33 results about "Front airbag" patented technology

The invention discloses an automatic intelligent heat dissipation device for a treadmill motor and a treadmill, and relates to the technical field of fitness equipment. The device comprises an energy collection and conversion structure, a transmission execution mechanism, a heat dissipation assembly and a delay control structure. The energy collection and conversion structure collects running vibration through an air blowing lever and converts mechanical vibration into air pressure energy through an energy conversion air pump; the transmission executing mechanism converts air pressure energy into linear motion through an air pipeline, an executing air cylinder and a sliding connecting rod. The heat dissipation assembly comprises two heat dissipation protection covers, and alignment or sealing of the heat dissipation protection covers and strip-shaped heat dissipation holes of the motor is achieved through sliding. The delay control structure comprises a front-end air bag and a rear-end air bag, and the heat dissipation opportunity is intelligently adjusted according to the running state of the motor through air pressure balance. The invention further provides a treadmill adopting the heat dissipation device, the treadmill comprises a tension adjusting device, and accurate adjustment of the position of the motor is achieved through the two fixed enclasping pieces, a tightness adjusting structure and a supporting movable structure.

Instrument panel (10) of a motor vehicle, with a carrier (11) for a decorative material (12), wherein the carrier (11) extends in the transverse direction of the motor vehicle in the front area of ​​the same below a windscreen (14) between a driver area and a passenger area of ​​the motor vehicle, with a passenger-side front airbag module (15) which includes a gas generator (16) and an airbag (17), with a firing channel (18) for the airbag (17) of the passenger-side front airbag module (15), wherein the firing channel (18) is limited in the longitudinal direction of the motor vehicle by a transversely extending front wall (20) and a transversely extending rear wall (21), with an airbag flap (22) incorporated into the carrier (11), which opens along a transversely extending predetermined breaking point (23) as a result of a triggering of the passenger-side front airbag module (15) and folds open about at least a transversely extending pivot axis (24), wherein the predetermined breaking point (23) is positioned adjacent to the rear wall (21) of the firing channel (18) behind the same, with a cover element (26) associated with the rear wall (21) of the firing channel (18), which is attached to the rear wall (21) by a first section (26u) and which is not attached to the rear wall (21) by a second section (26o), wherein the second section (26o) of the cover element (26) associated with the rear wall (21) is dimensioned such that, in the event of the deployment of the airbag (17) of the passenger-side front airbag module (15) caused by the triggering of the passenger-side front airbag module (15), it covers a transversely extending, rearward fracture edge (27) of the predetermined breaking point (23) as seen in the longitudinal direction of the vehicle, with a further cover element (28) associated with the front wall (20) of the firing channel (18), which is attached to the front wall (20) with a first section (28u) and which is not attached to the front wall (20) with a second section (28o), wherein the second section (28o) of the further cover element (28) is dimensioned such that, in the event of the deployment of the airbag (17) of the passenger-side front airbag module (15) caused by the triggering of the passenger-side front airbag module (15), it covers a pivot axis (24) of the airbag flap (22) running in the area of ​​the front wall (20).

The present invention discloses a pressure-bearing pipe sealing airbag, belonging to the technical field of high-pressure pipeline maintenance, sealing, and other construction operations. The sealing airbag comprises a main body, an end cap, an annular airbag, a mounting ring, and a safety valve. One or more annular airbags are mounted on a step of the main body. The inner opening of the annular airbag is provided with a 180-degree rotating flange. The safety valve is installed in the ventilation cavity of the main body and is used to close the corresponding ventilation hole when the annular airbag is damaged. The guide positioning rod is movably installed in a straight slide groove, and the rotation of the drive disk can drive the multiple guide positioning rods to synchronously extend and retract. Compared with existing solutions, this structure adopts a series structure of multiple airbags, which can ensure that the entire sealing is not lost even if the front airbag is damaged. The configured guide positioning rod can ensure the stability of the axis during expansion and reliably guide the airbag to the designated position in the pipeline. Compared with traditional airbags, the internal pressure of the airbag can be increased by more than 55%, and the sealing pressure can reach above 1.8MPa.

