CN112298503A - Winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft - Google Patents
Winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft Download PDFInfo
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- CN112298503A CN112298503A CN202011132024.4A CN202011132024A CN112298503A CN 112298503 A CN112298503 A CN 112298503A CN 202011132024 A CN202011132024 A CN 202011132024A CN 112298503 A CN112298503 A CN 112298503A
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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
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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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
- B63G8/18—Control of attitude or depth by hydrofoils
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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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft, which comprises a cabin body, a water supply device, wings and a control module, wherein the cabin body is provided with a water inlet and a water outlet; the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin; the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a jet propeller is arranged on the left central bulkhead of the power reaction cabin; the control module is fixed on the cabin body; the wings are distributed on two sides of the cabin body; the maneuvering chamber comprises a hydraulic extrusion cover and a piston; the underwater unmanned vehicle can well execute tasks such as sea patrol reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like, and has strong environment self-adaption capability, good maneuverability and high safety.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an intelligent underwater unmanned aircraft with a wing, hydraulic power and chemical reaction comprehensive extrusion propulsion type.
Background
The seabed world contains a great deal of energy and abundant resources, and plays an important role in understanding the world and social development of human beings. The intelligent underwater vehicle is an underwater vehicle carried by airplanes, surface ships, submarines and the like, has the main functions of searching, rescuing and autonomously executing ocean exploration, and can also be carried by detectors, underwater prefabricated weapons, mines and the like, can autonomously complete a series of tasks, is widely valued by all countries in the world at present, and is an effective tool for modern society to realize the ocean and develop and utilize the ocean.
At present, most of intelligent underwater vehicles adopt lead-acid batteries, alkaline batteries or lithium batteries and the like for energy supply, and once the batteries have problems, the vehicles cannot normally operate; in addition, when the submersible performs underwater tasks with high maneuverability, endurance is often reduced, underwater working time is reduced, performance indexes of the submersible are affected, and in order to improve stability of the autonomous underwater vehicle, achieve capability conversion, achieve the purposes of autonomous power generation and autonomous operation, normal operation can be guaranteed, and the effect of energy saving can be achieved, a novel intelligent unmanned autonomous underwater vehicle needs to be designed.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent unmanned underwater vehicle with wings, hydraulic power, chemical reaction and comprehensive extrusion propulsion. The underwater unmanned vehicle combines the traditional concept with a self-sufficient design mode, so that the underwater vehicle has two modes of manually controlling and automatically generating kinetic energy to run, can stand underwater, can control the running speed of the underwater unmanned vehicle, and is not influenced by the advancing speed and sea waves; the underwater vehicle can well execute tasks such as sea patrol and reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like, and has strong environment self-adaption capability, good maneuverability and high safety.
In order to solve the technical problems, the invention adopts the following technical scheme:
a winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft comprises a cabin body, a water supply device, wings and a control module;
the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin;
the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a jet propeller is arranged on the left central bulkhead of the power reaction cabin;
the control module is fixed on the cabin body;
the wings are distributed on two sides of the cabin body;
the maneuvering chamber comprises a hydraulic extrusion cover and a piston; the left end of the hydraulic extrusion cover is provided with a protruding disc which is in sliding fit with the inner wall of the power material storage cabin; the right end of the power material storage cabin is provided with a contraction part, and the contraction part is in sliding fit with the hydraulic extrusion cover; a pressure balance cabin is arranged between the protruding disc at the left end of the hydraulic extrusion cover and the contraction part at the right end of the power material storage cabin, and the pressure balance cabin is communicated with the outside through a pressure relief hole; a piston is arranged on the left side of a protruding disc at the left end of the hydraulic extrusion cover, the protruding disc and the piston are both arranged in a power material storage cabin, a piston gap is arranged between the piston and the protruding disc, and power materials are arranged in the piston gap; the left end of the hydraulic extrusion cover is provided with a pressurizing cabin which is communicated with the piston gap through an internal valve.
In one embodiment, the power material storage compartment comprises a power material outlet valve; the power material outlet valve is positioned on the partition plate between the power material storage cabin and the power reaction cabin and extends into the power reaction cabin; the power material storage cabin is filled with power materials.
In one embodiment, the power material outlet valve is a one-way valve.
In one embodiment, the power material is a substance that reacts with water and produces gas and/or energy.
