CN102616357A - 360-degree biomimetic fluctuation propulsion device - Google Patents
360-degree biomimetic fluctuation propulsion device Download PDFInfo
- Publication number
- CN102616357A CN102616357A CN2012100590349A CN201210059034A CN102616357A CN 102616357 A CN102616357 A CN 102616357A CN 2012100590349 A CN2012100590349 A CN 2012100590349A CN 201210059034 A CN201210059034 A CN 201210059034A CN 102616357 A CN102616357 A CN 102616357A
- Authority
- CN
- China
- Prior art keywords
- gear
- traverse
- steering
- steering gear
- reversing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention relates to an underwater biomimetic propulsion device, in particular to a 360-degree biomimetic fluctuation propulsion device. The 360-degree biomimetic fluctuation propulsion device comprises a large gear ring as well as a translation gear, a reversing gear and a steering gear which are arranged in the large gear ring, wherein shaft ends of respective mounting shafts of the translation gear and the steering gear respectively extend out of an end cover; the translation gear is meshed with the reversing gear; the reversing gear is meshed with the steering gear; an elastic paddle is arranged at the extending end of the mounting shaft where the translation gear is positioned; and one end of a steering gear shaft is connected with a steering gear box. The large gear ring is arranged in a bottom hold or a side hold body of an underwater vehicle and the elastic paddle extends out of the vehicle; and the elastic paddle is laterally or vertically translated to strike water to be elastically bent and further laterally or vertically swings to form a reverse Karman vortex street for pulsing the vehicle to move forward. The steering gear is rotated, and then the swing orientation of the elastic paddle is changed and further a thrust in a horizontal plane or a vertical plane in any direction within 360-degree range can be obtained, so that the underwater vehicle can move towards any direction.
Description
Technical field:
The present invention relates to a kind of aquatic bionic propelling unit, particularly a kind of 360 ° of bionical fluctuation propelling units.
Background technology:
Through the evolution in several hundred million years, fish propulsion coefficient, alerting ability, can be handling etc. the aspect have the preceence that surmounts any artificial water surface and underwater research vehicle, paid close attention to by the bionicist always; Present many developed countries all attach great importance to the research of fish-shape robot; China also plays an active part in wherein, has obtained a lot of important achievement, and has got into the engineering construction stage; Also there is a big difference but the machine fish that manufactures is compared with biological fish; The speed of particularly moving about is less than 2 metre per second (m/s)s also, and the people is fast than its trip, and the more biological fish of alerting ability also differs greatly.
Research about more high-power bionical fluctuation propelling unit is still blank; Its reason does not lie in theoretical experimental study not deeply; The realization means (multi-joint, crank connecting link, artificial muscle, piezoceramic, marmem etc.) of fluctuation Push Technology are though technology content is very high; But ingenious inadequately, can't overcome the shortcoming that propulsive mechanism is bulky and expose.
The experimental study of the large-scale scientific research institutions of lot of domestic and foreign shows: the conventional propulsion coefficient that advances of fluctuation impelling ratio is high more than 30%, and just matter of time replaces.
Summary of the invention:
The object of the present invention is to provide a kind of simple in structure, cost of manufacture is low and 360 ° of bionical fluctuation propelling units that only need rely on gear just can drive.
The present invention adopts following technical scheme:
A kind of 360 ° of bionical fluctuation propelling units; Comprise and engine output shaft bonded assembly bull gear transmission shaft; With bull gear transmission shaft bonded assembly bull gear, place traverse gear, reversing gear and steering gear in the bull gear, end cap is equipped with in the both sides of said bull gear; Said traverse gear, reversing gear and steering gear place on the end cap through each installation shaft respectively; Wherein traverse gear and the steering gear axle head that belongs to installation shaft separately extends to respectively outside the end cap, and said traverse gear is meshed with reversing gear, and this reversing gear is meshed with said steering gear; One end of said steering gear axle is connected with direction control mechanism; The elongated end of said traverse gear place installation shaft is equipped with the elasticity blade.
