushrod fixing end is equipped with deck flexural pivot
Head；Movable balls hinge head is matched with universal axle bed 103；Deck flexural pivot head is matched with flexural pivot hole.Control device 3 includes that control is flat
Platform 305, control platform 305 are equipped with laser radar 302, and 302 side of laser radar is equipped with preposition lighting system 301, laser thunder
Millimetre-wave radar 303 is equipped with up to 302 other sides；305 bottom surface of control platform is equipped with the flexural pivot matched with flexural pivot fixing seat 404
Support base 304.
Gas cell 101 and the consistent one end of unmanned boat direction of advance are cone shape.Between deck 406 and control platform 305
Gap cooperation；It is obliquely installed between spring vibration damper 2 and Powerpush Unit 4, control device 3.2 one end of spring vibration damper
Shock-absorbing ball hinge head 201 is connected with flexural pivot fixing seat 404, and the shock-absorbing ball hinge head 201 of the other end is connected with globe hinge support seat 304
It connects.
In use, control device 3 issues instruction, Powerpush Unit 4 when unmanned boat needs to adjust posture or slows down
Two sides electric pushrod starts to retract, and electric pushrod movable end drives movable balls hinge head to retract, and movable balls hinge head drives side universal
Axle bed 103 rotates, so that 101 tail end of gas cell is drawn close to 4 side of Powerpush Unit, so that the universal axle bed 103 in the other side
It rotates together with, postrotational unmanned boat posture is as shown in Figure 2.At this time due to the forced area increase along direction of advance, while
Promote unmanned boat quick deceleration under the action of propeller, in the process, is jolted by stormy waves through the flexural pivot on deck 406
Fixing seat 404 passes to spring vibration damper 2, by shock-absorbing ball hinge head 201, short connecting rod 205, long company on spring vibration damper 2
Bar 202 is transmitted on high-strength spring 203, due to the damping filter effect of high-strength spring 203 so that by long connecting rod 202,
The active force that short connecting rod 205, shock-absorbing ball hinge head 201 pass to globe hinge support seat 304 greatly reduces, and can reduce to greatest extent
Active force suffered by control platform 304 is reduced suffered by the laser radar 302 and millimetre-wave radar 303 in control platform 304
Impact vibration, it is thus possible to improve the service life of unmanned boat in the presence of a harsh environment, reduce the maintenance cost of unmanned boat.
Embodiment 2:
A kind of adjustable flexible binary unmanned boat of posture, difference from example 1 is that: 406 front end of deck, which is not provided with, leads
Flowing plate 405.
In use, control device 3 issues instruction, Powerpush Unit 4 when unmanned boat needs to adjust posture or slows down
Two sides electric pushrod starts to retract, and electric pushrod movable end drives movable balls hinge head to retract, and movable balls hinge head drives side universal
Axle bed 103 rotates, so that 101 tail end of gas cell is drawn close to 4 side of Powerpush Unit, so that the universal axle bed 103 in the other side
It rotates together with, postrotational unmanned boat posture is as shown in Figure 2.At this time due to the forced area increase along direction of advance, while
Promote unmanned boat quick deceleration under the action of propeller, in the process, is jolted by stormy waves through the flexural pivot on deck 406
Fixing seat 404 passes to spring vibration damper 2, by shock-absorbing ball hinge head 201, short connecting rod 205, long company on spring vibration damper 2
Bar 202 is transmitted on high-strength spring 203, due to the damping filter effect of high-strength spring 203 so that by long connecting rod 202,
The active force that short connecting rod 205, shock-absorbing ball hinge head 201 pass to globe hinge support seat 304 greatly reduces, and can reduce to greatest extent
Active force suffered by control platform 304 is reduced suffered by the laser radar 302 and millimetre-wave radar 303 in control platform 304
Impact vibration, it is thus possible to improve the service life of unmanned boat in the presence of a harsh environment, reduce the maintenance cost of unmanned boat.
The foregoing is merely illustrative of the preferred embodiments of the present invention, but is not limited only to examples detailed above, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of adjustable flexible binary unmanned boat of posture, which is characterized in that including Powerpush Unit, the Powered Propulsion dress
Two sides are set equipped with symmetrical double air-cushion type cylindrical type support devices；The Powerpush Unit, which is equipped with, passes through spring shock absorption
The control device that device is connected is additionally provided on the Powerpush Unit and is connected with double air-cushion type cylindrical type support devices
A pair of of telescopic device.
2. the adjustable flexible binary unmanned boat of posture as described in claim 1, which is characterized in that the spring vibration damper packet
High-strength spring is included, high-strength spring both ends are equipped with long connecting rod, and any long connecting rod is equipped with far from one end of high-strength spring
Short connecting rod, short connecting rod are equipped with shock-absorbing ball hinge head far from one end of long connecting rod；It is arranged on the high-strength spring long with both ends
The cylindrical sleeves that connecting rod matches, cylindrical sleeves both ends are set as the movable span matched with long connecting rod, and movable span is equipped with close
Seal ring.
