CN111746208B - Amphibious heterogeneous robot - Google Patents
Amphibious heterogeneous robot Download PDFInfo
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- CN111746208B CN111746208B CN202010644335.2A CN202010644335A CN111746208B CN 111746208 B CN111746208 B CN 111746208B CN 202010644335 A CN202010644335 A CN 202010644335A CN 111746208 B CN111746208 B CN 111746208B
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- air
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/006—Flying-boats; Seaplanes with lift generating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
Abstract
The invention discloses a water-air amphibious heterogeneous robot, relates to the field of air-submersible amphibious robots, and solves the problem that the detection range of the robot is limited because no robot capable of triphibious operation underwater, on-water and in-air exists. The technical characteristics comprise: a main body; the quick floating and submerging structure is arranged in the main body and used for quickly floating and submerging; the water surface-underwater switching structure is arranged on the side surface of the main body and is used for switching between a water surface mode and an underwater mode; the steering wing is arranged on a water surface-underwater switching structure and used for increasing the motion flexibility of the robot, the spindle-shaped attached body is used for reducing resistance, the propeller overturning device is arranged on the attached body and used for realizing the switching of water-air modes, and the water-air dual-purpose propeller is arranged on the propeller overturning device and used for providing propulsion power. The invention can increase the working range of the robot, realize reciprocating cross-domain, quickly switch the working modes and is convenient to use.
Description
Technical Field
The invention relates to the technical field of water-air amphibious unmanned aircrafts, in particular to a sea-air amphibious heterogeneous robot.
Background
The water-air amphibious robot can simultaneously have the advantages that the marine robot performs underwater concealed operation and an unmanned aerial vehicle can detect in a large range and rapidly arrive at the unmanned aerial vehicle, so that the water-air amphibious robot has great application potential in the military field, and also has great application value in the scientific research fields of oceanography, geophysical chemistry and the like, if the water-air amphibious robot can be further isomerized into a water surface unmanned ship, the water-air amphibious robot can detect near shallow sea, the detection field of the water-air amphibious robot is increased, and the water-air amphibious robot is convenient to recover.
At present, the research on water-air amphibious robots is less, chinese invention patent with publication number CN105151301A discloses an air-submersible amphibious robot and a method, the patent can not carry out vector propulsion, and the motion flexibility is lower; the Chinese patent with publication number CN108128450A discloses a multi-rotor water-air amphibious cross-domain marine robot, which cannot work in a water surface ship mode and limits the detection range of the robot.
At present, no robot capable of working underwater, on water and in the air exists, so that the detection range of the robot is limited, and therefore, in order to solve the problem, it is necessary to design a sea-air amphibious heterogeneous robot.
Disclosure of Invention
The invention provides a sea-air amphibious heterogeneous robot, which aims to solve the technical problem that no robot capable of working underwater, on the water surface and in the air exists in the prior art, so that the detection range of the robot is limited.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a sea-air amphibious heterogeneous robot comprises:
a main body;
a fast floating and submerging structure disposed within the body;
two pairs of surface-to-underwater switching structures disposed on a body side surface;
the system comprises two pairs of steering wings, a control system and a control system, wherein each steering wing is arranged on a corresponding water surface-underwater switching structure;
the pair of attached bodies are arranged on the corresponding pair of water surface-underwater switching structures and are symmetrically distributed on two sides of the main body;
the two pairs of propeller overturning devices are symmetrically arranged on the corresponding attached bodies;
and each water-air dual-purpose propeller is arranged on the corresponding propeller overturning device.
The main body includes: the device comprises a sealed pressure-resistant shell, a sealing cover, an electric control cabin, two pairs of steering engine bases and an energy cabin;
the electric control cabin is arranged in front of the inner lower surface of the sealed pressure-resistant shell, the two pairs of steering engine bases are symmetrically arranged on the inner lower surface of the sealed pressure-resistant shell, the energy cabin is arranged behind the inner lower surface of the sealed pressure-resistant shell, an opening is formed in the upper surface of the sealed pressure-resistant shell, the sealing cover is arranged on the upper surface of the sealed pressure-resistant shell, and the sealing cover is matched with the opening.
