CN104859391A - Triphibian unmanned ship - Google Patents
Triphibian unmanned ship Download PDFInfo
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- CN104859391A CN104859391A CN201410789141.6A CN201410789141A CN104859391A CN 104859391 A CN104859391 A CN 104859391A CN 201410789141 A CN201410789141 A CN 201410789141A CN 104859391 A CN104859391 A CN 104859391A
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Abstract
The invention discloses a triphibian unmanned ship which comprises a ship body, an underwater propulsion device, a submersed sinkage device and a flight device, wherein the underwater propulsion device and a side pushing device are respectively arranged at the tail part and the front lower part of the ship body; a middle partition vertically divides the ship body into a vertical ship body upper part and a vertical ship body lower part; a feed water cabinet, a front fin accommodating cabinet and a rear fin accommodating cavity are arranged in the vertical ship body upper part; the submersed sinkage device and a plurality of watertight equipment cabinets are arranged in the vertical ship body lower part. The submersed sinkage device comprises two moon pools side by side front and back; lifting propeller devices are arranged in the moon pools; the flight device comprises a pair of front fins and a pair of rear fins, which are respectively arranged on two sides of the ship body; helicopter blades used for fighting are respectively arranged in the fins; the ends of the pair of front fins and the ends of the pair of rear fins are respectively unfolded to flight or accommodated into the ship body through a retraction cylinder. The triphibian unmanned ship can be converted in three states of underwater, the water surface and the air quickly, and can be widely applied to the civil and martial fields.
Description
technical field:
The present invention relates to a kind of unmanned boat, particularly a kind of catchment under, the water surface, aerial function to dwell unmanned boat in three of one, belongs to Marine engineering technical field.
background technology:
Three dwell unmanned boat be one can under water, the water surface, aerial remote control or autonomous mode navigation, perform the aircraft of certain or multiple mission.For reinforcement defense needs, world Navy actively joins in unmanned boat research.Current marine propulsion research and development degree of progress speed, boats and ships independence improves constantly.But existing unmanned boat ship type spininess is to specific environment, such as unmanned surface vehicle and under water unmanned submarine.When this type of ship is as run into working environment complicated and changeable, often lose ground.
Tradition under water unmanned submarine is sinking and floating by realizing ship to ballast chamber pump priming and pressurized air draining, and it is many that the ballast chamber pump that unmanned submarine is equipped with under water makes ship body weight increase, and operates comparatively complicated simultaneously.Aircraft as realized under water, the water surface and airflight, its functional requirement is conflicting, as three aircraft of dwelling require that when flying own wt is more gently more conducive to flight, require during diving that own wt is more heavily more conducive to dive and contradicts, how to solve this contradiction, the balance of both realizations is the large problem of pendulum in face of shipbuilding industry engineering staff.
summary of the invention:
The object of this invention is to provide a kind of compact conformation, easy to operate, adaptable under water, the water surface, aerial three dwells unmanned boat.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of three dwell unmanned boat, propelling unit, under water heave compensation apparatus and airflight device in the water comprise the ship body of imitative fish shape, extending to ship tail in ship body, in described water, propelling unit comprises tail undercarriage and streamlined reefer housing, the thruster screw propeller of ship body front lower portion and groove are configured for the lateral thruster that ship body turns under water, longitudinal both sides, ship body bottom are tilting two pairs of ship body bracing frames; Ship body is longitudinally divided into the longitudinal top of ship body and the longitudinal bottom of ship body down through median septum, upper water tank and respectively front fin adjacent with upper water tank two ends are received cabin and rear fin and are received cabin and be arranged in the longitudinal top of ship body, under water heave compensation apparatus and lay respectively at ship body two ends and middle part and the several watertight equipment compartments adjacent with heave compensation apparatus are under water arranged in the longitudinal bottom of ship body; Described heave compensation apparatus under water comprises two front and back side by side and traverse ship body and the moon pool communicated with ship internal upper part water tank, is provided with elevating screw device in described moon pool; Fin and a pair rear fin before described airflight device comprises a pair that lays respectively at ship body both sides, be respectively equipped with in fin after fin and a pair before described a pair and go straight up to oar for airflight, before described a pair after fin front end and a pair fin front end respectively with ship body longitudinal both sides, front and rear part hinged, after a pair front fin and a pair, fin launches flight respectively by folding and unfolding cylinder or to be accommodated in ship body in corresponding front fin storage cabin and in rear fin storage cabin.
