CN212604325U - Multi-rotor amphibious unmanned aerial vehicle - Google Patents
Multi-rotor amphibious unmanned aerial vehicle Download PDFInfo
- Publication number
- CN212604325U CN212604325U CN202021094438.8U CN202021094438U CN212604325U CN 212604325 U CN212604325 U CN 212604325U CN 202021094438 U CN202021094438 U CN 202021094438U CN 212604325 U CN212604325 U CN 212604325U
- Authority
- CN
- China
- Prior art keywords
- pressure
- underwater
- shell
- unmanned aerial
- aerial vehicle
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000007789 sealing Methods 0.000 claims description 15
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Toys (AREA)
Abstract
The utility model provides a many rotor amphibious unmanned aerial vehicle, wherein, including withstand voltage casing, withstand voltage casing's both sides symmetry respectively are equipped with folding horn, be equipped with actuating mechanism on the folding horn, the last screw that is equipped with of actuating mechanism, be equipped with the first underwater propulsor that is used for controlling unmanned aerial vehicle at the vertical direction motion under water on the withstand voltage casing, withstand voltage casing's tail end is equipped with the second underwater propulsor, the inside battery compartment body that is equipped with of withstand voltage casing, withstand voltage casing bottom is equipped with pressure sender, be equipped with the controller in the withstand voltage casing, pressure sender, first underwater propulsor, second underwater propulsor and actuating mechanism all with the controller is connected. The utility model discloses use different mechanisms to move under water and in the air, and compact structure, it is little to receive the resistance under water, strong adaptability.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, more specifically relates to an amphibious unmanned aerial vehicle of many rotors.
Background
With the continuous progress of science and technology, unmanned aerial vehicles have been widely used in various industries to perform tasks such as aerial photography, transportation, reconnaissance and the like. The traditional unmanned aerial vehicle can only fly in the sky, but in practical application, the unmanned aerial vehicle has very strong limitation, for example, in video shooting, a first visual angle picture entering water from the air or entering the air from the water is often generated; in environmental monitoring, the terrain limitation is very serious. In the real life, the unmanned aerial vehicle is required to frequently finish the water-air transition for a plurality of works, the multi-rotor unmanned aerial vehicle is generally adopted by modern countries to finish the work of the aerial part, and the underwater work is finished by the underwater vehicle, so that a lot of inconvenience is brought. Chinese patent publication No. CN110282129A, the publication date is 2019, 27 th of 9 th of month, and this patent name is a cross coaxial rotor amphibious unmanned aerial vehicle that verts, and this patent discloses a cross coaxial rotor amphibious unmanned aerial vehicle that verts, including the organism, locate coaxial many rotor mechanisms of the formula of verting and waterproof seal cabin on the organism, install power module and flight control module in the waterproof seal cabin, flight control module is connected with coaxial many rotor mechanisms of the formula of verting and power module electricity respectively, and coaxial many rotor mechanisms of the formula of verting is for the coaxial eight rotor mechanisms of the formula of verting that constitute by fixed rotor structure and the rotor structure of verting. The utility model discloses an utilize rotor of air flight to carry out underwater motion, but overall structure is compact enough, and underwater motion receives great resistance.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome current pair of unmanned aerial vehicle of dwelling and move with aerial sharing rotor under water for unmanned aerial vehicle is compact enough under water the structure, and the shortcoming that the resistance that receives is big provides a many rotors amphibious unmanned aerial vehicle. The utility model discloses use different mechanisms to move under water and in the air, and compact structure, it is little to receive the resistance under water, strong adaptability.