The quick floating and submerging structure comprises: the air pump, the piston, the sealing ring, the air cylinder and the air pump are compressed;
the air cylinder is installed at the center of the inner lower surface of the sealed pressure-resistant shell, the circular opening is formed in the upper surface of the sealing cover, the air cylinder is installed at the circular opening, the pressurizing air pump is installed at the front end of the inner lower surface of the sealed pressure-resistant shell, the air pump is installed at the rear end of the inner lower surface of the sealed pressure-resistant shell, the pressurizing air pump and the air pump are symmetrically installed at the front and the rear of the air cylinder, the air nozzles of the pressurizing air pump and the air pump are located below the piston limiting structure and penetrate through the outer wall of the air cylinder, the piston is installed in the air cylinder and can slide along the inner wall of the air cylinder, and the sealing ring is installed in the piston sealing groove.
The surface-underwater switching structure includes: two pairs of switching parts;
the two pairs of switching parts are symmetrically arranged on two sides of the main body, and the two pairs of switching parts have the same structure.
The switching section includes: the device comprises a driving motor, a gear A, a gear B, a gear C, a key shaft A, a swinging gear assembly, a key shaft B, an accessory-main body connecting shaft, a swinging assembly, a cylindrical pin, a rotating assembly and a steering engine;
the driving motor is installed inside an accessory sealing cabin, the gear A is installed on a motor shaft of the driving motor, the key shaft A penetrates through a gear B and a gear C key groove and is installed on an accessory water-permeable section, the gear B is externally meshed with the gear A, the key shaft B penetrates through a swing gear assembly key groove and is installed on the accessory water-permeable section, the swing gear assembly is externally meshed with the gear C, a shaft end protrusion of the swing gear assembly is installed inside an accessory-main body connecting shaft groove and can rotate relatively, the accessory-main body connecting shaft is fixedly connected with the swing assembly, the swing assembly is installed on a rotating assembly through a cylindrical pin, the swing assembly can rotate around the axis of the cylindrical pin, the rotating assembly is installed on a sealing pressure-resistant shell and is fixedly connected with a steering engine, and the steering engine is fixed on a steering engine base.
Each of the turning wings is disposed on the corresponding appendage-body connecting shaft.
The appendage comprises: the auxiliary body comprises an auxiliary body shell, a control and energy cabin and a control and energy cabin fixing assembly;
the control and energy cabin fixing assembly is fixed inside the appendage shell sealed cabin, the control and energy cabin is arranged on the control and energy cabin fixing assembly, and the driving motor is arranged inside the appendage shell sealed cabin.
The propeller turning device comprises: the water-air dual-purpose propeller comprises a water-air dual-purpose propeller mounting seat, a rotating shaft, a bearing and a turnover motor;
the turning motor is arranged inside the attached body shell, the rotating shaft is fixedly connected with the turning motor, the bearing inner ring is connected with the rotating shaft, the bearing outer ring is fixed on the attached body shell, the water-air dual-purpose propeller mounting seat is fixedly connected with the rotating shaft, and the water-air dual-purpose propeller is fixedly connected with the water-air dual-purpose propeller mounting seat.
The water surface-underwater switching mechanism can move around the main body under the driving of the driving motor to switch underwater-water surface modes, and the water-air dual-purpose propeller can rotate around the axis of the rotating shaft under the driving of the propeller overturning device to realize water-air amphibious switching.
The invention has the following beneficial effects:
the sea-air amphibious heterogeneous robot can realize three modes of operation of the robot in underwater, water surface and air, increases the working range, can realize reciprocating cross-domain and quick switching of the working modes, and is very convenient to use.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a schematic structural diagram of a sea-air amphibious heterogeneous robot provided by the invention;
FIG. 2 is a cross-sectional view of the body of the present invention;
FIG. 3 is a cross-sectional view of the surface-to-subsea switching mechanism of the present invention;
FIG. 4 is an exploded view of the surface-to-subsea switching mechanism of the present invention;
FIG. 5 is a cross-sectional view of an appendage of the present invention;
FIG. 6 is a water surface mode axonometric view of a sea-air amphibious heterogeneous robot of the invention;
fig. 7 is an aerial mode axonometric view of a sea-air amphibious heterogeneous robot.
