CN109229317B

CN109229317B - Submersible

Info

Publication number: CN109229317B
Application number: CN201811190937.4A
Authority: CN
Inventors: 陈峰落; 康建军; 叶峥; 李澜涛
Original assignee: Shanghai Rainbow Fish Deep Sea Equipment Technology Co ltd
Current assignee: Shanghai Rainbow Fish Deep Sea Equipment Technology Co ltd
Priority date: 2018-10-12
Filing date: 2018-10-12
Publication date: 2022-06-14
Anticipated expiration: 2038-10-12
Also published as: CN114590381A; CN114475991A; CN109229317A

Abstract

An embodiment of the present application provides a submersible, including: a load compartment and a frame structure, the frame structure comprising: at least two side plates arranged in a vertical direction; and a gap is reserved between every two adjacent side plates, and the front ends of the side plates are connected with the cabin body of the loading cabin. The submersible provided by the embodiment of the application has relatively light weight and small volume, and is favorable for improving the floating or submerging speed.

Description

Submersible

Technical Field

The application relates to the technology of underwater detection equipment, in particular to a submersible.

Background

The submersible is a device which can quickly and accurately reach deep sea areas and efficiently explore, scientifically investigate and develop complex marine environments.

The submersible comprises a manned submersible and an unmanned submersible, wherein the manned submersible comprises a manned cabin and also comprises a frame structure which is connected with the manned cabin and is used for bearing the manned cabin. The unmanned submersible vehicle includes a frame structure and may also include a load bay for loading equipment.

The existing submersible, such as flood dragon, belongs to manned submersible, and its frame structure is formed from several beams which are mutually connected along horizontal direction, vertical direction and oblique direction. Inside manned cabin whole embedding frame construction, the frame construction cladding is in manned cabin's the outside for the holistic volume of frame construction is too huge. The frame structure of the submersible is usually made of metal, so that the frame structure with larger volume can cause the weight to be increased, the floating and submerging speeds are influenced, the floating and submerging time of the submersible is longer, and the time for technicians to operate underwater is limited.

Disclosure of Invention

The embodiment of the application provides a submersible which is relatively light in weight and small in size.

An embodiment of the present application provides a submersible, including: a load compartment and a frame structure, the frame structure comprising:

at least two side plates arranged in a vertical direction; and a gap is reserved between every two adjacent side plates, and the front ends of the side plates are connected with the cabin body of the loading cabin.

The submersible provided by the embodiment comprises a frame structure and a loading cabin, wherein the frame structure comprises at least two side plates arranged in the vertical direction, a gap is reserved between every two adjacent side plates, the front ends of the side plates are connected with the cabin body of the loading cabin, and compared with the mode that the frame structure is coated on the outer side of the loading cabin in the existing submersible, the frame structure and the loading cabin are respectively positioned at one end of the submersible, so that the volume of the frame structure can be greatly reduced, raw materials are saved, the manufacturing cost is reduced, the dead weight of the submersible can be reduced, and the floating and submerging speeds of the submersible can be improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural view of a submersible according to an embodiment of the present disclosure;

FIG. 2 is another perspective view of the submersible according to one embodiment of the present disclosure;

FIG. 3 is a side elevational view of the submersible provided in accordance with one embodiment of the present application;

FIG. 4 is a top view of a submersible provided in accordance with an embodiment of the present application;

FIG. 5 is a schematic structural view of a framework structure of a submersible vehicle according to a second embodiment of the present invention;

FIG. 6 is a schematic side view of a frame structure of a submersible vehicle according to a second embodiment of the present application;

FIG. 7 is a schematic structural view of a hull of a submersible frame according to a second embodiment of the present disclosure connected to a side panel;

FIG. 8 is a schematic structural view of a lifting beam in a submersible frame according to a third embodiment of the present application;

fig. 9 is a schematic structural view of the hook provided in the third embodiment of the present application in a retracted state;

FIG. 10 is a schematic structural view of a hook provided in the third embodiment of the present application in an open state;

FIG. 11 is a schematic structural view of the assembly of a hook and a lifting beam provided in the third embodiment of the present application;

FIG. 12 is a schematic view of section A-A of FIG. 11;

FIG. 13 is a longitudinal cross-sectional view of a hook provided in accordance with example three of the present application;

FIG. 14 is an enlarged view of area B of FIG. 12;

FIG. 15 is a schematic structural diagram of an electronic tank provided in the fourth embodiment of the present application;

fig. 16 is a schematic structural view of a clip according to the fourth embodiment of the present application;

FIG. 17 is an enlarged view of area C of FIG. 5;

FIG. 18 is a longitudinal cross-sectional view of an electronic can provided in accordance with a fourth embodiment of the present application;

FIG. 19 is an enlarged view of area D of FIG. 18;

fig. 20 is a schematic structural view of a clip in an electronic tank according to a fourth embodiment of the present application;

FIG. 21 is an axial view of an electronic canister provided in accordance with a fourth embodiment of the present application;

FIG. 22 is a longitudinal cross-sectional view of another electronic can provided in accordance with example four of the present application;

FIG. 23 is an enlarged view of area E of FIG. 22;

FIG. 24 is a cross-sectional view of a first clip of another electronic can according to a fourth embodiment of the present application;

FIG. 25 is a cross-sectional view of a second clip of another electronic can according to the fourth embodiment of the present application;

FIG. 26 is an axial view of another electronic can provided in accordance with a fourth embodiment of the present application;

fig. 27 is a schematic structural view of a first ballast tank provided in the fifth embodiment of the present application;

FIG. 28 is a longitudinal cross-sectional view of a first ballast tank provided in accordance with a fifth embodiment of the present application;

FIG. 29 is a longitudinal cross-sectional view of a second ballast tank provided in accordance with a fifth embodiment of the present application;

fig. 30 is a schematic structural view of a ballast tank control device according to a fifth embodiment of the present application;

FIG. 31 is a schematic view of a submersible frame structure and man-carrying compartment connection according to a sixth embodiment of the present invention;

fig. 32 is a schematic structural view illustrating an assembly of an attitude adjusting assembly and a battery assembly according to a sixth embodiment of the present application;

fig. 33 is another schematic view illustrating an assembly of an attitude adjustment assembly and a battery assembly according to a sixth embodiment of the present application;

fig. 34 is a schematic structural diagram of an attitude adjustment assembly according to a sixth embodiment of the present application;

fig. 35 to 37 are schematic views illustrating a process of unloading a battery assembly by the posture adjustment assembly according to a sixth embodiment of the present application;

fig. 38 to 40 are schematic angle views illustrating a process of unloading a battery assembly by the posture adjustment assembly according to a sixth embodiment of the present application;

fig. 41 is an enlarged view of region F in fig. 31.

Fig. 42 is a schematic structural diagram of a battery cell according to a sixth embodiment of the present application;

fig. 43 is a schematic diagram of a structure of a G-direction of the cell provided in fig. 42;

fig. 44 is a schematic view of an H-direction structure of the cells provided in fig. 43;

fig. 45 is a schematic view of an I-direction structure of the cell provided in fig. 43;

fig. 46 is a schematic structural diagram of a battery cell module according to a sixth embodiment of the present application;

fig. 47 is a schematic view of a J-direction structure of the cell module provided in fig. 46;

fig. 48 is an exploded view of a battery provided in accordance with a sixth embodiment of the present application;

fig. 49 is a schematic structural view illustrating an assembly between a plurality of modules according to a sixth embodiment of the present application;

fig. 50 is a schematic structural view illustrating an assembly of a plurality of modules and a box according to a sixth embodiment of the present application;

FIG. 51 is a schematic view of the battery of FIG. 48 with the cover removed;

FIG. 52 is a partial schematic view of the battery provided in FIG. 48;

fig. 53 is a schematic structural diagram of a side plate provided with a rotary driving device and a propeller according to a seventh embodiment of the present application;

FIG. 54 is an enlarged view of region K of FIG. 53;

fig. 55 is an exploded view of a third thruster, sleeve and skirt associated with a skirt as provided in the seventh embodiment of the present application;

fig. 56 is a schematic structural diagram of a first propeller provided in the seventh embodiment of the present application;

fig. 57 is a partial cross-sectional view of a first impeller provided in accordance with a seventh embodiment of the present application;

fig. 58 is an axial view of the rotor of the first impeller provided in the seventh embodiment of the present application;

fig. 59 is an axial view of the cutting mechanism of the first pusher provided in accordance with the seventh embodiment of the present application;

fig. 60 is an axial view of the reverse flow main pushing mechanism of the first pusher according to the seventh embodiment of the present application;

FIG. 61 is a front end view of the submersible provided in accordance with an eighth embodiment of the present application;

fig. 62 is a top view of a manipulator according to an eighth embodiment of the present disclosure in an extended state;

fig. 63 is a schematic structural view of the seat bottom bracket and the side plate according to the eighth embodiment of the present invention;

FIG. 64 is an exploded view of the side plate, buoyancy block and outer shell provided in the eighth embodiment of the present application;

FIG. 65 is a rear end view of the submersible vehicle provided in accordance with an eighth embodiment of the present application;

FIG. 66 is a schematic structural view of an equipment rack disposed in a passenger compartment according to a ninth embodiment of the present application;

FIG. 67 is a bottom view of the equipment rack of the ninth embodiment of the present application disposed within a people pod;

fig. 68 is a schematic structural view of an equipment rack according to a ninth embodiment of the present application;

fig. 69 is a schematic structural view of a frame body in an equipment frame according to a ninth embodiment of the present application;

fig. 70 is a perspective view of an equipment mounting plate in an equipment rack provided in the ninth embodiment of the present application;

fig. 71 is a schematic structural view illustrating that an apparatus mounting plate of an apparatus rack is connected to a rack body through a spring hinge according to a ninth embodiment of the present disclosure;

fig. 72 is a schematic structural view illustrating an apparatus mounting plate in an apparatus rack according to a ninth embodiment of the present application in an opened state;

fig. 73 is a schematic structural view illustrating a closed state of an equipment mounting plate in an equipment rack according to a ninth embodiment of the present application;

FIG. 74 is a front view of a people pod as provided in the tenth embodiment of the present application;

FIG. 75 is an inboard view of a people pod as provided in the tenth embodiment of the present application;

FIG. 76 is a side cross-sectional view of a people pod according to an eleventh embodiment of the present application;

FIG. 77 is a rear view of a people pod according to an eleventh embodiment of the present application;

FIG. 78 is a side view of a people pod according to an eleventh embodiment of the present application;

FIG. 79 is a top plan view of a people pod according to an eleventh embodiment of the present application;

fig. 80 is a first schematic structural view of a cabin penetration device according to a twelfth embodiment of the present application;

fig. 81 is a second schematic structural view of a cabin penetrating device according to a twelfth embodiment of the present application;

FIG. 82 is an exploded view of a hatch penetrating device provided in accordance with a twelfth embodiment of the present application;

fig. 83 is a front view of a cabin penetration device according to a twelfth embodiment of the present application;

FIG. 84 is a cross-sectional view taken along section L-L of FIG. 83;

FIG. 85 is a cross-sectional view taken at section M-M of FIG. 83;

FIG. 86 is a cross-sectional view of section N-N of FIG. 83;

FIG. 87 is a cross-sectional view taken at section Q-Q of FIG. 83;

shown in FIG. 88 is another implementation of FIG. 87;

FIG. 89 is a schematic view of a passenger compartment according to a thirteenth embodiment of the present application;

fig. 90 is a sectional view of a viewing window provided in embodiment thirteen of the present application;

fig. 91 is a view showing a comparison between a second light-transmitting member and a planar lens in a viewing window provided in example thirteen of the present application;

FIG. 92 is a schematic view of a passenger compartment according to a thirteenth embodiment of the present application having a window seat;

fig. 93 is a schematic structural view of a first light-transmitting member in an observation window according to a thirteenth embodiment of the present application;

fig. 94 is a schematic structural view of a second light-transmitting member in a viewing window according to a thirteenth embodiment of the present application;

fig. 95 is a front view of a second light-transmitting member in a viewing window according to a thirteenth embodiment of the present application;

FIG. 96 is a cross-sectional view taken at section S-S of FIG. 95;

FIG. 97 is a schematic view of a resilient connecting member in a viewing window according to the thirteenth embodiment of the present application;

FIG. 98 is a longitudinal cross-sectional view of a resilient connector in a viewing window according to the thirteenth embodiment of the present application;

FIG. 99 is an enlarged view of the area U in FIG. 90;

fig. 100 is a schematic structural diagram of a first connection ring in an observation window provided in the thirteenth embodiment of the present application;

fig. 101 is a schematic structural view of a second connection ring in an observation window provided in the thirteenth embodiment of the present application;

FIG. 102 is an enlarged view of area W of FIG. 90;

fig. 103 is a schematic structural view of a third connection ring in an observation window provided in the thirteenth embodiment of the present application;

fig. 104 is a schematic structural view of a fourth connection ring in an observation window provided in the thirteenth embodiment of the present application;

fig. 105 is a schematic structural view of a fifth connection ring in an observation window provided in the thirteenth embodiment of the present application;

FIG. 106 is a schematic view of a connecting piece in an observation window according to a thirteenth embodiment of the present application;

fig. 107 is a schematic view illustrating a viewing angle range of a viewing window according to a thirteenth embodiment of the present application.