3. the adjustable flexible binary unmanned boat of posture as described in claim 1, which is characterized in that double air-cushion type cylindrical types
Support devices include gas cell, and gas cell is equipped with support plate, and support plate is equipped with a pair of universal axle bed.
4. the adjustable flexible binary unmanned boat of posture as described in claim 1, which is characterized in that the Powerpush Unit packet
Deck is included, deck front end is equipped with deflector, and deck tail end is equipped with a pair along the axisymmetric propeller in deck, and deck top surface is equipped with one
To rigid link, rigid link end is equipped with connected ball hinge head, and the rigid link is connected by fixing seat with deck top surface
It connects；The deck top surface is additionally provided with two pairs of flexural pivot fixing seats, and deck top surface is equipped with a pair of of flexural pivot hole；The connected ball hinge head and ten thousand
It is matched to axle bed.
5. the adjustable flexible binary unmanned boat of posture as described in claim 1, which is characterized in that the telescopic device includes electricity
Dynamic push rod, electric pushrod movable end are equipped with movable balls hinge head, and electric pushrod fixing end is equipped with deck flexural pivot head；The activity flexural pivot
Head is matched with universal axle bed；The deck flexural pivot head is matched with flexural pivot hole.
6. the adjustable flexible binary unmanned boat of posture as described in claim 1, which is characterized in that the control device includes control
Platform processed, control platform are equipped with laser radar, and laser radar side is equipped with preposition lighting system, and the laser radar other side is equipped with
Millimetre-wave radar；The control platform bottom surface is equipped with the globe hinge support seat matched with flexural pivot fixing seat.
7. the adjustable flexible binary unmanned boat of posture as claimed in claim 6, which is characterized in that the gas cell and unmanned boat
The consistent one end of direction of advance is cone shape.
8. the adjustable flexible binary unmanned boat of posture as claimed in claim 7, which is characterized in that the deck and control platform
Clearance fit；It is obliquely installed between the spring vibration damper and Powerpush Unit, control device.
9. the adjustable flexible binary unmanned boat of posture as claimed in claim 8, which is characterized in that the spring vibration damper one
The shock-absorbing ball hinge head at end is connected with flexural pivot fixing seat, and the shock-absorbing ball hinge head of the other end is connected with globe hinge support seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910658793.9A CN110316326B (en) | 2019-07-22 | 2019-07-22 | Flexible double-body unmanned boat with adjustable posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910658793.9A CN110316326B (en) | 2019-07-22 | 2019-07-22 | Flexible double-body unmanned boat with adjustable posture |
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| Publication Number | Publication Date |
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| CN110316326A true CN110316326A (en) | 2019-10-11 |
| CN110316326B CN110316326B (en) | 2021-02-26 |
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ID=68124204
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910658793.9A Active CN110316326B (en) | 2019-07-22 | 2019-07-22 | Flexible double-body unmanned boat with adjustable posture |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874692A (en) * | 2021-02-01 | 2021-06-01 | 海之韵(苏州)科技有限公司 | Detachable, foldable and inflatable twin-body unmanned boat |
| CN113353200A (en) * | 2021-07-15 | 2021-09-07 | 哈尔滨工程大学 | Motion platform for sonar monitoring robot |
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| CN102639901A (en) * | 2009-11-20 | 2012-08-15 | 欧洲宇航防务集团德国有限责任公司 | Shock-isolation structure |
| JP2017190114A (en) * | 2016-04-15 | 2017-10-19 | 輝夫 前田 | Structure allowing right and left floats of catamaran to move to conform with respective wave surfaces in mutually independent manner |
| CN108116635A (en) * | 2017-12-19 | 2018-06-05 | 大连海事大学 | A kind of wave self-adapting type automatic rescue ship |
| CN109367729A (en) * | 2018-10-26 | 2019-02-22 | 河海大学 | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface |
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2019
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| JPH0281789A (en) * | 1988-09-19 | 1990-03-22 | Kure Dia:Kk | Water surface crawler float |
| CN102639901A (en) * | 2009-11-20 | 2012-08-15 | 欧洲宇航防务集团德国有限责任公司 | Shock-isolation structure |
| JP2017190114A (en) * | 2016-04-15 | 2017-10-19 | 輝夫 前田 | Structure allowing right and left floats of catamaran to move to conform with respective wave surfaces in mutually independent manner |
| CN108116635A (en) * | 2017-12-19 | 2018-06-05 | 大连海事大学 | A kind of wave self-adapting type automatic rescue ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874692A (en) * | 2021-02-01 | 2021-06-01 | 海之韵(苏州)科技有限公司 | Detachable, foldable and inflatable twin-body unmanned boat |
| CN113353200A (en) * | 2021-07-15 | 2021-09-07 | 哈尔滨工程大学 | Motion platform for sonar monitoring robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110316326B (en) | 2021-02-26 |
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