The present invention of employing technique scheme compared with prior art; The bull gear of this bionical wave device is placed in underwater sailing body hold or cabin, the side body, and the elasticity blade stretches out outside the sail body, under the drive of bull gear; Traverse gear and reversing gear rotate in company with bull gear; Because traverse gear and reversing gear, steering gear mesh successively, and steering gear does not change, thus the driving traverse gear with the rotation of bull gear unequal angular velocity reversing sense; With the hull be object of reference then traverse gear is only around the steering shaft not rotation of revolving round the sun, the also flexible blade of traverse gear peace movable gear shaft is fixed together; So the elasticity blade is done the rotation motion of translation, the elasticity blade elastic bending takes place when translation is struck waters and about or swing up and down, form the anti-Karman vortex street of huge generation propulsive force, advance sail body to advance.
The installation shaft of steering gear drives steering gear and rotates; Then the swing orientation of flexible lodicule corresponding the change taken place; Therefore can obtain on horizontal surface or vertical plane the thrust of any direction in the 360 degree scopes; Make left and right, the upper and lower or forward and backward motion of underwater sailing body, make it have superpower manoevreability; The bionical fluctuation propelling unit of this 360 degree integrates slurry, rudder, stabilizer, the four kinds of functions that bring to, and is very desirable underwater propulsion unit; It has the propulsion coefficient height, and is higher by 30% than the propulsion coefficient of conventional propelling unit; Has very big application value in army.
Preferred version of the present invention is:
Said steering gear is identical with the specification of traverse gear.
Said elasticity blade is connected with traverse gear installation shaft one end.
The installation shaft of said steering gear is provided with the transmission shaft of bull gear is concentric, and the transmission shaft of this bull gear is a hollow shaft, is set in the outside of said steering gear installation shaft.
Said traverse gear installation shaft extends to outside the end cap; One end of the installation shaft of said steering gear extends to outside the end cap.
Said direction control mechanism is the direction machine.
The elongated end of said traverse gear is equipped with the elasticity blade through flagpole, and the elasticity blade always points to the reversing sense of propulsive force.
Said bull gear is made as several, and the bull gear of adjacent setting meshes respectively.
Said elasticity blade is the flap of arbitrary shape, or identical with the shape of tuna tail fin or pectoral fin.
Said steering gear is provided with bull gear is concentric, and this steering gear is meshed with traverse gear through the reversing gear that is distributed on the steering gear periphery.
Said traverse gear can divide and is set to several layers of setting, is meshed through reversing gear between the traverse gear of adjacent layer, and the traverse gear of innermost layer is meshed with steering gear through reversing gear.
Description of drawings:
Fig. 1 is embodiment 1 structural representation.
Fig. 2 is the A-A cutaway view of Fig. 1.
Fig. 3 is the structural representation of embodiment 2.
Fig. 4 is two bull gear ingear structural representations.
Fig. 5 is four bull gears mesh schematic representations that are arranged side by side.
Fig. 6 is four bull gear assembled arrangement engaged transmission scheme drawings.
The structural representation of Fig. 7 embodiment 3.
The specific embodiment:
Below in conjunction with embodiment the present invention is detailed:
A kind of 360 ° of bionical fluctuation propelling units; Referring to accompanying drawing 1 to accompanying drawing 7, among the figure: bull gear 1, end cap 2, bull gear transmission shaft 3, steering gear installation shaft 4, steering gear 5, reversing gear 6, traverse gear 7, traverse gear installation shaft 8, reversing gear installation shaft 9, elasticity blade 10, flagpole 11, direction machine 12, drive wheel 13.
