CN110844029A - Underwater four-rotor aircraft - Google Patents
Underwater four-rotor aircraft Download PDFInfo
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- CN110844029A CN110844029A CN201911196634.8A CN201911196634A CN110844029A CN 110844029 A CN110844029 A CN 110844029A CN 201911196634 A CN201911196634 A CN 201911196634A CN 110844029 A CN110844029 A CN 110844029A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims description 19
- 239000002360 explosive Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000002457 bidirectional effect Effects 0.000 abstract description 6
- 230000036544 posture Effects 0.000 description 10
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- 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
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- 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)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
An underwater four-rotor aircraft comprises a pressure-resistant cabin body, wherein a power module and a control module are arranged in the pressure-resistant cabin body; the rotating mechanism is rotatably connected with the pressure-resistant cabin body; and the propelling mechanism is arranged on the rotating mechanism, is connected with the power module and the control module in the pressure-resistant cabin body and is used for pushing the pressure-resistant cabin body to move or maintain the position in water. According to the invention, the bidirectional propeller rotates around the pressure-resistant cabin body, so that the propulsion direction is changed, the flexibility of the thrust direction of the underwater vehicle is variable, the external interference resistance of the system is enhanced, the multi-degree-of-freedom motion can be realized, and the use efficiency of the propeller is improved.
Description
Technical Field
The invention belongs to an underwater vehicle, and particularly relates to an underwater four-rotor vehicle.
Background
The ocean is an important base for the sustainable development of human beings, the ocean is hoped for the future of human beings, and the development and utilization of the ocean is an extremely reliable way for solving a series of problems of population expansion, resource shortage and the like faced by the current human society. An underwater vehicle is an unmanned intelligent mobile platform for underwater detection, deep water exploration, underwater operation and the like, and the structure of the underwater vehicle is mostly a frame structure or a torpedo structure. Factors such as ocean hydrology, geology and the like are complex, and high requirements are provided for the stability and controllability of the underwater vehicle, the service efficiency of the thruster and the like. The low-speed controllability and the maneuverability of the underwater vehicle determine whether the underwater vehicle can smoothly complete specific underwater work tasks, such as ocean hydrological detection, underwater fixed-point hovering operation, underwater monitoring and reconnaissance and the like.
The prior frame type structural scheme and torpedo type structural scheme have the defects of large turning radius and low using efficiency of a propeller on the aspects of low-speed controllability and maneuverability; under complex hydrological conditions, the aircraft is difficult to realize hovering operations in water.
Disclosure of Invention
The invention provides an underwater four-rotor vehicle which moves under various underwater working conditions and has high controllability, high stability and high propeller use efficiency. The underwater vehicle propeller is simple in layout and flexible in steering, and can realize full-freedom motion of front and back, left and right, floating and submerging without turning radius and hovering in water.
The invention adopts the following technical scheme:
an underwater quad-rotor vehicle comprising:
the pressure-resistant cabin body is internally provided with a power module and a control module;
the rotating mechanism is rotatably connected with the pressure-resistant cabin body;
and the propelling mechanism is arranged on the rotating mechanism, is connected with the power module and the control module in the pressure-resistant cabin body and is used for pushing the pressure-resistant cabin body to move or maintain the position in water.
The slewing mechanism includes left connecting rod, preceding connecting rod, right connecting rod, back connecting rod, and left connecting rod and right connecting rod rotate to be connected in the relative both sides of withstand voltage cabin body, and preceding connecting rod and back connecting rod are connected respectively at the both ends of controlling the connecting rod, make left connecting rod, preceding connecting rod, right connecting rod, back connecting rod sealing connection in proper order form closed structure, withstand voltage cabin body rotates to be connected in closed structure.
The left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod are provided with hollow structure cavities, and the interior of the pressure-resistant cabin body is communicated with the hollow structure cavities of the left connecting rod and the right connecting rod through connecting parts of the left connecting rod and the right connecting rod.
The propulsion mechanism comprises propellers, the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod are all connected with the propellers, and the two opposite propellers are symmetrical about the symmetry axis of the pressure-resistant cabin body.
The propulsion mechanism further comprises a plurality of supporting sleeves, and the supporting sleeves are respectively connected to the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod in a sealing mode.
The propeller comprises a propeller body and a rectification duct, the propeller body comprises a waterproof motor, a speed regulator and a propeller, the speed regulator is sealed inside the waterproof motor, the propeller is fixed in a rotating shaft of the waterproof motor, the propeller body is fixed in the rectification duct by a supporting sleeve, and the rectification duct is fixed on a rotating mechanism.