The reference numerals in the figures denote:
1. a main body; 2. quickly floating up and submerging the structure; 3. a surface-underwater switching structure; 4. a turning wing; 5. an appendage; 6. a propeller overturning device; 7. a water-air dual-purpose propeller; 101. sealing the pressure-resistant shell; 102. a sealing cover; 103. an electric control cabin; 104. a steering engine base; 105. an energy cabin; 201. pressurizing the air pump; 202. a piston; 203. a seal ring; 204. a cylinder; 205. an air pump; 301. a drive motor; 302. a gear A; 303. a gear B; 304. a gear C; 305. a key shaft A; 306. a swing gear assembly; 307. a key shaft B; 308. an appendage-body connecting shaft; 309. a swing assembly; 310. a cylindrical pin; 311. a rotating assembly; 312. a steering engine; 501. an appendage housing; 502. a control and energy cabin; 503. a control and energy cabin fixing component; 601. a mounting seat of the water-air dual-purpose propeller; 602. a rotating shaft; 603. a bearing; 604. and (5) overturning the motor.
Detailed Description
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 described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-7, a sea-air amphibious heterogeneous robot includes: a main body 1; the fast floating and submerging structure 2 is arranged in the main body 1; two pairs of surface-underwater switching structures 3, the two pairs of surface-underwater switching structures 3 being disposed on the side surface of the main body 1; two pairs of steering wings 4, each steering wing 4 is arranged on the corresponding water surface-underwater switching structure 3; each appendage 5 is arranged on the corresponding pair of water surface-underwater switching structures 3, and the pair of appendages 5 are symmetrically distributed on two sides of the main body 1; two pairs of propeller turning devices 6, wherein each propeller turning device 6 is symmetrically arranged on the corresponding attached body 5; and two pairs of water-air dual-purpose propellers 7, wherein each water-air dual-purpose propeller 7 is arranged on the corresponding propeller overturning device 6.
The main body 1 includes: the device comprises a sealed pressure-resistant shell 101, a sealing cover 102, an electric control cabin 103, two pairs of steering engine bases 104 and an energy cabin 105; the electric control cabin 103 is arranged in front of the inner lower surface of the sealed pressure-resistant shell 101, the two pairs of steering engine bases 104 are symmetrically arranged on the inner lower surface of the sealed pressure-resistant shell 101, the energy cabin 105 is arranged behind the inner lower surface of the sealed pressure-resistant shell 101, an opening is formed in the upper surface of the sealed pressure-resistant shell 101, the sealing cover 102 is arranged on the upper surface of the sealed pressure-resistant shell 101, and the sealing cover 102 is matched with the opening.
The fast floating and submerging structure 2 comprises: an air pump 201, a piston 202, a seal ring 203, an air cylinder 204, and an air pump 205; the air cylinder 204 is installed at the center of the inner lower surface of the pressure-resistant sealed shell 101, the upper surface of the sealing cover 102 is provided with a circular opening, the air cylinder 204 is installed at the circular opening, the pressurizing air pump 201 is installed at the front end of the inner lower surface of the pressure-resistant sealed shell 101, the air suction pump 205 is installed at the rear end of the inner lower surface of the pressure-resistant sealed shell 101, the pressurizing air pump 201 and the air suction pump 205 are symmetrically installed in front of and behind the air cylinder 204, air taps of the pressurizing air pump 201 and the air suction pump 205 are located below the piston limiting structure and penetrate through the outer wall of the air cylinder 204, the piston 202 is installed in the air cylinder 204 and can slide along the inner wall of the air cylinder 204, and the sealing ring 203 is installed in a sealing groove of the piston 202.
The surface-underwater switching structure 3 includes: two pairs of switching parts; the two pairs of switching parts are symmetrically arranged on two sides of the main body 1, and the two pairs of switching parts have the same structure.