Reference numerals:

1-manned cabin; 11-a cabin body; 111-cross deck tray; 112-window seats; 1121-window installation surface; 12-connecting lugs;

13-an observation window; 131-a first light transmissive member; 1311-first top end face; 1312-a first bottom end face; 1313 — a first assembly ramp; 1314-a sixth seal groove; 132-a second light transmissive member; 1321-concentric ring grooves; 1322-a second top end surface; 1323-a second bottom end face; 1324-a third assembly ramp; 1325-a seventh seal groove; 133-an elastic connection; 1331-connector bottom end; 1332-connector tip; 1333-liquid injection port; 1334-vent; 1335-first connector mounting holes; 1336-second connector mounting holes; 1341-first connecting ring; 13411-third connector mounting hole; 13412-a fourth seal groove; 1342-a second connecting ring; 13421-a first axial connection end; 13422-a second axial connection end; 13423-fourth connector mounting hole; 13424-fifth connector mounting hole; 13425 — a second assembly ramp; 1343-a third connecting ring; 13431-sixth connector mounting hole; 13432-fifth seal groove; 1344-a fourth connecting ring; 13441-a third axial connection end; 13442-a fourth axial connection end; 13443-seventh connector mounting hole; 13444-eighth connector mounting hole; 1345-a fifth connecting ring; 13451-a fourth assembly ramp; 13452-ninth connector mounting hole; 1346-connecting sheet; 13461-tenth connector mounting hole; 1351-first bolt; 1352-first nut; 1353-first gasket; 1354-second bolt; 1355-third bolt; 1356-second nut; 1357-a second gasket; 1358-fourth bolt; 1359-third nut; 13510-third gasket; 1361-fourth seal ring; 1362-fifth sealing ring; 1363-sixth sealing ring; 1364-seventh seal ring;

14-equipment racks; 141-device control means; 142-a frame body; 1421 — first ring; 1422 — second ring; 1423-ring connector; 1423a — first edge; 1423b — second edge; 1424-equipment mounting plate; 1425-spring hinge; 1426-cartridge;

15-a light rack; 151-a lighting device; 152-an image acquisition device; 1521-a pan-tilt; 1522-a camera; 153-display means;

161-a seat; 1611-a support; 1612-seating section; 1613-backrest part; 162-an air purification device; 1621-a first container; 1622-a blower; 163-air flow channel; 1631-an accommodating space; 1632-an air guide channel; 164-a floor; 165-a manipulation device; 166-a vent;

171-penetration member; 1711-a first channel; 1712-cabin penetrating bolt; 1712 a-bolt head; 1712 b-bolt tail; 1713-cabin penetrating nut; 172-channel manifold; 1721-a tubing interface; 1721 a-a first interface; 1721 b-a second interface; 1721 c-third interface; 1721 d-fourth interface; 1722-third bolt hole; 1723-a second channel; 1723 a-a first primary channel; 1723a 1-first segment channel; 1723a2 — second leg channel; 1723 b-a second primary channel; 1723 c-a third primary channel; 1723 d-fourth main channel; 1723 e-first branch channel; 1723 f-second leg channel; 1723 g-third leg channel; 1723 h-fourth subchannel; 1724-a holding tank; 1725-switch mounting holes; 173-channel switch member; 1731-a first valve; 1732-a second valve; 1733-a third valve; 1734-a fourth valve; 174-a first seal ring; 175-a second seal ring; 176-a third seal ring; 177-connecting bolts; 178-a gasket;

2-a frame structure; 21-side plate; 211-arc surface; 212-lightening holes; 22-an oxygen tank;

31-lifting the cross beam; 311-hoisting holes; 312-a boom; 313-a hoisting block; 3131-an arcuate raised portion; 314-a lifting plate; 315-transition rounding;

32-a hook; 321-a columnar body; 3211-a first receiving cavity; 3212-opening; 3213-connecting hole; 3214-a second receiving chamber; 3215-a second stop; 322-hook body; 3221-a first end; 3222-a second end; 3223-concave; 3224-an arcuate abutment; 323-a drive mechanism; 3231-a second piston rod; 3232-hook drive; 324-a first shaft;

4-an electronic tank; 41-tank body; 411 — first flange; 42-sealing cover; 421-a second flange; 422-sealing and capping the insertion part; 43-a clip; 431-a first snap ring; 4311-first bolt hole; 432-a second snap ring; 433-a clamping and connecting plate; 4331-second bolt hole; 44-a clamp; 441-a first flange; 442-a second rib; 443-a first connection end; 444-second connection end; 445-first connecting plate; 446-a second connecting plate; 44 a-a first clip; 44a1 — first groove; 44 b-a second clip; 44b1 — second groove; 45-a first seal; 46-a first fastener; 47-a first seal groove;

51-a first ballast tank; 511-backplane; 512-side coaming; 513-a top plate; 514-first liquid injection and discharge port; 515-first injection and exhaust port; 516-a first gas line;

52-a second ballast tank; 521-a hollow shell; 522-second liquid injection and discharge port; 523-second injection and exhaust port; 524-liquid line; 525-a second gas line; 53-gas tank;

61-a first battery assembly; 62-a second battery assembly; 63-a battery moving assembly; 631-a guide bar; 6311-guide groove; 6312-a mounting portion; 632-a battery driver; 633-a first carrier plate; 6331 — first stop; 634-a support; 635-first piston rod; 636-a second carrier plate; 637-second rotating shaft;

611-battery cell module; 612-a box body; 6121-opening of box; 6122-box seal groove; 6123-groove of box; 613-cover body; 614-a second seal; 615-cell connectors; 616-a spacer; 617-screw; 618-electrode; 611 a-electric core; 611a 3-vias; 611a 4-first side; 611a 5-first locating projection; 611a 6-second detent; 611a 7-second side; 611a 8-first positioning groove; 611a 9-a second locating projection;

71-a first propeller; 711-a housing; 712-a stator; 713-a rotor; 7131-permanent magnet; 7132-propeller blades; 715-a cutting mechanism; 7151-stent; 7152-cutting blade; 716-a flow guiding boosting mechanism; 7161-cover body; 7162-leaf blade; 72-a second propeller; 73-a third impeller; 74-a rotary drive; 741-a mounting plate; 742-a drive motor; 743-a driving wheel; 744-driven wheel; 745-connecting rod; 746-chain; 75-a sleeve; 751-cylinder; 752 — mounting flange; 753-cartridge cover;

81-a stop valve; 82-a first check valve; 83-hydraulic control high-pressure stop valve; 84-a second check valve; 85-pressure reducing valve; 86-a filter; 87-hydraulic control low-pressure stop valve; 88-hydraulic control stop valve.

91-a manipulator; 92-a storage basket; 93-a seat bottom support; 931-seat bottom connecting rod; 932-seat bottom attachment; 933-base; 94-a buoyancy block; 95-shell.

Detailed Description

In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Example one

This embodiment provides a submersible that is relatively small in size and light in weight, and that is capable of reducing the speed of ascent and descent. The submersible comprises; a frame structure and a loading compartment, wherein the loading compartment can be a manned compartment or a loading compartment only used for loading equipment. The present embodiment only takes the man-carrying cabin as an example, and the implementation of the submersible will be described in detail. The structure of the loading cabin only used for loading equipment can be the same as or different from that of the manned cabin, and the loading cabin can be specifically adjusted adaptively according to the frame structure.

Fig. 1 is a schematic structural view of a submersible according to a first embodiment of the present application, fig. 2 is another schematic angular view of the submersible according to the first embodiment of the present application, fig. 3 is a front side view of the submersible according to the first embodiment of the present application, and fig. 4 is a top view of the submersible according to the first embodiment of the present application. In the figure, the lateral direction (i.e., the left-right direction) is parallel to the X direction; the front-back direction is parallel to the Y direction; the up-down direction (i.e., the vertical direction) is parallel to the Z direction.

As shown in fig. 1 to 4, the present embodiment provides a submersible vehicle comprising a man compartment 1 and a frame structure 2, the frame structure 2 being connected to the man compartment 1, the man compartment 1 being located at one end of the submersible vehicle as a whole, and the frame structure 2 being located at the other end of the submersible vehicle as a whole. From the perspective of the motion of the vehicle, the people pod 1 is at the front end of the vehicle and the frame structure 2 is at the rear end of the vehicle when the vehicle is in the forward position.

Wherein the frame structure 2 comprises: and at least two side plates 21 disposed in a vertical direction. A gap is reserved between the adjacent side plates 21, and the front ends of the side plates 21 are connected with the manned cabin 1. The front end of the side plate 21 is an end facing the advancing direction of the submersible vehicle, and the rear end of the side plate 21 is an end facing away from the advancing direction of the submersible vehicle.

A connecting assembly may be provided between the side plates 21, and the connecting assembly is transversely connected between the side plates 21 for fixing and supporting the side plates 21. The connecting assembly may be a cross beam, and may be a solid rod-shaped structure or a hollow tubular structure, and is connected between the side plates 21 in the transverse direction.

The people pod 1 described above comprises: the cabin 11 is a hollow shell made of titanium alloy material, the hollow part inside the cabin 11 is used as a containing space, and passengers can enter the containing space. The cabin 11 may be spherical or olive-shaped; or the middle part of the cabin body 11 is a cylinder, and the two ends are hemispheres; alternatively, the cabin 11 may have other shapes.

Example two

The present embodiment is based on the above embodiments, and optimizes the submersible, and particularly provides a specific implementation manner of the frame structure:

the side plates 21 may be curved plates, the shape of which may be matched to the shape of the manned cabin 1, so that the entire submersible is streamlined to reduce drag.

Alternatively, the side plate 21 may be a flat plate, for example, in the following manner:

fig. 5 is a schematic structural view of a framework structure of a submersible provided in the second embodiment of the present application, and fig. 6 is a schematic side view of the framework structure of the submersible provided in the second embodiment of the present application. As shown in fig. 5 and 6, the side plates 21 are flat plate structures, and the side plates 21 may form a set angle therebetween, for example: the rear ends of the side plates 21 are expanded to both sides to form a dovetail structure. In this embodiment, the side plates 21 are parallel to each other.

The number of the side plates 21 may be two, three, or more than three. If the number of the side plates 21 is odd, one side plate 21 is positioned on the longitudinal central plane of the submersible, and the other side plates 21 are symmetrically distributed on two sides of the longitudinal central plane. The longitudinal central plane is a vertical plane parallel to the Y direction, and the whole submersible takes the longitudinal central plane as a symmetrical plane to form a bilateral symmetry structure. If the number of the side plates 21 is even, the side plates are symmetrically distributed on two sides of the longitudinal central plane.

In the present embodiment, the implementation of the frame structure 2 will be described in detail by taking the number of the side plates 21 as an example. The front ends of the side plates 21 are connected with the cabin body 11, and the distance between the front ends of the two side plates 21 can be equal to the transverse width of the cabin body 1 or less than the transverse width of the cabin body 1. For a spherical cabin 1, the transverse width is the outer diameter.

The shape of the front end of the side plate 21 can be adaptively designed according to the shape of the cabin 1, and for the spherical cabin 1, an inward concave arc surface 211 (as shown in fig. 6) is arranged at the front end of the side plate 21 to be attached to the outer surface of the cabin 1.

The side plate 21 is provided with lightening holes 212 (see fig. 6) to lighten the weight of the side plate 21, thereby greatly lightening the weight of the entire submersible vehicle. The number of the lightening holes 212 is multiple, and the shape of the lightening holes 212 can be round, square, triangular or other irregular shapes.

The connection between the side plate 21 and the cabin 11 may be in a screw connection or a clamping connection, and in this embodiment, the side plate 21 and the cabin 11 are fixed in a screw connection. Specifically, a bolt hole is provided at the front end of the side plate 21. Fig. 7 is a schematic structural view illustrating a structure in which a cabin body is connected to a side plate in a framework of a submersible vehicle according to a second embodiment of the present invention. As shown in fig. 7, the cabin 11 is provided with a coupling lug 12, and the coupling lug 12 is provided with a bolt hole. In the process of assembling the side plate 21 with the cabin 11, the side plate 21 is attached to the outer side of the connecting lug 12, so that the bolt holes in the connecting lug 12 are aligned with the bolt holes in the side plate 21, and bolts sequentially penetrate through the bolt holes and are matched with nuts to be fixed.

EXAMPLE III

The present embodiment is based on the above-described embodiments and optimizes the submersible, and in particular, further optimizes the frame structure.

The submersible can be further provided with a hoisting device, and the hoisting device can be arranged on the frame structure and is used for being connected with a hoisting device connected to the mother ship or the hoisting platform to hoist the submersible.

Specifically, the lifting device is arranged at the top of the side plate 21, and specifically can be arranged above the gravity center of the submersible vehicle. The embodiment provides a concrete implementation mode of the lifting device, which can improve the assembly speed of the lifting device and the lifting device, and further improve the lifting efficiency.

Specifically, as shown in fig. 1, 2, 4, and 5, the lifting beam 31 spans between the two side plates 21, a lifting hole 311 is formed in the lifting beam 31, and a center line of the lifting hole 311 is parallel to the vertical direction. The hoisting hole 311 is used for penetrating the hook 32, and the hoisting hole 311 is in clearance fit with the hook 32, so that the part of the hook 32 penetrating through the hoisting hole 311 can be abutted against the bottom surface of the hoisting cross beam 31, and upward pulling force can be applied to the hoisting cross beam 31. The hook 32 may be connected to a lifting device which may be provided on a submersible lifting platform or lifting mother ship.

The structure of the hook 32 may be a structure that can be elastically deformed, for example: the lifting hook 32 is provided with a deformable claw, when the lifting hook 32 penetrates into the lifting hole 311 downwards, the claw is constrained by the lifting hole 311 and is contracted and deformed, and when the claw penetrates out of the lifting hole 311, the claw is expanded and deformed outwards under the action of self elasticity to abut against the bottom surface of the lifting cross beam 31, so that upward pulling force can be applied to the lifting cross beam 31 under the action of the pulling force of the lifting device.

In the process of hoisting the submersible, the lifting hook 32 is directly inserted into the hoisting hole 311 until the claw of the lifting hook 32 penetrates out of the hoisting hole 311, and then hoisting can be carried out, and the assembly time is shortened because the assembly speed of the lifting hook 32 and the hoisting beam 311 is very high. And the equipment cost, the labor cost and the like required by arranging the frogman in the water are also reduced.