Embodiment 1:
In the present embodiment; Referring to accompanying drawing 1 and the structure shown in the accompanying drawing 2, with engine output shaft bonded assembly bull gear transmission shaft 3, with bull gear transmission shaft 3 bonded assembly bull gears 1; Place traverse gear 7, reversing gear 6 and steering gear 5 in the bull gear 1; End cap 2 is equipped with in the both sides of bull gear 1, and traverse gear 7 places on the end cap 2 through traverse gear installation shaft 8, and reversing gear 6 is bearing on the end cap 2 through reversing gear installation shaft 9; Steering gear 5 is supported on the end cap 2 through steering gear installation shaft 4; Wherein traverse gear 7 extends to outside the end cap 2 through the axle head of traverse gear installation shaft 8, and steering gear 5 extends to outside the end cap 2 through steering gear installation shaft 4, and an end of steering gear installation shaft 4 is connected with direction control mechanism; Direction control mechanism in the present embodiment is a direction machine 12; As shown in Figure 2, both bearing of trends of traverse gear installation shaft 8 and steering gear installation shaft 4 are just in time opposite, and traverse gear 7 is meshed with reversing gear 6, and reversing gear 6 is meshed with steering gear 5; The elongated end of the traverse gear installation shaft 8 at traverse gear 7 places is equipped with elasticity blade 10.
Wherein, the installation shaft 4 of steering gear and the 3 concentric settings of the transmission shaft of bull gear, the transmission shaft 3 of bull gear is a hollow shaft, is set in the outside of steering gear installation shaft 4; Between bull gear transmission shaft 3 and the steering gear installation shaft 4 enough spaces are arranged, be not as the criterion not produce relative interference between bull gear transmission shaft 3 and the steering gear installation shaft 4.Installation shaft 8 one ends of traverse gear 7 extend to outside the end cap 2; Both specifications of steering gear 5 and traverse gear 7 are identical.Also can be according to actual needs the two ends of traverse gear 7 be extended to respectively outside the end cap 2.One end of steering gear installation shaft 4 extends to outside the end cap 2.
The elongated end of traverse gear 7 installation shaft 8 is equipped with elasticity blade 10 through flagpole 11; Elasticity blade 10 is provided with traverse gear installation shaft 8 in vertical state and the elasticity blade always points to the reversing sense of propulsive force, and flagpole 11 and traverse gear installation shaft 8 are located on the same line.
In the present embodiment, elasticity blade 10 is identical with the shape of tuna tail fin or pectoral fin; Referring to the shape shown in the accompanying drawing 2.
Embodiment 2:
Referring to the structure shown in the accompanying drawing 3, only be that with the difference part of embodiment 1 elasticity blade 10 is quadrilateral structures.
Embodiment 3:
Referring to accompanying drawing 7; With the difference part of embodiment 1 be: traverse gear was set to two-layer setting in 7 minutes; Amount to 20, wherein outermost traverse gear 7 is meshed with the traverse gear 7 of the second layer through reversing gear 6 respectively, and the traverse gear 7 of the second layer is meshed with steering gear 5 through reversing gear 6.
Present embodiment amounts to 20 traverse gears 7, thereby drives the coupled motions that 20 elasticity blades 10 are done translation one swing.
Other combination connecting modes of this device are referring to accompanying drawing 4 to accompanying drawing 6, and in accompanying drawing 4 to the accompanying drawing 6, when sail body advanced by the thrust direction shown in the figure, adjacent bull gear 1 is engaged transmission in opposite directions, and the state of kinematic motion of elasticity blade 10 is as shown in the figure.Adopted 13 pairs of drive wheels to be adjacent ingear bull gear 1 among Fig. 5 and driven, adjacent bull gear 1 carries out engaged transmission again, thereby the elasticity blade that drives on each bull gear 1 moves by state of kinematic motion shown in Figure 5.
Referring to the structure shown in accompanying drawing 1, accompanying drawing 2 and the accompanying drawing 4; Reverse steering gear installation shaft 5 synchronously; Make elasticity lodicule 10 parallel with the propulsion of ship directional line; And the elasticity blade points to the reversing sense of propulsive force, and engine drive bull gear 1 rotates under the drive of bull gear transmission shaft 3 to gear 5 rotations, and this moment, steering gear 5 was fixed; Then place the not rotation of itself when rotating to gear 5 revolution of all traverse gears 7 in bull gear 1 inside, just all traverse gears 7 rotate and do the rotation motion of translation to gear 5, also do the rotation motion of translation thereby drive flexible lodicule 10; Elasticity lodicule 10 is struck waters during translation in the left and right sides and elastic bending takes place and is swung; Produce forward thrust and elastic force; The athletic posture of elasticity lodicule 10 is done " lotus root of translation and swing and motion " just as the tail fin that kind of tuna; Integral body looks that elasticity lodicule 10 clocklike swings, and the wave that the fish tail of swinging just as a group forms advances boats and ships to advance thereby produce huge anti-Karman vortex street.