The switching part includes: a driving motor 301, a gear A302, a gear B303, a gear C304, a key shaft A305, a swinging gear assembly 306, a key shaft B307, an appendage-body connecting shaft 308, a swinging assembly 309, a cylindrical pin 310, a rotating assembly 311 and a steering engine 312; the driving motor 301 is installed inside a sealed cabin of the accessory body 5, the gear A302 is installed on a motor shaft of the driving motor 301, the key shaft A305 is installed on a water permeable section of the accessory body 5 through a key groove of the gear B303 and a key groove of the gear C304, the gear B303 is meshed with the gear A302, the key shaft B307 is installed on the water permeable section of the accessory body 5 through a key groove of the swing gear assembly 306, the swing gear assembly 306 is meshed with the gear C304, a shaft end bulge of the swing gear assembly 306 is installed inside a groove of the accessory body-main body connecting shaft 308 and can rotate relative to the accessory body-main body connecting shaft, the accessory body-main body connecting shaft 308 is fixedly connected with the swing assembly 309, the swing assembly 309 is installed on the rotating assembly 311 through a cylindrical pin 310, the swing assembly 309 can rotate around the axis of the cylindrical pin 310, the rotating assembly 311 is installed on the sealed pressure-resistant shell 101, the rotating assemblies 311 and 312 are fixedly connected with the rotating assembly 311, and the steering engine base 312 is fixed on the steering engine base 104.
Each turning wing 4 is seated on the corresponding appendage-body connecting shaft 308.
The appendage 5 comprises: an appendage housing 501, a control and energy compartment 502, and a control and energy compartment securing assembly 503; the control and energy cabin fixing assembly 503 is fixed inside the sealed cabin of the appendage shell 501, the control and energy cabin 502 is arranged on the control and energy cabin fixing assembly 503, and the driving motor 301 is arranged inside the sealed cabin of the appendage shell 501.
The pusher turning device 6 includes: the water-air dual-purpose propeller comprises a water-air dual-purpose propeller mounting base 601, a rotating shaft 602, a bearing 603 and a turnover motor 604; the turning motor 604 is arranged inside the appendage housing 501, the rotating shaft 602 is fixedly connected with the turning motor 604, the inner ring of the bearing 603 is connected with the rotating shaft 602, the outer ring of the bearing 603 is fixed on the appendage housing 501, the mounting seat 601 of the water-air dual-purpose propeller is fixedly connected with the rotating shaft 602, and the mounting seat 601 of the water-air dual-purpose propeller 7 is fixedly connected with the mounting seat 601 of the water-air dual-purpose propeller.
The water surface-underwater switching mechanism 3 can move around the main body 1 under the driving of the driving motor 301 to switch underwater-water surface modes, and the water-air dual-purpose propeller 7 can rotate around the axis of the rotating shaft 602 under the driving of the propeller overturning device 6 to realize water-air amphibious switching.
The working principle is as follows:
the fast floating and submerging device 2 arranged in the main body 1 is used for floating and submerging, the propeller overturning devices 6 symmetrically arranged on the auxiliary body 5 are used for overturning a water-air dual-purpose propeller 7, the electric control cabin 103 in front of the lower surface of the sealed pressure-resistant shell 101 is used for controlling, the steering engine base 104 on the sealed pressure-resistant shell 101 is used for fixing the steering engine 312, the energy cabin 105 in back of the lower surface of the sealed pressure-resistant shell 101 is used for providing energy, during a water surface mode and an air mode, the air pump 201 is operated to enable the piston 202 to move upwards to guide the robot to drain water with increased volume, and then the robot can quickly float out of the water surface, during an underwater mode, the air pump 205 is operated to enable the piston 202 to move downwards to guide the robot to drain water with reduced volume, and can quickly submerge, and during the water surface-underwater mode switching, the driving motor 301 transmits torque through the gear meshing effect, the attachment-main body connecting shaft 308 and the swinging structure 309 make swinging motion relative to the main body 1, the attachment 5 swings relative to the main body 1 and draws close inwards, under the action of the fast floating submerging device 2, the robot floats upwards quickly and forms a water surface unmanned ship mode, the swinging structure 309, the attachment-main body connecting shaft 308 and the steering wings 4 can rotate under the driving of the steering wings 312, the robot can turn quickly under the water surface mode under the action of the steering wings 4, the movement flexibility of the robot is improved, the attachment shell 501 is in a spindle shape and small in fluid resistance, the water surface-underwater switching mechanism 3 can move around the main body 1 under the driving of the driving motor 301 to switch between an underwater mode and a water surface mode, and the water-air dual-purpose propeller 7 can rotate around the axis of the rotating shaft 602 under the driving of the propeller overturning device 6, so that the water-air dual-purpose propeller can be switched between water and air.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (5)