The lifting beam 31 can be realized in the following way:

fig. 8 is a schematic structural diagram of a hoisting cross beam in a submersible frame according to a third embodiment of the present application. As shown in fig. 8, the lifting beam 31 includes: at least two lifting bars 312 and lifting blocks 313. The boom 312 is connected between the two side plates 21, and the center lines of the boom 312 are parallel and at the same level. The hoist block 313 is connected between at least two hoist bars 312, particularly in the middle of the hoist bars 312. The hoisting block 313 is provided with a hoisting hole 311.

Specifically, taking the number of the lifting rods 312 as two as an example, the two lifting rods 312 are arranged in parallel and connected between the two side plates 21, and a gap is left between the two lifting rods 312. The lifting block 313 is located in the gap between the two lifting rods 312, and the end of the lifting block 313 facing the lifting rod 312 is fixedly connected with the corresponding lifting rod 312, for example: fixedly connected by welding. The hoisting hole 311 is arranged on the hoisting block 313 and is a through hole with the center line parallel to the vertical direction.

The ends of the lifting rod 312 can be directly connected to the side plate 21 by clamping, screwing, etc. Alternatively, two lifting plates 314 may be used to attach the lifting bar 312 and the side panel 21, respectively. The same side ends of the two lifting bars 312 are connected to one lifting plate 314, and the other side ends of the two lifting bars 312 are connected to the other lifting plate 314. The two lifting plates 314 are parallel and form a rectangular frame with the two lifting rods 312 (as shown in fig. 8), and the center line of the lifting hole 311 coincides with the center line of the rectangular frame.

The lifting rod 312 is a hollow oval tubular structure, so that the self weight of the submersible can be reduced on the premise of meeting the requirement of hoisting strength. Moreover, the cross section of the lifting rod 312 is formed into an oval shape, so that the contact area between the lifting rod and the lifting block 313 is larger, and the connection strength between the lifting rod and the lifting block can be improved.

Furthermore, a transition pilot circle 315 is arranged between the top surface of the hoisting block 313 and the inner wall of the hoisting hole 311, and the diameter of the transition pilot circle 315 is larger than that of the hoisting hole 311, so that the hook 32 can be guided. When the hook 32 contacts the transition circle 315, the hook can be inserted into the lifting hole 311 along the transition circle 315, thereby improving the assembly efficiency.

The hook 32 may be implemented in the following manner:

fig. 9 is a schematic structural view of a retracted state of the hook provided in the third embodiment of the present application, and fig. 10 is a schematic structural view of an opened state of the hook provided in the third embodiment of the present application. As shown in fig. 9 and 10, the hook 32 includes: a columnar body 321, a hook 322, and a drive mechanism 323. The cylindrical body 321 is provided therein with a first accommodating cavity 3211 and an opening 3212 communicating with the first accommodating cavity 3211. The hook 322 is movably disposed in the first accommodating cavity 3211, and the driving mechanism 323 is configured to drive the hook 322 to move, so that a portion of the hook 322 can extend out of the cylindrical body 321 through the opening 3212, and can also retract into the cylindrical body 321.

Before the hook 32 is inserted into the lifting hole 311, the hook body 322 is retracted into the cylindrical body 321, so that the lower half of the cylindrical body 321 can be inserted into the lifting hole 311. Fig. 11 is a schematic structural diagram of an assembly of a hook and a lifting beam provided in the third embodiment of the present application. As shown in fig. 11, when the cylindrical body 321 is inserted into a position, a part of the hook body 322 protrudes from the opening 3212 until abutting against the bottom surface of the lifting block 313, so that when the lifting device lifts the hook 32 upward, the hook body 322 applies an upward force to the lifting block 313. After the hoisting is completed, the hook 322 retracts into the cylindrical body 321, and the cylindrical body 321 can move upwards until being released from the hoisting hole 311.

Specifically, the upper portion of the cylindrical body 321 is provided with a connecting hole 3213 for connecting with a hoisting device. The lower portion of the cylindrical body 321 is cylindrical and has an opening 3212. The number of the openings 3212 may be three, and one opening 3212 allows one hook 322 to pass through. The hook 322 is connected to the cylindrical body 321 through a first rotating shaft 324, and the hook 322 can rotate relative to the cylindrical body 321, so that a part of the hook 322 can extend out of the cylindrical body 321 through the opening 3212 and can be retracted into the cylindrical body 321.

Fig. 12 is a schematic view of a section a-a in fig. 11, fig. 13 is a longitudinal sectional view of a hook provided in the third embodiment of the present application, and fig. 14 is an enlarged view of a region B in fig. 12. As shown in fig. 9 to 14, the hook 322 has a first end 3221 and a second end 3222, wherein the first end 3221 is configured to receive a driving force of the driving mechanism 323 to drive the hook 322 to rotate, and the second end 3222 can extend out of the opening 3212.

A second accommodating cavity 3214 is further disposed in the cylindrical body 321, and the driving mechanism 323 is disposed in the second accommodating cavity 3214. The driving mechanism 323 can be a pneumatic driving mechanism, a hydraulic driving mechanism, an electric driving mechanism, etc., and its output end is connected to the hook 322 to drive the hook 322 to move. Taking a pneumatic driving mechanism as an example, the driving mechanism 323 includes: and a cylinder and a piston rod (referred to as a second piston rod 3231), the cylinder being disposed in the second accommodating chamber 3214 and connected to an external air supply source, which supplies operating gas to the cylinder. One end of the second piston rod 3231 is inserted into the cylinder, and the other end is used for driving the hook 322 to rotate.

Alternatively, the second accommodating cavity 3214 may be configured as a closed cavity for connecting with an external air supply source, and one end of the second piston rod 3231 is inserted into the second accommodating cavity 3214, and the other end is used to drive the hook 322 to rotate.

As for the way of the second piston rod 3231 rotates the hook 322, as shown in fig. 11, a hook driver 3232 is disposed at the end of the second piston rod 3231, and the hook driver 3232 is spherical. Correspondingly, a concave surface 3223 is disposed at the first end 3221 of the hook body 322, and the radius of curvature of the concave surface 3223 corresponds to the hook body driving member 3232.

The second piston rod 3231 moves downwards until the hook driving element 3232 contacts the concave surface 3223, and pushes the hook 322 to rotate counterclockwise, until the concave surface 3223 completely abuts against the side surface of the hook driving element 3232, and the second end 3222 is retracted into the first accommodating cavity 3211, as shown in fig. 13. The portion of the concave surface 3223 that engages the hook driver 3232 extends from the lower hemisphere to the upper hemisphere of the hook driver 3232.

When the second piston rod 3231 moves upward, the hook driving member 3232 applies a pushing force to the concave surface 3223, and pushes the hook 322 to rotate clockwise until the second end 3222 extends out of the opening 3212, as shown in fig. 14.

Further, an arc protrusion 3131 protruding downward is provided on the bottom surface of the hoist block 31. Correspondingly, an inwardly concave arc-shaped abutting portion 3224 is provided at the second end 3222 of the hook body 32, and the radius of curvature of the arc-shaped abutting portion 3224 is consistent with the radius of curvature of the arc-shaped convex portion 3131. The second piston rod 3231 moves upward and pushes the hook 322 to rotate, and when the second piston rod 3231 is separated from the hook 322, the pushing force applied to the hook 322 disappears, and at this time, the second end of the hook 322 does not completely extend out of the opening 3212, that is: the optimal hoisting position is not reached. By adopting the above-mentioned manner of matching the arc abutting portion 3224 and the arc protruding portion 3131, when the hook moves upward under the pulling force of the lifting device, under the guiding action of the arc protruding portion 3131, the hook body 322 continues to rotate clockwise until the arc abutting portion 3224 completely fits the arc protruding portion 3131, and an optimal lifting position is reached, so that the contact area between the hook body 322 and the lifting block 313 is large, and the problem of unhooking caused by stress concentration is avoided.

In fig. 9, 10 and 13, an annular second stopper 3215 is disposed at the middle of the cylindrical body 321, protruding from the outer circumferential surface of the cylindrical body 321, for limiting the depth of the cylindrical body 321 inserted into the hoisting block 313.

By adopting the hoisting beam 31, the side plates 21 can be supported and fixed, the number of connecting assemblies arranged between the side plates 21 can be reduced, the weight of the submersible vehicle is further reduced, and the floating and submerging speeds are improved.

Example four

The present embodiment is based on the above embodiments, and optimizes the submersible, especially optimizes the frame structure.

As shown in fig. 5 and 6, the frame structure 2 is further provided with an electronic tank 4, and the electronic tank 4 spans between the two side plates 21 in the transverse direction, and can play a role of fixing and supporting the side plates 21. A submersible control device may be disposed within the electronics tank 4. The number of the electronic tanks 4 is at least two, and the at least two electronic tanks 4 are parallel and are positioned at the same horizontal height.

Fig. 15 is a schematic structural diagram of an electronic tank according to a fourth embodiment of the present application. As shown in fig. 15, the electronic tank 4 includes: the can 41 and the cap 42, the cap 42 is connected to the two ends of the can 41 in a sealing way. Specifically, the tank 41 may have a cylindrical structure, for example: rectangular cylinder, cylindrical cylinder, oval cylinder, pyramid cylinder, etc. In the present embodiment, the can 41 has a cylindrical tubular structure. The can 41 may be open at one end or open at both ends. In this embodiment, two ends of the tank 41 are open, and the number of the sealing caps 42 is two, and the two sealing caps are respectively connected to two ends of the tank 41, and a sealing ring is disposed between the sealing cap 42 and the tank 41. The shape of the cover 42 may be hemispherical as shown in fig. 15, or may be other shapes.

The manner in which the electronic tank 4 is connected to the side plate 21 can take a variety of forms, such as: a connecting member may be provided on the can 41 to be fixed to the side plate 21 by the connecting member, or a connecting member may be provided on the cover 42 to be fixed to the side plate 21 by the connecting member. Alternatively, the following implementation may also be employed:

the electronic tank 4 is connected with the side plate 21 by a clamping piece 43. Fig. 16 is a schematic structural view of a clip according to a fourth embodiment of the present application, and fig. 17 is an enlarged view of a region C in fig. 5. As shown in fig. 15 and 17, first flanges 411 are provided on the outer circumferential surfaces of both ends of the can 41 or the circumferential surface of the cap 42, and the embodiment is exemplified only in that the first flanges 411 are provided on the outer circumferential surface of the can 41. The distance between the first flanges 411 at both ends of the can 41 is greater than the distance between the two side plates 21. The electronic tank 4 can be inserted on the two side plates 21, and the two first flanges 411 are located on the outer sides of the side plates 21.

The clamping member 43 is clamped between the first flange 411 and the side plate 21, and is fixedly connected with the side plate 21, so that the electronic tank 4 can be fixed on the side plate 21.

As shown in fig. 16, the clip 43 includes: first snap ring 431, second snap ring 432 and two fishplate bars 433. The first snap ring 431 has a first opening, and a plurality of first bolt holes 4311 are uniformly distributed on the first snap ring 431 and fixed on the side plate 21 through the first bolt holes 4311.

The second snap ring 432 is connected to the inner edge of the first snap ring 431 and perpendicular to the first snap ring 431. The second snap ring 432 has a second opening that is aligned with the first opening.

One of the engaging plates 433 is connected to the same side end portions of the first and second snap rings 431 and 432, and the other engaging plate 433 is connected to the other side end portions of the first and second snap rings 431 and 432. The two engaging plates 433 are perpendicular to the first ring 431 and also perpendicular to the second ring 432. The two clamping plates 433 are provided with second bolt holes 4331, and the axes of the second bolt holes 4331 on the two clamping plates 433 are overlapped.

By adopting the electronic tank 4, the side plates 21 can be supported and fixed, the number of the connecting assemblies arranged between the side plates 21 can be reduced, the weight of the submersible vehicle is further reduced, and the floating and submerging speeds are improved.

In addition, as for the connection mode between the can 41 and the cover 42, the present embodiment provides an implementation mode:

a first flange 411 is provided on the can 41, and the cross-sectional shape of the first flange 411 may be wedge-shaped, triangular, rectangular, arc-shaped, or trapezoidal.

Fig. 18 is a longitudinal sectional view of an electronic can according to a fourth embodiment of the present application, and fig. 19 is an enlarged view of a region D of fig. 18. As shown in fig. 18 and 19, the cover 42 is provided with a second flange 421 corresponding to the first flange 411, and the cross-sectional shape of the first flange 411 and the cross-sectional shape of the second flange 421 may be the same or different. The height of the first flange 411 and the height of the second flange 421 may be the same or different. The cross-sectional shape of the second flange 421 may be wedge-shaped, triangular, rectangular, arc-shaped, or trapezoidal, among other shapes.

Fig. 20 is a schematic structural view of a yoke in an electronic can according to a fourth embodiment of the present disclosure, and fig. 21 is an axial view of the electronic can according to the fourth embodiment of the present disclosure. As shown in fig. 18 to 21, the clamp 44 is used to cover the outer peripheral surfaces of the first flange 411 and the second flange 421, and the inner peripheral surface of the clamp 44 is provided with a groove for receiving the first flange 411 and the second flange 421. The clip 44 forms a first flange 441 and a second flange 442 on both sides of the groove, the first flange 441 can define a limit for the first flange 411, and the second flange 442 can define a limit for the second flange 421, so that the clip 44 can define the limit for the first flange 411 and the second flange 421 to securely mount the cover 42 to the can 41.

A sealing member (referred to as a first sealing member 45) is provided between the can 41 and the lid 42 for sealing a gap between the can 41 and the lid 42 to prevent liquid from entering the electronic can 4 through a gap between the can 41 and the lid 42 to damage the electronic devices inside.