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a many rotor amphibious unmanned aerial vehicle, wherein, includes withstand voltage casing, withstand voltage casing's both sides symmetry respectively are equipped with folding horn, be equipped with actuating mechanism on the folding horn, the last screw that is equipped with of actuating mechanism, be equipped with the first underwater propulsor that is used for controlling unmanned aerial vehicle at the vertical direction motion under water on the withstand voltage casing, the tail end of withstand voltage casing is equipped with the second underwater propulsor, the inside battery compartment body that is equipped with of withstand voltage casing, withstand voltage casing bottom is equipped with pressure transmitter, the internal controller that is equipped with of withstand voltage casing, pressure transmitter, first underwater propulsor, second underwater propulsor and actuating mechanism all with the controller is connected. When the device flies in the air, the folding arm is in an unfolded state, the controller controls the driving mechanism on the folding arm to drive the propeller to rotate for flying, the pressure transmitter converts the measured pressure into an electric signal to be input into the controller, and the controller sends an instruction to the driving mechanism to drive and adjust the propeller; when the device is underwater, the folding arm is in a folding state, the propeller on the folding arm is tightly attached to the pressure-resistant shell, and the controller controls the first underwater propeller and the second underwater propeller to start to drive the device to move underwater. The device flies in the air by using the propeller, moves underwater by using the underwater propeller, adopts different movement mechanisms aiming at different environments, and improves the adaptability of the unmanned aerial vehicle; when underwater, the folding of folding horn can make overall structure compacter, and the resistance that receives under water reduces, and this technical scheme need not realize underwater work with devices such as immersible pump, gasbag, has not only improved unmanned aerial vehicle's duration, has still reduced unmanned aerial vehicle's volume and bear a burden.
Furthermore, the bottom of the pressure-resistant shell is provided with a detachable foot rest. The foot rest can assist unmanned aerial vehicle parking subaerial, in the use, can install according to the in-service use condition and dismantle.
Further, the bottom of the pressure shell is provided with a detachable underwater sonar. Underwater sonar can help the device to measure and observe underwater, and underwater sonar can be detached if underwater sonar is not needed.
Furthermore, an underwater illuminating lamp is arranged at the head end of the pressure-resistant shell. The underwater illuminating lamp provides illumination for the device underwater.
Furthermore, the folding arm comprises a first rod and two second rods, the first rod is fixedly connected with the pressure-resistant shell, the two second rods are respectively connected to the two ends of the first rod through bearings, and waterproof steering engines are arranged on the bearings. The second pole is the rotation completion through the bearing expand and fold on the first pole, the rotation of waterproof steering wheel control bearing, when unmanned aerial vehicle need carry out the during operation under water, the second pole passes through the bearing rotation and the folding coincidence of first pole, withstand voltage casing is hugged closely to the screw on the second pole, when unmanned aerial vehicle needs fly in the air, the second pole passes through the bearing rotation no longer with the folding coincidence of first pole, but expand with first pole and form fixed angle, withstand voltage casing is kept away from to the screw on the second pole and is rotated.
Furthermore, the driving mechanism adopts brushless motors, each second rod is correspondingly connected with one brushless motor, and each brushless motor is correspondingly connected with one propeller. The brushless motor controls the driving of the propeller.
Furthermore, the first underwater propellers are symmetrically arranged on two sides of the pressure shell, two first underwater propellers are arranged on each side of the pressure shell, the axis of each first underwater propeller is perpendicular to the symmetry axis of the pressure shell, two second underwater propellers are arranged at the tail of the pressure shell, and the axis of each second underwater propeller is parallel to the symmetry axis of the pressure shell. The axis of the first underwater propeller is perpendicular to the symmetry axis of the pressure-resistant shell, namely the first underwater propeller is vertically arranged, so that the underwater posture of the unmanned aerial vehicle can be stably controlled, a stable using platform is provided for a user, and the unmanned aerial vehicle is controlled to move in the underwater vertical direction; the axes of the two second underwater propellers are parallel to the symmetry axis of the pressure-resistant shell, namely the second underwater propellers are horizontally arranged to provide horizontal thrust for the unmanned aerial vehicle and advance and retreat freedom, and the forward and reverse differential operation of the two second underwater propellers can provide bow rotation freedom for the unmanned aerial vehicle.
