CN102371861A - Propulsion unit and control method thereof - Google Patents
Propulsion unit and control method thereof Download PDFInfo
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- CN102371861A CN102371861A CN2010102657768A CN201010265776A CN102371861A CN 102371861 A CN102371861 A CN 102371861A CN 2010102657768 A CN2010102657768 A CN 2010102657768A CN 201010265776 A CN201010265776 A CN 201010265776A CN 102371861 A CN102371861 A CN 102371861A
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Abstract
The invention discloses a propulsion unit and a control method thereof. The propulsion unit comprises a carrier and a caterpillar band. The caterpillar band is arranged on the carrier, and comprises a plurality of blades, a driving unit and a steering unit. The blades are arranged along the circumference of the caterpillar band. The driving unit drives each blade to move around the circumference of the caterpillar band. The steering unit is used for rotating each blade to ensure that each blade is switched between a first state and a second state. The first state is that the normal direction and the circumambulating direction of each blade are parallel to each other substantially, and the second state is that the normal direction and the circumambulating direction of each blade are vertical to each other substantially. With the design of the caterpillar band and the blades thereof, the propulsion unit and the control method thereof can generate various different propulsion modes.
Description
Technical field
The present invention relates to a kind of propelling unit and control method thereof, particularly a kind of propelling unit and control method thereof of utilizing crawler belt to advance.
Background technology
For adapting to various demand, various propelling units are constantly weeded out the old and bring forth the new.The propelling unit of part is suitable for the land to be used, and the propelling unit of part is suitable for using in the fluid.Wherein, the propelling unit that is fit to use in the fluid develops comparatively slow, still is confined to several kinds of propulsion modes at present.
For instance, Submarine utilizes the rotation of scroll-type blade that the thrust of single direction is provided.Therefore, Submarine can only move towards a certain direction, even the injection direction of adjustment scroll-type blade also can't let propulsion mode that too many variation is arranged, makes its traveling mode that appreciiable restriction arranged.
Summary of the invention
Technical matters to be solved by this invention provides a kind of propelling unit and control method thereof, and the design that it utilizes crawler belt and blade thereof makes propelling unit and control method thereof can produce various propulsion mode.
To achieve these goals, the invention provides a kind of propelling unit, wherein, comprising:
One carrier; And
One first crawler belt is arranged on this carrier, and this first crawler belt comprises: a plurality of first blades, arrange along the periphery of this first crawler belt; One driver element drives this first blade respectively and detours along the periphery of this first crawler belt; An and steering unit; In order to rotate respectively this first blade; So that respectively this first blade is changed between one first state and one second state; This first state is that the normal direction of respectively this first blade is parallel with the direction that detours, and this second state is that the normal direction of respectively this first blade is vertical with the direction that detours.
Above-mentioned propelling unit, wherein, this steering unit detours in a preset range at this first blade respectively, and gradual rotation is this first blade respectively.
Above-mentioned propelling unit, wherein, this steering unit detours in a corner at this first blade respectively, moment formula rotate respectively this first blade.
Above-mentioned propelling unit; Wherein, this carrier has a relative first surface and a second surface, and this steering unit rotates respectively this first blade; So that be positioned at respectively this first blade of this first surface is this first state, and to make respectively this first blade that is positioned at this second surface be this second state.
Above-mentioned propelling unit; Wherein, This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface, and this first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, and this steering unit rotates respectively this first blade; So that be positioned at respectively this first blade on the 3rd surface and the 4th surface is this first state, and makes and be positioned at this first surface and this second surface is this second state.
Above-mentioned propelling unit; Wherein, This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface, and this first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, and this steering unit rotates respectively this first blade; So that be positioned at respectively this blade on the 3rd surface be this first state, and makes and be positioned at this first surface, this second surface and the 4th surperficial respectively this first blade is this second state.
Above-mentioned propelling unit, wherein, this propelling unit also comprises one second crawler belt, this first crawler belt and this second crawler belt are parallel to each other, and the width of this first crawler belt and this second crawler belt equates.
Above-mentioned propelling unit; Wherein, This propelling unit also comprises one second crawler belt and one the 3rd crawler belt; This first crawler belt is arranged between this second crawler belt and the 3rd crawler belt, and this first crawler belt, this second crawler belt and the 3rd crawler belt are parallel to each other, and the width of this first crawler belt equals the width sum of this second crawler belt and the 3rd crawler belt.
Above-mentioned propelling unit; Wherein, This propelling unit also comprises one second crawler belt, one the 3rd crawler belt and one the 4th crawler belt; This first crawler belt and this second crawler belt are arranged between the 3rd crawler belt and the 4th crawler belt, and this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt are parallel to each other, and the width of this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt equates.
In order to realize above-mentioned purpose better; The present invention also provides a kind of control method of propelling unit, and wherein, this propelling unit comprises a carrier and one first crawler belt; This first crawler belt is arranged on this carrier; This first crawler belt comprises a plurality of first blades, and respectively this first blade is arranged along the periphery of this first crawler belt, and this control method comprises:
Driving this first blade respectively detours along the periphery of this first crawler belt; And
Rotate respectively this first blade; So that respectively this first blade is changed between one first state and one second state; This first state is that the normal direction of respectively this first blade is parallel with the direction that detours, and this second state is that the normal direction of respectively this first blade is vertical with the direction that detours.
The control method of above-mentioned propelling unit, wherein, the step of rotating this first blade respectively detours in a preset range at this first blade respectively, and gradual rotation is this first blade respectively.
The control method of above-mentioned propelling unit, wherein, the step of rotating this first blade respectively detours in a corner at this first blade respectively, moment formula rotate respectively this first blade.
The control method of above-mentioned propelling unit; Wherein, this carrier has a relative first surface and a second surface, in rotating the step of this first blade respectively; Respectively this first blade that is positioned at this first surface is this first state, and respectively this first blade that is positioned at this second surface is this second state.
The control method of above-mentioned propelling unit; Wherein, This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface; This first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, and respectively this first blade that in rotating the step of this first blade respectively, is positioned at the 3rd surface and the 4th surface is this first state, and respectively this first blade that is positioned at this first surface and this second surface is this second state.