Object of the present invention can also be realized further by following technical measures.
Aforesaid three dwell unmanned boat, and wherein said moon pool lower end is connected with ship body lower through-hole, is fixed in the middle part of moon pool in the middle part of elevating screw device by cross bar, and through hole is corresponding with ship body lower through-hole position with it for the ship being positioned on the upside of elevating screw device.Described ship with it through hole and ship with it through hole be respectively equipped with the tilting deflecting plate of many rows.
Aforesaid three dwell unmanned boat, several transmission gears that wherein said elevating screw device comprises screw propeller, lower screw propeller, upper screw propeller drive motor, transmission case body and is arranged in transmission case body, upper screw propeller drive motor is vertically fixed in transmission case body, is fixed in the middle part of moon pool in the middle part of transmission case body by cross bar; Upper screw propeller drive motor axle is connected with upper prop shaft lower end is vertical by coupler, upper prop shaft bottom is fixedly connected with driving gear, upper prop shaft upper end is fixedly connected with upper screw propeller, be positioned at transmission shaft two ends, screw propeller drive motor side respectively by bearing vertical support at transmission case body, ring gear is fixed on transmission shaft upper end, and driving gear engages with ring gear; The lower transmissioning gear being fixed on transmission shaft lower end is engaged with the lower screw propeller driven wheel being fixed on lower prop shaft upper end by intermediate gear, and lower screw propeller is fixed on lower prop shaft lower end.
Aforesaid three dwell unmanned boat, and wherein said oar of going straight up to is fixed on and goes straight up on oar motor shaft, goes straight up to oar motor and is vertically fixed in central groove by strut bar.
Aforesaid three dwell unmanned boat, and the folding and unfolding cylinder one end be wherein separately positioned in front fin storage cabin or rear fin storage cabin is hinged with median septum, and the folding and unfolding cylinder other end is with corresponding front fin lower end or fin lower end is hinged afterwards.The front fin of ship body side and rear fin respectively by optical axis and ship body hinged, the front fin of ship body opposite side and rear fin respectively by threaded shaft and ship body hinged.
Aforesaid three dwell unmanned boat, are respectively equipped with watertight cover plate outside front fin storage cabin the hatch outer and rear fin storage cabin hatch of wherein said ship body both sides, hinged by watertight plate shaft and ship body on the upside of described watertight cover plate, described watertight plate shaft overlaps and has torsion spring.
Aforesaid three dwell unmanned boat, and termination, wherein said ship body front end is also provided with transparency cabin, and described transparency cabin is built with picture pick-up device.
Compact conformation of the present invention, can carry out under water fast, the water surface, aerial three dwells State Transferring, has that adaptive capacity to environment is strong, good concealment and a high advantage of manoevreability.By the effect of elevating screw device in moon pool, can to make under the present invention in diving or rise on the water surface.Thruster screw propeller is convenient compared with rudder manipulation, turns to more flexible.When fin and a pair rear fin launch before retractable a pair, the present invention is made to change into state of flight by oar of going straight up to wherein; When needs change into surface navigation or submarine navigation, a pair front fin and a pair rear fin are accommodated in front fin storage cabin corresponding in ship body and store up in cabin with rear fin, and the periphery fairing of ship body, running resistance is little, can be used widely in civilian and military field.