The invention relates to an automobile passenger protection system in a rear-row bed mode, which comprises a vehicle cabin, a sleeping berth mattress laid behind a front-row seat is arranged in the vehicle cabin, a sleeping bag safety air bag is arranged in the sleeping berth mattress, a front-side safety air bag is arranged in front of the sleeping berth mattress, and a front-side rear safety air bag is arranged behind the sleeping berth mattress. The top safety air bag is arranged above the sleeping berth mattress, and the side safety air bags are arranged on the sides of the sleeping berth mattress; the safety air bag controller is connected with a collision sensor, and the safety air bag controller obtains input signals of the collision sensor and selectively sends ignition signals to the sleeping bag safety air bag, the front face safety air bag, the front face rear safety air bag, the top safety air bag and the side face safety air bags. Multi-directional and high-reliability protection measures are provided for the passengers lying on the back row, collision damage to the passengers and the vehicle body and collision damage between the passengers and the passengers caused by external collision are relieved, and the safety performance of the whole vehicle is improved.

The invention relates to a front airbag (22) for mounting on or in an instrument panel (14) of a motor vehicle (10) in the direction of travel (20) in front of a vehicle steering wheel (16), wherein the front airbag (22), when fully inflated, extends in an arc from the instrument panel (14) in the direction of travel (20) first rearward and then downward between an occupant (24) and the vehicle steering wheel (16) to a free airbag end (30) and has an impact surface (32) facing the occupant (24) and an opposing support surface (34) facing the vehicle steering wheel (16), wherein the free airbag end (30) is initially folded inwards between the impact surface (32) and the support surface (34) during airbag deployment, so that a steering wheel-side fold (42) with two airbag layers and an occupant-side fold (44) with two gasbag layers are formed, with each of the two gasbag layers having at least one of the two folds (42,44) are detachably connected to one another, in particular by means of a tear seam (46). The invention further relates to a gasbag module (18) and a motor vehicle (10) with such a front gasbag (22) as well as a method for unfolding the front gasbag (22).

The invention relates to a front airbag module (18) for installation on or in an instrument panel (14) of a motor vehicle (10) in front of a vehicle steering wheel (16) in the direction of travel, the front airbag module having an inflatable airbag (22) which, when inflated, extends arcuately firstly rearward and then downward between the occupant (24) and the vehicle steering wheel (16) as viewed in the direction of travel, and which has an impact surface (26) facing the occupant (24) and has an opposite support surface (28) facing the vehicle steering wheel (16), wherein: a tether (30, 32) is provided which has a first tether end (34) fastened to the impact surface (26) and has an opposite second tether end (26); an activatable tether release device (38) is provided which is connected to the second tether end (36) when not activated and releases the second tether end (36) when activated; and when the tether release device (38) is not activated, the airbag (22) adopts a first contour in which a movement of the impact surface (26) in the direction of the occupant (24) is limited by the tether (30, 32), and when the tether release device (38) is activated, the airbag adopts a second contour in which the impact surface (26) can move in the direction of the occupant (24) without hindrance from the tether (30, 32). The invention also relates to a motor vehicle (10) having such a front airbag module (18).

The utility model discloses a front air bag assembly and a vehicle. The front air bag assembly comprises an air generator, an air bag and a protection piece. The air bag is provided with an inflation inlet, the inflation inlet is communicated with the gas generator, and the air bag has a first storage state and a first expansion state; the protection part has a second storage state and a second expansion state, when the air bag is in the first storage state, the protection part is in the second storage state, when the air bag is switched to the first expansion state, the protection part is switched to the second expansion state under the support of the air bag, and when the air bag is in the second expansion state, the protection part is in the second storage state. The protection piece is located at the end, facing the front windshield, of the air bag. According to the front air bag assembly and the vehicle, the probability that the air bag is punctured by glass fragments can be reduced to a great extent.

The invention relates to a front airbag module (18) for mounting on or in an instrument panel (14) of a motor vehicle (10) in the direction of travel in front of a vehicle steering wheel (16), with an inflatable airbag (22) which, when inflated, extends in an arc first rearward and then downward between the occupants (24) and the vehicle steering wheel (16) and has an impact surface (26) facing the occupant (24) and an opposing support surface (28) facing the vehicle steering wheel (16), wherein a retaining strap (30, 32) is provided which has a first retaining strap end (34) attached to the impact surface (26) and an opposite second retaining strap end (36), wherein an activatable retaining strap release device (38) is provided which is connected to the second retaining strap end (36) in a non-activated state and releases the second retaining strap end (36) in an activated state.wherein the airbag (22) assumes a first contour when the retaining strap release device (38) is not activated, in which movement of the impact surface (26) towards the occupant (24) is limited by the retaining strap (30, 32), and assumes a second contour when the retaining strap release device (38) is activated, in which the impact surface (26) can move unhindered by the retaining strap (30, 32) towards the occupant (24). The invention also relates to a motor vehicle (10) with such a front airbag module (18).