In a preferred embodiment, the power material is selected from a gel-like liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances. The power material in the material cabin is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or the sodium metal powder are uniformly suspended in the medium, and are sprayed into the reaction cabin through a power material outlet valve at the rear part of the material cabin to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
In one embodiment, the water supply device is connected with the power reaction cabin; preferably, the water supply device comprises a water supply pump, a filter and a water inlet one-way valve; the water supply pump is arranged in the water supply device; the filter is arranged at the lower part of the water supply device; the water inlet one-way valve is used for connecting the power cabin water supply device and the reaction cabin.
In one embodiment, the wing comprises a main wing, an aileron, a steering engine, and a hinge; the main wing is connected with the ailerons through hinges; the steering engine is fixed on the main wing.
In one embodiment, the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module component.
Any range recited herein is intended to include the endpoints and any number between the endpoints and any subrange subsumed therein or defined therein.
The starting materials of the present invention are commercially available, unless otherwise specified, and the equipment used in the present invention may be any equipment conventionally used in the art or may be any equipment known in the art.
Compared with the prior art, the invention has the following beneficial effects:
the underwater unmanned vehicle combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes of manual control and automatic generation of kinetic energy for driving, can stand underwater, can control the driving speed of the underwater unmanned vehicle, and is not influenced by the advancing speed and the sea waves. The underwater vehicle can well execute tasks such as sea patrol and reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like, and has strong environment self-adaption capability, good maneuverability and high safety.
Drawings
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings
FIG. 1 is a schematic cross-sectional view of an intelligent unmanned underwater vehicle as described in the present invention;
FIG. 2 is a schematic top view of an intelligent unmanned underwater vehicle as described in the present invention;
FIG. 3 is a schematic side view of an intelligent unmanned underwater vehicle as described in the present invention;
fig. 4 is a schematic rear view of an intelligent unmanned underwater vehicle according to the present invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the 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 is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 4, as one aspect of the present invention, the intelligent underwater unmanned vehicle with winged hydraulic and chemical reaction comprehensive extrusion propulsion comprises a cabin 100, a water supply device 4, wings 5 and a control module 6;
the cabin body 100 sequentially comprises an engine cabin 1, a power material storage cabin 2 and a power reaction cabin 3 from right to left; a water supply device 4 is fixedly arranged on the power reaction cabin 3;
the power reaction cabin 3 and the power material storage cabin 2 are separated by a partition plate 21, and power materials 22 in the power material storage cabin 2 can enter the power reaction cabin 3; a jet propeller 31 is arranged on the left central bulkhead of the power reaction cabin 3;
the control module 6 is fixed on the cabin 100;
the wings 5 are distributed on two sides of the cabin 100;
the maneuvering chamber 1 comprises a hydraulic extrusion cover 11 and a piston 12; the left end of the hydraulic extrusion cover 11 is provided with a protruding disc 111, and the protruding disc 111 is in sliding fit with the inner wall of the power material storage cabin 2; the right end of the power material storage cabin 2 is provided with a contraction part 23, and the contraction part 23 is in sliding fit with the hydraulic extrusion cover 11; a pressure balance cabin 24 is arranged between the protruding disc 111 at the left end of the hydraulic extrusion cover 11 and the contraction part 23 at the right end of the power material storage cabin 2, and the pressure balance cabin 24 is communicated with the outside through a pressure relief hole 25; a piston 12 is arranged on the left side of a protruding disc 111 at the left end of the hydraulic extrusion cover 11, the protruding disc 111 and the piston 12 are both arranged in the power material storage cabin 2, a piston gap 112 is arranged between the piston 12 and the protruding disc 111, and power materials are arranged in the piston gap 112; a pressurizing cabin 113 is arranged in the left end of the hydraulic extrusion cover 11, and the pressurizing cabin 113 is communicated with the piston gap 112 through an internal valve 114.
Referring to fig. 1, it can be understood that the water pressure is uniform because the hydraulic squeeze hoods 11 in the maneuvering chamber 1 are constantly subjected to the continuous pressure of the water pressure when the underwater unmanned vehicle advances; if sudden acceleration is needed, an internal valve 114 between the pressurizing cabin 113 and the piston gap 112 is opened, water preset in the pressurizing cabin 113 enters the piston gap 112, the power material in the piston gap 112 reacts with the water, so that the piston 12 is pushed to extrude the power material 22 in the power material storage cabin through the sudden acceleration, the power material 22 is sprayed to the power reaction cabin 3 through the sudden acceleration, the reaction in the power reaction cabin 3 is suddenly increased, and the underwater unmanned vehicle is suddenly accelerated to advance.