accompanying drawing illustrates:
Fig. 1 is front view of the present invention;
Fig. 2 is the right elevation of the front fin of Fig. 1 and rear fin receiving state;
Fig. 3 is the A-A section-drawing of Fig. 1;
Fig. 4 is the B-B section-drawing of Fig. 2;
Fig. 5 is the structural representation of elevating screw device;
Fig. 6 is the schematic diagram of fin before the folding and unfolding of folding and unfolding cylinder;
Fig. 7 is the C-C cutaway view of Fig. 6;
Fig. 8 is the structural representation that watertight cover plate is connected with ship body;
Fig. 9 is the D-D cutaway view Amplified image of Fig. 2.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1 ~ Fig. 9, propelling unit 2, under water heave compensation apparatus 3 and airflight device 4 in the water the present invention includes the ship body 1 of imitative fish shape, extending to ship tail in ship body 1, in water, propelling unit 2 comprises tail undercarriage 21 and is enclosed within the streamlined reefer housing 22 outside screw propeller 21, adopts propelling unit 2 propulsion coefficient in the water of streamlined reefer housing 22 higher.Thruster screw propeller 51 and the groove 52 of ship body front lower portion are configured for the lateral thruster 5 that ship body turns under water, longitudinal both sides, ship body 1 bottom are tilting two pairs of ship body bracing frames 6.Ship body 1 is longitudinally divided into the longitudinal top 12 of ship body and the longitudinal bottom 13 of ship body down through median septum 11, upper water tank 121 and receive cabin 122 and rear fin respectively with the adjacent front fin in upper water tank 121 two ends and receive cabin 123 and be arranged in the longitudinal top 12 of ship body, under water heave compensation apparatus 3 and lay respectively at ship body 1 two ends and middle part and 3 the watertight equipment compartments 131 adjacent with heave compensation apparatus 3 are under water arranged in the longitudinal bottom 13 of ship body.Watertight equipment compartment 131 is built with battery, electrical motor and reception of wireless signals equipment.Uniform setting before and after watertight equipment compartment 131, contributes to the distribution of ship body 1 weight uniformity, thus is conducive to flight of the present invention and dive.
Termination, ship body 1 front end is also provided with transparency cabin 14, and described transparency cabin is built with the picture pick-up device for detecting.Heave compensation apparatus 3 comprises two front and back side by side and traverse ship body 1 and the moon pool 31 communicated with ship internal upper part water tank 132 under water, and horizontal horizontal bar plate 122 in the middle part of upper water tank 121, for improving the intensity of upper water tank 121.Elevating screw device 32 is provided with in moon pool 31.
Top water tank 132 communicates with moon pool 31, adds damage proportion, offsets more reserve buoyance, thus the gravity of the present invention in water is increased.Moon pool 31 lower end is connected with ship body lower through-hole 15, be fixed in the middle part of moon pool 31 by cross bar 33 in the middle part of elevating screw device 32, through hole 16 is corresponding with ship body lower through-hole 15 position with it for the ship being positioned on the upside of elevating screw device 32, ship with it through hole 16 and ship body lower through-hole 15 is respectively equipped with the tilting deflecting plate 151 of many rows, improves ship body hydrodynamic performance.
Fin 42 after fin 41 and a pair before airflight device 4 comprises a pair that lays respectively at ship body both sides, is respectively equipped with in fin 42 after fin 41 and a pair before a pair and goes straight up to oar 43 for airflight.As shown in Figure 7, go straight up to oar 43 and be fixed on and go straight up on oar motor shaft, go straight up to oar motor 431 and be vertically fixed in central groove 433 by strut bar 432.Go straight up to oar 43 and form four rotor structures for four before a pair after fin 41 and a pair in fin 42, and the more traditional single rotor structure of four rotor structures is more conducive to flight, and load carrying ability is larger, road-holding property is better.
Front fin 41 and rear fin 42 are all in wing shape, before a pair, after fin 41 front end and a pair, fin 42 front end is hinged with both sides, ship body 1 longitudinal front and rear part respectively, and launches flight respectively by folding and unfolding cylinder 44 or to be accommodated in ship body in corresponding front fin storage cabin 122 and in rear fin storage cabin 123.As shown in Fig. 6 and Fig. 9, folding and unfolding cylinder 44 one end be separately positioned in front fin storage cabin 122 or rear fin storage cabin 123 is hinged with median septum 11, and folding and unfolding cylinder 44 other end is with corresponding front fin 41 lower end or fin 42 lower end is hinged afterwards.