This invention relates to a fall protection device, comprising: a vest body worn on the upper body; an airbag mechanism including a rear airbag located behind the body after inflation and deployment, a front airbag located on the chest, and an inflation device connecting the rear and front airbags; a parachute mechanism including a parachute connected to the front of the vest body after deployment, and an opener for controlling the deployment of the parachute; and a control module connected to the inflation device and the opener. In the event of an accidental fall, the control device automatically identifies the fall and controls the opener to rapidly deploy the parachute, simultaneously opening the airbags. Upon landing, the rear airbag strikes first, acting as a buffer between the body and the ground, protecting the body from impact as much as possible. Furthermore, the front airbag prevents secondary injuries caused by tilting upon landing.

To reduce a burden on a pedestrian or the like when a collision with the pedestrian or the like occurs from a vehicle front side.SOLUTION: A vehicle front structure includes: a front hood part 10 which is provided with a front hood opening / closing part 20 allowing the front hood part 10 to be opened and closed and be raised and lowered in a vehicle vertical direction by lifting a vehicle front side; a front airbag storage part 200 which includes a storage lid part 220 having a rotation shaft OR facing in a vehicle front-rear direction and is opened at a vehicle width direction inner side; a front airbag 300 which is stored in the front airbag storage part 200 and is inflated and deployed to a vehicle lower side of the front hood part 10 when a collision occurs from the vehicle front side; and an inflator IF which supplies gas to the front airbag 300 when the collision occurs from the vehicle front side. The front airbag 300 includes at least: a first gas chamber 310 which has a spherical shape and is supplied with the gas from the inflator IF; and a second gas chamber 320 which has a columnar shape and is connected to a vehicle rear side of the first gas chamber 310 so as to allow the gas chambers to communicate with each other.SELECTED DRAWING: Figure 2

Front airbag device (100) for a vehicle, wherein the front airbag device (100) comprises: an airbag cushion (10) designed to expand towards a front-seated occupant (600) by pressure from airbag gas generated by the explosion of a gas generator (40); and a main strap (20) and a retaining strap (30) connected to the airbag cushion (10) to maintain a shape of the expanded airbag cushion (10), wherein the main band (20) and the retaining band (30) are designed as flat bands which are unfolded when the airbag cushion (10) is expanded, and which hold a front surface section (11) of the airbag cushion (10) within a predetermined area, characterized by a wire cutter (70) provided in one side of the gas generator (40); and a ribbon wire (60) that connects the wire cutter (70) to the main band (20), wherein the wire cutter (70) is designed such that, in order to cut the strip wire (60) under control of a vehicle control device (200) in the event of a vehicle collision, it is only activated in a situation in which the front seat (500) is in relaxation mode.

A vehicle occupant protection system comprises an airbag (112) for the protection of the legs of a vehicle occupant, wherein, prior to activation of the vehicle occupant protection system, the airbag (112) is arranged folded on a floor (30) of a vehicle in front of an associated vehicle seat and, in a situation of restraint, deploys from the bottom (30) in front of the vehicle seat. The airbag (112) comprises several tubular inflatable chambers (18) being in fluid connection which, when inflated, are connected three-dimensionally to one another, wherein several of the chambers (18) form support struts (124) of the airbag (112), while at least one of the chambers (18) forms a restraint chamber (22) in an upper area of the airbag (112) which is arranged directly in front of a shin area, a knee area or a pelvis area of the vehicle occupant. At least the portions of the airbag (112) which include the inflatable chambers (18) are one-piece woven.

This application provides a vehicle suspension and a vehicle, comprising: a frame; a front airbag assembly including a first airbag and a second airbag, the first and second airbags being disposed on both sides of the front end of the frame; a rear airbag assembly including a third airbag and a fourth airbag, the third and fourth airbags being disposed on both sides of the rear end of the frame; airflow pipes connected to the first, second, third, and fourth airbags respectively, for supplying or venting air to the first, second, third, and fourth airbags; and a valve assembly disposed in the airflow pipes for controlling the connection and disconnection between the first and second airbags, between the third and fourth airbags, and between the front and rear airbag assemblies. With the above configuration, when the vehicle is in adverse road conditions, the left and right airflow paths of the front and / or rear airbag assemblies are connected to achieve left-right linkage balance, improving the stability of the vehicle during driving.