The clip 44 can fixedly connect the can 41 and the cover 42. Alternatively, fasteners 46 may be used in conjunction with clips 44 to fixedly attach the closure 42 to the can 41. The fastener 46 may be a bolt or a clamp.

As shown in fig. 19, in order to improve the connection reliability and stability between the cap 42 and the can 41, the cap 42 is provided with a cap insertion part 422 which can extend into the can 41 and is in insertion fit with the inner wall of the can 41, and the cap insertion part 422 and the second flange 421 form a step surface for positioning with the can 41.

The outer peripheral surface of the cap insertion part 422 is provided with a first sealing groove 47, or the inner peripheral surface of the can 41 corresponding to the cap insertion part 422 is provided with a first sealing groove 47 for accommodating the first sealing member 45. The first seal 45 may be a seal ring. As shown in fig. 19, the outer peripheral surface of the cap insertion part 422 is provided with a first seal groove 47, and a first seal 45 for sealing the gap between the can 41 and the cap 42 is provided in the first seal groove 47. First seal groove 47 can carry on spacingly to first sealing member 45, prevents to take place because of the problem that first sealing member 45 drops and sealing failure.

Alternatively, the first seal groove 47 may be provided on the inner wall of the tank 41; half grooves can be respectively arranged at the corresponding positions on the outer peripheral surface of the cover inserting part 422 and the inner wall of the tank 41, and when the cover inserting part 422 and the tank 41 are in inserting fit, the two half grooves are opposite to each other to form a first sealing groove 47.

In addition, the plugging fit of the sealing cover plugging part 422 and the sealing cover 42 can also form a guiding effect on the installation of the sealing cover 42, and the plugging fit of the sealing cover plugging part 422 and the tank body 41 can also limit the sealing cover 42 in the circumferential direction, so that the reliability and the stability of the connection between the sealing cover 42 and the tank body 41 can be improved. And, the step surface formed by the cover inserting part 422 and the second flange 421 can position and seal the can 41.

Further, a second seal groove (not shown) may be provided in an end surface of the can 41 facing the cap 42 or an end surface of the cap 42 facing the can 41, and the first seal 45 may be attached to the second seal groove. Alternatively, a half groove may be provided on the end surface of the can 41 facing the cap 42, and a half groove may be provided on the end surface of the cap 42 facing the can 41, so that when the cap 42 is mounted on the can 41, the end surfaces abut against each other, the two half grooves form a second sealing groove in opposition to each other, and the first sealing member 45 is mounted in the second sealing groove. The first sealing member 45 installed in the first sealing groove 47 and the second sealing groove respectively forms a double-layer sealing structure between the can 41 and the cap 42, thereby further improving the sealing effect between the can 41 and the cap 42 and improving the reliability of the electronic can 4.

Alternatively, a tank insertion part (not shown) may be disposed on the tank 41, and the cover 42 has a cavity capable of accommodating the tank insertion part, and the cavity wall of the cavity can be in insertion fit with the tank insertion part. The outer peripheral surface of the can body mating part or the inner peripheral surface of the cover 42 corresponding to the can body mating part is provided with a third seal groove for mounting a first seal 45.

The clamp 44 may be implemented as follows:

first, the clip 44 shown in fig. 18 to 21 is an annular member having a notch. The clip 44 has two circumferentially opposite connection ends, and the gap between the two connection ends forms a gap. Every link all is provided with the connecting plate, all is provided with the first fastening hole that is used for wearing to establish first fastener 46 on the connecting plate.

Specifically, two link ends do respectively: a first connection end 443 and a second connection end 444, wherein the first connection end 443 is provided with a first connection plate 445, and the second connection end 444 is provided with a second connection plate 446. The first connection plate 445 and the second connection plate 446 are provided with coaxial first fastening holes, and the first fastening holes are respectively penetrated through by bolts and then are fixed by matching with nuts, so that the clamp 44 forms a closed ring shape, and the cover 42 is hermetically and fixedly installed on the tank 41. In the process of installation and disassembly, only the bolts and nuts of the two connecting ends of the connecting hoop 44 need to be disassembled and assembled, and the quick-assembling and disassembling device has the characteristics of simplicity and quickness in disassembly and assembly.

In a second mode, fig. 22 is a longitudinal sectional view of another electronic can according to a fourth embodiment of the present disclosure, fig. 23 is an enlarged view of a region E in fig. 22, fig. 24 is a sectional view of a first yoke in the another electronic can according to the fourth embodiment of the present disclosure, fig. 25 is a sectional view of a second yoke in the another electronic can according to the fourth embodiment of the present disclosure, and fig. 26 is an axial view of the another electronic can according to the fourth embodiment of the present disclosure.

As shown in fig. 22 to 26, the clamp 44 includes a first clamp 44a and a second clamp 44b which are oppositely arranged, and the first clamp 44a and the second clamp 44b are both ring-shaped members, wherein:

for ease of installation, the first clip 44a may be formed of two half rings. The inner wall of the first clip 44a is provided with a first groove 44a1 matched with the first flange 411 in shape, and the first clip 44a is provided with a plurality of second fastening holes which are randomly or uniformly arranged along the circumferential direction of the first clip 44a, and the central lines of the second fastening holes are parallel to the central line of the tank 41. The walls of the first recess 44a1 form a first rib 442 for cooperating with the first flange 411 to restrain the can 41.

The second yoke 44b may be formed of two half rings. The inner wall of the second clamp 44b is provided with a second groove 44b1 matched with the second flange 421 in shape, the second clamp 44b is provided with a plurality of third fastening holes, the third fastening holes are randomly or uniformly distributed along the circumferential direction of the second clamp 44b, and the center lines of the third fastening holes are parallel to the center line of the tank 41. The number and position of the third fastening holes on the second yoke 44b correspond to those of the second fastening holes on the first yoke 44 a. The walls of the second recess 44b1 form a second lip 442 for cooperating with the second lip 421 to retain the lid 42.

The first clip 44a and the second clip 44b are connected together by a second fastening member, for example, a bolt sequentially passing through the second fastening hole of the first clip 44a and the third fastening hole of the second clip 44b, and then being engaged with a nut, to fixedly connect the cover 42 to the can 41.

EXAMPLE five

The submersible may also be provided with ballast means for adjusting the weight of the submersible to control the float up or the submergence of the submersible.

The embodiment provides a concrete implementation mode of a ballast device, which can improve the stability of a submersible in the floating process. As shown in fig. 1, 2 and 4, the ballast device may include: a first ballast tank 51, a second ballast tank 52 and a gas tank 53.

The second ballast tank 52 is made of a pressure-resistant material and is disposed near the center of gravity of the submersible vehicle. The first ballast tank 51 is disposed above the second ballast tank 52 and is connected between the two side plates 21. The gas tank 53 is connected to the side plate 21, and the gas tank 53 is filled with high-pressure gas.

Specifically, fig. 27 is a schematic structural view of a first ballast tank provided in the fifth embodiment of the present application, and fig. 28 is a longitudinal sectional view of the first ballast tank provided in the fifth embodiment of the present application. As shown in fig. 27 and 28, the first ballast tank 51 includes: a bottom panel 511, side panels 512, and a top panel 513. Wherein the side walls 512 extend upward from the edges of the bottom plate 511, the top plate 513 is connected to the top of the side walls 512, and the bottom plate 511, the side walls 512 and the top plate 513 enclose a closed space for containing gas and/or liquid.

The shape of the first ballast tank 51 can be set in accordance with the shape and position of other members provided in the frame structure, and the first ballast tank 51 shown in fig. 27 is shaped so as to be able to appropriately escape and fit other members located at the front and rear ends of the first ballast tank 51. The roof 513 is arched away from the floor 511, which can increase the volume of the first ballast tank 51 and reduce the resistance during floating.

As shown in fig. 28, the bottom of the first ballast tank 51 is provided with a first liquid injection/discharge port 514, and the first liquid injection/discharge port 514 is a through hole formed in the bottom plate 511, so that the closed space in the first ballast tank 51 is communicated with the external environment through the first liquid injection/discharge port 514. When the submersible is submerged, water can enter and exit the first ballast tank 51 through the first fill and drain port 514. Of course, the first fill and drain port 514 may be located on the side wall 512 of the first ballast tank 51 near the bottom; alternatively, it may be provided on the ceiling 513 of the first ballast tank 51.

The first ballast tank 51 is provided with a first filling and discharging port 515 at the top or bottom, and the first filling and discharging port 515 may be connected to the gas tank 53 through a first gas line 516. For example: the first filling and discharging port 515 is provided at the bottom of the first ballast tank 51, specifically, a through hole provided on the bottom plate 511. One end of the first gas line 516 is connected to the gas tank 53 and the other end enters the first ballast tank 51 through the first ballast water tank discharge port 515 and extends to the top inside the first ballast tank 51 so that the gas injected from the gas tank 53 is discharged directly to the top of the first ballast tank 51 to increase the internal pressure, causing water to be discharged out of the first ballast tank 51 downward through the first ballast water tank discharge port 514 as indicated by the arrow in fig. 28.

The submersible submergence and floatation can be achieved by adjusting the amount of gas and liquid in the first ballast tank 51 and thus the mass of the submersible.

The first ballast tank 51 can be made of a material with relatively low pressure resistance, so that the manufacturing cost can be saved. The first ballast tank 51 can be adapted to a high pressure environment by adjusting the amount of liquid and gas in the first ballast tank 51 so that the pressure in the first ballast tank 51 is the same as the external environment according to the submerged depth of the submersible vehicle.

Fig. 29 is a longitudinal sectional view of a second ballast tank provided in accordance with a fifth embodiment of the present application. As shown in fig. 29, the second ballast tank 52 includes: the hollow shell 521 is made of a material with good pressure resistance to be spherical, so that the second ballast tank 52 has good pressure resistance.

The bottom of the hollow shell 521 is provided with a second liquid injection and discharge port 522, the second liquid injection and discharge port 522 is connected with a liquid pipeline 524, and the liquid pipeline 524 is communicated with the external environment, so that the second ballast tank 52 is communicated with the external environment. Alternatively, the second liquid injection/discharge port 522 may be provided at the top or side of the hollow case 521.

The top of the hollow shell 521 is provided with a second gas injection and exhaust port 523, the second gas injection and exhaust port 523 is connected with one end of a second gas pipeline 525, and the other end of the second gas pipeline 525 is connected with the gas tank 53.

By adjusting the amount of water injected into the first ballast tank 51 and the second ballast tank 52, not only the weight of the submersible can be adjusted to enable submergence and floatation of the submersible, but also the trim of the submersible can be adjusted.

For example: the second ballast tank 52 can be slightly offset from the center of gravity of the vehicle in the horizontal direction, and the trim effect of the vehicle can be achieved by adjusting the amount of water injected into the second ballast tank 52. For example: in the process of executing the diving task each time, the weight of the diver entering the manned cabin is different, and the water injection amount in the second ballast tank 52 can be slightly adjusted, so that the head and the tail of the submersible are kept balanced, and the serious forward inclination or the stern inclination is avoided.

The first ballast tank 51 may be fixed to the side plate 21 by bolting. The second ballast tank 52 may be secured to the cross beam between the two side plates 21 by bolting.

Fig. 30 is a schematic structural view of a ballast tank control device according to a fifth embodiment of the present application. As shown in fig. 30, a control device may be employed to control the process of water filling and gas filling and venting of the first and

second ballast tanks

51, 52. Taking the first ballast tank 51 as an example, specifically, the control device includes: a shut valve 81, a first check valve 82, a pilot operated high pressure shut-off valve 83, a second check valve 84, a pressure reducing valve 85, a filter 86, a pilot operated low pressure shut-off valve 87, and a pilot operated shut-off valve 88. The above-mentioned components can be placed on the framework structure of the submersible, and also in the man-carrying compartment.

The gas tank 53 is two in number and is filled with compressed gas having a pressure of 700 bar. The air tank 53, the first check valve 82, the stop valve 81, the pilot-operated high-pressure stop valve 83, the second check valve 84, the pressure reducing valve 85, and the pilot-operated low-pressure stop valve 87 are connected in this order.

The first check valve 82 and the second check valve 84 are one-way valves, and allow gas to pass through in one direction.

The stop valve 81 may be an automatic stop valve or a manual stop valve, and if the stop valve is an automatic stop valve, the stop valve 81 may be connected to the controller to perform a switching operation according to a control command sent by the controller; in the case of a manual shut-off valve, the shut-off valve 81 may be provided in the passenger compartment 1, and the opening and closing of the shut-off valve 81 may be manually adjusted by the diver. The shut-off valve 81 is in a normally open state,

the hydraulic control high-pressure stop valve 83 and the hydraulic control low-pressure stop valve 87 are controlled to be opened and closed by a hydraulic pump, and hydraulic driving equipment can be arranged on the manned cabin frame structure or in the manned cabin. The pilot-operated high-pressure cutoff valve 83 and the pilot-operated low-pressure cutoff valve 87 are both in a normally closed state.

The pilot-operated low-pressure cutoff valve 87 is also connected to the first filling and discharging port 515 of the first ballast tank 51 through a pilot-operated cutoff valve 88. The pilot-operated shutoff valve 88 is also opened and closed by the hydraulic pump.

The process of controlling the first ballast tank 51 by using the control device can be divided into a water filling process and a water discharging process in seawater:

and (3) water injection process: the hydraulic pump source is first activated to drive the hydraulically-controlled low-pressure stop valve 87 and the hydraulically-controlled stop valve 88 to open, seawater enters the first ballast tank 51 through the first liquid/liquid injection/discharge port 514, and gas in the first ballast tank 51 is discharged through the hydraulically-controlled stop valve 88 and the hydraulically-controlled low-pressure stop valve 87. When the seawater filled in the first ballast tank 51 meets the requirement, the pilot-operated low-pressure stop valve 87 is closed, and the pilot-operated stop valve 88 is still in an open state.