The control method of above-mentioned propelling unit; Wherein, This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface, and this first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, in rotating the step of this first blade respectively; Respectively this first blade that is positioned at the 3rd surface is this first state, and respectively this first blade that is positioned at this first surface, this second surface and the 4th surface is this second state.
The control method of above-mentioned propelling unit, wherein, this propelling unit also comprises one second crawler belt; This second crawler belt comprises a plurality of second blades; This first crawler belt and this second crawler belt are parallel to each other, and the width of this first crawler belt and this second crawler belt equates that this control method also comprises:
Driving this second blade respectively detours along the periphery of this second crawler belt; And
Rotate respectively this second blade, so that respectively this second blade is changed between this first state and this second state.
The control method of above-mentioned propelling unit wherein, is driving this first blade respectively and respectively in the step of this second blade, respectively this first blade is identical with the direction that detours of this second blade, and respectively this first blade is different with the speed that detours of this second blade respectively.
The control method of above-mentioned propelling unit wherein, is driving this first blade respectively and respectively in the step of this second blade, respectively this first blade and this second blade detour in the opposite directionly, respectively this first blade is identical with the speed that detours of this second blade respectively.
The control method of above-mentioned propelling unit, wherein, this carrier has a relative first surface and a second surface;
Driving this first blade respectively and respectively in the step of this second blade, respectively this first blade is identical with the direction that detours of this second blade respectively, and respectively this first blade is identical with the speed that detours of this second blade respectively;
Rotating this first blade respectively and respectively in the step of this two blade; This second blade that is positioned at respectively this first blade of this first surface and is positioned at this second surface is this first state, and respectively this second blade that is positioned at respectively this first blade of this second surface and is positioned at this first surface is this second state.
The control method of above-mentioned propelling unit, wherein, this propelling unit also comprises one second crawler belt and one the 3rd crawler belt; This second crawler belt comprises a plurality of second blades; The 3rd crawler belt comprises a plurality of the 3rd blades, and this first crawler belt is arranged between this second crawler belt and the 3rd crawler belt, and this first crawler belt, this second crawler belt and the 3rd crawler belt are parallel to each other; And the width of this first crawler belt equals this second crawler belt and the 3rd crawler belt sum, and this control method also comprises:
Driving this second blade respectively detours along the periphery of this second crawler belt;
Rotate respectively this second blade, so that respectively this second blade is changed between this first state and this second state;
Driving the 3rd blade respectively detours along the periphery of the 3rd crawler belt; And
Rotate respectively the 3rd blade, so that respectively the 3rd blade is changed between this first state and this second state.
The control method of above-mentioned propelling unit, this carrier have a relative first surface and a second surface;
Driving respectively this first blade, this second blade and respectively in this three-vaned step respectively; Respectively this first blade, respectively this second blade is with respectively this three-vaned direction that detours is identical, respectively this first blade, respectively this second blade is with respectively this three-vaned speed that detours is identical;
Rotating respectively this first blade, this second blade and respectively in this three-vaned step respectively; Be positioned at respectively this first blade of this second surface, respectively the 3rd blade that is positioned at respectively this second blade of this first surface and is positioned at this first surface is this first state, is positioned at respectively this first blade of this first surface, respectively the 3rd blade that is positioned at respectively this second blade of this second surface and is positioned at this second surface is this second state.
The control method of above-mentioned propelling unit; Wherein, this propelling unit also comprises one second crawler belt, one the 3rd crawler belt and one the 4th crawler belt, and this second crawler belt comprises a plurality of second blades; The 3rd crawler belt comprises a plurality of the 3rd blades; The 4th crawler belt comprises a plurality of quaterfoils, and this first crawler belt and this second crawler belt are arranged between the 3rd crawler belt and the 4th crawler belt, and this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt are parallel to each other; And the width of this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt equates that this control method comprises:
Driving this second blade respectively detours along the periphery of this second crawler belt;
Rotate respectively this second blade, so that respectively this second blade is changed between this first state and this second state;
Driving the 3rd blade respectively detours along the periphery of the 3rd crawler belt;
Rotate respectively the 3rd blade, so that respectively the 3rd blade is changed between this first state and this second state;
Driving this quaterfoil respectively detours along the periphery of the 4th crawler belt; And
Rotate respectively this quaterfoil, so that respectively this quaterfoil is changed between this first state and this second state.
Technique effect of the present invention is: the present invention utilizes the design of crawler belt and blade thereof, makes propelling unit and control method thereof can produce various propulsion mode.It is the basis with the caterpillar band type, but drives the blade of change of direction, promotes current with it, and the variation through catch, produces multiple direct of travel.The present invention is the advance system of high torsion, can be by land, in the water, the bottom even mud Barry be general.
Describe the present invention below in conjunction with accompanying drawing and specific embodiment, but not as to qualification of the present invention.
Description of drawings
Fig. 1 is the scheme drawing of the propelling unit of first embodiment;
Fig. 2 is the scheme drawing of the crawler belt of Fig. 1;
Fig. 3 A～3B is the scheme drawing of steering unit and blade;
Fig. 4 A～4B is several kinds of action scheme drawings of the propelling unit of first embodiment;
Fig. 5 is the scheme drawing of the propelling unit of second embodiment;
Fig. 6 A～6B is the first conversion baffle plate and the action scheme drawing that turns to block of steering unit;
Fig. 7 A～7D is several kinds of action scheme drawings of the propelling unit of second embodiment;
Fig. 8 is the scheme drawing of the propelling unit of the 3rd embodiment;
Fig. 9 A～9D is several kinds of action scheme drawings of the propelling unit of the 3rd embodiment;
Figure 10 is the scheme drawing of the propelling unit of the 4th embodiment;
Figure 11 A～11D is a kind of action scheme drawing of the propelling unit of the 4th embodiment;
Figure 12 A～12D is a kind of action scheme drawing of the propelling unit of the 4th embodiment;
Figure 13 A～13D is a kind of action scheme drawing of the propelling unit of the 4th embodiment;
Figure 14 is the scheme drawing of the propelling unit of the 5th embodiment;
Figure 15 A～15E is a kind of action scheme drawing of the propelling unit of the 5th embodiment;
Figure 16 is the scheme drawing of the propelling unit of the 6th embodiment.