The left connecting rod and the right connecting rod are connected with the pressure-resistant cabin body through a rotating bearing, and the left connecting rod and the right connecting rod and the pressure-resistant cabin body form a double-layer dynamic sealing structure through a sealing ring and a watertight cover plate.
The pressure-resistant cabin body comprises a pressure-resistant main body and a pressure-resistant tail part, and the pressure-resistant main body is connected with the pressure-resistant tail part in a sealing manner.
The middle inside the pressure-resistant main body is provided with a power module and a control module by the lower position, the power module is connected with the propelling mechanism and the control module, and the control module and the power module are connected with the propeller of the propelling mechanism through cables which penetrate through the hollow structures of the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod.
The lower part of the pressure-resistant main body is connected with a load through an explosive bolt.
The invention has the beneficial effects that:
1. because the battery module and the control module are fixed on the lifting platform close to the bottom in the middle of the pressure-resistant cabin body, the power module provides power for the control module, and the control module controls the lifting of the position of the lifting platform, namely dynamically adjusts the position of the battery module, thereby adjusting the gravity center of the underwater vehicle; the stability of the underwater vehicle is adjusted according to dynamic requirements, and the external interference resistance of the system is enhanced.
2. Due to the adoption of the structural scheme that the bidirectional propeller rotates around the pressure-resistant cabin body and further changes the propelling direction, the underwater vehicle has variable propelling direction flexibility, the external interference resistance of the system is enhanced, the multi-degree-of-freedom motion can be realized, and the service efficiency of the propeller is improved.
Drawings
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a side view of the present invention.
FIG. 4 is a detail view of the invention at point I.
FIG. 5 is a detail view of the invention at point II.
FIG. 6 is a partial detail view at III of the present invention.
FIG. 7 is a detail view of the part IV of the present invention.
Fig. 8 is a schematic diagram of the movement of the present invention.
In the figure, 1-pressure main body, 2-pressure tail, 3 a-left propeller, 3 b-right propeller, 4 a-front propeller, 4 b-rear propeller, 5 a-left connecting rod, 5 b-right connecting rod, 6 a-front connecting rod, 6 b-rear connecting rod, 7 a-front side end cover plate, 7 b-rear side end cover plate, 8-load, 9-supporting sleeve, 10-explosion bolt, 11-power module, 12-control module, 13-lifting platform, 14, 15, 16-O type sealing ring, 17-watertight cover plate, 18-rotating bearing, 19, 20, 21 and 22-O type sealing ring.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention aims to provide an underwater four-rotor vehicle which moves under various underwater working conditions and has high controllability, high stability and high use efficiency of a propeller, and is used for performing some underwater operations.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of the invention.
As shown in a structural diagram of fig. 1, the underwater four-rotor aircraft provided by the invention comprises a pressure-resistant cabin, a rotating mechanism and a propulsion mechanism, wherein the pressure-resistant cabin is in dynamic sealing connection with the rotating mechanism, a power module and a control module are arranged in the pressure-resistant cabin, the power module and the control module are connected with the propulsion mechanism, the power module provides power for the propulsion mechanism and the control module, and the control module controls the relative rotational motion between the propulsion mechanism and the pressure-resistant cabin, namely the propulsion mechanism can control the whole rotating mechanism to freely rotate around the pressure-resistant cabin.
Further, the pressure-resistant cabin comprises a pressure-resistant main body 1 and a pressure-resistant tail 2, the pressure-resistant main body 1 is a main body part of the pressure-resistant cabin, the power module and the control module are both arranged in the pressure-resistant main body 1, and the pressure-resistant tail 2 is hermetically connected with the pressure-resistant main body 1. The pressure-resistant main body 1 is used as a main body part of the pressure-resistant cabin body, equipment required by an aircraft, such as electrical equipment, is placed in the pressure-resistant main body 1, when the equipment is installed in the pressure-resistant main body 1, the pressure-resistant tail part 2 is opened to install the equipment, and then the pressure-resistant main body 1 and the pressure-resistant tail part 2 are connected in a sealing mode, so that water is prevented from entering the pressure-resistant cabin body.