If ship will turn to the external force effect that only needs direction of passage machine 12, steering gear installation shaft 4 is driven the angle that steering gear 5 rotates needs, then all elasticity lodicules 10 all rotate identical angle; Thrust direction also changes identical angle; And driving engine need not slow down, so 360 ° of bionical fluctuation propelling units are installed on hull bottom, can be easy to obtain in horizontal surface 360 degree scopes the thrust of any direction; Thoroughly realize uniting two into one of oar rudder; Elasticity lodicule 10 is installed in hull bottom, just is equivalent to stabilizer, makes foot more stable; Not only so,, ship is walked crosswise across the sea as crab arbitrarily if 360 ° of bionical fluctuation propelling units are installed on the suitable position of hull.
If this device is installed on Submarine both sides and bottom, every side and bottom all are meshing with each other by several driver elements and form each driver element word order.Shown in accompanying drawing 5; All bull gears 1 all embed the ship shell inside of Submarine, only stay elasticity lodicule 10 in Submarine both sides and bottom, and Submarine has just become a long big fish that a plurality of pectoral fins and abdomeinal fin are arranged like this; Different is that all the swing attitude with tail fin is identical with abdomeinal fin swing attitude for each pectoral fin; The direction that produces thrust receives separately steering gear 5,4 controls of steering gear installation shaft, rotates the thrust that steering gear installation shaft 4 can obtain any direction in horizontal surface or the vertical plane 360 degree scopes, and just this Submarine can move about arbitrarily at marine up, down, left, right, before and after; Even also more flexible than fish, because can also falling, it moves about.
This device can also replace bull gear 1 and each parts placed on it the wheel of automobile as driver element; Concrete grammar is: the gear teeth of bull gear 1 are removed change tire into; With elasticity lodicule 10 make can be for convenience detach structure; So just can realize the amphibious driving of automobile, carry out at car chassis under the condition of water-proofing treatment, then accomplish the purpose that general-utility car repacks the water route amphibious vehicle into.
It is cited to the invention is not restricted to the foregoing description; Its structure has comprised such as above-mentioned specific structural features such as bull gear 1, end cap 2, bull gear transmission shaft 3, steering gear installation shaft 4, steering gear 5, reversing gear 6, traverse gear 7, traverse gear installation shaft 8, reversing gear installation shaft 9, elasticity blades 10 or has been equal to the technical characterictic that can realize technique scheme, all is regarded as within protection scope of the present invention.
The present invention can according to actual needs set up the number that elasticity blade 10 and traverse gear 7 are installed more, such as, traverse gear 7 all is made as 36 with elasticity blade 10; Reversing gear 6 is made as 21; Steering gear 5 is made as one, and wherein traverse gear 7 is made as three layers, and outer traverse gear 7 is made as 18; The traverse gear 7 of interlayer is made as 12, and internal layer traverse gear 7 is made as 6.Be meshed through 12 reversing gears between the traverse gear 7 of outer traverse gear 7 and interlayer, the traverse gear 7 and the internal layer traverse gear 7 of interlayer are meshed through 6 reversing gears, and internal layer traverse gear 7 is meshed with steering gear through 3 reversing gears.
The present invention can increase or reduce the number that elasticity blade 10 and traverse gear 7 are installed according to actual needs.