The invention relates to a front airbag (22) for mounting on or in an instrument panel (14) of a motor vehicle (10) in front of a vehicle steering wheel (16) in the direction of travel (20), wherein the front airbag (22), in the fully inflated state, extends, starting from the instrument panel (14) as viewed in the direction of travel (20), in an arcuate manner firstly rearwards and then downwards between an occupant (24) and the vehicle steering wheel (16) as far as a free airbag end (30), and has an impact surface (32) facing the occupant (24) and an opposite support surface (34) facing the vehicle steering wheel (16), wherein the free airbag end (30), when the airbag is deployed, is firstly turned inwards between the impact surface (32) and the support surface (34) such that a fold (42) is formed on the steering wheel side with two airbag layers and a fold (44) is formed on the occupant side with two airbag layers, wherein the two airbag layers of at least one of the two folds (42, 44) are detachably connected to each other, in particular by means of a tear seam (46). The invention further relates to an airbag module (18), to a motor vehicle (10) having such a front airbag (22) and to a method for deploying the front airbag (22).

An apparatus for assisting in protecting an occupant on a seat in a vehicle including an instrument panel and a display screen on the instrument panel includes an airbag configured to be mounted to and deployable downward from a roof of the vehicle. The safety air bag has a storage state, and in the storage state, the safety air bag is shrunken and hidden behind a vehicle roof lining. The airbag has an inflated and deployed condition in which the first portion is configured to extend along a portion of the windshield, the second portion is configured to extend rearward from the first portion toward the occupant, and the third portion is configured to extend downward from the second portion and positioned between the occupant and the display screen. The deployment tether is configured to initially delay deployment of the second portion of the airbag upon deployment of the third portion, the deployment tether being configured to rupture after the initial delay such that the second portion can be fully inflated and deployed.

The invention discloses a self-adaptive passenger safety air bag unfolding strategy generation system which comprises a sensing observation module and a control decision module. The sensing observation module is used for acquiring existence state signals, weight and sitting height of a passenger corresponding to a front-row air bag and the distance between the passenger and an instrument in real time; when an airbag unfolding instruction is triggered, the control decision module generates an unfolding forbidding strategy if no passenger exists, triggers a standard airbag unfolding strategy or a secondary airbag unfolding strategy according to a comparison result of the body weight, the sitting height and a set range if the passenger exists, and optimizes a decision by combining distance comparison under specific conditions. The problem that an existing safety airbag cannot adaptively adjust a protection strategy according to the body type of a passenger is solved. According to the invention, the optimal protection of people with different body types is realized through real-time signal processing and a grading strategy, and the collision safety performance is obviously improved.

The utility model discloses an air bag type flexible robot, which comprises a first air bag assembly, a second air bag assembly, a second air bag assembly, a third air bag assembly and a fourth air bag assembly, the second air bag assembly and the first air bag assembly are arranged in parallel, the second air bag assembly is connected with the first air bag assembly through a connecting piece, and the second air bag assembly comprises a second telescopic air bag, a second front air bag support and a second rear air bag support, the air pump assembly communicates with the first telescopic air bag and the second telescopic air bag, the first telescopic air bag is inflated with air through the air pump assembly, and the first telescopic air bag is unfolded to drive the first front air bag support or the first rear air bag support to slide and wriggle; and / or the second telescopic air bag is inflated with air through the air pump assembly, and the second telescopic air bag is unfolded to drive the second front air bag support or the second rear air bag support to slide and wriggle. The device can be better suitable for target detection in a narrow space.

Protective device comprising: a helmet configured to be mounted or placed on the head of a wearer; a fastening strap configured to secure the helmet to the head; an airbag housed in a folded state within the helmet prior to deployment of the protective device; and an expansion source delivery unit configured to supply an expansion source to the airbag during deployment of the protective device, the airbag being configured to expand from a posterior neck to bilateral neck sections of the wearer.to cover expansion and inflation with the expansion source supplied by the expansion source supply unit, and wherein the protective device further includes a pressure element which is integrally formed with the airbag and configured to press the airbag towards at least one of the rear neck or the two side neck sections using an expansion pressure of the airbag.