In addition, a lifting platform 13 can be arranged in the middle of the pressure-resistant main body 1 near the bottom, and a power module and a control module can be fixed on the lifting platform 13. The lifting platform 13 is used for lifting, so that the positions of the power module 11 and the control module 12 are dynamically adjusted, the gravity center of the underwater vehicle is adjusted, the stability of the vehicle is dynamically adjusted, and the external interference resistance of the system is improved. Lifting platform 13 adopt current lifting platform, drive through power module and go up and down, this application no longer details its structure.
The power module 11 described above is an existing battery module, and preferably a high performance battery pack, such as a lithium battery pack module, for providing a long term stable power supply for the control module and the propulsion mechanism.
The control module 12 includes an existing controller, such as a single chip, a CPU, etc., on which a temperature sensor, a water sensor, etc. are generally disposed.
Further, the pressure-resistant tail part 2 and the pressure-resistant main body 1 are hermetically connected through a fastening bolt and a sealing ring. In one or more possible embodiments, as shown in fig. 4, the pressure-resistant tail part 2 or the pressure-resistant body 1 is provided with a through hole penetrating through the contact surface of the two, while the pressure-resistant body 1 or the pressure-resistant tail part 2 opposite to the through hole is provided with a threaded hole, and a fastening nut is threaded with the threaded hole after penetrating through the through hole, so that the pressure-resistant body 1 and the pressure-resistant tail part 2 are fastened together. And an O-shaped sealing ring 14 is arranged on a contact surface between the pressure-resistant tail part 2 and the pressure-resistant main body 1, so that the contact surface is further sealed, and the internal water of the pressure-resistant cabin is prevented from entering, and the internal equipment is prevented from being influenced.
Further, the rotating mechanism comprises a left connecting rod 5a, a front connecting rod 6a, a right connecting rod 5b and a rear connecting rod 6b, the four connecting rods are connected end to end in a sealing mode to form a closed structure, the pressure-resistant cabin body is connected in the closed structure in a rotating mode, and the propelling mechanism is installed on the rotating mechanism and pushes the rotating mechanism to rotate around the pressure-resistant cabin body.
In one or more possible embodiments, as shown in fig. 1, the left connecting rod 5a and the right connecting rod 5b are rotatably connected to two opposite sides of the pressure-resistant cabin, the front connecting rod 6a and the rear connecting rod 6b are respectively connected to two ends of the left connecting rod and the right connecting rod, so that the left connecting rod 5a, the front connecting rod 6a, the right connecting rod 5b and the rear connecting rod 6b are sequentially and hermetically connected to form a closed structure, the pressure-resistant cabin is rotatably connected to the left connecting rod 5a and the right connecting rod 5b, and when the propelling mechanism pushes the rotating mechanism to rotate, an included angle between the rotating mechanism and the pressure-resistant cabin can.
The left connecting rod 5a, the front connecting rod 6a, the right connecting rod 5b and the rear connecting rod 6b are all provided with hollow structure cavities, the interior of the pressure-resistant cabin body is communicated with the hollow structure cavities of the left connecting rod 5a and the right connecting rod 5b through connecting parts with the left connecting rod 5a and the right connecting rod 5b, and therefore a power cable and a control cable in the pressure-resistant cabin body are connected with the propelling mechanism through the hollow structure cavities.
Further, advancing mechanism include the propeller, the propeller includes propeller body and rectification duct, and the propeller body includes waterproof motor, speed regulator, screw, the speed regulator is sealed inside waterproof motor, on the fixed pivot with waterproof motor of screw, the propeller body is fixed in the rectification duct, the rectification duct is fixed on slewing mechanism. This propeller is two-way propeller, and two-way propeller sets up four at least, sets up left propeller 3a on the left connecting rod 5a, sets up preceding propeller 4a on the preceding connecting rod 6a, sets up right propeller 3b on the right connecting rod 5b, sets up back propeller 4b on the back connecting rod 6b, and the propeller on every connecting rod sets up one at least, also can set up two or more, sets up according to its power demand, and two propellers on the relative connecting rod are about the symmetry axis symmetry of the withstand voltage cabin body.
In one or more possible embodiments, the bidirectional thruster may include a waterproof motor, a speed governor, a propeller, a rectification duct; the speed regulator is sealed in the waterproof motor, the propeller is fixed on a rotating shaft of the waterproof motor, a mechanism consisting of the waterproof motor, the propeller and the speed regulator is fixed in the rectification duct, and the rectification duct is fixed on the rotating mechanism; the cable is sealed in a cavity inside the rotating mechanism.
