US20180370605A1 - A roll-over floating mixed multi-habitat submersible based on built-in driving principle - Google Patents

A roll-over floating mixed multi-habitat submersible based on built-in driving principle Download PDF

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Publication number
US20180370605A1
US20180370605A1 US15/579,890 US201715579890A US2018370605A1 US 20180370605 A1 US20180370605 A1 US 20180370605A1 US 201715579890 A US201715579890 A US 201715579890A US 2018370605 A1 US2018370605 A1 US 2018370605A1
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Prior art keywords
spherical shell
roll
built
driving principle
mixed multi
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US15/579,890
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Pengfei Xu
Jinhai ZHENG
Guanqing Zhang
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Hohai University (HHU)
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Hohai University (HHU)
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Priority to CN201710037213.5 priority Critical
Priority to CN201710037213.5A priority patent/CN106828831B/en
Application filed by Hohai University (HHU) filed Critical Hohai University (HHU)
Priority to PCT/CN2017/088401 priority patent/WO2018133314A1/en
Publication of US20180370605A1 publication Critical patent/US20180370605A1/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007Arrangement of propulsion or steering means on amphibious vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/16Control of attitude or depth by direct use of propellers or jets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/22Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/32Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/20Steering equipment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H21/00Use of propulsion power plant or units on vessels
    • B63H21/12Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor

Abstract

The present invention discloses a roll-over floating mixed multi-habitat submersible based on built-in driving principle comprising an outer spherical shell, a propulsion unit, an inner spherical shell, a rolling power unit, a buoyancy adjusting unit and a steering unit; the inner spherical shell can be set in the outer spherical shell rotating in the first axis direction relative to outer spherical shell; the roller power unit can be set in the inner spherical shell, capable of rotating around the second axis to generate an eccentric moment to advance or retract the submersible; the buoyancy adjusting unit and steering unit are installed in the space between the outer spherical shell and the inner spherical shell, wherein the buoyancy adjusting unit is capable of causing the submersible to sink or float in the water body and the steering unit is capable of driving the inner spherical shell to rotate relative to the outer spherical shell; The first axis is perpendicular to the second axis. The present invention has the beneficial effect that it not only can float in water body and move at the bottom of the water body, but also be able to move on land to realize the ability of interdisciplinary activity, and also to make the laying and recycling simple.