As shown in Figure 9, the front fin 41 on the right side of ship body 1 and rear fin 42 are hinged respectively by optical axis 45 and ship body 1, the front fin 41 on the left of ship body 1 and rear fin 42 hinged respectively by threaded shaft 46 and ship body 1.The contraction of folding and unfolding cylinder 44 makes front fin 41 and rear fin 42 be accommodated in corresponding front fin storage cabin 122 or when rear fin stores up in cabin 123, front fin 41 on the right side of ship body 1 and rear fin 42 rotate around optical axis 45 respectively and are accommodated into corresponding fin storage cabin in ship body 1, do not have diff-H between front fin 41 and rear fin 42; Front fin 41 on the left of ship body 1 and rear fin 42 are respectively after threaded shaft 46 rotates in ship body 1, due to the pitch effect of threaded shaft 46, there is vertical distance difference H between front fin 41 on the right side of front fin 41 after storage on the left of ship body 1 and rear fin 42 and ship body 1 and rear fin 42, the front fin 41 on the left of ship body 1 and rear fin 42 can be made to be positioned under front fin 41 on the right side of ship body 1 and rear fin 42.Thus fin 42 can be accommodated in narrow and small ship body 1 after realizing before a pair fin 41 and a pair.
As shown in Figure 5, several transmission gears that elevating screw device 32 comprises screw propeller 321, lower screw propeller 322, upper screw propeller drive motor 323, transmission case body 324 and is arranged in transmission case body 324, wherein going up screw propeller 321 is lift oar, lower screw propeller 322 is for falling power oar, the fluoran stream surface of lift oar is downward, fully contact with current, avoid other structures to hinder current, thus lift is more fully provided.Upper screw propeller drive motor 323 is vertically fixed in transmission case body 324, is fixed in the middle part of moon pool 31 in the middle part of transmission case body 324 by cross bar 325; Upper screw propeller drive motor axle is connected with upper prop shaft 327 lower end is vertical by coupler 326, upper prop shaft 327 bottom is fixedly connected with driving gear 320, upper prop shaft 327 upper end is fixedly connected with upper screw propeller 321, be positioned at transmission shaft 329 two ends on the right side of screw propeller drive motor 323 respectively by bearing 3210 vertical support at transmission case body 325, ring gear 330 is fixed on transmission shaft 329 upper end, and driving gear 320 engages with ring gear 330; The lower transmissioning gear 340 being fixed on transmission shaft 329 lower end is engaged with the lower screw propeller driven wheel 360 being fixed on lower prop shaft 328 lower end by intermediate gear 350.Coaxial reverse drive route like this makes screw propeller 321 and lower screw propeller 322 turn on the contrary.When upper screw propeller 321 rotates forward, lower screw propeller 322 reverses, and elevating screw device 32 provides lift.Same principle, screw propeller 322 rotates forward instantly, and when upper screw propeller 321 reverses, elevating screw device 32 provides the power of falling.
As shown in Figure 8, watertight cover plate 17 is respectively equipped with outside front fin storage cabin 122 hatch outer and rear fin storage cabin 123 hatch of ship body 1 both sides, hinged by watertight plate shaft 18 and ship body 1 on the upside of described watertight cover plate 17, on watertight plate shaft 18, cover has torsion spring 19, torsion spring 19 makes watertight cover plate 17 remain pressed against on ship body 1, when only having current fin 41 or rear fin 42 to launch, watertight cover plate 17 just can be backed down, and front fin 41 or rear fin 42 just can complete expansion; When current fin 41 or rear fin 42 are accommodated in ship body 1, torsion spring 19 makes watertight cover plate 17 resile, ensures the water tightness of ship body 1 and good hydrodynamic performance.
Working process of the present invention is as follows:
Switch on power, open system, all operations instruction sends by remote controller, illustrates respectively below by three kinds of mode of operations:
Offline mode
(1) forward starts four folding and unfolding cylinders 44 simultaneously, the piston rod of four folding and unfolding cylinders 44 is overhanging, before a pair, fin 41 and a pair rear fin 42 rotate around respective optical axis 45 and threaded shaft 46, before correspondence, push the horizontality that watertight cover plate 17 is expanded to sustained height open in fin storage cabin 122 or in rear fin storage cabin 123.