Further, a battery compartment cover and a battery compartment sealing ring are arranged on the battery compartment body, the battery compartment cover is arranged on the battery compartment body, and the battery compartment sealing ring is positioned between the battery compartment cover and the battery compartment body. The battery cabin sealing ring and the battery cabin cover seal the battery cabin body.
Further, the head end of the pressure-resistant shell is further provided with a camera, and the camera is provided with an O-shaped sealing ring, an acrylic semispherical cover and a semispherical cover pressing plate which are stacked in sequence. Among this technical scheme, unmanned aerial vehicle will accomplish the picture under water or in the air and shoot or when recording tasks such as video, need lay the camera on unmanned aerial vehicle, wherein, O type sealing washer, ya keli hemisphere cover and hemisphere cover clamp plate that stack in proper order on the camera not only can protect the camera and can also play waterproof effect.
Furthermore, the tail of the pressure-resistant shell is provided with a waterproof aviation plug. Waterproof aviation plug can help unmanned aerial vehicle install equipment such as buoy type antenna additional.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses a screw and underwater propulsor's cooperation is flying using the screw aloft, utilizes underwater propulsor to move under water, adopts different motion to different environment, has improved unmanned aerial vehicle's adaptability.
2. The utility model discloses a folding horn can fold under water, has reduced unmanned aerial vehicle at the resistance of underwater motion.
3. Unmanned aerial vehicle adopts the design of the pressure-resistant casing of integrated type, and parts direct mount such as folding horn and underwater propulsor have compact structure on the pressure-resistant casing, have avoided the installation of other unnecessary connecting pieces, have alleviateed complete machine weight.
4. The utility model adopts a compatible design, the foot rest can be detached from the bottom of the pressure-resistant shell, and other peripherals such as underwater sonar and the like can be installed; and redundant waterproof aviation plugs are reserved at the tail part of the pressure-resistant shell, and equipment such as a buoy type antenna and the like can be additionally arranged.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is an explosion diagram of the present invention.
Fig. 3 is a using state diagram of the underwater operation of the present invention.
Figure 4 is the utility model discloses the structural schematic diagram of well waterproof aviation plug place position.
The graphic symbols are illustrated as follows:
1-pressure-resistant shell, 2-folding machine arm, 201-first rod, 202-second rod, 3-first underwater propeller, 4-second underwater propeller, 5-waterproof steering engine, 6-propeller, 7-underwater illuminating lamp, 8-acrylic semispherical cover, 9-semispherical cover pressing plate, 10-O-shaped sealing ring, 11-pressure transmitter, 12-foot rest, 13-battery compartment cover, 14-battery compartment sealing ring, 15-battery compartment body, 16-waterproof aviation plug and 17-bearing.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
First embodiment
Fig. 1 to fig. 3 show a first embodiment of a multi-rotor amphibious unmanned aerial vehicle according to the present invention. A multi-rotor amphibious unmanned aerial vehicle comprises a pressure-resistant shell 1, wherein two sides of the pressure-resistant shell 1 are respectively symmetrically provided with a folding arm 2, the folding arms 2 are provided with a driving mechanism, the driving mechanism adopts a brushless motor, the brushless motor is provided with a propeller 6, two sides of the pressure-resistant shell 1 are also symmetrically provided with four first underwater propellers 3, the tail end of the pressure-resistant shell 1 is provided with two second underwater propellers 4, a battery cabin body 15 and a flight controller are arranged inside the pressure-resistant shell 1, the bottom of the pressure-resistant shell 1 is provided with a pressure transmitter 11, the pressure transmitter 11 transmits measured data into the flight controller, and the flight controller controls the operation of the two types of underwater propellers and the brushless motor; the battery cabin body 15 is internally provided with batteries for supplying power to the driving mechanism, the flight controller and the two underwater propellers.