Description

    FIELD
  • The present invention relates to the technical field of submersible and more particularly to the roll-over floating mixed multi-habitat submersible based on built-in driving principle.
  • BACKGROUND
  • Diving as one of the main technical means for human to develop and utilize ocean has become an important frontier of marine high technology. A large number of submersibles have emerged, including HOV, ROV and AUV. These submersibles, like AUV, can at most cruise in the near sea bottom or wait in the base for order and can not freely move in the sea bed. Crawler-type ROV that can be operated on the seabed requires umbilical cable water surface power supply, thus amphibious autonomous submersible with functions of seabed movement and water floating hasn't yet appeared.
  • The traditional unmanned submersible mainly consists of frame, slender rotor and their combination. The state of movement is floating in the water. Crawler or wheel drive unit features large traction load, cumbersome and unstable quality.
  • SUMMARY
  • It is an object of the present invention to overcome the shortcomings of the prior art and to provide a roll-over floating mixed multi-habitat submersible based on built-in driving principle that can float in the water body, move at the bottom of the water body and move on the land so as to realize the ability of interdisciplinary activity, and also to make the laying and recycling simple.
  • In order to solve the problems of the prior art, the present invention discloses a roll-over floating mixed multi-habitat submersible based on built-in driving principle comprising a outer spherical shell, a propulsion unit, an inner spherical shell, a rolling power unit, a buoyancy adjusting unit and a steering unit.
  • The outer spherical shell has a spherical outer wall and the inner spherical shell has a spherical inner wall; the inner spherical shell can be set in the outer spherical shell rotating in the first axis direction relative to the outer spherical shell; the roller power unit can be set in the inner spherical shell, capable of rotating around the second axis to generate an eccentric moment to advance or retract the submersible; the buoyancy adjusting unit and the steering unit are installed in the space between the outer spherical shell and the inner spherical shell, wherein the buoyancy adjusting unit is capable of causing the submersible to sink or float in the water body, and the steering unit is capable of driving the inner spherical shell to rotate relative to the outer spherical shell; the first axis is perpendicular to the second axis.
  • Furthermore, the rolling power unit comprises a turret, a roller, a drive motor, a controller and a battery pack; the rollers are respectively mounted on opposite sides of the turret and in rolling contact with the spherical inner wall. The drive motor drives one of the rollers so that the turret is movable relative to the inner spherical shell; the controller is electrically connected to the drive motor and the battery is electrically connected to the controller and the drive motor, respectively; wherein, the drive motor and the battery are eccentrically mounted on the turret so that the rolling power unit generates an eccentric moment.
  • Furthermore, the turret comprises: a central support and a resilient support; the rollers are mounted on the central support and a resilient support; the resilient support is resiliently connected to the central support by means of a spring in the direction of the center line of both sides of the roller so that the both side rollers are always in contact with the spherical inner wall.
  • Furthermore, the buoyancy adjusting unit comprises a drain tank, a water pump and an integrated valve group; the water is drawn into or discharged in the drain tank through the water pump and the valve group.
  • Furthermore, the drain tank is in the form of a tubular annular structure set up in a circumference of the inner spherical shell.
  • Furthermore, the steering means comprises a steering gear ring, a steering gear and a steering motor; the steering gear ring is set on the outer wall of the inner spherical shell, the steering motor is provided on the inner wall of the outer spherical shell, and the steering gear is provided on rite rotating shaft of the steering motor and meshing with the steering gear ring.
  • Furthermore, the outer spherical shell has a mounting portion for projecting an outer wall thereof at both ends in its diameter direction, and the pushing unit is respectively provided on each of the mounting portions.
  • Furthermore, the number of propulsion units on each mounting portion is two which are arranged symmetrically with vertical line at an angle of 90°.
  • Furthermore, the number of propulsion units on each mounting portion is one which is capable of ±90° rotatably provided on the mounting portion.
  • Furthermore, the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structure to increase underwater friction.
  • The present invention has the beneficial effect that it not only can float in the water body and move at the bottom of the water body, but also be able to move on land to realize the ability of interdisciplinary activity, and also to make the laying and recycling simple.
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • FIG. 1 is a structural perspective view of a preferred embodiment of the present invention;
  • FIG. 2 is a perspective exploded view of the embodiment shown in FIG. 1;
  • FIG. 3 is a front view of the structure of the embodiment shown in FIG. 1;
  • FIG. 4 is a structural side view of the embodiment shown in FIG. 1;
  • FIG. 5 is a structural perspective view of the rolling power unit of the embodiment shown in FIG. 1;
  • FIG. 6 is a front view of the structure of the rolling power unit of the embodiment shown in FIG. 1;
  • FIG. 7 is a structural side view of the rolling power unit in the embodiment shown in FIG. 1;
  • FIG. 8 is a schematic diagram of the motion of the rolling power unit in the embodiment shown in FIG. 1;
  • FIG. 9 is a top plan view of the structure of the steering unit in the embodiment shown in FIG. 1;
  • FIG. 10 is a front view of the structure of a propulsion unit according to another preferred embodiment of the present invention;
  • FIG. 11 is a front view of the structure of the propulsion unit in the embodiment shown in FIG. 10;
  • REFERENCE NUMBER
  • 1 outer spherical shell: 1.1 mounting pan; 1.2 convex structure; 2 propulsion unit; 3 support frame; 4 inner spherical shell; 5 roller; 6 steering gear; 7 drive motor; 8 center support; 9 elastic support; 10 spring; 11 steering gear.
  • DETAILED DESCRIPTION
  • The invention will now be described further with reference to the accompanying drawings. The following examples are merely illustrative of the technical aspects of the present invention and are not intended to limit the scope of the invention.
  • Embodiment 1
  • As shown in FIGS. 1 to 9, a roll-over floating mixed multi-habitat submersible comprises spherical shell 1, propulsion unit 2, inner spherical shell 4, rolling power unit, buoyant force adjusting unit and steering unit.
  • In particular, in order to facilitate better contact and movement with the bottom of the water body or land, the outer spherical shell 1 is a spherical housing. Its inner and outer walls are spherical. The outer wall is distributed with a number of convex structure 1.2 or similar tires groove texture structure.
  • For better fixing of the inner spherical shell 4 in the outer spherical shell 1 and for facilitating the better generation of the eccentric torque of rolling power unit, inner spherical shell 4 is also spherical shell and the inner and outer walls are spherical. The inner spherical shell 4 is set in the inner spherical shell 1 concentrically through a support frame 3 and is rotatable relative to the outer spherical shell 1 about the first shaft. Rolling power unit is set in the inner spherical shell 4, buoyancy adjusting unit and the steering unit are installed in the space between the outer spherical shell 1 and the inner spherical shell 4.