Wherein, Reference numeral
100,200,300,400,500,600 propelling units
110 carriers
111 first surfaces
112 second surfaces
113 the 3rd surfaces
114 the 4th surfaces
120,220,320 crawler belts
121 blades
122 driver elements
123,223,323 steering units
The 123a connecting rod
The 123b spring block
123c turns to block
The 123d retracing spring
123e changes baffle plate
223e1, the 323e1 first conversion baffle plate
223e2, the 323e2 second conversion baffle plate
323e3 the 3rd conversion baffle plate
323e4 the 4th conversion baffle plate
420a, 520a, 620a first crawler belt
420b, 520b, 620b second crawler belt
421a, 521a, 621a first blade
421b, 521b, 621b second blade
520c, 620c the 3rd crawler belt
521c, 621c the 3rd blade
620d the 4th crawler belt
The 621d quaterfoil
The C direction that detours
F thrust
F41, F51 first thrust
F42, F52 second thrust
F53 the 3rd thrust
The L normal
The R preset range
The S inclined-plane
The width of W41, W51, W61 first crawler belt
The width of W42, W52, W62 second crawler belt
The width of W53, W63 the 3rd crawler belt
The width of W64 the 4th crawler belt
The specific embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and principle of work are done concrete description:
First embodiment
Please with reference to Fig. 1～2, Fig. 1 is the scheme drawing of the propelling unit of first embodiment, and Fig. 2 is the scheme drawing of the crawler belt of Fig. 1.Propelling unit 100 comprises a carrier 110 and a crawler belt 120.Crawler belt 120 is arranged on the carrier 110.Through rotating of crawler belt 120, can drive carrier 110 (for example being in the water) motion in fluid.
As shown in Figure 1, carrier 110 has a first surface 111, a second surface 112,113 and 1 the 4th surface 114, one the 3rd surface, and first surface 111, the 3rd surface 113, second surface 112 and the 4th surface 114 connect in regular turn.
As shown in Figure 2, crawler belt 120 comprises that (Fig. 2 is merely the conversion baffle plate 123e of steering unit 123, and the remaining component of steering unit 123 is in Fig. 3 A～3B) for several blades (paddle) 121, driver element 122 and steering unit 123.Blade 121 is arranged along the periphery of crawler belt 120, and is the plate-like structure of similar paddle.Driver element 122 each blades 121 of driving detour along the periphery of crawler belt 120.Driver element 122 for example is power roller or idle pulley.In the present embodiment, a driver element 122 wherein is the power roller, and another driver element 122 is an idle pulley.
Please with reference to Fig. 3 A～3B, it is the scheme drawing of steering unit 123 and blade 121.The steering unit 123 of present embodiment comprises a plurality of connecting rod 123a, a plurality of spring block 123b, a plurality of block 123c, a plurality of retracing spring 123d and conversion baffle plate 123e of turning to.See also Fig. 2, conversion baffle plate 123e is along the periphery setting of crawler belt 120.Shown in Fig. 3 A, 3B, each blade 121 corresponding connecting rod 123a, spring block 123b, one turn to block 123c and a retracing spring 123d.The end of connecting rod 123a is connected in blade 121, spring block 123b and turn to block 123c to be arranged on the connecting rod 123a, and retracing spring 123d is socketed on the connecting rod 123a.Spring block 123b is resisted against the end of retracing spring 123d, turns to block 123c to be arranged at the position of corresponding conversion baffle plate 123e.
Shown in Fig. 3 A, blade 121 does not detour to when changing the position of baffle plate 123e as yet, and retracing spring 123d pushing clamping spring block 123b is so that the normal direction L of blade 121 is maintained at first state of the parallel direction C that detours.
Shown in Fig. 3 B, after blade 121 got into conversion baffle plate 123e, conversion baffle plate 123e turned to block 123c with pushing and pressing, so that the normal direction L of blade 121 is maintained at second state of the direction C that vertically detours.
Shown in Fig. 3 A～3B, the conversion baffle plate 123e of present embodiment has an inclined-plane S, so conversion baffle plate 123e turns to block 123c to rotate with gradual pushing and pressing.That is to say that steering unit 123 detours in a preset range R at each blade 121, each blade 121 of gradual rotation.
In another embodiment, steering unit 123 also can adopt automatically controlled or other machine design, comes moment moving vane 121.For instance, steering unit 123 can be arranged at the corner of crawler belt 120, makes each blade 121 detour when the corner, and steering unit 123 moment formula is rotated each blade 121.
Please with reference to Fig. 2 and Fig. 3 A～3B, the conversion baffle plate 123e fixed type of present embodiment is arranged at contiguous second surface 112 places.Therefore, when each blade 121 detours second surface 112, steering unit 123 will begin to rotate each blade 121, so that each blade 121 at second surface 112 places of detouring is changed into second state by first state.
(for example be positioned at the blade 121 at first surface 111 places) when blade 121 is first state, blade 121 will produce bigger thrust with respect to fluid, advance to promote carrier 110.(for example be positioned at the blade 121 at second surface 112 places) when blade 121 is second state, blade 121 will produce less resistance with respect to fluid, to reduce the resistance that carrier 110 advances.
Please with reference to Fig. 4 A～4B, it is several kinds of action scheme drawings of the propelling unit 100 of first embodiment.The propelling unit 100 of first embodiment will produce several kinds of different actions under following control method.Shown in Fig. 4 A; Driver element 122 each blades 121 of driving detour along the periphery conter clockwise of crawler belt 120; And steering unit 123 (rotates each blade 121 referring to Fig. 3 A～3B); So that be positioned at each blade 121 of first surface 111 is first state, and to make each blade 121 that is positioned at second surface 112 be second state.Each blade 121 relative fluids will produce left a thrust F at first surface 111 places this moment, and propelling unit 100 is advanced left.
Shown in Fig. 4 B, driver element 122 those blades 121 of driving detour along the periphery cw of crawler belt 120.Each blade 121 relative fluids that be positioned at first surface 111 this moment will produce to the right a thrust F at first surface 111 places, and propelling unit 100 is advanced to the right.