In one embodiment, the power material storage compartment 2 includes a power material outlet valve 26; the power material outlet valve 26 is positioned on the partition plate 21 between the power material storage cabin 2 and the power reaction cabin 3 and extends into the power reaction cabin 3; the power material storage cabin 2 is internally provided with power materials 22. It will be appreciated that the engine 22 in the engine storage compartment 2 can be forced into the engine reaction compartment 3 by opening the engine outlet valve 26.
In one embodiment, the power material outlet valve 26 is a one-way valve.
In one embodiment, the power material 22 is a substance that reacts with water and produces gas and/or energy.
In one embodiment, the power charge 22 is selected from a gel-like liquid of sodium metal particles or sodium metal powder with kerosene or other non-reactive oil-like substances. The power material in the material cabin is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or the sodium metal powder are uniformly suspended in the medium, and are sprayed into the reaction cabin through a power material outlet valve at the rear part of the material cabin to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
In one embodiment, referring to fig. 3, the water supply device 4 is connected with the power reaction cabin 3; preferably, the water supply device 4 comprises a water supply pump 41, a filter 42, a water inlet check valve 43; the water supply pump 41 is installed in the water supply device 4; the filter 42 is arranged at the lower part of the water supply device 4; the water inlet one-way valve 43 is used for connecting the power cabin water supply device 4 and the power reaction cabin 3. It can be understood that the water source filtered by the filter 42 in the water supply device 4 can be powered by the water supply pump 41 and then can enter the power reaction chamber 3 through the water inlet check valve 43.
In one embodiment, referring to fig. 1-4, the wing 5 comprises a main wing 51, an aileron 52, a steering gear 53, a hinge 54; the main wing 51 is connected with the aileron 52 through a hinge 54; the steering gear 53 is fixed on the main wing 51.
In one embodiment, the control module 4 comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module component.
The invention discloses a winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft, which has the working principle as follows:
referring to fig. 1 to 4, the underwater unmanned vehicle of the invention has no initial power, can be carried by surface ships, submarines, airplanes and other systems, and transmits the power to a preset position when in use, and receives an instruction through an environment sensor in a control module 4; opening a one-way valve 25 between the power reaction cabin 3 and the power material storage cabin 2, and filling the power material 22, namely the sodium metal particles or sodium metal powder and kerosene or other non-reactive gel liquid of oil substances, in the power material storage cabin 2; when the underwater unmanned vehicle continuously advances, the hydraulic extrusion cover 11 drives the piston 12 to extrude the power material 22 in the power material storage bin 2 to be sprayed into the power reaction cabin 3 through the power material outlet valve 26, the interior of the power reaction cabin 3 is communicated with the water inlet one-way valve 43 through the water supply pump 41, water enters the power reaction cabin 3 to be mixed with the power material 22 entering from the power material storage bin 2 to react, gas is released, a large amount of pressure is generated, the propeller 31 is opened at the moment, so that gas-water mixed liquid is sprayed outwards through the propeller 31 to push the underwater vehicle to advance, and the process is circulated, so that the underwater vehicle has continuous advancing power even without external force. After the reaction occurs in the power reaction cabin 3 to generate gas and pressure, the propeller 31 is closed, so that the aircraft can be decelerated. The wings 5 assist in controlling the direction, and the ailerons 52 are controlled by the steering gears 53 to fold up and down, so that the underwater vehicle can rapidly ascend and descend. The control module 6 adjusts the state, the forward speed, the backward speed, the up-down floating speed and the information transmission function of the underwater vehicle by means of an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery.
The invention can realize autonomous power supply navigation by repeating the process, greatly saves energy, and can take tasks of sea patrol reconnaissance, marine relay communication and the like.
The underwater vehicle has two modes of manual control and automatic kinetic energy generation, can perform tasks such as sea patrol and reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like an unmanned surface boat during underwater navigation, and has strong environment self-adaption capability, good maneuverability and high safety.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.
Claims (9)
1. Winged hydraulic power and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft is characterized in that: comprises a cabin body, a water supply device, wings and a control module;
the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin;
the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a jet propeller is arranged on the left central bulkhead of the power reaction cabin;
the control module is fixed on the cabin body;
the wings are distributed on two sides of the cabin body;
the maneuvering chamber comprises a hydraulic extrusion cover and a piston; the left end of the hydraulic extrusion cover is provided with a protruding disc which is in sliding fit with the inner wall of the power material storage cabin; the right end of the power material storage cabin is provided with a contraction part, and the contraction part is in sliding fit with the hydraulic extrusion cover; a pressure balance cabin is arranged between the protruding disc at the left end of the hydraulic extrusion cover and the contraction part at the right end of the power material storage cabin, and the pressure balance cabin is communicated with the outside through a pressure relief hole; a piston is arranged on the left side of a protruding disc at the left end of the hydraulic extrusion cover, the protruding disc and the piston are both arranged in a power material storage cabin, a piston gap is arranged between the piston and the protruding disc, and power materials are arranged in the piston gap; the left end of the hydraulic extrusion cover is provided with a pressurizing cabin which is communicated with the piston gap through an internal valve.
2. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the power material storage cabin comprises a power material outlet valve; the power material outlet valve is positioned on the partition plate between the power material storage cabin and the power reaction cabin and extends into the power reaction cabin; the power material storage cabin is filled with power materials.
3. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 2, wherein: the power material outlet valve is a one-way valve.
4. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 2, wherein: the power material is a substance that reacts with water and generates gas and/or energy.
5. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 4, wherein: the power material is selected from a gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances.
6. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the water supply device is connected with the power reaction cabin.
7. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the water supply device comprises a water supply pump, a filter and a water inlet one-way valve; the water supply pump is arranged in the water supply device; the filter is arranged at the lower part of the water supply device; the water inlet one-way valve is used for connecting the power cabin water supply device and the reaction cabin.
8. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the wings comprise main wings, ailerons, steering engines and hinges; the main wing is connected with the ailerons through hinges; the steering engine is fixed on the main wing.
9. The winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011132024.4A CN112298503B (en) | 2020-10-21 | 2020-10-21 | Winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011132024.4A CN112298503B (en) | 2020-10-21 | 2020-10-21 | Winged hydraulic and chemical reaction comprehensive extrusion propulsion type intelligent underwater unmanned aircraft |
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| CN112298503A true CN112298503A (en) | 2021-02-02 |
| CN112298503B CN112298503B (en) | 2022-05-27 |
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Citations (8)
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|---|---|---|---|---|
| US3183871A (en) * | 1961-08-28 | 1965-05-18 | Weser Flugzeugbau G M B H | Speed boat with underwater wings |
| US20040112269A1 (en) * | 2002-12-11 | 2004-06-17 | Solomon Budnik | Front drive submarine |
| CN101628621A (en) * | 2009-07-25 | 2010-01-20 | 西南交通大学 | Submarine flank push structure |
| CN105836124A (en) * | 2016-03-21 | 2016-08-10 | 北京航空航天大学 | Unmanned underwater aircraft |
| CN107054591A (en) * | 2016-11-28 | 2017-08-18 | 上海大学 | A kind of combination drive underwater robot |
| CN207141334U (en) * | 2017-08-24 | 2018-03-27 | 杨莫轩 | Marine sump oil clears up the unmanned sliding latent device of folding wings formula automatically |
| CN208325584U (en) * | 2018-06-20 | 2019-01-04 | 天津中德应用技术大学 | Underwater spectroradiometer based on water jet driving |
| CN211281417U (en) * | 2019-07-23 | 2020-08-18 | 华南理工大学 | Underwater towing body with multi-degree-of-freedom tail water spraying control |
-
2020
- 2020-10-21 CN CN202011132024.4A patent/CN112298503B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3183871A (en) * | 1961-08-28 | 1965-05-18 | Weser Flugzeugbau G M B H | Speed boat with underwater wings |
| US20040112269A1 (en) * | 2002-12-11 | 2004-06-17 | Solomon Budnik | Front drive submarine |
| CN101628621A (en) * | 2009-07-25 | 2010-01-20 | 西南交通大学 | Submarine flank push structure |
| CN105836124A (en) * | 2016-03-21 | 2016-08-10 | 北京航空航天大学 | Unmanned underwater aircraft |
| CN107054591A (en) * | 2016-11-28 | 2017-08-18 | 上海大学 | A kind of combination drive underwater robot |
| CN207141334U (en) * | 2017-08-24 | 2018-03-27 | 杨莫轩 | Marine sump oil clears up the unmanned sliding latent device of folding wings formula automatically |
| CN208325584U (en) * | 2018-06-20 | 2019-01-04 | 天津中德应用技术大学 | Underwater spectroradiometer based on water jet driving |
| CN211281417U (en) * | 2019-07-23 | 2020-08-18 | 华南理工大学 | Underwater towing body with multi-degree-of-freedom tail water spraying control |
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| CN112298503B (en) | 2022-05-27 |
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