Besides, the propelling mechanism comprises a plurality of supporting sleeves 9, the supporting sleeves 9 are respectively connected to the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod in a sealing mode, the propeller body is fixed in the rectifying duct through the supporting sleeves, and the rectifying duct is fixed on the rotating mechanism.
In one or more possible embodiments, a cross-sectional view of the connection of the rear link 6b and the rear side end plate 7b is shown in fig. 5.
The connection between the two connecting rods is realized by fastening bolts and sealing rings, and in one or more possible embodiments, the structure shown in a cross-sectional view in fig. 6 can be adopted, in fig. 6, the end of the left connecting rod 5b is provided with a recessed step, and the end of the rear connecting rod 6b connected with the left connecting rod 5b is provided with a boss, after the boss is inserted into the recessed step, the surfaces of the boss, which are contacted with each other, are connected by the fastening bolts and sealed by the O-ring 16.
Further, when the pressure-resistant cabin body of the present invention is connected with the connecting rod, the pressure-resistant cabin body and the connecting rod are connected together through the bearing 18, so that the free rotation of the rotating mechanism is realized. As shown in fig. 7, in some embodiments, the pressure main body 1 of the present invention has a connector extending therefrom, the connector is hollow, the side of the left or right connecting rod connected to the pressure main body 1 has a boss, the boss is inserted into the hollow portion of the connector, the outer side of the boss is not in contact with the inner side of the connector, the outer side of the boss and the inner side of the connector are respectively connected to the inner side and the outer side of the rotating bearing 18, a watertight cover 17 is disposed between the outer side of the rotating bearing 18 and the outer side of the boss and the inner side of the connector, the watertight cover 17 and the outer side of the boss and the inner side of the connector are both sealed by O- rings 19, 20, 21, 22, and the watertight cover 17 is fixed to the connector extending from the pressure main body 1 by.
It should be noted that the above-mentioned directional terms "front", "back", "left" and "right" of the present invention are defined based on the relative positions of the components in fig. 1, and are only used for clarity and convenience of describing the technical solution, and it should be understood that the application of the directional terms does not limit the protection scope of the present application.
The underwater four-wing aircraft is used for executing underwater operation, so that the bottom of the pressure-resistant main body 1 is connected with the load 8 through the explosion bolt 10, the balance of the aircraft can be adjusted, and the control module 12 can control the explosion bolt 10 to detonate and remove the load 8 when an emergency occurs, so that the aircraft can float upwards quickly. The load can be an underwater weapon to realize the attack of an underwater enemy to a target, and can also be an underwater manipulator or underwater reconnaissance detection equipment and the like.
As shown in fig. 8, the left propeller 3a, the right propeller 3b, the front propeller 4a, and the rear propeller 4b of the present invention are bidirectional propellers and are on the same plane. When the underwater vehicle dives, the horizontal posture of the bidirectional propeller is the posture I, and the four propellers propel downwards at the same speed to dive.
When the pressure-resistant main body is submerged to a preset depth, the left propeller 3a and the right propeller 3b stop working, the front propeller 4a and the rear propeller 4b rotate in the same speed and opposite directions, the front propeller 4a generates downward thrust, the rear propeller 4b generates upward thrust to form a pair of force couples, the position of the plane where the propellers are located relative to the pressure-resistant main body 1 is adjusted, the plane where the propellers are located rotates around the pressure-resistant main body 1, and the posture of the propellers in the adjusting process is the posture II. When the plane of the propeller rotates to the vertical direction, the posture of the propeller is the posture III. At the moment, the four propellers rotate at the same speed, so that underwater straight navigation movement is realized, and the forward and backward movement of the aircraft can be realized. When the propeller is in the posture III, the bidirectional propellers 3a and 3b do differential motion to obtain a rotating moment, so that the non-radius rotation of the aircraft in the horizontal direction can be realized.
When the aircraft floats upwards, the propeller returns to the horizontal attitude I from the attitude III through the attitude IV. The four propellers propel upwards at the same speed to realize floating movement. Further, the differential cooperation of the left propeller 3a, the right propeller 3b, the front propeller 4a and the rear propeller 4b in different postures can realize more complex motions. When the underwater vehicle moves in the moving postures of the propeller postures I and III, the direction of the propeller is parallel to the moving direction of the vehicle, and the using efficiency of the propeller is improved. Under the complex underwater environment, the underwater vehicle can realize hovering in water by adjusting the differential control between the plane position of the propeller and different propellers so as to launch weapons in water or perform underwater operation.