Certainly, in another embodiment, conversion baffle plate 123e also fixable type is arranged at contiguous first surface 111 places.When each blade 121 gets into first surface 111, steering unit 123 will begin to rotate each blade 121, change into second state with each blade 121 that gets into first surface 111 by first state.
Second embodiment
Please with reference to Fig. 5; It is the scheme drawing of the propelling unit 200 of second embodiment; Propelling unit 100 differences of the propelling unit 200 of present embodiment and first embodiment are that the steering unit 223 of second embodiment comprises two conversion baffle plates (the first conversion baffle plate 223e1 and the second conversion baffle plate 223e2, the remaining component of steering unit 223 is in Fig. 6 A～6B).The first conversion baffle plate 223e1 is arranged at contiguous first surface 111 places with the mode of movable (close turns to block 123c or turns to block 123c away from Fig. 6 A～6B).The second conversion baffle plate 223e2 is arranged at contiguous second surface 112 places with mobilizable mode (close turns to block 123c or turns to block 123c away from Fig. 6 A～6B), and all the other something in common are repeated description no longer.Manner as for the first conversion baffle plate 223e1 and the second conversion baffle plate 223e2; For example can in the S. A. of driver element 122 axially carry out moving movement, make the first conversion baffle plate 223e1 and second change baffle plate 223e2 optionally near or away from turning to block 123c.When the first conversion baffle plate 223e1 or the second conversion baffle plate 223e2 when turning to block 123c, just can play a role makes blade 121 convert second or first state into.
Please with reference to Fig. 6 A～6B, it is the first conversion baffle plate 223e1 and the action scheme drawing that turns to block 123c of steering unit 223.Shown in Fig. 6 A; When the first conversion baffle plate 223e1 on Y direction near turning to block 123c; And when making conversion plate washer 223e1 be positioned on the conduct path of the X axle that turns to block 123c; Turn to the block 123c and the first conversion baffle plate 223e1 to contact and play a role, make blade 121 be rotated so second state shown in Fig. 3 B.Shown in Fig. 6 B; When the first conversion baffle plate 223e2 on Y direction away from turning to block 123c; And when making conversion baffle plate 223e1 not be positioned on the conduct path of the X axle that turns to block 123c; Turn to the block 123c and the first conversion baffle plate 223e1 can not contact and can not play a role, make blade 121 not be rotated, and become first state shown in Fig. 3 A.So, in the present embodiment, comprising two conversion baffle plates through steering unit 223, the first conversion baffle plate 223e1 and the second conversion baffle plate 223e2 can optionally play a role.
The propelling unit 200 of second embodiment will produce several kinds of different actions under following control method.Please with reference to Fig. 7 A～7D, it is several kinds of action scheme drawings of the propelling unit 200 of second embodiment.Wherein, among the first conversion baffle plate 223e1 and the second conversion baffle plate 223e2, have oblique line expression its on, and do not have oblique line expression its do not act on.
Shown in Fig. 7 A, first changes baffle plate 223e1 on, and the second conversion baffle plate 223e2 effect.Driver element 122 those blades 121 of driving detour along the periphery cw of crawler belt 220.Steering unit 223 rotates each blades 121, is second state so that be positioned at each blade 121 of first surface 111, and to make each blade 121 that is positioned at second surface 112 be first state.The blade 121 relative fluids that be positioned at second surface 112 places this moment will produce left a thrust F at first surface 112 places, and propelling unit 200 is advanced left.
Shown in Fig. 7 B, first changes baffle plate 223e1 on, and the second conversion baffle plate 223e2 effect.Driver element 122 changes with the C.C.W. direction that detours and drives those blades 121.Steering unit 223 rotates each blades 121, is second state so that be positioned at each blade 121 of first surface 111, and to make each blade 121 that is positioned at second surface 112 be first state.The blade 121 that is positioned at second surface 112 places will produce to the right a thrust F at second surface 112 places, and propelling unit 200 is advanced to the right.
Shown in Fig. 7 C, first changes baffle plate 223e1 not on, and the second conversion baffle plate 223e2 on.Driver element 122 drives those blades 121 with the C.C.W. direction that detours.Steering unit 122 rotates each blades 121, is first state so that be positioned at each blade 121 of first surface 111, and to make each blade 121 that is positioned at second surface 112 be second state.The blade 121 that is positioned at first surface 111 places will produce left a thrust F at first surface 111 places, and propelling unit 200 is advanced left.
Shown in Fig. 7 D, first changes baffle plate 223e1 not on, and the second conversion baffle plate 223e2 on.Driver element 122 drives those blades 121 with the clws direction that detours.Steering unit 223 rotates each blades 121, is first state so that be positioned at each blade 121 of first surface 111, and to make each blade 121 that is positioned at second surface 112 be second state.The blade 121 that is positioned at first surface 111 places will produce to the right a thrust F at first surface 111 places, and propelling unit 200 is advanced to the right.
The 3rd embodiment
Please with reference to Fig. 8; It is the scheme drawing of the propelling unit 300 of the 3rd embodiment, and propelling unit 200 differences of the propelling unit 300 of present embodiment and second embodiment are that the steering unit 323 of the 3rd embodiment comprises four conversion baffle plates (the first conversion baffle plate 323e1, the second conversion baffle plate 323e2, the 3rd conversion baffle plate 323e3 and the 4th conversion baffle plate 323e4).The first conversion baffle plate 323e1 is arranged at contiguous first surface 111 places with the mode of movable.The second conversion baffle plate 323e2 is arranged at contiguous second surface 112 places with mobilizable mode.The 3rd conversion baffle plate 323e3 is arranged at the 3rd surperficial 113 places with the mode of movable.The 4th conversion baffle plate 323e4 is arranged at the 4th surperficial 114 places with mobilizable mode.Manner as for the first, second, third and the 4th conversion baffle plate 323e1,323e2,323e3,323e4; For example can in the S. A. of driver element 122 axially carry out moving movement, make the first, second, third and the 4th conversion baffle plate 323e1,323e2,323e3,323e4 optionally near or away from turning to block 123c (referring to Fig. 3 A).All the other something in common are repeated description no longer.