And (3) a drainage process: when the stop valve 81 is opened and the hydraulic pump source is started to drive the pilot-operated high-pressure stop valve 83 to open, the gas in the gas tank 53 sequentially passes through the first check valve 82, the stop valve 81, the pilot-operated high-pressure stop valve 83, the second check valve 84, the pressure reducing valve 85, the filter 86 and the pilot-operated stop valve 88 to enter the first ballast tank 51, so that the pressure in the first ballast tank 51 is increased, and the seawater in the first ballast tank is discharged through the first liquid/liquid injection/discharge port 514. When the discharged returned water amount satisfies the requirement, the pilot-operated high-pressure stop valve 83 is closed.

When the vehicle is floating on the water surface, the first fill and drain port 514 of the first ballast tank 51 is not in contact with the water, and a fluid pump may be used to fill the first ballast tank 51 with water through the first fill and drain port 514.

EXAMPLE six

The present embodiment provides a way to adjust the attitude of the vehicle.

Fig. 31 is a schematic structural view of a submersible frame structure and a passenger compartment connected according to a sixth embodiment of the present invention. As shown in fig. 31, a battery pack and a battery moving pack 63 are further provided on the frame structure 2. Wherein, a battery moving assembly 63 is provided on the side plate 21 for adjusting the position of the battery assembly to adjust the posture of the vehicle.

The position of the battery component can be adjusted in the longitudinal direction of the submersible, so that the moments of the front end and the rear end of the submersible are adjusted, and posture adjustment is achieved. Specifically, the battery moving assembly 63 can drive the battery assembly to move towards the front of the submersible vehicle so as to increase the moment of the front end of the submersible vehicle; or the battery moving assembly 63 drives the battery assembly to move towards the rear of the submersible vehicle to increase the moment at the rear end of the submersible vehicle.

The technical scheme that this embodiment provided through adopting battery removal subassembly and the battery pack of setting on frame construction, wherein, battery removal subassembly is used for adjusting battery pack's position, and then adjusts the gesture of submersible vehicle, and its implementation process is simple swift, can not appear moreover like the more problem of gas consumption in the high-pressure gas jar appearing among the prior art.

In addition, when the battery moving assembly 63 drives the battery assembly to move within the limit range, the attitude of the submersible vehicle can be adjusted. When the battery moving assembly 63 drives the battery assembly to exceed the limit range, the battery assembly can be promoted to fall off from the frame structure, the battery assembly is unloaded, the buoyancy of the submersible vehicle can be rapidly improved, and the floating speed can be rapidly increased.

The driving manner for adjusting the position of the battery assembly by the battery moving assembly 63 can be implemented in various manners, for example: the pushing or pulling force may be applied to the battery assembly by hydraulic, pneumatic or electric pushing to enable the battery assembly to move relative to the frame structure. The specific structure of the battery moving assembly 63 can also be implemented in various ways. The battery moving assembly 63 can directly push the battery assembly to move, and can also push the intermediate part to move so as to drive the battery assembly to move.

The embodiment provides an implementation manner:

the battery moving assembly 63 includes: a guide and a drive. Wherein the guide is arranged on the side plate 21 and extends in the longitudinal direction of the side plate 21, i.e. the front-rear direction of the submersible vehicle. The driving piece is arranged on the side plate 21 and used for driving the battery assembly to move back and forth along the guide piece.

For example: set up the slider on battery pack, set up the spout on the guide, the slider holds in the spout and can follow the spout and slide, has then realized battery pack along the guide back-and-forth movement. The opening of the chute may be upward or downward, or may be toward the inner side of the side plate 21.

Alternatively, the guide is a slide rail extending in the longitudinal direction. The sliding block is correspondingly arranged on the battery component, the sliding groove is formed in one side, facing the sliding rail, of the sliding block, one part of the sliding rail can be contained in the sliding groove, and the sliding block can slide along the sliding rail, so that the battery component can move back and forth along the guide piece.

Alternatively, the number of the guide members is two, and the guide members are respectively connected to the inner sides of the two side plates 21. The battery pack spans over the two guides, which support the battery pack. The battery assembly is movable back and forth relative to the guide.

Alternatively, the guide member includes: guide bar and loading board. Wherein, the guide bar is fixed on the lateral plate 21 and extends along the longitudinal direction, and a first guide structure is arranged on the guide bar. And a second guide structure is arranged on the bearing plate and matched with the first guide structure so as to guide the movement of the bearing plate. The bearing plate is used for bearing the battery pack, and the battery pack is directly placed on the bearing plate and is not fixedly connected with the bearing plate. The driving piece can drive the bearing plate to move back and forth relative to the guide rod, and then drives the battery assembly on the bearing plate to move back and forth. When the bearing plate moves on the guide rod, the posture of the submersible can be adjusted; when the bearing plate moves gradually to the position where the bearing plate is separated from the guide rod towards the end part of the guide rod, the battery assembly on the bearing plate falls under the action of self gravity, and load rejection is realized.

The first guide structure and the second guide structure are matched with each other for guiding, for example: the first guide structure is a sliding chute, and the second guide structure is a sliding block or a roller; or the first guide structure is a slide rail, and the second guide structure is a slide block which can be clamped on the slide rail and can move along the slide rail; alternatively, other implementations may also be employed.

When the driving piece drives the battery assembly to move to be separated from the guide piece, the battery assembly can be promoted to fall off the submersible, and the battery assembly is unloaded.

Figure 32 is a schematic structural view of a battery moving assembly and a battery assembly provided in the present application,

figure 33 is another perspective view of the battery moving assembly and the battery assembly according to the present disclosure,

fig. 34 is a schematic structural diagram of a battery moving assembly according to an embodiment of the present application. As shown in fig. 32 to 34, in the present embodiment, the number of the guide rods 631 is two, and the guide rods are symmetrically disposed at both sides of the frame structure, and may be fixed to both side plates 21 in the longitudinal direction. The opposite surfaces of the two guide bars 631 are provided with guide grooves 6311. Opposite two sides of the supporting plate are inserted into the guide grooves 6311. The battery driver 632 is connected to the carrier plate for driving the carrier plate to slide back and forth in the guide groove 6311, so as to adjust the posture of the submersible.

Further, the guide groove 6311 penetrates to the rear end of the guide rod 631, and the carrier plate can move backward along the guide groove 6311 until coming out of the guide groove 6311. After losing the bearing function of the guide bar 631, the battery assembly falls under its own weight.

The battery modules may include a first battery module 61 and a second battery module 62, and the output voltages of the first battery module 61 and the second battery module 62 may be the same or different. In the present embodiment, the output voltage of the second battery assembly 62 is larger than the output voltage of the first battery assembly 61. The first battery assembly 61 and the second battery assembly 62 rest on the carrier plate, and are movable in the front-rear direction with the carrier plate. When the carrier plate is pulled out of the guide groove 6311, the first battery module 61 and the second battery module 62 are dropped and thrown together.

The voltage amplitudes of the first battery unit 61 and the second battery unit 62 are relative, and are not limited to absolute values. The first battery pack 61 and the second battery pack 62 are connected with electric equipment in the submersible through waterproof wires, and the battery packs are connected with the waterproof wires through watertight joints. The watertight connector can adopt a structure commonly used in the field, can realize quick plugging and has better waterproofness. When the first battery assembly 61 or the second battery assembly 62 falls under the action of its own gravity, the resultant force of the gravity and the buoyancy can quickly disconnect the battery assemblies from the watertight joint.

The first cell assembly 61 and the second cell assembly 62 may be sequentially arranged in the transverse direction of the frame structure, or may be sequentially arranged in the longitudinal direction of the frame structure. In the present embodiment, the first cell assembly 61 and the second cell assembly 62 are arranged in the longitudinal direction of the frame structure, and the first cell assembly 61 is located at the rear end of the second cell assembly 62.

Alternatively, the carrier plate may specifically include: a first carrier plate 633 and a second carrier plate 636. The first bearing plate 633 and the second bearing plate 636 are arranged along the longitudinal direction of the frame structure, and the first bearing plate 633 is located at the rear end of the second bearing plate 636. The first bearing plate 633 is used for bearing the first battery assembly 61, and the second bearing plate 636 is used for bearing the second battery assembly 62.

The second carrier plate 636 is used for receiving the driving force of the battery driver 632, for example: the battery driving member 632 is connected to the second carrier plate 636, and is configured to apply a direct pulling force or a direct pressure to the second carrier plate 636, so as to move the second carrier plate 636 forward and backward, and further drive the first carrier plate 633 forward and backward. The first bearing plate 633 and the second bearing plate 636 can be fixedly connected, so that the first bearing plate 633 and the second bearing plate 636 move together, and when the second bearing plate 636 is separated from the guide groove 6311, the first battery assembly 61 and the second battery assembly 62 are unloaded.

Alternatively, the second bearing plate 636 is hinged to the front end of the first bearing plate 633, for example, connected to the second rotating shaft 637, and the first bearing plate 633 can rotate relative to the second bearing plate 636. When the first bearing plate 633 moves to the detachment guide groove 6311, the first bearing plate 633 is turned downward, and the first battery assembly 61 falls down under the action of its own gravity, so as to realize load shedding. The output voltage of the second battery assembly 62 may be reduced by a corresponding voltage reduction circuit and then provided to the electric device originally corresponding to the first battery assembly 61. If the buoyancy of the submersible vehicle still does not meet the requirement of floating up after the first battery assembly 61 is unloaded, the battery driving member 632 continues to push the second loading plate 636 to move backwards until the second loading plate is separated from the guide groove 6311, so that the second battery assembly 62 falls under the action of its own gravity and is also unloaded. It will be appreciated that additional battery packs may be provided on the frame structure 2 or in the people compartment 1 for supplying electrical power to the electrical consumers.

Further, the battery moving assembly 63 further includes: the support 634 is connected between the two guide rods 631, and more particularly, to the front ends of the two guide rods 631, for fixing and supporting the two guide rods 631. Additionally, the battery driver 632 may be secured to a support 634.

The battery drive 632 may employ pneumatic principles, such as: the battery driver 632 is a cylinder, the housing of which is fixed to the support 634. One end of the first piston rod 635 is slidably disposed in the cylinder, and the other end is located outside the cylinder and connected to the bearing plate. The cylinder can drive the first piston rod 635 to move linearly, so as to push the bearing plate to move back and forth. Alternatively, one end of the first piston rod 635 located outside the cylinder is directly connected to the battery assembly, and directly pushes the battery assembly to move back and forth relative to the first bearing plate 633. In this embodiment, the other end of the first piston rod 635 is connected to the second bearing plate 636, and is configured to drive the second bearing plate 636 to move back and forth.

Alternatively, the battery driver 632 may employ a hydraulic drive principle, such as: the battery driver 632 is a hydraulic cylinder, the housing of which is fixed to the support 634. One end of the first piston rod 635 is slidably disposed in the hydraulic cylinder, and the other end of the first piston rod 635 is located outside the hydraulic cylinder and connected to the first bearing plate 633 or directly connected to the battery assembly.

Still alternatively, the battery driver 632 may also employ an electrically driven principle, such as: the battery driving member 632 is a driving motor, and is connected to the driving motor and the push rod via a gear set, for converting the rotation of the driving motor into a linear motion of the push rod, and the end of the push rod is connected to the first bearing plate 633 or directly connected to the battery assembly.

When the vehicle is leaning forward or aft, for example: during the extending movement of the manipulator at the front end of the vehicle, the first battery assembly 61 can be driven to move forward and backward to change the center of gravity of the vehicle to adjust the pitch angle of the vehicle. For example: when the submersible has a bow, the first battery assembly 61 and the second battery assembly 62 are driven to move backwards through the battery driving piece 632; when the submersible is heeled, the first battery assembly 61 and the second battery assembly 62 are driven to move forward by the battery driver 632.

In summary, the battery moving assembly 63 of the submersible has two functions, including two different movement modes: one is to move the battery back and forth within the normal range of movement of the guide groove 6311 to achieve pitch adjustment of the submersible; the other is a backward movement, which pushes the first battery module 61 beyond the normal movement range of the guide groove 6311 to unload the first battery module 61, so as to increase the buoyancy of the submersible vehicle.

Further, a stopping portion (referred to as a first stopping portion 6331) is disposed at a rear end of the first carrier plate 633 far away from the second carrier plate 636, and the first stopping portion 6331 may be a structure protruding upward in a vertical direction for blocking the first battery assembly 61 from sliding backward. The problem that the first battery component 61 topples, slides and even falls due to water resistance or inertia in the normal working state of the submersible is avoided.

Or, an electromagnetic adsorption mechanism can be used to generate magnetic force in a normal state to fix the first battery assembly 61 and eliminate the magnetic force in an emergency state to enable the first battery assembly 61 to be unloaded, so as to further avoid the problem that the first battery assembly 61 falls, slides and even falls due to water resistance or inertia.

The following describes the load rejection process of the first battery assembly 61 in detail with reference to the accompanying drawings:

fig. 35 to 37 are schematic views illustrating a process of loading the battery assembly by the battery moving assembly according to the embodiment of the present disclosure, and fig. 38 to 40 are schematic views illustrating another angle of the process of loading the battery assembly by the battery moving assembly according to the embodiment of the present disclosure.

As shown in fig. 32 and 33, the vehicle is in a first condition, which may be a normal operating condition in which the vehicle is able to perform normal work tasks under water, such as: floating up, diving down, moving, grabbing objects and the like. The first loading plate 633 and the second loading plate 636 are located at the foremost ends near the support 634. Each of the first battery module 61 and the second battery module 62 is connected to the corresponding electric device through a watertight connector and a waterproof wire.