Claims (10)
1. 360 ° of bionical fluctuation propelling units comprise with engine output shaft bonded assembly bull gear transmission shaft, with bull gear transmission shaft bonded assembly bull gear, place traverse gear, reversing gear and steering gear in the bull gear; It is characterized in that: end cap is equipped with in the both sides of said bull gear; Said traverse gear, reversing gear and steering gear place on the end cap through each installation shaft respectively; Wherein traverse gear and the steering gear axle head that belongs to installation shaft separately extends to outside the end cap respectively; Said traverse gear is meshed with reversing gear, and this reversing gear is meshed with said steering gear;
One end of said steering gear axle is connected with direction control mechanism; The elongated end of said traverse gear place installation shaft is equipped with the elasticity blade.
2. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: said steering gear is identical with the specification of traverse gear.
3. 360 ° of bionical fluctuation propelling units according to claim 1 is characterized in that: said elasticity blade is connected with an end of traverse gear installation shaft.
4. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: the installation shaft of said steering gear is provided with the transmission shaft of bull gear is concentric, and the transmission shaft of this bull gear is a hollow shaft, is set in the outside of said steering gear installation shaft.
5. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: an end of said traverse gear installation shaft extends to outside the end cap; One end of the installation shaft of said steering gear extends to outside the end cap.
6. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: said direction control mechanism is the direction machine.
7. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: the elongated end of said traverse gear installation shaft is equipped with the elasticity blade through flagpole, and the elasticity blade always points to the reversing sense of propulsive force.
8. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: said bull gear is made as several, and the bull gear of adjacent setting meshes respectively.
9. 360 ° of bionical fluctuation propelling units according to claim 1, it is characterized in that: said elasticity blade is the flap of arbitrary shape, or identical with the shape of tuna tail fin or pectoral fin.
10. 360 ° of bionical fluctuation propelling units according to claim 1; It is characterized in that: said steering gear is provided with bull gear is concentric; Traverse gear can divide and is set to several layers of setting; Be meshed through reversing gear between the traverse gear of adjacent layer, the traverse gear of innermost layer is meshed with steering gear through reversing gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100590349A CN102616357A (en) | 2012-03-08 | 2012-03-08 | 360-degree biomimetic fluctuation propulsion device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100590349A CN102616357A (en) | 2012-03-08 | 2012-03-08 | 360-degree biomimetic fluctuation propulsion device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102616357A true CN102616357A (en) | 2012-08-01 |
Family
ID=46556668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100590349A Pending CN102616357A (en) | 2012-03-08 | 2012-03-08 | 360-degree biomimetic fluctuation propulsion device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102616357A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100194A (en) * | 2018-01-22 | 2018-06-01 | 袁启 | A kind of marine propeller and its ship |
| CN108608408A (en) * | 2018-04-28 | 2018-10-02 | 南京理工大学 | A kind of bionical jellyfish robot of multiple degrees of freedom |
| CN109204755A (en) * | 2018-11-13 | 2019-01-15 | 公培明 | A kind of novel movable oar blade type wheel paddle |
| CN109501537A (en) * | 2018-11-13 | 2019-03-22 | 中国船舶工业集团公司第七0八研究所 | Speeder in a kind of water of wheeled amphibious vehicle |
| CN114162296A (en) * | 2021-11-25 | 2022-03-11 | 北京机电工程研究所 | Underwater vehicle propelling and control integrated device, underwater vehicle and navigation control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2651017A1 (en) * | 1989-08-17 | 1991-02-22 | Lipp Robert | Device for orientating the blades of a rotor in a transverse flow of fluid, and application of the latter |