Wherein, the end points of first of the present embodiment conversion baffle plate 323e1 and the second conversion baffle plate 323e2 only extends to the corner and the first conversion baffle plate 223e1 and second that slightly is shorter than second embodiment changes baffle plate 223e2.
The first conversion baffle plate 323e1, the second conversion baffle plate 323e2, the 3rd conversion baffle plate 323e3 and the 4th conversion baffle plate 323e4 can optionally play a role.And the propelling unit 300 of the 3rd embodiment will produce several kinds of different actions under following control method.Please with reference to Fig. 9 A～9D, it is several kinds of action scheme drawings of the propelling unit 300 of the 3rd embodiment.Wherein, among the first conversion baffle plate 323e1, the second conversion baffle plate 323e2, the 3rd conversion baffle plate 323e3 and the 4th conversion baffle plate 323e4, have oblique line expression its on, and do not have oblique line expression its do not act on.
Shown in Fig. 9 A, the first conversion baffle plate 323e1, the 3rd conversion baffle plate 323e3, the 4th change baffle plate 323e4 on, and the second conversion baffle plate 323e2 effect.The action of Fig. 9 A and Fig. 7 A～7B are similar; When driver element 122 drives those blades 121 when the periphery cw of crawler belt 320 or conter clockwise detour; Effect through the first conversion baffle plate 323e1, the 3rd conversion baffle plate 323e3, the 4th conversion baffle plate 323e4 changes the state of blade 121, can make propelling unit 300 advance or advance left to the right.Because action is similar with Fig. 7 A～7B, at this repeated description no longer.
Shown in Fig. 9 B, the second conversion baffle plate 323e2, the 3rd conversion baffle plate 323e3, the 4th change baffle plate 323e4 on, and the first conversion baffle plate 323e1 effect.The action of Fig. 9 B and Fig. 7 C～7D are similar; When driver element 122 drives those blades 121 when the periphery cw of crawler belt 320 or conter clockwise detour; Change the state of blade 121 through the effect of the second conversion baffle plate 323e2, the 3rd conversion baffle plate 323e3 and the 4th conversion baffle plate 323e4, can make propelling unit 300 advance or advance left to the right.Because action is similar with Fig. 7 C～7D, at this repeated description no longer.
Shown in Fig. 9 C, the first conversion baffle plate 323e1 and second changes baffle plate 323e2 on, and the 3rd conversion baffle plate 323e3 and the 4th conversion baffle plate 323e4 effect.Driver element 122 those blades 121 of driving detour along the periphery conter clockwise of crawler belt 320.Effect through the first conversion baffle plate 323e1, the second conversion baffle plate 323e2 makes that each blade 121 that is positioned at first surface 111 and second surface 112 is second state, and because the 3rd conversion baffle plate 323e3 and the 4th conversion baffle plate 323e4 effect make each blade 121 that is positioned at the 3rd surface the 113 and the 4th surperficial 114 is first state.This moment, propelling unit 300 relative fluids will produce clockwise thrust F on the 113 and the 4th surface 114, the 3rd surface, and made that propelling unit 300 is center cw upset with the center-point of crawler belt 320.This kind manner of execution can change the angle of propelling unit 300 and horizontal surface.
In like manner; When the driver element of Fig. 9 C 122 drives those blades 121 when the periphery cw of crawler belt 320 detours; Propelling unit 300 relative fluids will produce anti-clockwise thrust on the 113 and the 4th surface 114, the 3rd surface, and make that propelling unit 300 is center conter clockwise upset with the center-point of crawler belt 320.
Shown in Fig. 9 D, the first conversion baffle plate 323e1, the second conversion baffle plate 323e2 and the 4th change baffle plate 323e4 on, and the 3rd conversion baffle plate 323e3 effect.Driver element 122 those blades 121 of driving detour along the periphery conter clockwise of crawler belt 320.Effect through the first conversion baffle plate 323e1, the second conversion baffle plate 323e2 and the 4th conversion baffle plate 323e4 makes that each blade 121 that is positioned at first surface 111, second surface 112 and the 4th surface 114 is second state, and to be positioned at each blade 121 of the 3rd surperficial 113 be first state because the 3rd conversion baffle plate 323e3 effect makes.This moment, propelling unit 300 relative fluids will produce clockwise thrust F on the 3rd surface 113; Is center cw upset and make propelling unit 300 with the eccentric point of crawler belt 320, and this eccentric point is the centre of gration near the driver element 122 of the 4th conversion baffle plate 323e4.This kind manner of execution can change the angle of propelling unit 300 and horizontal surface.Especially sink to the bottom and with first surface 111 contact or contiguous when water-bed when propelling unit 300, can be fast and effeciently propelling unit 300 be lifted leaving water at the bottom of.
The 4th embodiment
Please with reference to Figure 10; It is the scheme drawing of the propelling unit 400 of the 4th embodiment; Propelling unit 200 differences of the propelling unit 400 of present embodiment and second embodiment are that the propelling unit 400 of the 4th embodiment comprises two crawler belts (the first crawler belt 420a and the second crawler belt 420b); And the first crawler belt 420a comprises several first blades 421a, and the second crawler belt 420a comprises several second blades 421b, and all the other something in common are repeated description no longer.
The first crawler belt 420a and the second crawler belt 420b are parallel to each other in fact, and the width W 42 of the width W 41 of the first crawler belt 420a and the second crawler belt 420b is equal in fact.The design that the first crawler belt 420a and the second crawler belt 420b can optionally use above-mentioned first～the 3rd embodiment.In the present embodiment, the first crawler belt 420a and the second crawler belt 420b do explanation with the example that is designed to of second embodiment.
Under the first crawler belt 420a and the second crawler belt 420b is identical in the direction that detours, the speed that detours is identical and the control of conversion baffle plate (figure do not show) the is identical situation, propelling unit 400 can realize aforementioned various similar action.