As shown in fig. 35 and 38, the vehicle is in a second state, which may be an emergency state, in which the vehicle is flooded, a component of the vehicle malfunctions or fails, and the vehicle is prevented from operating properly, and the vehicle must be floated to the surface immediately. The battery driver 632 drives the first piston rod 635 to extend, and pushes the first bearing plate 633 and the second bearing plate 636 to move backward until the rear end of the first bearing plate 633 is flush with the rear end of the guide rod 631. The first battery assembly 61 and the second battery assembly 62 move synchronously with the first bearing plate 633 and the second bearing plate 636 respectively.

As shown in fig. 36 and 39, the first piston rod 635 continuously pushes the first bearing plate 633 and the second bearing plate 636 to move backward, and most of the first bearing plate 633 extends out of the guide bar 631.

As shown in fig. 37 and 40, the first piston rod 635 continues to push the first loading plate 633 and the second loading plate 636 to move backward, and the first loading plate 633 extends out of the guide rod 631. The gravity of the first battery assembly 61 makes the first bearing plate 633 turn downward, and the first battery assembly 61 falls and is disconnected from the watertight connector, thereby completing the load rejection.

The action of the battery moving assembly 63 may be controlled by a controller, which may be arranged either in the people compartment 1 or on the frame structure 2. The controllers are connected to respective sensors, for example: a speed sensor, an acceleration sensor and a pitching angle sensor are arranged on the frame structure 2 or in the manned cabin 1 and are electrically connected with the controller. The controller acquires a detection signal sent by the sensor and judges according to the detection signal. When the controller judges that the current posture of the submersible does not meet the set requirement, the controller sends a control signal to the battery moving assembly 63 to trigger the battery moving assembly 63 to act, and the battery driving piece 632 drives each bearing plate to move back and forth so as to drive the battery assembly to move back and forth, so that the posture of the submersible is adjusted. When the controller determines that the current floating speed or acceleration does not satisfy the set value, the battery driving member 632 is controlled to drive each bearing plate to move backward until the first bearing plate 633 is separated from the guide rod 631, and the first battery assembly 61 is thrown to reduce the weight of the frame structure 2, so as to improve the floating speed.

Alternatively, the controller may be a part of the battery moving assembly 63, and connected to the corresponding component of the battery moving assembly 63 to perform the function of unloading the first battery assembly 61.

Alternatively, the actuation of the battery-moving assembly 63 can also be carried out by the occupants in the passenger compartment 1, namely: a manual valve may be provided in passenger compartment 1, which may be opened by the occupant to trigger the operation of battery-moving assembly 63.

It will be appreciated that ballast blocks may still be provided in the frame structure 2 of the vehicle. When the submersible needs to emergently float, the ballast blocks can be firstly unloaded, and if all the ballast blocks are unloaded and still do not meet the floating requirement or the ballast block unloading fails, the first battery component 61 is started to unload; alternatively, if it can be determined in advance that the weight of the submersible needs to be reduced, the ballast block can be thrown together with the first battery module 61 to reduce the weight of the water reducer and increase the floating speed.

On the basis of the above technical solution, if the second battery assembly 62 is fixed on the second carrier plate 636, for example: the housing of the second battery module 62 is fixed on the second carrier plate 636 by a bolt connection, so that the second battery module 62 cannot be unloaded. If the second battery assembly 62 is resting directly on the second carrier plate 636, the second battery assembly 62 can be unloaded. The second battery modules 62 are two in number and are arranged side by side in the lateral direction on the second carrier plate 636.

Fig. 41 is an enlarged view of region F in fig. 31. As shown in fig. 31 and 41, various schemes can be adopted for the manner in which the battery moving assembly 63 is connected to the side plate 21, such as: a connecting portion is provided on the guide bar 631 and connected to the side plate 21 by a bolt.

Specifically, at least two mounting portions 6312 are provided on the guide bar 631, and mounting holes are provided on the mounting portions 6312. Correspondingly, a mounting hole is also formed in the side plate 21, and the mounting portion 6312 is fixedly connected to the side plate 21 by using a bolt and a nut.

As for the first battery pack 61 and the second battery pack 62 described above, the structure thereof may be implemented in a manner commonly used in the art. Alternatively, the first battery module 61 and the second battery module 62 may be referred to as follows:

taking the first battery module 61 as an example, it includes: the battery cell module comprises a box body and at least one battery cell module arranged in the box body. The battery cell module comprises: the battery cells are sequentially arranged along the thickness direction of the battery cells; the electric core has at least one through-hole that runs through its thickness, and along first side and the second side of its thickness direction relative setting, wherein: the first side surface is provided with at least one first positioning bulge; the second side surface is provided with first positioning grooves which correspond to the first positioning bulges one by one and can be matched with the first positioning bulges in an inserted manner; the first positioning bulges in the two adjacent battery cores are correspondingly matched with the first positioning grooves in an inserting manner. When installing a plurality of above-mentioned electric cores, can realize the quick installation of electric core through the cooperation and the through-hole of location arch and positioning groove, can solve current battery and have the inconvenient and low problem of installation effectiveness of installation because of electric core is in large quantity.

Specifically, fig. 42 is a schematic structural diagram of a battery cell provided in a sixth embodiment of the present application, fig. 43 is a schematic structural diagram of the battery cell provided in fig. 42 in a direction G, fig. 44 is a schematic structural diagram of the battery cell provided in fig. 43 in a direction H, and fig. 45 is a schematic structural diagram of the battery cell provided in fig. 43 in a direction I. Fig. 42 to 45 show one structure of a cell.

The battery cell 611a has at least one through hole 611a3 penetrating through the thickness thereof, and a first side surface 611a4 and a second side surface 611a7 which are oppositely arranged along the thickness direction thereof, as shown in the battery cell 611a of fig. 42, the battery cell 611a may be a plate-shaped structure, four corners of the battery cell 611a are respectively provided with one through hole 611a3, a battery cell connector 615 or a fastener may be inserted into the through hole 611a3, and a plurality of battery cells 611a or a battery cell module 611 composed of a plurality of battery cells 611a may be assembled together by the battery cell connector 615 or the fastener; in addition, in the thickness direction of the battery cell 611a, the battery cell 611a further has a first side surface 611a4 and a second side surface 611a7, which are disposed oppositely, and the first side surface 611a4 and the second side surface 611a7 may be planar. Wherein:

the first side surface 611a4 is provided with at least one first positioning protrusion 611a5, as shown in fig. 42 and 44, the first side surface 611a4 is provided with one first positioning protrusion 611a5 on the top and the bottom of the battery cell 611a, of course, the number of the first positioning protrusions 611a5 is not limited to two, may be one, or may be multiple, and meanwhile, the position where the first positioning protrusion 611a5 is provided is not limited to the top and the bottom of the battery cell 611a, or may be provided in the middle of the battery cell 611 a.

The second side surface 611a7 is provided with first positioning grooves 611a8 which are in one-to-one correspondence with each first positioning protrusion 611a5 and can be in inserted fit. As shown in fig. 42 and 45, the second side surface 611a7 of the battery cell 611a is also provided with a first positioning groove 611a8 at the top and the bottom, and the position of the first positioning groove 611a8 corresponds to the position of the first positioning protrusion 611a5 provided on the first side surface 611a4 one by one, when two or more battery cells 611a are arranged side by side along the thickness direction thereof, the first positioning protrusion 611a5 can be in plug-in fit with the corresponding first positioning groove 611a8, the plurality of battery cells 611a can be quickly aligned by the plug-in fit of the first positioning protrusion 611a5 and the first positioning groove 611a8, and the aligned battery cells 611a can be relatively fixed.

In the actual use process of the battery cell 611a, because the battery cell 611a is provided with the through hole 611a3, the battery cell connector 615 or the fastener can be inserted into the through hole 611a3, and the battery cell 611a can be assembled or mounted through the battery cell connector 615 or the fastener, so that the mounting of the battery cell 611a is facilitated, and the mounting efficiency is improved; moreover, the battery cells are further provided with a first positioning protrusion 611a5 and a first positioning groove 611a8, and the battery cells 611a can be quickly aligned and accurately positioned by the insertion and matching of the corresponding first positioning protrusion 611a5 and the first positioning groove 611a8 on the adjacent battery cells 611 a; therefore, the battery cell 611a is convenient and quick to mount and can improve the mounting efficiency, and the problem that the conventional battery 1 is inconvenient to mount and low in mounting efficiency due to the large number of the battery cells 611a can be solved by using the battery cell 611 a.

In a specific embodiment, as shown in fig. 42 to 45, the first side surface 611a4 is further provided with at least one second positioning groove 611a 6. The first side surface 611a4 is provided with a second positioning groove 611a6 at the top and the bottom of the battery cell 611a, respectively, of course, the number of the second positioning grooves 611a6 may be the same as or different from the number of the first positioning protrusions 611a5, and the number of the second positioning grooves 611a6 is not limited to two, one, or multiple, and meanwhile, the position of the second positioning grooves 611a6 is not limited to the top and the bottom of the battery cell 611a, and may also be provided in the middle of the battery cell 611a, and the position of the second positioning grooves 611a6 is not limited by the position of the first positioning protrusions 611a5, and the second positioning grooves 611a6 and the first positioning protrusions 611a5 may be disposed in a staggered manner.

The second side surface 611a7 is further provided with second positioning protrusions 611a9, which correspond to each second positioning groove 611a6 in a one-to-one manner and can be matched with each second positioning groove 611a6 in an insertion manner. As shown in fig. 42 and 45, the second side surface 611a7 of the battery cell 611a is also provided with a second positioning protrusion 611a9 at the top and the bottom, and the position and the number of the second positioning protrusions 611a9 are respectively corresponding to the second positioning grooves 611a6 provided on the first side surface 611a4 one by one, when two or more battery cells 611a are arranged side by side along the thickness direction thereof, the second positioning protrusions 611a9 can be in plugging fit with the corresponding second positioning grooves 611a6, the two or more battery cells 611a can be quickly aligned by the plugging fit of the first positioning protrusions 611a5 and the first positioning grooves 611a8, and the second positioning protrusions 611a9 and the second positioning grooves 611a6, and the aligned battery cells 611a can be relatively fixed.

Because the battery cells 611a are further provided with the second positioning protrusion 611a9 and the second positioning groove 611a6, which are convenient for the insertion and matching between the battery cells 611a, when a plurality of battery cells 611a are assembled, the insertion and matching between adjacent battery cells 611a can be realized through the first positioning protrusion 611a5 and the first positioning groove 611a8, and the insertion and matching between the second positioning protrusion 611a9 and the second positioning groove 611a6, so that the quick alignment and the accurate positioning between the battery cells 611a are realized; meanwhile, the battery cells 611a are provided with at least two pairs of positioning protrusions and positioning grooves which are matched in an inserting manner, so that the battery cells 611a can be arranged orderly through the inserting cooperation of the positioning protrusions and the positioning grooves, the work of subsequent steps is facilitated, the assembly time of the battery cells 611a is saved, and the installation efficiency is further improved.

The first side surface 611a4 is provided with two first positioning protrusions 611a5 and two second positioning grooves 611a6, wherein one first positioning protrusion 611a5 and one second positioning groove 611a6 are provided at a position on the first side surface 611a4 close to the top of the battery cell 611a, and the other first positioning protrusion 611a5 and the other second positioning groove 611a6 are provided at a position on the first side surface 611a4 close to the bottom of the battery cell 611 a.

Of course, in the actual production process, two, three or more first positioning protrusions 611a5 may be provided and dispersedly disposed on the first side surface 611a4, and the positions and the number of the first positioning protrusions 611a5 may be set according to actual requirements; the second positioning grooves 611a6 may also be provided with two, three or more, and may be dispersedly provided on the first side surface 611a4, and the arrangement positions and the number of the second positioning grooves 611a6 may be set according to actual needs.

The first positioning protrusion 611a5 and the second positioning protrusion 611a9 may be cylindrical protrusions, that is, the cross-sectional shapes of the first positioning protrusion 611a5 and the second positioning protrusion 611a9 are both circular, and may also be polygonal shapes such as rectangular, trapezoidal, triangular, L-shaped, T-shaped, square, and the like, and correspondingly, the first positioning groove 611a8 and the second positioning groove 611a6 each have a structure matching the corresponding positioning protrusion.

For convenience in installation and positioning, four through holes 611a3 are provided in the battery cell 611a, and the four through holes 611a3 may be respectively provided at four corners of the battery cell 611a, or may be randomly provided at any other positions of the battery cell 611a, as long as the through holes do not coincide with or interfere with the first positioning protrusion 611a5 and the second positioning groove 611a 6.

The number of the at least one through hole 611a3 is not limited to four or one, but may be two, three or more; when the plurality of battery cells 611a are arranged in parallel, the through holes 611a3 of the plurality of battery cells 611a are communicated with each other, and the plurality of battery cells 611a can be fixedly connected together by passing through fasteners such as a round rod, a guide rod and the like, or bolts, screws and the like, in the through holes 611a3, so that the plurality of battery cells 611a form a whole, namely, a battery cell module 611 is formed, and the installation and the assembly of the high-capacity battery are facilitated.

On the basis of the foregoing various embodiments, the battery cell 611a may be a Li-Fe (lithium iron phosphate) battery cell, or may be another type of battery cell 611 a.

Fig. 46 is a schematic structural diagram of a battery cell module according to a sixth embodiment of the present application, and fig. 47 is a schematic structural diagram of a J-direction of the battery cell module provided in fig. 46. Further, as shown in fig. 46 and 47, the cell module 611 includes a plurality of the battery cells 611a provided in any of the above embodiments. Fig. 46 shows a top view of the four battery cells 611a arranged side by side, and fig. 47 shows a left side view of the four battery cells 611a arranged side by side.