The folding machine arm 2 is composed of a first rod 201 and two second rods 202, wherein the first rod 201 is connected with the pressure-resistant shell 1 through a central connection piece, a waterproof sealing ring is further arranged at the joint of the central connection piece, the two second rods 202 are respectively connected to two ends of the first rod 201 through bearings 17, one end, far away from the first rod 201, of each second rod 202 is provided with a brushless motor, and each brushless motor is provided with a propeller 6, so that the folding machine arm is provided with four propellers 6 and four bearings 17, each bearing 17 is provided with a waterproof steering engine 5, each waterproof steering engine 5 is provided with a carbon fiber pipe, the carbon fiber pipes are arranged on the bearings 17 in a surrounding manner, and the waterproof steering engines 5 drive the bearings 17 to rotate through the carbon fiber pipes; in this embodiment, the second rod 202 and the first rod 201 are unfolded and folded by the rotation of the bearings 17 at the two ends of the first rod 201; when the unmanned aerial vehicle needs to work underwater, the second rod 202 rotates through the bearing 17 to be folded and overlapped with the first rod 201, the propeller 6 on the second rod 202 is tightly attached to the pressure shell 1, when the unmanned aerial vehicle needs to fly in the air, the second rod 202 rotates through the bearing 17 to be not folded and overlapped with the first rod 201, the second rod 202 is unfolded to form a fixed angle with the first rod 201, and the propeller 6 on the second rod 202 is far away from the pressure shell 1 to rotate.
Wherein, two waterproof steering wheel 5 and the equal reverse dislocation set of brushless motor that set up on the folding horn 2, the brushless motor at folding horn 2 both ends promptly, one is installed down, and another is installed up, and its waterproof steering wheel 5 that corresponds separately is an installation up, and another installation down for this embodiment overall structure is compact, can not interfere with each other between the screw 6 of connecting on each brushless motor yet.
In this embodiment, the bottom of the pressure casing 1 is provided with a detachable foot rest 12. Foot rest 12 can assist parking of unmanned aerial vehicle on the ground, in the use, can dismantle according to the in-service use condition.
In the embodiment, two first underwater propellers 3 are symmetrically arranged on two sides of a pressure casing 1 respectively, two second underwater propellers 4 are arranged at the tail of the pressure casing 1, wherein the axis of each first underwater propeller 3 is perpendicular to the symmetric axis of the pressure casing 1, namely, the first underwater propellers 3 are vertically arranged, so that the underwater posture of the unmanned aerial vehicle can be stably controlled, and a stable use platform is provided for a user; the axes of the two second underwater propellers 4 are parallel to the symmetric axis of the pressure shell 1, namely the second underwater propellers 4 are horizontally arranged to provide horizontal thrust for the unmanned aerial vehicle and advance and retreat freedom, and the forward and reverse differential operation of the two second underwater propellers 4 can provide bow rotation freedom for the unmanned aerial vehicle.
In this embodiment, 1 head end of pressure-resistant casing is equipped with the camera, is equipped with the O type sealing washer 10, ya keli hemisphere cover 8 and the hemisphere cover clamp plate 9 that stack in proper order on the camera, not only can protect the camera and can also play waterproof effect.
In this embodiment, the head end of the pressure shell 1 is also provided with two underwater illuminating lamps 7, and the camera is matched to provide illumination in an environment with insufficient illumination.
The working principle of the embodiment is as follows: when the embodiment needs to work in the air, the folding arm 2 is in an unfolded state, the flight controller controls the starting and the output of the brushless motor, the first underwater propeller 3 and the second underwater propeller 4 are closed, and the propeller 6 connected with the brushless motor rotates to drive the embodiment to fly; when unmanned aerial vehicle got into under water, folding horn 2 was fold condition, and the start-up and the output of first underwater propulsor 3 of flight controller control and second underwater propulsor 4 close brushless motor, and two underwater propulsors drive this embodiment and move at water.