And except above-mentioned several kinds of actions, the propelling unit 400 of the 4th embodiment will produce several kinds of different actions under following control method.Please with reference to Figure 11 A～11D, it is a kind of action scheme drawing of the propelling unit 400 of the 4th embodiment.Shown in Figure 11 A～11B; Those first blades 421a direction that detours of the second blade 421b therewith is identical; But the speed that detours of those first blade 421a and those second blades 421b is not simultaneously, and propelling unit 400 fluid relatively produces the first thrust F41 and the second thrust F42 that direction is identical, vary in size.Shown in Figure 11 C, because the first thrust F41 that produces in propelling unit 400 is less than the second thrust F42, so the moving velocity at the first thrust F41 place is slower, the moving velocity at the second thrust F42 place is very fast.Shown in Figure 11 D, because propelling unit 400 at the first thrust F41 place and the moving velocity at second thrust F42 place difference, makes propelling unit 400 to revolve round the sun with the mode of great circle.
Please with reference to Figure 12 A～12D, it is a kind of action scheme drawing of the propelling unit 400 of the 4th embodiment.Shown in Figure 12 A～12B; Those first blades 421a is identical in fact with the speed that detours of those second blades 421b; But those first blade 421a and those second blades 421b detour when in the opposite direction, the first thrust F41 and the second thrust F42 that propelling unit 400 relative fluids will produce is in the opposite direction, size is identical.Shown in Figure 12 C, since in the opposite direction at the first thrust F41 and the second thrust F42 of propelling unit 400 generations, so the moving direction at the moving direction at the first thrust F41 place and the second thrust F42 place will be opposite.Shown in Figure 12 D since propelling unit 400 at the first thrust F41 place and the moving direction at the second thrust F42 place on the contrary and big or small identical, make that propelling unit 400 will rotation.
Please with reference to Figure 13 A～13D, it is a kind of action scheme drawing of the propelling unit 400 of the 4th embodiment.Shown in Figure 13 A～13B, those first blades 421a is different with the direction that detours of those second blades 421b, and it is identical in fact with the speed that detours of those second blades 421b to drive those first blades 421a.Each the second blade 421b that is positioned at each first blade 421a of first surface 111 and is positioned at second surface 112 is first state, and each the second blade 421b that is positioned at each first blade 421a of second surface 112 and is positioned at first surface 111 is second state.Propelling unit 400 relative fluids will produce the first thrust F41 and the second thrust F42 (represent that with solid line the first thrust F41 is positioned at first surface 111, be represented by dotted lines the second thrust F42 and be positioned at second surface 112) that direction is identical, size is identical at first surface 111 and second surface 112.The first thrust F42 that is positioned at the first thrust F41 of first surface 111 and is positioned at second surface 112 all produces thrust left.But because the first thrust F41 is positioned at first surface 111; So propelling unit 400 will be lifted by the drive of the first thrust F41 slightly; And the second thrust F42 is positioned at second surface 112, so propelling unit 400 will be pushed away slightly down by the drive of the second thrust F42.Therefore, shown in Figure 13 C, when propelling unit 400 is advanced left, also can lift slightly, and push away slightly down at the second thrust F42 place at the first thrust F41 place.Shown in Figure 13 D, propelling unit 400 will be overturn and move forward simultaneously with the screw-shaped mode this moment.
The 5th embodiment
Please with reference to Figure 14; It is the scheme drawing of the propelling unit 500 of the 5th embodiment; Propelling unit 200 differences of the propelling unit 500 of present embodiment and second embodiment are that the propelling unit 500 of the 5th embodiment comprises three crawler belts (the first crawler belt 520a, the second crawler belt 520b and the 3rd crawler belt 520c); And the first crawler belt 520a comprises several first blades 521a; The second crawler belt 520b comprises several second blades 521b, and the 3rd crawler belt 520c comprises several the 3rd blades 521c, and all the other something in common are repeated description no longer.
The first crawler belt 520a is arranged between the second crawler belt 520b and the 3rd crawler belt 520c; The first crawler belt 520a, the second crawler belt 520b and the 3rd crawler belt 520c are parallel to each other in fact, and the width W 51 of the first crawler belt 520a equals the width W 52 of the second crawler belt 520b and width W 53 sums of the 3rd crawler belt 520c in fact.The design that the first crawler belt 520a, the second crawler belt 520b and the 3rd crawler belt 520c can optionally use above-mentioned first～the 3rd embodiment.In the present embodiment, the first crawler belt 520a, the second crawler belt 520b and the 3rd crawler belt 520c do explanation with the example that is designed to of second embodiment.
Under the first crawler belt 520a, the second crawler belt 520b and the 3rd crawler belt 520c is identical in the direction that detours, the speed that detours is identical and the control of conversion baffle plate (figure do not show) the is identical situation, propelling unit 500 can realize aforementioned various similar action.
And except above-mentioned several kinds of actions, the propelling unit 500 of the 5th embodiment will produce several kinds of different actions under following control method.Please with reference to Figure 15 A～15E, it is a kind of action scheme drawing of the propelling unit 500 of the 5th embodiment.Shown in Figure 15 A～15C; The direction that detours of those first blades 521a is different from the direction that detours of those second blade 521b and those the 3rd blades 521c, and those first blades 521a, those second blades 521b are identical in fact with the speed that detours of those the 3rd blades 521c.Be positioned at each first blade 521a of second surface 112, each the 3rd blade 521c that is positioned at each second blade 521b of first surface 111 and is positioned at first surface 111 is first state, and be positioned at each first blade 521a of first surface 111, each the 3rd blade 521c that is positioned at each second blade 521b of second surface 112 and is positioned at second surface 112 is second state.By the way; The first crawler belt 520a will produce the first thrust F51 at second surface 112; The second crawler belt 520b and the 3rd crawler belt 520c will produce the second thrust F52 and the 3rd thrust F53 (be represented by dotted lines the first thrust F51 and be positioned at second surface 112, represent that with solid line the second thrust F52 and the 3rd thrust F53 are positioned at first surface 111) at first surface 111.The second thrust F52 and the 3rd thrust F53 that are positioned at first surface 111 will lift propelling unit 500 slightly, and the first thrust F51 that is positioned at second surface 112 will push away propelling unit 500 slightly down.Shown in Figure 15 D, because the width W 51 of the first crawler belt 520a equals the width W 52 of the second crawler belt 520b and width W 53 sums of the 3rd crawler belt 520c in fact, so the first thrust F51 is the second thrust F52 and the 3rd thrust F53 sum.And the following thrust amount that the first thrust F51 is produced can equal also that the second thrust F52 and the 3rd thrust F53 produced lifts the strength sum.Thus, the first thrust F51 of second, third thrust F52, F53 and the second surface 112 of first surface 111 can obtain balance.Shown in Figure 15 E (Figure 15 E is the lateral plan of propelling unit 500), this moment, propelling unit 500 can stable level be advanced, and can not float gradually because of strength of lifting and the strength that pushes away down are unequal or sink.