The plurality of battery cells 611a are arranged in parallel in the thickness direction thereof, and the arrangement direction of the battery cells 611a coincides with the thickness direction of the battery cells 611 a. As shown in fig. 46, the battery cell module 611 includes four battery cells 611a arranged in parallel, and may also include two, three, five or more battery cells.

In the plurality of battery cells 611a, two adjacent battery cells 611a are respectively a first battery cell and a second battery cell. The first positioning protrusion 611a5 of the first battery cell is in plug-in fit with the corresponding first positioning groove 611a8 of the second battery cell, and the second positioning groove 611a6 of the first battery cell is in plug-in fit with the corresponding second positioning protrusion 611a9 of the second battery cell. As for the battery cell module 611 shown in fig. 46, four battery cells 611a in the battery cell module 611 are sequentially arranged and assembled together through the mutual insertion and engagement of the positioning protrusions and the positioning grooves. Each battery cell 611a of the battery cell module 611 can also be fixedly assembled together through a through hole 611a3 arranged on the battery cell 611a by a battery cell connector 615 or a fastener, or a plurality of battery cells 611a can be bound and fixed together by a binding member such as a rope or an adhesive tape, or a plurality of battery cells 611a can be fixed together by a housing sleeved on the periphery of the battery cell module 611.

Based on the above technical solution, fig. 48 is an exploded view of a battery provided in a sixth embodiment of the present application, fig. 49 is a schematic structural view of assembly among a plurality of modules provided in the sixth embodiment of the present application, fig. 50 is a schematic structural view of assembly of a plurality of modules provided in the sixth embodiment of the present application and a case, fig. 51 is a schematic structural view of the battery in fig. 48 with a cover removed, and fig. 52 is a partial schematic structural view of the battery in fig. 48. The battery shown in fig. 48 to 52 may be specifically the first battery assembly 3 described above. The battery includes: the battery cell module 611.

The battery shown in fig. 49 includes a plurality of cell modules 611 arranged in a stack, and the cell modules 611 are electrically connected to each other. The box 612 is used for accommodating the battery cell module 611, and an opening (referred to as a box opening 6121) is provided on the box 612. In the process of assembling the battery, the battery cell module 611 is mounted in the case 612 through the case opening 6121.

The cover 613 is fixedly attached to the housing 612 for sealing the housing opening 6121.

A second sealing member 614 is installed between the case 612 and the cover 613 for sealing a gap between the case 612 and the cover 613. After the cell module 611 is mounted in the box 612, the cover 613 is fixedly connected to the box 612, and the second sealing member 614 is clamped between the box 612 and the cover 613, so that the cover 613 is hermetically connected to the box opening 6121 of the box 612, and the cell module 611 is sealed in the box 612, thereby completing the assembly of the battery.

Because the battery cells 611a are provided with the first positioning protrusions 611a5 and the first positioning grooves 611a8, the battery cell module 611 can be assembled quickly by the inserting and connecting cooperation of the corresponding first positioning protrusions 611a5 and the corresponding first positioning grooves 611a8 on the adjacent battery cells 611a, and then the installation speed and the installation efficiency of the battery can be improved.

In order to further improve the sealing performance of the battery, the box 612 may further be provided with a sealing groove (referred to as a box sealing groove 6122) for embedding the second sealing member 614. The second seal 614 is retained by the case seal groove 6122 provided in the case 612, and the second seal 614 is prevented from falling off by the pressure of the cover 613 and the case 612, and the second seal 614 is always held between the case 612 and the cover 613, so that the second seal 614 performs its actual sealing function. The second sealing element 614 may be a sealing member having a sealing function, such as a sealing ring or a sealing plate, or may be another sealing structure, such as a sealant.

In order to integrate the cell module 611, the battery may further include a connector (referred to as a cell connector 615) inserted into the through hole 611a3, wherein the cell connector 615 is used to connect a plurality of cells 611a in series. The cell connecting member 615 may be a round rod, a bolt, a screw rod, or other components having connecting and fastening functions.

Can connect into a whole with electric core module 611 through electric core connecting piece 615, be convenient for the integral erection and the transport between a plurality of electric core modules 611, and then improve the assembly speed of battery.

In order to fix the position of the battery cell module 611 in the box 612, a groove (referred to as a box groove 6123) which extends in the vertical direction and corresponds to the battery cell connector 615 is formed in the inner wall of the box 612, and two ends of the battery cell connector 615 are in sliding fit with the corresponding box grooves 6123.

When placing battery cell module 611 in box 612, battery cell connector 615 protrudes from the end of battery cell module 611 and can extend into corresponding box groove 6123, and through the cooperation of the end of battery cell connector 615 and box groove 6123, the displacement of battery cell connector 615 in box 612 is limited, so that the battery cell module 611 is limited, and the battery cell module 611 is prevented from moving in box 612.

When at least one of the battery cell modules 611 in the battery is two or more, the battery cell modules 611 are distributed in the box 612 in an array.

Spacers 616 are provided between the cell modules 611 in the arrangement direction of the cells 611 a.

The spacer 616 is provided with a first mounting hole for penetrating the first positioning protrusion 611a5 and the second positioning protrusion 611a9, and a second mounting hole in one-to-one correspondence communication with the through hole 611a3 of the battery cell 611 a.

The spacer 616 that sets up between the battery cell module 611 can separate battery cell module 611, and spacer 616 can be for adiabatic for prevent that heat from gathering and producing the potential safety hazard between the battery cell module 611.

The battery also includes oil filled in the case 612.

Since the oil is filled in the case 612 of the battery, the space in the case 612 is filled with the oil, and the cover 613 and the case 612 are hermetically connected to each other, thereby preventing the oil from leaking to the outside of the case 612. When the battery is used for a submersible and works under seawater, the oil filled in the box body 612 can prevent the box body 612 from deforming under the action of water pressure, the structural strength of the battery can be improved, the seawater outside the battery can be prevented from entering the box body 612, and the working reliability of the battery is further improved.

The oil may be heat transfer oil, and is used to cool the battery cell 611 a.

In addition to the various embodiments of the battery described above, the cover 613 may be attached to the case 612 by a fastener such as a screw 617, and the positive and negative electrodes 618 electrically connected to the electric devices may be provided outside the case 612. The box 612 may be a cuboid, a cube, a cylinder, or a similar cuboid structure as shown in fig. 48, and the specific structural shape of the box 612 may be designed according to actual needs.

EXAMPLE seven

The submersible may also be provided with propulsion means for providing propulsion for underwater movement of the submersible. The embodiment provides a specific implementation manner of the propulsion device:

fig. 53 is a schematic structural diagram of a side plate provided with a rotary driving device and a propeller according to a seventh embodiment of the present application. As shown in fig. 1 to 4 and 53, the propulsion device may include: a first impeller 71 and a rotary drive 74. Wherein, the rotary driving device 74 is arranged on the side plate 21, connected with the first propeller 71 and used for driving the first propeller 71 to rotate. When the first propeller 71 rotates to the propelling direction which is the front-rear direction, the submersible can be driven to move forwards or backwards; when the first propeller 71 rotates to the propulsion direction which is the left-right direction, the submersible can be driven to move left or right; when the first propeller 71 is rotated so that the propulsion direction is the up-down direction, the submersible can be driven to move up or down.

The position of the first thruster 71 on the frame structure 2 may be set according to the shape of the frame structure 2, the weight distribution of the people pod 1 and the frame structure 2.

For example: three pairs of six first pushers 71 may be provided. The first pair of first thrusters 71 are symmetrically arranged on the two side plates 21, and are located in a vertical plane where the center of gravity of the submersible vehicle is located, and the first thrusting direction of the first pair of first thrusters may be in an up-and-down direction. The first pair of first propellers 71 can be driven to rotate by the rotary driving device 74, and the propelling direction thereof can be adjusted to a second propelling direction, which can be a front-back direction or a left-right direction. The first propulsion direction may be the propulsion direction of the first propeller 71 in normal state, and only rotate to the second propulsion direction when needed, for example: the normal propulsion direction of the first propeller 71 is the up-down direction, and when it is necessary to propel in the same direction with other propellers or a propeller fails, the first propeller 71 is rotated to the left-right direction or the front-rear direction.

The second pair of first propellers 71 are symmetrically arranged on the two side plates 21, are positioned in a vertical plane where the center of gravity of the submersible is positioned, and are positioned below the first pair of first propellers 71. The first propulsion direction (i.e., the normal propulsion direction) of the second pair of first propellers 71 may be the left-right direction. The second pair of first propellers 71 can be driven to rotate by the rotary driving device 74, and the propelling direction thereof is adjusted to a second propelling direction, namely: a front-back direction or an up-down direction.

The third pair of first thrusters 71 are provided on the side plate 21 at a position half the height of the vehicle and near the rear end of the side plate 21, and the first thrusting direction (i.e., the normal thrusting direction) thereof may be the forward-backward direction. The third pair of first propellers 71 can be driven to rotate by the rotary driving device 74, and the propelling direction thereof is adjusted to the second propelling direction, namely: left-right direction or up-down direction.

The first propulsion direction and the second propulsion direction are relative to one propeller and do not absolutely refer to one direction.

When one of the six first propellers 71 fails, the other first propellers 71 may be rotated to turn in the same propulsion direction as the failed first propeller 71, instead of the failed first propeller 71. For example: when the first propeller 71 having the normal propulsion direction as the front-rear direction fails, the first propeller 71 having the normal propulsion direction as the up-down direction is driven to rotate by the rotary drive device 74 so that the propulsion direction is changed to the front-rear direction, instead of the failed first propeller 71.

Alternatively, when the vehicle needs to be moved quickly in the forward-backward direction, the first pusher 71 whose normal pushing direction is the up-down direction may be driven by the rotary driving device 74 to rotate so that the pushing direction is changed to the forward-backward direction, and the vehicle may be pushed together with the first pusher 71 whose normal pushing direction is the forward-backward direction.

In the scheme, the first propellers are driven to rotate by the rotary driving device, so that the first propellers can be cooperatively propelled, and the propelling speed is increased; or when a certain first propeller fails, other first propellers can rotate to replace the failed first propeller, so that the submersible can still move according to the preset direction, the reliability of the propelling function is improved, and the normal underwater detection task cannot be influenced.

To the above technical solution, this embodiment provides a specific implementation manner:

the first pushers 71 are two in number and symmetrically disposed on the outer side surfaces of the two side plates 21. The normal propulsion direction of the first propeller 71 is the up-down direction. The first propeller 71 is positioned in the vertical plane where the center of gravity of the submersible is positioned and is positioned at the upper part of the frame structure, so that when the first propeller 71 works, the head and the tail of the submersible can keep balance, and the serious bow inclination or stern inclination is avoided.

In addition to being provided with the first thruster 71, the frame structure 2 also comprises: the second propellers 72, two in number, are symmetrically disposed on the outer side surfaces of the two side plates 21, and the propelling direction thereof may be fixed in the front-rear direction. The second pusher 72 is fixed to the side plate 21 and is not rotatable. The second thruster 23 has a level half the overall height of the vehicle, i.e.: the second propeller 23 is positioned in the middle horizontal plane of the height of the submersible and is positioned at the position of the side plate 21 close to the rear end, so that when the second propeller 23 works, the head and the tail ends of the submersible can keep balance, and the serious bow inclination or stern inclination is avoided.

The frame structure 2 further comprises: a third propeller 73 is provided so as to extend between the side plates 21 and is fixed in a left-right direction. The third pusher 73 is fixed between the two side plates 21 and is not rotatable. The third propeller 73 is positioned close to the center of gravity of the submersible, so that when the third propeller 73 works, the head and tail ends of the submersible can be kept balanced, and the serious forward inclination or stern inclination is avoided. If the third propeller 73 is offset from the centre of gravity, which would result in a slight horizontal rotation of the vehicle when the third propeller 73 is operated, the vehicle can be prevented from rotating by controlling the operation of the second propellers 72 on both sides.

The rotary driving device 74 is disposed on the side plate 21, and is connected to the first propeller 71 for driving the first propeller 71 to rotate in the vertical plane. The vertical plane may be a plane parallel to the front-rear direction, or may be a plane parallel to the left-right direction. In this embodiment, the rotary driving device 74 can drive the first propeller 71 to rotate in a vertical plane parallel to the front-rear direction, instead of or in combination with the second propeller 72.

The first and

second propellers

71, 72 may each be of a construction commonly used for submersibles, such as: the submersible comprises a shell, blades and a driving motor, wherein the shell is connected to a side plate 21, the driving motor is connected to the shell and used for driving the blades to rotate, and eddy currents generated by rotation of the blades promote surrounding liquid to flow orderly so as to push the whole submersible to move.

The third pusher 73 may have the same structure as the first pusher 71 and the second pusher 72 and may be connected between the two side plates 21 by a cross member. Alternatively, the third impeller 73 may be modified from existing impellers, such as: the length of the housing is long and the two ends of the housing can be directly connected to the two side plates 21.

In the present embodiment, the third pusher 73 in the left-right direction is used, so that not only the left-right pushing function can be realized, but also the side plate 21 can be supported. Compared with the prior art that at least two propellers in the left and right directions need to be arranged on the frame structure 2, the propeller in the left and right directions can achieve the propelling effect, the weight of the frame structure can be reduced, and the requirements on floating and submerging power are reduced.

The number of the rotary driving devices 74 may be the same as that of the first propellers 71 and connected correspondingly, so that one rotary driving device 74 is used for driving one first propeller 71 to rotate. In this embodiment, two first propellers 71 are symmetrically arranged on the two side plates 21, and a rotation driving device 74 is connected to the two first propellers 71 respectively to drive the two first propellers 71 to rotate synchronously.