To reduce a burden on a pedestrian or the like when a collision with the pedestrian or the like occurs from a vehicle front side.SOLUTION: A vehicle front structure includes: a front hood part FF which is provided with an opening / closing shaft TR facing in a vehicle width direction at a vehicle front side of a cabin CA; a front airbag 450 which is inflated and deployed to a vehicle front side of the front hood part FF and in the vehicle width direction; a front airbag storage part 400 which is provided with a storage lid part 420 having a rotation shaft OR facing in the vehicle width direction at a vehicle upper part rear side, and in which the front airbag 450 is stored at a vehicle lower side of the storage lid part 420; a front hood guide part 440 which is provided in the storage lid part 420 and guides the front hood part FF to a vehicle rear side when the front airbag 450 is inflated and deployed; and upper cover parts 300 which are provided at both sides in the vehicle width direction of the front airbag storage part 400 and each have an inclined surface SL1 formed on a vehicle upper side so as to extend from a vehicle front part upper side toward a vehicle rear part lower side.SELECTED DRAWING: Figure 2

The invention relates to a restraint system for a vehicle occupant (26) in a motor vehicle, comprising a front airbag (28), in particular a driver's airbag, and a side airbag (14), in particular a curtain airbag. In the inflated state, the side airbag (14) is arranged and shaped in such a way that, in the event of a glancing impact of the vehicle occupant (26) on the front airbag (28), the side airbag (14) provides no significant support for the front airbag (28) in the vehicle transverse direction (y) in a front open region (20), relative to the direction of travel (x) of the vehicle, of the vehicle side below the A-pillar (12).

An airbag (10) and a bag-in-roof. The airbag (10) comprises: front and rear fabric pieces (11); and a top side fabric piece (12) which comprises a body portion (121) and fin portions (122) located on two sides of the body portion (121), wherein two ends (121a, 121b) of the body portion (121) are respectively connected to two ends (11a, 11b) of the front and rear fabric pieces (11), and the two fin portions (122) are respectively connected to two sides of the front and rear fabric pieces (11). When inflation of the airbag (10) is finished, the front and rear fabric pieces (11) form a front portion (10a) and a rear portion (10b) of the airbag (10), the body portion (121) forms a top portion (10c) of the airbag (10), and the fin portions (122) serve as thickness supports of the airbag (10) to form side portions of the airbag (10).

This invention provides a wearable post-operative hip fracture protection device for the elderly, comprising: a front shield assembly and a rear shield assembly. The front shield assembly includes a front shield body, a front connecting strap, a front waistband, a Velcro fastener, a buckle, a front airbag, and a front air nozzle. The front and rear shield bodies can be separated, allowing for easier wearability. During use, the buckle is inserted into the buckle hole to stabilize the front and rear shield bodies, which are then secured together using the Velcro fasteners, enhancing the convenience of wearing the device.

The utility model discloses a simple gaseous auxiliary light suppression test device, which relates to the technical field of ammunition tests and comprises a transmitting device, a kinetic energy body, a high-speed camera and a light suppression component, the light suppression component is arranged in the transmitting direction of the transmitting device, the transmitting device can transmit the kinetic energy body, the high-speed camera is arranged on one side of the light suppression component, and the high-speed camera is arranged on the other side of the light suppression component. According to the utility model, through a non-combustion-supporting gas release mechanism of the front airbag and the rear airbag, flame suppression and accurate experimental observation are realized. When a kinetic energy body impacts the target plate, the front air bag and the rear air bag are broken to release non-combustion-supporting gas such as nitrogen and carbon dioxide, double isolation layers are formed, oxygen is effectively isolated, the oxidation reaction is inhibited, and the generation amount of flame is reduced by 90% or above. The gas-solid coupling protection not only covers the whole process of impact, but also absorbs a part of heat energy through gas expansion, the surface temperature of the target plate can be effectively reduced, the impact dynamic state can be clearly recorded in cooperation with the high-speed camera layout of the parallel surface of the target plate, and data support is provided for motion trail reconstruction of a kinetic energy body.

The invention relates to an airbag module (10), for example a front airbag module, comprising a generator carrier (18), which delimits a receiving chamber (24) for receiving a folded airbag (16), a gas generator (20), which is fastened to the generator carrier (18) outside the receiving chamber (24) and extends through a receiving opening (29) in the generator carrier (18) into the receiving chamber (24), and an airbag (16), which, in the folded state, is received in the receiving chamber (24) and to which at least two tabs (46) are fastened which, at their free end, have an opening (50) through which the gas generator (20) extends and secures the tabs (46) when the airbag (16) is deployed and under tensile loading. The invention also relates to a method for installing an airbag module (10).