1. An air-sea amphibious heterogeneous robot, characterized by comprising:
a main body (1);
the main body (1) comprises: the device comprises a sealed pressure-resistant shell (101), a sealing cover (102), an electric control cabin (103), two pairs of steering engine bases (104) and an energy cabin (105);
the electric control cabin (103) is arranged in front of the inner lower surface of the sealed pressure-resistant shell (101), the two pairs of steering engine bases (104) are symmetrically arranged on the inner lower surface of the sealed pressure-resistant shell (101), the energy cabin (105) is arranged behind the inner lower surface of the sealed pressure-resistant shell (101), an opening is formed in the upper surface of the sealed pressure-resistant shell (101), the sealing cover (102) is arranged on the upper surface of the sealed pressure-resistant shell (101), and the sealing cover (102) is matched with the opening;
a fast floating submergence structure (2), the fast floating submergence structure (2) being disposed within the main body (1);
two pairs of surface-underwater switching structures (3), two pairs of said surface-underwater switching structures (3) being disposed on the main body (1) side surface;
the surface-underwater switching structure (3) comprises: two pairs of switching parts;
the two pairs of switching parts are symmetrically arranged on two sides of the main body (1) and have the same structure;
the switching unit includes: the device comprises a driving motor (301), a gear A (302), a gear B (303), a gear C (304), a key shaft A (305), a swinging gear assembly (306), a key shaft B (307), an accessory-body connecting shaft (308), a swinging assembly (309), a cylindrical pin (310), a rotating assembly (311) and a steering engine (312);
the driving motor (301) is installed inside a sealed cabin of an accessory body (5), the gear A (302) is arranged on a motor shaft of the driving motor (301), the key shaft A (305) passes through a gear B (303) and a gear C (304) key groove and is arranged on a water permeable section of the accessory body (5), the gear B (303) is externally meshed with the gear A (302), the key shaft B (307) passes through a swing gear assembly (306) key groove and is arranged on the water permeable section of the accessory body (5), the swing gear assembly (306) is externally meshed with the gear C (304), a shaft end protrusion of the swing gear assembly (306) is arranged inside a groove of an accessory body-main body connecting shaft (308), the swing gear assembly (306) and the groove of the accessory body-main body connecting shaft (308) can rotate relatively, the accessory body-main body connecting shaft (308) is fixedly connected with a swing assembly (309), the swing assembly (309) is installed on a rotating assembly (311) through a cylindrical pin (310), the swing assembly (309) can rotate around the axis of the cylindrical pin (310), the rotating assembly (101) is arranged on a sealed cabin and is fixedly connected with a steering engine (312) and is fixedly connected with a steering engine (104) and fixed on a steering engine (311);
two pairs of steering wings (4), each steering wing (4) being arranged in a corresponding surface-to-underwater switching structure (3);
each steering wing (4) is arranged on the corresponding appendage-body connecting shaft (308);
a pair of appendages (5), wherein each appendage (5) is arranged on a corresponding pair of the water surface-underwater switching structures (3), and the pair of appendages (5) are symmetrically distributed on two sides of the main body (1);
two pairs of propeller turning devices (6), wherein each propeller turning device (6) is symmetrically arranged on the corresponding auxiliary body (5);
two pairs of water-air dual-purpose propellers (7), wherein each water-air dual-purpose propeller (7) is arranged on a corresponding propeller overturning device (6).
2. A sea-air amphibious heterogeneous robot according to claim 1, wherein said fast floating-submerging structure (2) comprises: the air pump (201), the piston (202), the sealing ring (203), the air cylinder (204) and the air pump (205) are pressurized;
the air cylinder (204) is installed at the center of the inner lower surface of the sealed pressure-resistant shell (101), a circular opening is formed in the upper surface of the sealing cover (102), the air cylinder (204) is installed at the circular opening, the pressurizing air pump (201) is installed at the front end of the inner lower surface of the sealed pressure-resistant shell (101), the air pump (205) is installed at the rear end of the inner lower surface of the sealed pressure-resistant shell (101), the pressurizing air pump (201) and the air pump (205) are symmetrically installed in the front and at the rear of the air cylinder (204), air nozzles of the pressurizing air pump (201) and the air pump (205) are located below a piston limiting structure and penetrate through the outer wall of the air cylinder (204), the piston (202) is installed in the air cylinder (204), the piston (202) can slide along the inner wall of the air cylinder (204), and the sealing ring (203) is installed in a sealing groove of the piston (202).
