CN111976930A - Underwater vehicle based on annular mechanical structure - Google Patents
Underwater vehicle based on annular mechanical structure Download PDFInfo
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- CN111976930A CN111976930A CN202010786171.7A CN202010786171A CN111976930A CN 111976930 A CN111976930 A CN 111976930A CN 202010786171 A CN202010786171 A CN 202010786171A CN 111976930 A CN111976930 A CN 111976930A
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- ring
- ring body
- shell
- connecting rod
- underwater vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
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- 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
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention relates to an underwater vehicle based on an annular mechanical structure, belonging to the field of underwater vehicles; the power ring is coaxially arranged on the periphery of the acrylic bin through the shell; the power ring comprises a ring body and a propeller; the four propellers are fixed on the periphery of the ring body along the circumferential direction; the shell comprises an outer shell, a left driving assembly and a right driving assembly, wherein the outer shell is of a tubular structure with openings at two ends and is coaxially fixed on the peripheral surface of the acrylic bin; the left driving component comprises a connecting rod, a fixed frame, a rudder disc and a steering engine; the steering engine drives the rudder disc and the connecting rod to rotate, and the connecting rod further drives the ring body to rotate around the horizontal center line of the ring body. The invention combines the four-rotor power layout and the fluid appearance of the underwater vehicle to design a power loop system, has good motion flexibility and motion speed in water, has the highest speed of 1.3 meters per second when moving at full speed underwater, and can flexibly float up and submerge, and the floating up speed is 0.75 meters per second.
Description
Technical Field
The invention belongs to the field of underwater vehicles, and particularly relates to an underwater vehicle based on an annular mechanical structure.
Background
In recent years, the existing land resources are developed and utilized in a severe situation, particularly China is still under the condition that the average value of land resources is lower than the world level, oceans have abundant energy resources, biological resources, space resources, water resources and the like with great development and utilization potential, and people aim at the oceans. Unmanned underwater carrying systems have also been developed at a faster pace along with the gradual acceleration of human exploration and development of oceans. The twenty-first century is a century of human marching to the ocean, and the ocean has become an important strategic target of each country as one of the areas of treasure and high technology that have not yet been developed by human, and is also one of the focuses of international competition in recent years. Compared with a novel fin-shaped propeller, the propeller-type propeller has the advantages of mature technology, strong thrust, high submergence speed and the like, has the advantages of no substitution in the field of underwater robots, and is applied to mainstream aircraft.
Although the unmanned underwater vehicle technology is mature in theoretical research and practical application, the technology has the defects of large noise, large disturbance to the environment, poor motion flexibility and concealment and the like, and the application occasions are limited. At present, unmanned underwater vehicles adopting a spiral propulsion technology on the market have more limitations, for example, most of the underwater vehicles only have a holder, so that only images can be acquired, and tasks such as underwater high-mobility operation and the like cannot be executed; the carrying of the functional module or the mechanical arm and the like can greatly consume electric energy, limit the working time of the aircraft, and lead to the problems of overlarge volume, increased cost and the like of the aircraft if the requirement of long-term endurance is met.
The invention patent CN108423145A discloses an underwater vehicle design with a four-rotor base, which has the advantages that the power distribution of the four-rotor helicopter is basically consistent, the motion attitude is relatively stable, but due to the power distribution and the special structure of a top cover, the underwater vehicle cannot simultaneously carry out two actions of floating and advancing, the flexibility is insufficient, and the moment imbalance is easy to roll in water. The defect is that the control complexity and cost of 2 steering engines are increased compared with the scheme, and the complex motion synergistic effect is not good.
The invention discloses an amphibious aircraft helicopter, such as CN205396543U and the like, which has the advantages of being innovative, transplanting the high-efficiency motion performance of a four-rotor helicopter underwater, and having good stability in the air in water due to the perfect motion model of the four-rotor helicopter, and has the defects that the aircraft has high water resistance and low speed due to the structure of a top cover in the upward floating process, and the upward floating speed of the aircraft is 0.75 meter per second through tests, and the upward floating capacity is excellent.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides an underwater vehicle based on an annular mechanical structure, which combines the power layout of four rotors with propeller vector propulsion; the aircraft comprises an acrylic bin, a shell and a power ring. The power ring comprises a slot and a propeller; the casing contains steering wheel and connecting axle. The craft combines the flexibility and smoothness of quad-rotor motion with the rapidity of propeller motion and simplifies operation through a power ring solution. Various specific sensors and other electronic elements can be added based on the navigation device, so that the navigation device has good practical value in underwater search and rescue and also has good technical application prospect in ocean development.