| US5632661A (en) * | 1994-10-21 | 1997-05-27 | Blohm +Voss International Gmbh | Device, such as a propeller, for ships which is independent of the main propeller propulsion system and can be used as an active maneuvering mechanism |
| WO2000044616A1 (en) * | 1999-02-01 | 2000-08-03 | Robert Lipp | Cycloid thrusters having blades whose shape and orientation are elastically modified by hydrodynamic thrusts |
| CN1586990A (en) * | 2004-08-12 | 2005-03-02 | 上海交通大学 | Flexible propelling mechanism of artificial machine fish |
| CN1915742A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin |
-
2012
- 2012-03-08 CN CN2012100590349A patent/CN102616357A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2651017A1 (en) * | 1989-08-17 | 1991-02-22 | Lipp Robert | Device for orientating the blades of a rotor in a transverse flow of fluid, and application of the latter |
| US5632661A (en) * | 1994-10-21 | 1997-05-27 | Blohm +Voss International Gmbh | Device, such as a propeller, for ships which is independent of the main propeller propulsion system and can be used as an active maneuvering mechanism |
| WO2000044616A1 (en) * | 1999-02-01 | 2000-08-03 | Robert Lipp | Cycloid thrusters having blades whose shape and orientation are elastically modified by hydrodynamic thrusts |
| CN1586990A (en) * | 2004-08-12 | 2005-03-02 | 上海交通大学 | Flexible propelling mechanism of artificial machine fish |
| CN1915742A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100194A (en) * | 2018-01-22 | 2018-06-01 | 袁启 | A kind of marine propeller and its ship |
| CN108608408A (en) * | 2018-04-28 | 2018-10-02 | 南京理工大学 | A kind of bionical jellyfish robot of multiple degrees of freedom |
| CN108608408B (en) * | 2018-04-28 | 2021-05-07 | 南京理工大学 | Multi-degree-of-freedom bionic jellyfish robot |
| CN109204755A (en) * | 2018-11-13 | 2019-01-15 | 公培明 | A kind of novel movable oar blade type wheel paddle |
| CN109501537A (en) * | 2018-11-13 | 2019-03-22 | 中国船舶工业集团公司第七0八研究所 | Speeder in a kind of water of wheeled amphibious vehicle |
| CN109501537B (en) * | 2018-11-13 | 2021-08-31 | 中国船舶工业集团公司第七0八研究所 | Underwater speed increasing device of wheel type amphibious vehicle |
| CN109204755B (en) * | 2018-11-13 | 2024-02-06 | 公培明 | Movable blade type wheel paddle |
| CN114162296A (en) * | 2021-11-25 | 2022-03-11 | 北京机电工程研究所 | Underwater vehicle propelling and control integrated device, underwater vehicle and navigation control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100506639C (en) | Turning, rotating propeller of underwater robot with six degrees of freedom | |
| US4389843A (en) | Water wave energy transducer | |
| US4598547A (en) | Kinetic energy transducing system | |
| CN100532193C (en) | Bionic machinery chelonian with two-stage freedom degree flipper mechanism | |
| CN107512380B (en) | A kind of all-around propeller, ship and floating platform | |
| CN203186566U (en) | Mechanical pectoral fin biomimetic robot fish | |
| CN102616357A (en) | 360-degree biomimetic fluctuation propulsion device | |
| CN102001434B (en) | Differential marine cycloidal propelling device | |
| CN110127015A (en) | It is a kind of singly to drive fluctuation fin propulsion device and bionic underwater vehicle | |
| CN108058799B (en) | Novel bionic mechanical fish | |
| CN102039994A (en) | Bionic ribbonfish for exploration | |
| CN105173042A (en) | Underwater propelling device based on planetary gear train and synchronous belt transmission mechanism | |
| CN107554739B (en) | A kind of two-way all-direction propeller, ship and floating platform | |
| ES2820274T3 (en) | Energy harvesting device that converts multiaxial rotational and translational motion into unidirectional rotational motion | |
| CN1647997A (en) | Semi-submersible playing relaxing boat on water | |
| CN205396543U (en) | Four amphibious rotors navigation ware | |
| CN103253362A (en) | Wave-driving propeller propelling device and underwater gliding machine | |
| CN203237396U (en) | Beach canoe | |
| CN102358410B (en) | Three-dimensional vector thrusting device for submersible | |
| CN111687823A (en) | Amphibious snake-shaped robot with spiral drive | |
| CN114572368B (en) | Wave glider | |
| CN102101526B (en) | underwater vortex propeller | |
| CN108146600A (en) | A kind of long fin torsional wave pushing bionic submarine navigation device and its motion mode | |
| RU2060203C1 (en) | Cycloidal propeller | |
| CN202429338U (en) | Ship propelling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120801 |