3. A sea-air amphibious heterogeneous robot according to claim 1, wherein said appendage (5) comprises: an appendage housing (501), a control and energy pod (502), and a control and energy pod securing assembly (503);
the control and energy cabin fixing assembly (503) is fixed inside the sealed cabin of the appendage shell (501), the control and energy cabin (502) is arranged on the control and energy cabin fixing assembly (503), and the driving motor (301) is arranged inside the sealed cabin of the appendage shell (501).
4. A sea-air amphibious heterogeneous robot according to claim 3, wherein the thruster well-turning device (6) comprises: the water-air dual-purpose propeller comprises a water-air dual-purpose propeller mounting seat (601), a rotating shaft (602), a bearing (603) and a turnover motor (604);
the turning motor (604) is arranged inside the attached body shell (501), the rotating shaft (602) is fixedly connected with the turning motor (604), the inner ring of the bearing (603) is connected with the rotating shaft (602), the outer ring of the bearing (603) is fixed on the attached body shell (501), the water-air dual-purpose propeller mounting seat (601) is fixedly connected with the rotating shaft (602), and the water-air dual-purpose propeller (7) is fixedly connected with the water-air dual-purpose propeller mounting seat (601).
5. The amphibious robot with the sea and the air as claimed in claim 4, wherein the water surface-underwater switching mechanism (3) can move around the main body (1) under the driving of the driving motor (301) to switch the underwater-water surface mode, and the water-air dual-purpose propeller (7) can rotate around the axis of the rotating shaft (602) under the driving of the propeller overturning device (6) to realize the water-air amphibious switching.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010644335.2A CN111746208B (en) | 2020-07-07 | 2020-07-07 | Amphibious heterogeneous robot |
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| CN202010644335.2A CN111746208B (en) | 2020-07-07 | 2020-07-07 | Amphibious heterogeneous robot |
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| CN111746208A CN111746208A (en) | 2020-10-09 |
| CN111746208B true CN111746208B (en) | 2022-10-21 |
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| WO2014067563A1 (en) * | 2012-10-30 | 2014-05-08 | Schaer André | Remote controlled mobile platform able to move through a medium such as water and air |
| CN105644742A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point vertical-section observation-type underwater robot |
| CN106741584A (en) * | 2016-12-19 | 2017-05-31 | 中国科学院沈阳自动化研究所 | Lift-type high speed ocean robot |
| CN108128450A (en) * | 2017-12-18 | 2018-06-08 | 中国科学院沈阳自动化研究所 | The empty amphibious cross-domain ocean robot of more rotor water |
| CN209650530U (en) * | 2019-02-22 | 2019-11-19 | 江西希德防务系统技术有限公司 | A kind of rotatable Multi Role Aircraft wing structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7921795B2 (en) * | 2007-12-27 | 2011-04-12 | Alaska Native Technologies, Llc | Buoyancy control systems and methods |
-
2020
- 2020-07-07 CN CN202010644335.2A patent/CN111746208B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014067563A1 (en) * | 2012-10-30 | 2014-05-08 | Schaer André | Remote controlled mobile platform able to move through a medium such as water and air |
| CN105644742A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point vertical-section observation-type underwater robot |
| CN106741584A (en) * | 2016-12-19 | 2017-05-31 | 中国科学院沈阳自动化研究所 | Lift-type high speed ocean robot |
| CN108128450A (en) * | 2017-12-18 | 2018-06-08 | 中国科学院沈阳自动化研究所 | The empty amphibious cross-domain ocean robot of more rotor water |
| CN209650530U (en) * | 2019-02-22 | 2019-11-19 | 江西希德防务系统技术有限公司 | A kind of rotatable Multi Role Aircraft wing structure |
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| CN111746208A (en) | 2020-10-09 |
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