The technical scheme of the invention is as follows: an underwater vehicle based on an annular mechanical structure, characterized in that: the power supply device comprises an acrylic bin, a shell and a power ring, wherein the acrylic bin is of a hollow and sealed cylindrical structure, and a power supply is arranged in the acrylic bin; the power ring is coaxially arranged on the periphery of the acrylic bin through a shell;
the power ring comprises a ring body and a propeller, and the ring body is of a circular ring structure; the four propellers are circumferentially fixed on the periphery of the ring body and are symmetrically arranged in pairs;
the shell comprises an outer shell, a left driving assembly and a right driving assembly; the outer shell is of a tubular structure with openings at two ends, the radial section of the outer shell is oval, and the outer shell is coaxially fixed on the peripheral surface of the acrylic bin; the left driving assembly and the right driving assembly are symmetrically arranged in the middle of the outer shell and are positioned at two ends of a long central line of the oval section; the left driving component comprises a connecting rod, a rudder disc and a steering engine; the bottom of the steering engine is fixed on the outer shell, and the rudder disc is coaxially arranged on an output shaft of the steering engine; one end of the connecting rod is coaxially fixed with the rudder disc, and the other end of the connecting rod is fixed with the inner annular surface of the ring body; the right driving assembly and the left driving assembly are identical in structure and are located on a horizontal central line of the ring body, the steering engine drives the steering wheel and the connecting rod to rotate on two sides, and the ring body is further driven by the connecting rod to rotate around the horizontal central line of the ring body.
The further technical scheme of the invention is as follows: still be provided with communication device, control system, camera and image processing device, depth sensor, MPU9250 gyroscope electronic component in the ya keli storehouse.
The further technical scheme of the invention is as follows: the steering engine is fixed on the outer shell through a connecting piece.
The further technical scheme of the invention is as follows: the left driving assembly further comprises a fixing frame which is a hollow hemispherical shell, the lower end of the fixing frame is fixed with the connecting piece, and a through hole is formed in the center of the upper end of the fixing frame and used for penetrating through and supporting the connecting rod.
The further technical scheme of the invention is as follows: the proportion range of the long and short center lines of the elliptic section of the outer shell is 10: 9 to 2: 1.
the further technical scheme of the invention is as follows: two pin grooves are symmetrically arranged on the inner peripheral surface of the ring body, are positioned on the horizontal center line of the ring body, and are fixedly installed in a matched mode with the pin structure at the end of the connecting rod.
The further technical scheme of the invention is as follows: the rudder disc is of a cross structure.
The further technical scheme of the invention is as follows: the connecting rod with the fixed one end of circle body is square bolt structure, with the one end of being connected of steering wheel is provided with cross platelike structure, with the cross structure of steering wheel corresponds to through the coaxial fixed of the screw that sets up along circumference.
The further technical scheme of the invention is as follows: the outer shell consists of a left front shell, a right front shell, a left rear shell and a right rear shell, the four shells are arc plates with the same shape and form the outer shell with an oval section after being fixedly connected; the ring body comprises a left ring body and a right ring body, the left ring body and the right ring body are identical in structure and are fixed through bolts to form an integral circular ring.
Advantageous effects
The invention has the beneficial effects that:
1. the power loop system is designed by combining the four-rotor power layout and the fluid appearance of the underwater vehicle, so that the new vehicle has good motion flexibility and motion speed in water, the highest speed can reach 1.3 meters per second when the vehicle moves at full speed underwater, the vehicle can flexibly float up and submerge, the floating speed is 0.75 meters per second, the problems of poor maneuverability and inflexible motion of the traditional acrylic bucket vehicle in water are solved, and the problems that the prior four-rotor base vehicle is low in floating speed and is difficult to move forward and float up simultaneously when floating up are solved.
2. The invention adopts a double-steering engine control system design matched with the power ring, the steering engine can control the overall motion direction of the aircraft by rotating, and the vector motion function is realized, thereby greatly simplifying the control complexity.
3. The invention adopts a shell design with long width and low height, and the ratio allowable range is 10: 9 to 2: 1, the design aspect ratio is 5: 3.5, so that the lateral rolling resistance moment of the water surface can be increased, the water surface is stable when the water surface runs or floats, the lateral disturbance resistance of the water surface is improved, even if the water flows excessively to roll, the rolling angular speed of the water surface is low, and the water surface can be restored to be normal by adjusting the lateral rolling angle.
4. The invention adopts a modular design, is easy to install and convenient for maintenance and part upgrading.
Drawings
FIG. 1 is a front view of a schematic aircraft structure.
Figure 2 is a rear view of a schematic aircraft structure.
Fig. 3 is a detailed view of the connection portion.