  • The eccentric torque generated by rolling power unit is equipped with the structure: the rolling power unit comprising a turret, a roller 5, a drive motor 7, a controller and a battery. The roller 5 is mounted on the opposite sides of the turret, and the roller 5 is in rolling contact with the inner wall of the inner spherical shell 4 and the drive motor 7 drives the roller 5 on one side thereof so that the turret can be rotated about the second axis of the inner spherical shell 4. The controller is electrically connected to the drive motor 7 to control the drive motor 7 to perform the forward/reverse control. The battery is connected respectively with the controller and the drive motor 7 electrically to supply power thereto. The drive motor 7 and the battery are used as components of high quality in the rolling power unit and are thus eccentrically mounted on the turret as a weight so that the eccentric torque can be generated when the turret is rotated.
  • As shown in FIG. 8, the inner spherical shell 4 and the outer spherical shell 1 are regarded as a complete sphere and the action point of the sphere and the surface supporting the sphere is the supporting point. Regard the drive motor 7 and battery as inverted pendulum, under the action of gravity, in the sphere bottom. When the drive motor 7 is operated to rotate the inverted pendulum relative to the sphere, the inverted weight forms a torque relative to the supporting point which drives the ball in the reverse direction and then pendulum returns to the initial position. During the rotation of the sphere, the friction supporting surface simultaneously drives the sphere forward. Repeat the process to continuously roll the sphere.
  • In order to enable the roller 5 to always contact the inner wall of the inner spherical shell 4 during rotation, the turret is divided into two parts which are movable, one part is the center support 8 and the other part is the elastic support 9. The pair of rollers 5 mounted on center support 8 are driven by drive motor 7, respectively.
  • The elastic support 9 is elastically connected along the center line of both sides roller 5 through the spring 10 and center support 8. The spring 10 makes elastic support 9 have a tendency to move outwardly relative to the center support 8, so that both sides of the roller 5 are always movable against the inner wall of the inner spherical shell 4.
  • The buoyant adjustment unit that changes submersible position in the water has a structure: the buoyant adjustment comprises a dosing tank, a water pump and an integrated valve group. The water pump adopts a one-way pump, the water is sucked or discharged by the water pump and the valve group in the drain tank which is a tubular annular structure and is arranged around the outer circumference of the inner spherical shell 4 so that the distribution of the weight of the water can have a uniform distribution of the weight to affect the eccentric torque.
  • When the one-way pump is turned on, the water is automatically sucked into the drain tank by means of the water pressure. The weight of the submersible increases and exceeds its buoyancy to sink to the bottom of the water body. At this time, the movement at the bottom of the water body is achieved by rolling the power unit. After a portion of the water is discharged from the drain tank, the weight of the submersible falls and is equal to its buoyancy so that the submersible floats in the water body, and the submersible movement is achieved by the propulsion device 2. One-way pump works reversely to Anther discharge the water and the weight of the submersible is less than its buoyancy and thus rise to the surface to achieve the recovery of the submersible.
  • The steering unit that achieves the pivot steering is equipped with the structure: steering device comprises a steering gear 6, a steering gear 11 and a steering motor. The steering gear 6 is provided on the outer wall of the inner spherical shell 4 with its axis of rotation collinear with the first axis, set along the equatorial line of the inner spherical shell. The steering motor is provided on the inner wall of the outer spherical shell 1 and the steering gear 11 is set on the rotating shaft of the steering motor and engaged with the steering gear 6.
  • After the steering of the steering motor, the inner spherical shell 4 and its inner rolling power unit can revolve to a certain angle relative to its original position, then the submersible will move along the new direction in the water bottom or on the land.
  • The propulsion unit 2 is installed in a symmetrical manner and the outer spherical shell 1 has, at its both ends, in its diameter direction, the mourning portion 1.1 protruding its outer wall. The propulsion unit 2 is provided on each mounting portion 1.1. The present invention has two types of propulsion unit 2, in particular: the number of the propulsion unit 2 on each of the mounting portion 1.1 is two, and the two propulsion units 2 on the same mounting portion 1.1 are opposed to each other at an angle of 90°. This installation ensures that the submersible provides a progressive, floating and three-degree-of-freedom thrust when rolling at any angle to achieve an emergency float.
  • Embodiment 2
  • As shown in FIGS. 10 and 11, the difference from the first embodiment is that in the present embodiment, the number of the propulsion unit is 2 and the propulsion unit 2 is ±90° rotatably provided on the mounting portion 1.1. Under normal situation, the two-side propulsion unit 2 is arranged horizontally to generate a forward drive thrust. In addition, the propulsion unit 2 can be further rotated to a vertical state to produce a floating, dive thrust. The mounting portion has a streamlined structure and is made of a transparent material to facilitate observation of the internal structure of the submersible.
  • Embodiment 3
  • It differs from Embodiment 1 in that in the present embodiment, the water pump uses a bidirectional pump to effect water intake and drainage.
  • In order to prevent the nozzle of the manifold from being clogged by the sludge, a nozzle can be provided on the mounting portion so as to reduce the contact of the nozzle with the bottom or land of the water body.
  • Whichever type of installation is used, the propulsion unit 2 will interfere with the movement of the divergent submersible. Therefore, the steering angle of the steering device may be set within the set range depending on the circumstances so as to avoid the interference effect of the propulsion unit 2 on the roll.
  • In the present invention, the first axis is the Y-axis direction in FIG. 2, the second axis is the X-axis direction in FIG. 2, and the X-axis and the Y-axis are perpendicular to each other.
  • The submersible can be laid by the mother ship, or even rolled from the shore into the water or release from the air. With the action of its buoyant adjustment unit, it sinks into the bottom of the water body for rolling or floating movement. After the task is completed, it can roll back to mother ship from the bottom of water, which subverts the current traditional way of laying and recovering by using the deck to lay down. It plays an important role in offshore surveys, underwater observation, marine pasture monitoring, seabed long-term guarding and so on.
  • The foregoing is merely a preferred embodiment of the present invention and it should be noted that it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the technical principles of the invention. These modification and variation should also be regarded as the scope of protection of the present invention.