The 6th embodiment
Please with reference to Figure 16; It is the scheme drawing of the propelling unit 600 of the 6th embodiment; Propelling unit 200 differences of the propelling unit 600 of present embodiment and second embodiment are that the propelling unit 600 of the 5th embodiment comprises four crawler belts (the first crawler belt 620a, the second crawler belt 620b, the 3rd crawler belt 620c and the 4th crawler belt 620d); The first crawler belt 620a comprises several first blades 621a, and the second crawler belt 620b comprises several second blades 621b, and the 3rd crawler belt 620c comprises several the 3rd blades 621c; The 4th crawler belt 620d comprises several quaterfoil 621d, and all the other something in common are repeated description no longer.
The first crawler belt 620a and the second crawler belt 620b are arranged between the 3rd crawler belt 620c and the 4th crawler belt 639d; The first crawler belt 620a, the second crawler belt 620b, the 3rd crawler belt 620c and the 4th crawler belt 620d are parallel to each other in fact, and width W 61, W62, W63, the W64 of the first crawler belt 620a, the second crawler belt 620b, the 3rd crawler belt 620c and the 4th crawler belt 620d are equal in fact.
Under the situation that those first blades 621a, those second blades 621b, those the 3rd blade 621c and those quaterfoil 621d detour along the periphery of the first crawler belt 620a, the second crawler belt 620b, the 3rd crawler belt 620c and the 4th crawler belt 620d respectively, can realize aforementioned various similar action.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (22)
1. a propelling unit is characterized in that, comprising:
One carrier; And
One first crawler belt is arranged on this carrier, and this first crawler belt comprises: a plurality of first blades, arrange along the periphery of this first crawler belt; One driver element drives this first blade respectively and detours along the periphery of this first crawler belt; An and steering unit; In order to rotate respectively this first blade; So that respectively this first blade is changed between one first state and one second state; This first state is that the normal direction of respectively this first blade is parallel with the direction that detours, and this second state is that the normal direction of respectively this first blade is vertical with the direction that detours.
2. propelling unit as claimed in claim 1 is characterized in that, this steering unit detours in a preset range at this first blade respectively, and gradual rotation is this first blade respectively.
3. propelling unit as claimed in claim 1 is characterized in that, this steering unit detours in a corner at this first blade respectively, moment formula rotate respectively this first blade.
4. propelling unit as claimed in claim 1; It is characterized in that; This carrier has a relative first surface and a second surface; This steering unit rotates respectively this first blade, is this first state so that be positioned at respectively this first blade of this first surface, and to make respectively this first blade that is positioned at this second surface be this second state.
5. propelling unit as claimed in claim 1; It is characterized in that; This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface, and this first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, and this steering unit rotates respectively this first blade; So that be positioned at respectively this first blade on the 3rd surface and the 4th surface is this first state, and makes and be positioned at this first surface and this second surface is this second state.
6. propelling unit as claimed in claim 1; It is characterized in that; This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface, and this first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, and this steering unit rotates respectively this first blade; So that be positioned at respectively this blade on the 3rd surface be this first state, and makes and be positioned at this first surface, this second surface and the 4th surperficial respectively this first blade is this second state.
7. propelling unit as claimed in claim 1 is characterized in that, this propelling unit also comprises one second crawler belt, and this first crawler belt and this second crawler belt are parallel to each other, and the width of this first crawler belt and this second crawler belt equates.
8. propelling unit as claimed in claim 1; It is characterized in that; This propelling unit also comprises one second crawler belt and one the 3rd crawler belt; This first crawler belt is arranged between this second crawler belt and the 3rd crawler belt, and this first crawler belt, this second crawler belt and the 3rd crawler belt are parallel to each other, and the width of this first crawler belt equals the width sum of this second crawler belt and the 3rd crawler belt.
9. propelling unit as claimed in claim 1; It is characterized in that; This propelling unit also comprises one second crawler belt, one the 3rd crawler belt and one the 4th crawler belt; This first crawler belt and this second crawler belt are arranged between the 3rd crawler belt and the 4th crawler belt, and this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt are parallel to each other, and the width of this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt equates.
10. the control method of a propelling unit is characterized in that, this propelling unit comprises a carrier and one first crawler belt; This first crawler belt is arranged on this carrier; This first crawler belt comprises a plurality of first blades, and respectively this first blade is arranged along the periphery of this first crawler belt, and this control method comprises:
Driving this first blade respectively detours along the periphery of this first crawler belt; And
Rotate respectively this first blade; So that respectively this first blade is changed between one first state and one second state; This first state is that the normal direction of respectively this first blade is parallel with the direction that detours, and this second state is that the normal direction of respectively this first blade is vertical with the direction that detours.
11. the control method of propelling unit as claimed in claim 10 is characterized in that, the step of rotating this first blade respectively detours in a preset range at this first blade respectively, and gradual rotation is this first blade respectively.
12. the control method of propelling unit as claimed in claim 10 is characterized in that, the step of rotating this first blade respectively detours in a corner at this first blade respectively, moment formula rotate respectively this first blade.
13. the control method of propelling unit as claimed in claim 10; It is characterized in that; This carrier has a relative first surface and a second surface; In rotating the step of this first blade respectively, respectively this first blade that is positioned at this first surface is this first state, and respectively this first blade that is positioned at this second surface is this second state.