In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the present invention should be covered by the present invention.
Claims (10)
1. An underwater quad-rotor vehicle, comprising:
the pressure-resistant cabin body is internally provided with a power module and a control module;
the rotating mechanism is rotatably connected with the pressure-resistant cabin body;
and the propelling mechanism is arranged on the rotating mechanism, is connected with the power module and the control module in the pressure-resistant cabin body and is used for pushing the pressure-resistant cabin body to move or maintain the position in water.
2. The underwater quad-rotor vehicle of claim 1, wherein:
the slewing mechanism includes left connecting rod, preceding connecting rod, right connecting rod, back connecting rod, and left connecting rod and right connecting rod rotate to be connected in the relative both sides of withstand voltage cabin body, and preceding connecting rod and back connecting rod are connected respectively at the both ends of controlling the connecting rod, make left connecting rod, preceding connecting rod, right connecting rod, back connecting rod sealing connection in proper order form closed structure, withstand voltage cabin body rotates to be connected in closed structure.
3. The underwater quad-rotor vehicle of claim 2, wherein:
the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod are provided with hollow structure cavities, and the interior of the pressure-resistant cabin body is communicated with the hollow structure cavities of the left connecting rod and the right connecting rod through connecting parts of the left connecting rod and the right connecting rod.
4. The underwater quad-rotor vehicle of claim 1, wherein:
the propulsion mechanism comprises propellers, the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod are all connected with the propellers, and the two opposite propellers are symmetrical about the symmetry axis of the pressure-resistant cabin body.
5. The underwater quad-rotor vehicle of claim 4, wherein:
the propulsion mechanism further comprises a plurality of supporting sleeves, and the supporting sleeves are respectively connected to the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod in a sealing mode.
6. The underwater quad-rotor vehicle of claim 5, wherein:
the propeller comprises a propeller body and a rectification duct, the propeller body comprises a waterproof motor, a speed regulator and a propeller, the speed regulator is sealed inside the waterproof motor, the propeller is fixed in a rotating shaft of the waterproof motor, the propeller body is fixed in the rectification duct by a supporting sleeve, and the rectification duct is fixed on a rotating mechanism.
7. The underwater quad-rotor vehicle of claim 5, wherein:
the left connecting rod and the right connecting rod are connected with the pressure-resistant cabin body through a rotating bearing, and the left connecting rod and the right connecting rod and the pressure-resistant cabin body form a double-layer dynamic sealing structure through a sealing ring and a watertight cover plate.
8. An underwater quad-rotor vehicle according to claim 3, wherein:
the pressure-resistant cabin body comprises a pressure-resistant main body and a pressure-resistant tail part, and the pressure-resistant main body is connected with the pressure-resistant tail part in a sealing manner.
9. The underwater quad-rotor vehicle of claim 8, wherein:
the middle inside the pressure-resistant main body is provided with a power module and a control module by the lower position, the power module is connected with the propelling mechanism and the control module, and the control module and the power module are connected with the propeller of the propelling mechanism through cables which penetrate through the hollow structures of the left connecting rod, the front connecting rod, the right connecting rod and the rear connecting rod.
10. The underwater quad-rotor vehicle of claim 8, wherein:
the lower part of the pressure-resistant main body is connected with a load through an explosive bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911196634.8A CN110844029A (en) | 2019-11-29 | 2019-11-29 | Underwater four-rotor aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911196634.8A CN110844029A (en) | 2019-11-29 | 2019-11-29 | Underwater four-rotor aircraft |
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| CN110844029A true CN110844029A (en) | 2020-02-28 |
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| CN201911196634.8A Pending CN110844029A (en) | 2019-11-29 | 2019-11-29 | Underwater four-rotor aircraft |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976930A (en) * | 2020-08-07 | 2020-11-24 | 西北工业大学 | Underwater vehicle based on annular mechanical structure |
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| CN109050840A (en) * | 2018-09-01 | 2018-12-21 | 哈尔滨工程大学 | A kind of novel six freedom positioning underwater robot |
| CN211642566U (en) * | 2019-11-29 | 2020-10-09 | 中国船舶重工集团公司第七一三研究所 | Underwater four-rotor aircraft |
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| CN111976930A (en) * | 2020-08-07 | 2020-11-24 | 西北工业大学 | Underwater vehicle based on annular mechanical structure |
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