Second embodiment
This embodiment is similar to embodiment 1, except that in this embodiment, the bottom of pressure shell 1 is provided with a detachable underwater sonar. Underwater sonar can help the embodiment to measure and observe underwater, and can be detached underwater sonar if underwater sonar is not needed.
In this embodiment, the battery compartment body 15 is located on the pressure-resistant casing, the battery compartment body 15 is provided with a battery compartment cover 13 and a battery compartment sealing ring 14, the battery compartment cover 13 is placed on the battery compartment body 15, the battery compartment sealing ring 14 is located between the battery compartment cover 13 and the battery compartment body 15, and the battery compartment sealing ring 14 and the battery compartment cover 13 seal the battery compartment body 15.
As shown in fig. 4, the tail of the pressure casing 1 is also provided with a waterproof aviation plug 16. Waterproof aviation plug 16 can help unmanned aerial vehicle install equipment such as buoy type antenna additional.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to 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. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an amphibious unmanned aerial vehicle of many rotors which characterized in that: including pressure-resistant casing, pressure-resistant casing's both sides symmetry respectively are equipped with folding horn, be equipped with actuating mechanism on the folding horn, the last screw that is equipped with of actuating mechanism, be equipped with the first underwater propulsor that is used for controlling unmanned aerial vehicle at the vertical direction motion under water on the pressure-resistant casing, pressure-resistant casing's tail end is equipped with the second underwater propulsor, the inside battery compartment body that is equipped with of pressure-resistant casing, pressure-resistant casing bottom is equipped with pressure transmitter, be equipped with the controller in the pressure-resistant casing, pressure transmitter, first underwater propulsor, second underwater propulsor and actuating mechanism all with the controller is connected.
2. A multi-rotor amphibious drone according to claim 1, characterized in that: the bottom of the pressure-resistant shell is provided with a detachable foot rest.
3. A multi-rotor amphibious drone according to claim 1, characterized in that: the bottom of the pressure shell is provided with a detachable underwater sonar.
4. A multi-rotor amphibious drone according to claim 1, characterized in that: the head end of the pressure-resistant shell is provided with an underwater illuminating lamp.
5. A multi-rotor amphibious drone according to claim 1, characterized in that: the folding machine arm comprises a first rod and two second rods, the first rod is fixedly connected with the pressure-resistant shell, the two second rods are connected to the two ends of the first rod through bearings respectively, and waterproof steering engines are arranged on the bearings.
6. A multi-rotor amphibious drone according to claim 5, characterized in that: the driving mechanism adopts brushless motors, each second rod is correspondingly connected with one brushless motor, and each brushless motor is correspondingly connected with one propeller.
7. A multi-rotor amphibious drone according to claim 1, characterized in that: the first underwater propellers are symmetrically arranged on two sides of the pressure shell, two first underwater propellers are arranged on each side of the pressure shell, the axis of each first underwater propeller is perpendicular to the symmetry axis of the pressure shell, two second underwater propellers are arranged at the tail of the pressure shell, and the axis of each second underwater propeller is parallel to the symmetry axis of the pressure shell.
8. A multi-rotor amphibious drone according to claim 1, characterized in that: the battery cabin body is provided with a battery cabin cover and a battery cabin sealing ring, the battery cabin cover is placed on the battery cabin body, and the battery cabin sealing ring is positioned between the battery cabin cover and the battery cabin body.
9. A multi-rotor amphibious drone according to any one of claims 1 to 8, characterised in that: the pressure-resistant shell head end still is equipped with the camera, be equipped with the O type sealing washer, ya keli hemisphere cover and the hemisphere cover clamp plate that stack in proper order on the camera.