14. the control method of propelling unit as claimed in claim 10; It is characterized in that; This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface; This first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, and respectively this first blade that in rotating the step of this first blade respectively, is positioned at the 3rd surface and the 4th surface is this first state, and respectively this first blade that is positioned at this first surface and this second surface is this second state.
15. the control method of propelling unit as claimed in claim 10; It is characterized in that; This carrier has a first surface, a second surface, one the 3rd surface and one the 4th surface, and this first surface, the 3rd surface, this second surface and the 4th surface connect in regular turn, in rotating the step of this first blade respectively; Respectively this first blade that is positioned at the 3rd surface is this first state, and respectively this first blade that is positioned at this first surface, this second surface and the 4th surface is this second state.
16. the control method of propelling unit as claimed in claim 10; It is characterized in that; This propelling unit also comprises one second crawler belt, and this second crawler belt comprises a plurality of second blades, and this first crawler belt and this second crawler belt are parallel to each other; And the width of this first crawler belt and this second crawler belt equates that this control method also comprises:
Driving this second blade respectively detours along the periphery of this second crawler belt; And
Rotate respectively this second blade, so that respectively this second blade is changed between this first state and this second state.
17. the control method of propelling unit as claimed in claim 16; It is characterized in that; Driving this first blade respectively and respectively in the step of this second blade, respectively this first blade is identical with the direction that detours of this second blade, respectively this first blade is different with the speed that detours of this second blade respectively.
18. the control method of propelling unit as claimed in claim 16; It is characterized in that; Driving this first blade respectively and respectively in the step of this second blade, respectively this first blade and this second blade detour in the opposite directionly, respectively this first blade is identical with the speed that detours of this second blade respectively.
19. the control method of propelling unit as claimed in claim 16 is characterized in that, this carrier has a relative first surface and a second surface;
Driving this first blade respectively and respectively in the step of this second blade, respectively this first blade is identical with the direction that detours of this second blade respectively, and respectively this first blade is identical with the speed that detours of this second blade respectively;
Rotating this first blade respectively and respectively in the step of this two blade; This second blade that is positioned at respectively this first blade of this first surface and is positioned at this second surface is this first state, and respectively this second blade that is positioned at respectively this first blade of this second surface and is positioned at this first surface is this second state.
20. the control method of propelling unit as claimed in claim 10 is characterized in that, this propelling unit also comprises one second crawler belt and one the 3rd crawler belt; This second crawler belt comprises a plurality of second blades; The 3rd crawler belt comprises a plurality of the 3rd blades, and this first crawler belt is arranged between this second crawler belt and the 3rd crawler belt, and this first crawler belt, this second crawler belt and the 3rd crawler belt are parallel to each other; And the width of this first crawler belt equals this second crawler belt and the 3rd crawler belt sum, and this control method also comprises:
Driving this second blade respectively detours along the periphery of this second crawler belt;
Rotate respectively this second blade, so that respectively this second blade is changed between this first state and this second state;
Driving the 3rd blade respectively detours along the periphery of the 3rd crawler belt; And
Rotate respectively the 3rd blade, so that respectively the 3rd blade is changed between this first state and this second state.
21. the control method of propelling unit as claimed in claim 20 is characterized in that, this carrier has a relative first surface and a second surface;
Driving respectively this first blade, this second blade and respectively in this three-vaned step respectively; Respectively this first blade, respectively this second blade is with respectively this three-vaned direction that detours is identical, respectively this first blade, respectively this second blade is with respectively this three-vaned speed that detours is identical;
Rotating respectively this first blade, this second blade and respectively in this three-vaned step respectively; Be positioned at respectively this first blade of this second surface, respectively the 3rd blade that is positioned at respectively this second blade of this first surface and is positioned at this first surface is this first state, is positioned at respectively this first blade of this first surface, respectively the 3rd blade that is positioned at respectively this second blade of this second surface and is positioned at this second surface is this second state.
22. the control method of propelling unit as claimed in claim 10; It is characterized in that this propelling unit also comprises one second crawler belt, one the 3rd crawler belt and one the 4th crawler belt, this second crawler belt comprises a plurality of second blades; The 3rd crawler belt comprises a plurality of the 3rd blades; The 4th crawler belt comprises a plurality of quaterfoils, and this first crawler belt and this second crawler belt are arranged between the 3rd crawler belt and the 4th crawler belt, and this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt are parallel to each other; And the width of this first crawler belt, this second crawler belt, the 3rd crawler belt and the 4th crawler belt equates that this control method comprises:
Driving this second blade respectively detours along the periphery of this second crawler belt;
Rotate respectively this second blade, so that respectively this second blade is changed between this first state and this second state;
Driving the 3rd blade respectively detours along the periphery of the 3rd crawler belt;
Rotate respectively the 3rd blade, so that respectively the 3rd blade is changed between this first state and this second state;
Driving this quaterfoil respectively detours along the periphery of the 4th crawler belt; And
Rotate respectively this quaterfoil, so that respectively this quaterfoil is changed between this first state and this second state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102657768A CN102371861A (en) | 2010-08-25 | 2010-08-25 | Propulsion unit and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102657768A CN102371861A (en) | 2010-08-25 | 2010-08-25 | Propulsion unit and control method thereof |
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| CN102371861A true CN102371861A (en) | 2012-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010102657768A Pending CN102371861A (en) | 2010-08-25 | 2010-08-25 | Propulsion unit and control method thereof |
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| CN (1) | CN102371861A (en) |
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| CN107848585A (en) * | 2015-07-06 | 2018-03-27 | 都美工业股份有限公司 | Crawler and walking arrangement |
| CN109249763A (en) * | 2017-07-13 | 2019-01-22 | 黄祖铭 | Sea and land shoe |
| CN110865165A (en) * | 2019-12-09 | 2020-03-06 | 李力翔 | Water quality detection device for multi-environment application in water conservancy and hydropower construction |
| CN114590088A (en) * | 2022-04-22 | 2022-06-07 | 姜雪锋 | Wheel-track composite driven amphibious vehicle |
| CN114619814A (en) * | 2022-04-22 | 2022-06-14 | 姜雪锋 | Amphibious excavator |
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Application publication date: 20120314 |