FIG. 4 is an isometric view of an overall aircraft.
Description of reference numerals: 1. the left steering engine comprises a right upper propeller, 2. a right ring body, 3. a right fixing frame, 4. a right connecting rod, 5. a right steering wheel, 6. a right steering engine, 7. a right front shell, 8. an acrylic bin, 9. a right lower propeller, 10. a left upper propeller, 11. a left ring body, 12. a left fixing frame, 13. a left connecting rod, 14. a left steering wheel, 15. a left steering engine, 16. a left front shell, 17. a left lower propeller, 18. a right rear shell, 19. a right connecting piece and 20. a left rear shell.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1-2, the underwater vehicle based on the annular mechanical structure comprises an upper right propeller 1, a right ring body 2, a right fixing frame 3, a right connecting rod 4, a right steering wheel 5, a right steering engine 6, a right front shell 7, an acrylic bin 8, a lower right propeller 9, an upper left propeller 10, a left ring body 11, a left fixing frame 12, a left connecting rod 13, a left steering wheel 14, a left steering engine 15, a left front shell 16, a left lower propeller 17, a right rear shell 18, a right connecting piece 19, a left rear shell 20 and a left connecting piece 21.
The upper right screw 1, lower right screw 9, upper left screw 10, lower left screw 17, in the threading screw group entering ya keli storehouse 8 at right side steering wheel 6 and left steering wheel 14's power control line passed through yakeli storehouse 8 rear portion, yakeli storehouse is inside to be equipped with the power, communication device, control system, camera and image processing device, degree of depth sensor, MPU9250 gyroscope electronic component.
The right half part has: the upper right propeller 1 and the lower right propeller 9 are fixedly connected with the right ring body 2 through screws, a pin slot is formed in the right ring body 2 and can be connected with a pin at the top end of a right connecting rod 4 in a matched mode, the right connecting rod 4 is fixedly connected with a right steering wheel 5 through a screw at the bottom, the right steering wheel 5 is fixedly connected with a right steering engine 6 through a screw, the right steering engine 6 is fixedly connected with a right front shell 7 through a screw, a right fixing frame 3 is fixedly connected with the right front shell 7 through a screw, and the right front shell 7 is fixedly connected with a right rear shell 18 through a right connecting piece 19 and a screw. The fixed frames 3 and 12 are used for transmitting part of force transmitted to the connecting rods 4 and 13 by the power rings to the shell, so that the force borne by the output shaft of the steering engine is reduced, and the maintenance frequency of the steering engine is reduced.
The left half has: upper left screw 10 and left lower screw 17 link firmly through screw and left circle body 11, and left circle body 11 is equipped with the bolt groove and can links firmly with left connecting rod 13 top bolt is supporting, and left connecting rod 13 links firmly through the screw of bottom and left steering wheel 14 through the screw, and here detail connecting portion divide into: the left steering wheel 14 is installed on an output shaft of the left steering engine 15, a threaded hole is formed in the center of the left steering wheel 15 and is tightly connected with the left steering engine 15, in addition, the left steering wheel 14 is cross-shaped, four threaded holes are formed in the four extending rectangular bodies, the bottom of the left connecting rod 13 is similar cross-shaped, a threaded hole is formed in the position connected with the left steering wheel 14, the left steering wheel 14 and the left connecting rod 13 are tightly connected through four screws, the left steering wheel 14 is fixedly connected with the left steering engine 15 through screws, the left steering engine 15 is fixedly connected with the left front shell 16 through screws, the left fixing frame 23 is fixedly connected with the left front shell 16 through screws, and the left front shell 16 is fixedly connected with the left rear shell 20 through a left connecting piece 21 and.
The connecting part has: the left ring body 11 and the right ring body 2 are fixedly connected through bolts and nuts, the right front shell 7 is fixedly connected with the left front shell 16 through bolts and nuts, the right rear shell 18 is fixedly connected with the left rear shell 20 through screws, the left front shell 16 is fixedly connected with the acrylic bin 8 through screws, and the right front shell 7 is fixedly connected with the acrylic bin 8 through screws.
When the aircraft is used, the power switch is firstly started to enable the control device, the camera, the sensor, the upper right propeller 1, the lower right propeller 9, the upper left propeller 10, the lower left propeller 17, the right steering engine 6 and the left steering engine 14 of the aircraft to obtain electric energy from the battery to enter a working state.
After the camera is used for obtaining the image, the image processing device and the communication device are used for transmitting the underwater image to the land upper computer to assist a user to send a control signal to the underwater, and the control signal controls the rotation of the power ring and the rotation of the propeller through the control device on the aircraft to realize the motion of the aircraft and the adjustment of the motion attitude.