(2) open four and go straight up to oar 43, the present invention rises from the water surface and enters airflight state, performs aerial mission.
(3) after the present invention completes aerial mission, stable landing is on the water surface, and ship body 1 is slowly immersed in the water and steadily swims in the water surface until floating line, or uses ship body bracing frame 6 to drop on ground; In the complete immersion water of elevating screw device 32 in moon pool 31.Reverse starting four folding and unfolding cylinders 44, the piston rod of four folding and unfolding cylinders 44 is retracted, before a pair, after fin 41 and a pair, fin 42 rotates around respective optical axis 45 and threaded shaft 46 and to be accommodated into before correspondence in fin storage cabin 122 or rear fin stores up in cabin 123, wherein, the front fin 41 on the left of ship body 1 and rear fin 42 lay respectively under front fin 41 on the right side of ship body 1 and rear fin 42.
Surface navigation pattern
(1) start tail undercarriage 21, the present invention navigates by water on the water surface.When needing to turn to, start thruster screw propeller 51 and turn to.
Submerge pattern under water
(1) open elevating screw device 32 co-rotating mode, upper water tank 121 is intake, and ship body 1 starts to sink.Upper water tank 121 continues a large amount of water inlet, and ship body 1 starts quick sinking.Ship body 1 arrives specifies the depth of water, and elevating screw device 32 quits work, and ship body 1 suspends in water.Realize diving function of the present invention.
(2) start tail undercarriage 21, the present invention navigates by water under water.When needing to turn to, start thruster screw propeller 51 and turn to.
(3) elevating screw device 32 reversing mode is opened, ship body 1 floats, upper water tank 121 starts to flow out from two moon pools 31, in upper water tank 121, water level starts to decline, ship body 1 starts to float, and treat that ship body 1 floats up to floating line, elevating screw device 32 quits work, ship body 1 floats on the water surface, realizes floating function of the present invention.
In addition to the implementation, the present invention can also have other embodiments, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop in the protection domain of application claims.
Claims (10)
1. a unmanned boat of dwelling, propelling unit in the ship body comprising imitative fish shape and the water extending to ship tail in ship body, in described water, propelling unit comprises tail undercarriage and streamlined reefer housing, the thruster screw propeller of ship body front lower portion and groove are configured for the lateral thruster that ship body turns under water, longitudinal both sides, ship body bottom are tilting two pairs of ship body bracing frames; It is characterized in that, also comprise heave compensation apparatus and airflight device under water, ship body is longitudinally divided into the longitudinal top of ship body and the longitudinal bottom of ship body down through median septum, upper water tank and respectively front fin adjacent with upper water tank two ends are received cabin and rear fin and are received cabin and be arranged in the longitudinal top of ship body, under water heave compensation apparatus and lay respectively at ship body two ends and middle part and the several watertight equipment compartments adjacent with heave compensation apparatus are under water arranged in the longitudinal bottom of ship body; Described heave compensation apparatus under water comprises two front and back side by side and traverse ship body and the moon pool communicated with ship internal upper part water tank, is provided with elevating screw device in described moon pool; Fin and a pair rear fin before described airflight device comprises a pair that lays respectively at ship body both sides, be respectively equipped with in fin after fin and a pair before described a pair and go straight up to oar for airflight, before described a pair after fin front end and a pair fin front end respectively with ship body longitudinal both sides, front and rear part hinged, after a pair front fin and a pair, fin launches flight respectively by folding and unfolding cylinder or to be accommodated in ship body in corresponding front fin storage cabin and in rear fin storage cabin.
2. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, described moon pool lower end is connected with ship body lower through-hole, is fixed in the middle part of moon pool in the middle part of elevating screw device by cross bar, and through hole is corresponding with ship body lower through-hole position with it for the ship being positioned on the upside of elevating screw device.
3. as claimed in claim 2 three to dwell unmanned boat, it is characterized in that, described ship with it through hole and ship with it through hole be respectively equipped with the tilting deflecting plate of many rows.
4. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, several transmission gears that described elevating screw device comprises screw propeller, lower screw propeller, upper screw propeller drive motor, transmission case body and is arranged in transmission case body, upper screw propeller drive motor is vertically fixed in transmission case body, is fixed in the middle part of moon pool in the middle part of transmission case body by cross bar; Upper screw propeller drive motor axle is connected with upper prop shaft lower end is vertical by coupler, upper prop shaft bottom is fixedly connected with driving gear, upper prop shaft upper end is fixedly connected with upper screw propeller, be positioned at transmission shaft two ends, screw propeller drive motor side respectively by bearing vertical support at transmission case body, ring gear is fixed on transmission shaft upper end, and driving gear engages with ring gear; The lower transmissioning gear being fixed on transmission shaft lower end is engaged with the lower screw propeller driven wheel being fixed on lower prop shaft upper end by intermediate gear, and lower screw propeller is fixed on lower prop shaft lower end.
5. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, described in go straight up to oar and be fixed on and go straight up on oar motor shaft, go straight up to oar motor and be vertically fixed in central groove by strut bar.
6. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, the folding and unfolding cylinder one end be separately positioned in front fin storage cabin or rear fin storage cabin is hinged with median septum, and the folding and unfolding cylinder other end is with corresponding front fin lower end or fin lower end is hinged afterwards.
7. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, the front fin of ship body side and rear fin respectively by optical axis and ship body hinged, the front fin of ship body opposite side and rear fin respectively by threaded shaft and ship body hinged.
8. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, watertight cover plate is respectively equipped with outside front fin storage cabin the hatch outer and rear fin storage cabin hatch of described ship body both sides, hinged by watertight plate shaft and ship body on the upside of described watertight cover plate, described watertight plate shaft overlaps and has torsion spring.
9. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, termination, described ship body front end is also provided with transparency cabin, and described transparency cabin is built with picture pick-up device.
10. as claimed in claim 1 three to dwell unmanned boat, it is characterized in that, described watertight equipment compartment is built with battery, electrical motor and reception of wireless signals equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410789141.6A CN104859391B (en) | 2014-12-19 | 2014-12-19 | Three dwell unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410789141.6A CN104859391B (en) | 2014-12-19 | 2014-12-19 | Three dwell unmanned boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104859391A true CN104859391A (en) | 2015-08-26 |
| CN104859391B CN104859391B (en) | 2017-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410789141.6A Expired - Fee Related CN104859391B (en) | 2014-12-19 | 2014-12-19 | Three dwell unmanned boat |
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| Country | Link |
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| CN (1) | CN104859391B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143846A (en) * | 2016-09-06 | 2016-11-23 | 江苏科技大学 | A kind of small underwater binary sightseeing ship |
| CN107866083A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of fighter toy |
| CN107867139A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | One kind deformation three is dwelt robot |
| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
| CN109760836A (en) * | 2019-03-12 | 2019-05-17 | 姜佩奇 | A kind of amphibious submersible of air-sea |
| CN113580860A (en) * | 2021-08-10 | 2021-11-02 | 上海交通大学 | High-speed large-load combined propulsion type sea-air cross-domain flight detection platform |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1286624A (en) * | 1960-08-12 | 1962-03-09 | Improvements to submersible vehicles | |
| CN202541818U (en) * | 2012-04-27 | 2012-11-21 | 王常利 | Universal propeller type diving boat |
| CN103640445B (en) * | 2013-12-18 | 2016-05-25 | 江苏科技大学 | The amphibious unmanned boat of preposition oblique side binary water surface trisome |
-
2014
- 2014-12-19 CN CN201410789141.6A patent/CN104859391B/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143846A (en) * | 2016-09-06 | 2016-11-23 | 江苏科技大学 | A kind of small underwater binary sightseeing ship |
| CN107866083A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of fighter toy |
| CN107867139A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | One kind deformation three is dwelt robot |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
| CN109760836A (en) * | 2019-03-12 | 2019-05-17 | 姜佩奇 | A kind of amphibious submersible of air-sea |
| CN113580860A (en) * | 2021-08-10 | 2021-11-02 | 上海交通大学 | High-speed large-load combined propulsion type sea-air cross-domain flight detection platform |
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| CN104859391B (en) | 2017-04-05 |
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