A bag-in-roof airbag and an assembly method therefor. The bag-in-roof airbag comprises a gas generator (11) and an airbag (12) having a head end (12a) connected to the gas generator (11); in a folded state, a body portion (12b) of the airbag (12) first extends away from the gas generator (11) to form an air passage (12b1), and then is folded under the air passage (12b1), and a tail end (12c) of the airbag (12) is folded over the air passage (12b1); during inflation, the body portion (12b) first folded under the air passage (12b1) extends along the air passage (12b1) and is pushed out by the tail end (12c), and then the body portion (12b) is completely pushed out and drives the tail end (12c) to be pushed out, so that the airbag (12) is completely unfolded. The bag-in-roof airbag improves the folding mode of the airbag (12), so that the airbag (12) is unfolded downwards along the windshield during inflation, so as to avoid ejection and damage to the windshield, thereby ensuring the safety protection function of the bag-in-roof airbag.

A roof airbag device for a vehicle includes a roof airbag cushion that protects an occupant, and the roof airbag cushion can be divided into a front airbag cushion and a rear airbag cushion. In particular, upon an accident, the front airbag cushion and the rear airbag cushion are deployed into a space between front and rear occupants in a face-to-face mode, such that the front occupant is protected by the deployed front airbag cushion and the rear occupant is protected by the deployed rear airbag cushion.

To reduce a burden on a pedestrian or the like when a collision with the pedestrian or the like occurs from a vehicle front side.SOLUTION: A vehicle front structure includes: a front hood part 10 in a vehicle V; a frame part 100; a front trunk part 200 which is placed on the frame part 100; a front airbag 300 which is disposed at a vehicle lower side of the front trunk part 200; an inflator IF which supplies gas to the front airbag 300; and a front hood opening / closing part 400 which allows the front hood part 10 to be opened and closed in a vehicle vertical direction and be moved in the vehicle vertical direction and a vehicle front-rear direction. The front airbag 300 includes: a first gas chamber 310; a second gas chamber 320; a joint gas chamber JC which allows the second gas chamber 320 and a third gas chamber 330 to communicate with each other; the third gas chamber 330 which is provided with a vent hole BH and is disposed on a vehicle upper side of the first gas chamber 310; and a fourth gas chamber 340 which is disposed on the vehicle upper side of the second gas chamber 320.SELECTED DRAWING: Figure 2

To provide an air bag system in which a cushion of a side air bag does not swing or move and does not incline when an occupant is restrained. Provided is an air bag system 10 including: a side air bag 20 which is located on a side portion on the center side, in the vehicle's width direction, of a driver's seat 2a of a vehicle and which is inflated and deployed toward a front side of the vehicle; a front air bag 30 for a front passenger's seat of the vehicle which is inflated and deployed on the vehicle's front side of the front passenger's seat; and a control device 40 that, in a side collision, controls inflation and deployment of the front air bag 30 for the front passenger's seat together with the side air bag 20. When the side airbag 21 inflated and deployed and the front airbag 30 for the front passenger's seat inflated and deployed are viewed from a lateral direction that is perpendicular to the front-rear direction of the vehicle, a front-side end portion 25 of the side airbag 20 is positioned further toward the front side of the vehicle than the vehicle's rear-side end portion 35 of the front airbag 30 for the front passenger's seat.

The invention discloses an omni-directional moving underwater robot based on software deformation and a control method. The omni-directional moving underwater robot comprises a main body frame, an air bag and a propeller system. The multiple flexible air bags are combined into a sphere and fixed to the main body frame, and each air bag is connected with a water pump through an independent water pipe to achieve water injection expansion or drainage contraction. The propeller system is composed of four independently-driven propellers and fixed to the rigid extending support. The direction of the propeller is changed by controlling deformation of the air bag to extrude the support, and omni-directional movement is achieved by combining rotation speed adjustment of the propeller. The control method comprises the steps that during floating, all the airbags are drained and shrunk, and the propellers rotate cooperatively to generate lift force; during advancing, the front airbag expands to tilt the robot, and the propellers accelerate to propel; and the airbags and the propellers are selectively adjusted during compound movement, so that oblique movement or rotation is realized. The device is high in flexibility, quick in response, high in environmental adaptability and suitable for operation in narrow water areas, corrosion resistance and reliability are improved through flexible materials, and maintenance cost is reduced.