Claims (18)

1. A roll-over floating mixed multi-habitat submersible based on built-in driving principle comprises an outer spherical shell, a propulsion unit, an inner spherical shell, a rolling power unit, a buoyancy adjusting unit and a steering unit, wherein,
the outer spherical shell has a spherical outer wall and the inner spherical shell has a spherical inner wall,
the inner spherical shell is set in the outer spherical shell, capable of rotating in a first axis direction relative to the outer spherical shell,
the roller power unit is set in the inner spherical shell, capable of rotating around a second axis to generate an eccentric moment to advance or retract the submersible,
the buoyancy adjusting unit and the steering unit are installed in a space between the outer spherical shell and the inner spherical shell,
wherein the buoyancy adjusting unit is capable of causing the submersible to sink or float in water body, and the steering unit is capable of driving the inner spherical shell to rotate relative to the outer spherical shell,
the first axis is perpendicular to the second axis.
2. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 1, wherein,
the rolling power unit comprises a turret, a roller, a drive motor, a controller and a battery pack,
the rollers are respectively mounted on opposite sides of the turret, the rollers are in rolling contact with the spherical inner wall, the drive motor drives one of the rollers so that the turret is movable relative to the inner spherical shell,
the controller is electrically connected to the drive motor, the battery is electrically connected to the controller and the drive motor, respectively,
wherein, the drive motor and the battery are eccentrically mounted on the turret so that the rolling power unit generates an eccentric moment.
3. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 2, comprising:
the turret comprises a central support and a resilient support,
the rollers are mounted on the central support and the resilient support,
the resilient support is resiliently connected to the central support by a spring in a direction of a center line of both side rollers so that the both side rollers are always in contact with the spherical inner wall.
4. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 1, wherein,
the buoyancy adjusting unit comprises an injection and drainage tank, a water pump and an integrated valve group,
water is drawn into or being discharged from the injection and drainage tank through the water pump and the valve group.
5. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 4, wherein,
the injection and drainage tank is in a form of a tubular annular structure set up in a circumference of the inner spherical shell.
6. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 1, wherein,
the steering unit comprises a steering gear ring, a steering gear and a steering motor,
the steering gear ring is set on an outer wall of the inner spherical shell, the steering motor is provided on an inner wall of the outer spherical shell, and the steering gear is provided on a rotating shaft of the steering motor and meshes with the steering gear ring.
7. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 1, wherein,
the outer spherical shell has a mounting portion that projects from an outer wall thereof at both ends in its diameter direction respectively, and the propulsion units are respectively provided on each of the mounting portions.
8. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 7, wherein,
the number of the propulsion units on each mounting portion is two, which are arranged symmetrically with vertical line at an angle of 90°.
9. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 7, wherein,
the number of propulsion units on each mounting portion is one, which is provided on the mounting portion in a way of capable of ±90° rotating.
10. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 1, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
11. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 2, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
12. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 3, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
13. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 4, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
14. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 5, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
15. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 6, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
16. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 7, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
17. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 8, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
18. The roll-over floating mixed multi-habitat submersible based on built-in driving principle according to claim 9, wherein,
the outer wall of the outer spherical shell is distributed with a plurality of convex structures or groove texture structures to increase underwater friction.
US15/579,890 2017-01-19 2017-06-15 A roll-over floating mixed multi-habitat submersible based on built-in driving principle Pending US20180370605A1 (en)

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CN201710037213.5A CN106828831B (en) 2017-01-19 2017-01-19 A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more
PCT/CN2017/088401 WO2018133314A1 (en) 2017-01-19 2017-06-15 Rolling and floating combined amphibious vehicle based on internal drive principle

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CN106828831B (en) * 2017-01-19 2018-01-16 河海大学 A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more
CN108622341A (en) * 2017-07-31 2018-10-09 李学忠 Underwater robot
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