10. A multi-rotor amphibious drone according to claim 9, characterized in that: and a waterproof aviation plug is arranged at the tail of the pressure-resistant shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021094438.8U CN212604325U (en) | 2020-06-12 | 2020-06-12 | Multi-rotor amphibious unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021094438.8U CN212604325U (en) | 2020-06-12 | 2020-06-12 | Multi-rotor amphibious unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212604325U true CN212604325U (en) | 2021-02-26 |
Family
ID=74717181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021094438.8U Expired - Fee Related CN212604325U (en) | 2020-06-12 | 2020-06-12 | Multi-rotor amphibious unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212604325U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660742A (en) * | 2020-06-12 | 2020-09-15 | 广东工业大学 | Multi-rotor amphibious unmanned aerial vehicle |
| CN115230961A (en) * | 2022-07-22 | 2022-10-25 | 中国空气动力研究与发展中心空天技术研究所 | Water-air dual-purpose internal and external pressure balance type pressure-resistant cabin and operation method thereof |
| WO2024055069A1 (en) * | 2022-09-14 | 2024-03-21 | Mohideen Farlin Anooz | Hybrid aerial hydro drone |
-
2020
- 2020-06-12 CN CN202021094438.8U patent/CN212604325U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660742A (en) * | 2020-06-12 | 2020-09-15 | 广东工业大学 | Multi-rotor amphibious unmanned aerial vehicle |
| CN111660742B (en) * | 2020-06-12 | 2024-05-24 | 广东工业大学 | Multi-rotor amphibious unmanned aerial vehicle |
| CN115230961A (en) * | 2022-07-22 | 2022-10-25 | 中国空气动力研究与发展中心空天技术研究所 | Water-air dual-purpose internal and external pressure balance type pressure-resistant cabin and operation method thereof |
| WO2024055069A1 (en) * | 2022-09-14 | 2024-03-21 | Mohideen Farlin Anooz | Hybrid aerial hydro drone |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212604325U (en) | Multi-rotor amphibious unmanned aerial vehicle | |
| US20210354800A1 (en) | Water-air amphibious cross-medium bio-robotic flying fish | |
| CN108216532A (en) | Fixed-wing air-sea is dwelt aircraft and control method more | |
| CN112124489B (en) | Unmanned ground effect wing ship based on folding wings | |
| CN108656885A (en) | Tilting rotor air-sea amphibious robot | |
| WO2021129001A1 (en) | Underwater and aerial robot | |
| CN111231592A (en) | Rocket-assisted cross-medium self-adaptive submersible unmanned aerial vehicle and control method | |
| CN113697077B (en) | Propulsion device for an aircraft, aircraft and control method for an aircraft | |
| CN113060261A (en) | Multi-degree-of-freedom underwater shooting boosting robot | |
| CN115593595A (en) | High-maneuverability long-endurance ocean turbulence observation underwater vehicle and working method thereof | |
| CN113788132A (en) | Vector-propelled hybrid drive underwater robot | |
| CN110775265A (en) | Oil-electricity hybrid driving amphibious aircraft and control method thereof | |
| CN113697078A (en) | Underwater robot | |
| CN111660742B (en) | Multi-rotor amphibious unmanned aerial vehicle | |
| CN113002744B (en) | Four-rotor underwater vehicle | |
| CN110816830A (en) | Water-air amphibious robot capable of achieving vector propulsion | |
| CN213921429U (en) | Flight life buoy | |
| CN212047837U (en) | Novel super-power-driven underwater helicopter | |
| CN210733727U (en) | Oil-electricity hybrid-power water-air dual-purpose multi-rotor unmanned aerial vehicle | |
| CN218316114U (en) | Cross-medium water-air amphibious aircraft | |
| CN115071934A (en) | Novel underwater robot based on flapping wing propulsion | |
| CN108945353A (en) | The diving boost motor of handheld tape shooting function | |
| CN211391645U (en) | Small-size underwater robot | |
| CN209600767U (en) | A kind of vector propeller of underwater robot | |
| CN208439409U (en) | A kind of single rotor duct underwater unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210226 |