When the aircraft moves forwards, the control system sends an instruction, the right steering engine 6 and the left steering engine 14 control the left ring body 11 and the right ring body 2 to integrally rotate to the righting direction (the righting direction is that the acrylic bin 8 and the power ring are coaxial, and the axial direction is positioned on the horizontal plane), and at the moment, the end surface of the power ring is perpendicular to the axial direction of a complete shell formed by the right front shell 7, the left front shell 16, the right rear shell 18 and the left rear shell 20 of the aircraft when seen from the side. The aircraft moves forwards or backwards by the aid of the upper right propeller 1, the lower right propeller 9, the upper left propeller 10 and the lower left propeller 17 which rotate in the same direction at the same time, and the moving speed of the aircraft is higher when the power of the propellers is higher.
When the aircraft turns, a control system sends out an instruction, a right steering engine 6 and a left steering engine 14 control a left ring body 11 and a right ring body 2 to integrally rotate to the normal direction, if an upper right propeller 1 and a lower right propeller 9 rotate forwards, an upper left propeller 10 and a lower left propeller 17 rotate backwards in situ and turn left, if the upper right propeller 1 and the lower right propeller 9 rotate backwards, the upper left propeller 10 and the lower left propeller 17 rotate forwards in situ and turn right, if four groups of propellers, namely an upper right propeller 1, a lower right propeller 9, an upper left propeller 10 and a lower left propeller 17 simultaneously transmit forwards, differential rotation is adopted, if the upper right propeller 1 and the lower right propeller 9 rotate slowly than the upper left propeller 10, the lower left propeller 17 rotates rightwards, if the upper right propeller 1 and the lower right propeller 9 rotate faster than the upper left propeller 10, and the lower left propeller 17 rotates leftwards.
When the aircraft floats upwards, the control system sends out an instruction, the right steering engine 6 and the left steering engine 14 control the left ring body 11 and the right ring body 2 to integrally rotate anticlockwise around a central shaft of the ring body on the horizontal plane, so that an included angle of 45 degrees is formed between the axial direction of the ring body and the horizontal plane, the outer normal direction of the end face of the power ring is the large opening facing direction of the propeller, and the upper right propeller 1, the lower right propeller 9, the upper left propeller 10 and the lower left propeller 17 simultaneously rotate forwards to drive the aircraft to float upwards.
When the aircraft dives, a control system sends an instruction, the right steering engine 6 and the left steering engine 14 control the left ring body 11 and the right ring body 2 to integrally rotate clockwise around a central shaft of the ring body on the horizontal plane, so that an included angle of 45 degrees is formed between the axial direction of the ring body and the horizontal plane, the lower right propeller 9 and the lower left propeller 17 rotate in the same direction to bring the lower half part of the aircraft into water, and after the upper right propeller 1 and the upper left propeller 10 are immersed, the upper right propeller 1 and the upper left propeller 10 rotate in the same direction to accelerate the diving speed of the aircraft and adjust the pitch angle.
When the aircraft adjusts the pitch angle, a control system sends out an instruction, the right steering engine 6 and the left steering engine 14 control the left ring body 11 and the right ring body 2 to integrally rotate to enable the outer normal line of the ring plane and the horizontal plane to be inclined upwards at an angle of 45 degrees, if the right lower propeller 9 and the left lower propeller 17 rotate forwards, the right upper propeller 1 and the left upper propeller 10 rotate backwards, the elevation angle of the aircraft can be increased or the depression angle of the aircraft can be reduced, and if the right lower propeller 9 and the left lower propeller 17 rotate backwards, the right upper propeller 1 and the left upper propeller 10 rotate forwards, the depression angle of the aircraft can be increased or the elevation angle of the aircraft can be reduced.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (9)
1. An underwater vehicle based on an annular mechanical structure, characterized in that: the power supply device comprises an acrylic bin, a shell and a power ring, wherein the acrylic bin is of a hollow and sealed cylindrical structure, and a power supply is arranged in the acrylic bin; the power ring is coaxially arranged on the periphery of the acrylic bin through a shell;
the power ring comprises a ring body and a propeller, and the ring body is of a circular ring structure; the four propellers are circumferentially fixed on the periphery of the ring body and are symmetrically arranged in pairs;
the shell comprises an outer shell, a left driving assembly and a right driving assembly; the outer shell is of a tubular structure with openings at two ends, the radial section of the outer shell is oval, and the outer shell is coaxially fixed on the peripheral surface of the acrylic bin; the left driving assembly and the right driving assembly are symmetrically arranged in the middle of the outer shell and are positioned at two ends of a long central line of the oval section; the left driving component comprises a connecting rod, a rudder disc and a steering engine; the bottom of the steering engine is fixed on the outer shell, and the rudder disc is coaxially arranged on an output shaft of the steering engine; one end of the connecting rod is coaxially fixed with the rudder disc, and the other end of the connecting rod is fixed with the inner annular surface of the ring body; the right driving assembly and the left driving assembly are identical in structure and are located on a horizontal central line of the ring body, the steering engine drives the steering wheel and the connecting rod to rotate on two sides, and the ring body is further driven by the connecting rod to rotate around the horizontal central line of the ring body.
2. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: still be provided with communication device, control system, camera and image processing device, depth sensor, MPU9250 gyroscope electronic component in the ya keli storehouse.
3. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: the steering engine is fixed on the outer shell through a connecting piece.
4. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: the left driving assembly further comprises a fixing frame which is a hollow hemispherical shell, the lower end of the fixing frame is fixed with the connecting piece, and a through hole is formed in the center of the upper end of the fixing frame and used for penetrating through and supporting the connecting rod.
5. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: the proportion range of the long and short center lines of the elliptic section of the outer shell is 10: 9 to 2: 1.
6. the underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: two pin grooves are symmetrically arranged on the inner peripheral surface of the ring body, are positioned on the horizontal center line of the ring body, and are fixedly installed in a matched mode with the pin structure at the end of the connecting rod.
7. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: the rudder disc is of a cross structure.
8. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: the connecting rod with the fixed one end of circle body is square bolt structure, with the one end of being connected of steering wheel is provided with cross platelike structure, with the cross structure of steering wheel corresponds to through the coaxial fixed of the screw that sets up along circumference.
9. The underwater vehicle based on a ring-shaped mechanical structure according to claim 1, characterized in that: the outer shell consists of a left front shell, a right front shell, a left rear shell and a right rear shell, the four shells are arc plates with the same shape and form the outer shell with an oval section after being fixedly connected; the ring body comprises a left ring body and a right ring body, the left ring body and the right ring body are identical in structure and are fixed through bolts to form an integral circular ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010786171.7A CN111976930A (en) | 2020-08-07 | 2020-08-07 | Underwater vehicle based on annular mechanical structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010786171.7A CN111976930A (en) | 2020-08-07 | 2020-08-07 | Underwater vehicle based on annular mechanical structure |
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| Publication Number | Publication Date |
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| CN111976930A true CN111976930A (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010786171.7A Pending CN111976930A (en) | 2020-08-07 | 2020-08-07 | Underwater vehicle based on annular mechanical structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109532A (en) * | 2021-04-14 | 2021-07-13 | 齐鲁工业大学 | Water quality monitoring device based on microbial fuel cell |
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| JP2016215709A (en) * | 2015-05-15 | 2016-12-22 | 国立大学法人大阪大学 | In-water movable body |
| CN108656885A (en) * | 2018-05-07 | 2018-10-16 | 中国科学院沈阳自动化研究所 | Tilting rotor air-sea amphibious robot |
| CN209921584U (en) * | 2019-05-16 | 2020-01-10 | 大连理工大学 | Vector-propelled streamlined four-rotor underwater vehicle |
| BR102018015246A2 (en) * | 2018-07-25 | 2020-01-28 | Lamenza Mauricio | equipment for dredging, blasting and burial of underwater cables and pipelines |
| CN110844029A (en) * | 2019-11-29 | 2020-02-28 | 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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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN106184692A (en) * | 2015-04-30 | 2016-12-07 | 郑州航空工业管理学院 | A kind of flying wing type hybrid lift dirigible of the dismantled and assembled power that verts |
| JP2016215709A (en) * | 2015-05-15 | 2016-12-22 | 国立大学法人大阪大学 | In-water movable body |
| CN108656885A (en) * | 2018-05-07 | 2018-10-16 | 中国科学院沈阳自动化研究所 | Tilting rotor air-sea amphibious robot |
| BR102018015246A2 (en) * | 2018-07-25 | 2020-01-28 | Lamenza Mauricio | equipment for dredging, blasting and burial of underwater cables and pipelines |
| CN209921584U (en) * | 2019-05-16 | 2020-01-10 | 大连理工大学 | Vector-propelled streamlined four-rotor underwater vehicle |
| CN110844029A (en) * | 2019-11-29 | 2020-02-28 | 中国船舶重工集团公司第七一三研究所 | Underwater four-rotor aircraft |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109532A (en) * | 2021-04-14 | 2021-07-13 | 齐鲁工业大学 | Water quality monitoring device based on microbial fuel cell |
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Application publication date: 20201124 |