The rotary drive 3 can be implemented in various ways, for example: the rotation driving device 3 includes: mounting panel, driver and drive mechanism. Wherein, the mounting panel fixed connection is on curb plate 21, and the driver fixed connection is on the mounting panel. The transmission mechanism is connected to the mounting plate and is respectively connected with the driver and the first propeller 71, and the driver is used for driving the transmission mechanism to act and driving the first propeller 71 to rotate.

Fig. 54 is an enlarged view of the region K in fig. 53. As shown in fig. 53 and 54, the present embodiment provides a specific implementation manner for the rotation driving device 74: the rotation driving device 74 includes: the mounting plate 741, a driver and a transmission mechanism, wherein the mounting plate 741 is connected to the side plate 21; the driver is connected to the mounting plate 741; the transmission mechanism is connected to the mounting plate 741, and is connected to the driver and the first propeller 71, respectively, and the driver can drive the transmission mechanism to rotate and drive the first propeller 71 to rotate.

Specifically, the drive motor 742 is used as a driver and fixed to the mounting plate 741. The transmission mechanism includes: a driving wheel 743, a driven wheel 744 and a link 745, wherein the driving wheel 743 is coaxially connected with an output shaft of the driving motor 742, so that the driving wheel 743 is directly driven by the driving motor 742 to rotate. The driving wheel 743 and the driven wheel 744 are chain wheels, teeth are arranged at the wheel edges of the driving wheel 743 and the driven wheel 744 and are used for being meshed with the chain 746, and the chain 746 is sleeved on the driving wheel 743 and the driven wheel 744 and is used for transmitting the rotation moment of the driving wheel 743 to the driven wheel 744 so as to enable the driven wheel 744 to rotate. Driven pulley 744 is coaxially connected to link 745, which in turn rotates link 745. The connecting rod 745 spans the two side plates 21, and two ends of the connecting rod 745 are connected with the two first propellers 71 to drive the two first propellers 71 to rotate.

In addition to the arrangements described above, the primary 743 and secondary 744 wheels may also be intermeshing gears. Alternatively, the driving wheel 743 and the driven wheel 744 are pulleys, and are sleeved on the driving wheel 743 and the driven wheel 744 through a belt to realize transmission of the rotation torque.

The driver may also adopt a pneumatic driver or a hydraulic driver, etc., and the manner of connecting with the transmission mechanism is not limited to the above manner provided by the embodiment, and may also be implemented in other manners, such as: it is also possible to use a worm gear in combination with a worm screw, which is used in place of the link 745.

The above-mentioned rotation drive 74 is arranged at one side of the frame structure 2 in connection with one of the side plates 21. Specifically, through holes through which the link 745 passes are opened in the two side plates 21. The two ends of the connecting rod 745 are respectively connected with the first thruster 71 after passing through the through holes on the side plates 21.

Fig. 55 is an exploded view of a third thruster, a sleeve, and a skirt according to a seventh embodiment of the present application. As shown in fig. 53 and 55, the third impeller 73 is disposed within the sleeve 75 using the sleeve 75 spanning between the two side plates 21. The third impeller 73 may have the same structure as the first impeller 71.

The sleeve 75 includes a cylinder 751 and mounting flanges 752 provided at both ends of the cylinder 751. The cylinder 751 is a cylindrical cylinder, mounting flanges 752 are provided on the outer circumferential surfaces of both ends of the cylinder 751, and bolt holes are provided on the mounting flanges 752. Correspondingly, bolt holes are formed in the side plates 21, and both ends of the cylinder 751 are fixed to the inner sides of the two side plates 21 by bolts.

Through holes coinciding with the center lines of the cylinder 751 are opened at positions of the two side plates 21 corresponding to the cylinder 751 so that the internal space of the cylinder 751 is communicated with the external environment.

Alternatively, both ends of the cylinder 751 may penetrate the side plate 21, and a mounting member may be provided outside the side plate 21 to fix the cylinder 751 to the side plate 21, for example, a structure similar to the above-described intermediate connector for fixing the electronic tank may be adopted, and this embodiment will not be specifically described.

The third pusher 73 may be an interference fit with the sleeve 75 to secure the third pusher 73 within the sleeve 75. Alternatively, an opening through which the third pusher 73 passes is provided in the sleeve 75, and the sleeve cover 753 is provided to cover the opening, thereby restricting the third pusher 73.

The present embodiment also provides an implementation of the thruster, which may be the first thruster 71, the second thruster 72 and/or the third thruster 73 described above. In this embodiment, only the first pusher 71 is taken as an example, and the structure thereof will be specifically described:

fig. 56 is a schematic structural view of a first propeller according to a seventh embodiment of the present disclosure, fig. 57 is a partial sectional view of the first propeller according to the seventh embodiment of the present disclosure, and fig. 58 is an axial view of a rotor of the first propeller according to the seventh embodiment of the present disclosure. As shown in fig. 56 to 58, the first impeller 71 includes a housing 711, a stator 712, and a rotor 713. Wherein the rotator 713 includes: permanent magnets 7131 disposed around the circumference of the housing 711, and propeller blades 7132 connected to the permanent magnets 7131; the propeller blades 7132 extend in the radial direction of the housing 711. The driving force is generated by the rotation of the propeller blades 7132 of the rotor 713.

The first pusher 71 further includes at least one cutting mechanism 715 disposed in the housing 711, and the at least one cutting mechanism 715 is used to cut foreign objects entering the housing 711. As shown in the structure of fig. 57, two cutting mechanisms 715 are provided in the housing 711 of the first pusher 71, and the two cutting mechanisms 715 are respectively provided on both sides of the rotator 713, and the axial line of the cutting mechanisms 715 coincides with the axial line P of the housing 711.

When foreign matters such as aquatic plants enter the housing 711 in the operation process of the first propeller 71, the foreign matters rotate along with the rotor 713, the cutting mechanism 715 can cut the foreign matters such as the aquatic plants, the foreign matters are cut off, the foreign matters are prevented from being wound on the rotor 713 to prevent the rotor 713 from rotating normally, and the cut small foreign matters are separated from the housing 711 under the action of water flow, so that the first propeller 71 is prevented from being broken due to the winding of the foreign matters such as the aquatic plants, and the submersible provided with the first propeller 71 can work normally.

Further, the cutting mechanism 715 includes a first cutting mechanism and a second cutting mechanism, wherein:

in the axial direction of the housing 711, a first cutting mechanism is provided at one side of the rotator 713, and a second cutting mechanism is provided at the other side of the rotator 713. After the foreign matters enter the shell 711 through the cutting mechanism 715 on one side, the foreign matters can be cut through the cutting mechanism 715 on the other side, so that the influence of the foreign matters on the rotor 713 can be further reduced, the probability of failure of the first propeller 71 is reduced, and the working reliability and stability of the submersible vehicle are further improved.

Fig. 59 is an axial view of the cutting mechanism of the first pusher provided in the seventh embodiment of the present application. Specifically, as shown in fig. 59, each of the cutting mechanisms 715 may include: a bracket 7151 and at least one cutting blade 7152.

One end of the bracket 7151 is fixedly connected to the housing 711, and the other end extends in the radial direction of the housing 711 toward the axial line P of the housing 711. At least one cutting blade 7152 is mounted to an end of the bracket 7151 remote from the housing 711, extending in a radial direction of the housing 711.

The holder 7151 may be a rod-shaped holder as shown in fig. 59, or may be any other holder 7151 as long as the cutting blade 7152 can be fixed in the housing 711, and the holder 7151 is a carrier of the cutting blade 7152 and is used for fixing the cutting blade 7152 in the housing 711 to realize a cutting function on a foreign object.

In order to improve the cutting efficiency of the cutting mechanisms 715, one, two, three, or more cutting blades 7152 may be provided per cutting mechanism 715, and four cutting blades 7152 are provided in fig. 59, and the cutting blades 7152 may be uniformly distributed around the circumference of the axial line P of the housing 711.

In the above-described cutting mechanism 715, each cutting blade 7152 is detachably attached to the holder 7151. Therefore, the cutting blade 7152 can be detached and replaced when problems occur or the requirements are not met, the detached cutting blade 7152 is convenient to maintain, the cutting blade 7152 is convenient to detach and assemble under the condition that the requirements are met, and the cutting blade 7152 can be reused, and materials and cost are saved.

The axis of each cutting mechanism 715 may coincide with the axis of the rotor 713, the axis of each cutting mechanism 715, the axis of the rotor 713, and the axis P of the housing 711 may coincide, but the axis of the cutting mechanism 715 may not coincide with the axis of the rotor 713, that is, the axis of the cutting mechanism 715 may be offset from the axis P of the housing 711.

Fig. 60 is an axial view of the reverse flow main pushing mechanism of the first pusher according to the seventh embodiment of the present application. As shown in fig. 57 and 60, the first impeller 71 further includes a flow guiding boosting mechanism 716 disposed on the housing 711, and the flow guiding boosting mechanism 716 is configured to guide the fluid passing through the flow guiding boosting mechanism 716 and obtain an auxiliary thrust through the fluid.

The flow guide boosting mechanism 716 additionally arranged on the first propeller 71 can obtain auxiliary thrust, that is, the driving force of the first propeller 71 can be improved by the flow guide boosting mechanism 716 under the condition of consuming the same energy, that is, under the condition of providing the same large power, the first propeller 71 provided with the flow guide boosting mechanism 716 can consume less energy, so that the energy consumption of the first propeller 71 can be reduced, and the cruising ability is improved.

In order to further improve the driving efficiency of the first propeller 71, two guide assist mechanisms 716 are provided at both ends of the housing 711 in the axial direction. The guiding and boosting mechanism 716 specifically includes: a cover 7161 mounted to an end of the housing 711, and a blade 7162 fixedly coupled to an inner wall of the cover 7161.

The blades 7162 in both of the guide boost mechanisms 716 are rotated in the same direction, but in the opposite direction to the propeller blades 7132. When the fluid flows through the housing 711, the rotor 713 consumes energy to generate power, so that the fluid forms a rotary flow under the action of the rotor 713 when flowing through the rotor 713, and the water flow of the rotary flow forms reverse thrust when passing through the two blades 7162 with the opposite rotating directions to the propeller blades 7132, so that the first propeller 71 obtains additional driving force, and therefore, the driving efficiency of the first propeller 71 can be improved by additionally arranging the flow guiding and boosting mechanism 716, the energy consumption is reduced, and the cruising ability is improved.

As shown in fig. 57, the cutting mechanism 715 may be disposed between the flow guide boost mechanism 716 and the propeller blades 7132 along the axial direction of the housing 711.

Example eight

Fig. 61 is a front end view of the submersible according to the eighth embodiment of the present invention, and fig. 62 is a plan view of the manipulator according to the eighth embodiment of the present invention in a deployed state. As shown in fig. 2, 61 and 62, the submersible further includes a robot 91 attached to the side panel 21. The manipulator 91 can be deployed to grab objects under water, and can also be retracted to be held under the people pod 1. A storage basket 92 is arranged below the manipulator 91 and used for storing objects grabbed by the manipulator 91.

The front end of the passenger compartment 1 is provided with an observation window 13, and passengers can watch the environment outside the compartment through the observation window 13. The robot 91 is disposed below the observation window 13.

The construction of the robot 91 can be carried out in a manner commonly used in the art, for example: the robot 91 includes: shoulder, big arm, elbow, small arm, wrist, and paw. The gripper is directly contacted with an object to complete the grabbing action, the wrist is a movable part connected between the gripper and the small arm, the elbow is a movable part connected between the small arm and the large arm, the shoulder is a movable part connected between the large arm and the side plate 21, and the wrist, the elbow and the shoulder are used for determining the working position and posture of the gripper and properly expanding the action range of the manipulator.

The manipulator 91 extends a distance ahead of the vehicle during operation and then is deployed to avoid collision with the observation window 13 of the passenger compartment 1. The fixed sleeve is adopted to be fixed on the side plate 21, the telescopic rod is inserted into the fixed sleeve and can be stretched relative to the fixed sleeve, and the end part of the telescopic rod is connected with the manipulator 91. When the telescopic rod extends out of the fixed sleeve, the manipulator 91 can be driven to extend forwards.

Fig. 63 is a schematic structural view of the connection between the bottom bracket and the side plate according to the eighth embodiment of the present application. As shown in fig. 1, 2, 3, 63, the frame structure 2 further includes: a submersible support 93 for supporting the vehicle when it is landed and also to prevent the frame structure 2 from sinking into underwater deposits. This sit the base support and include: a seat bottom connecting rod 931, a seat bottom connecting piece 932 and a seat bottom 933. Wherein, the bottom connecting rod 931 is inserted into the bottom of the two side plates 21. The seat bottom connector 932 is connected to the end of the seat bottom connecting rod 931, and the seat bottom connector 932 is further connected to a base 933. The base 933 is located below the two side plates 21.

Both ends of the seat bottom connecting rod 931 are bent toward the base 933 to be connected to the seat bottom connecting member 932. The number of the bottom connecting rods 931 is two, and the two bottom connecting rods 931 are parallel.

When the submersible lands underwater, the force of impact of the ground against the footing bracket 93 is large, and the connection between the side plates 21 using the footing connecting rods 931 reduces the displacement of the side plates 21 in the lateral direction, and can reduce the deformation of the frame structure 2 to some extent.

The seat bottom connecting rods 931 and the seat bottom connecting pieces 932 are made of titanium alloy materials with high strength, the base 933 is made of wood materials, the width of the bottom surface of the base 933 is large, on one hand, the frame structure 2 can be placed to sink into deposits, and on the other hand, the manned cabin and parts which are arranged on the frame structure 2 and lean to the lower position can be protected.

Fig. 64 is an exploded view of the side plate and buoyancy block, and hull of the eighth embodiment of the present application, and fig. 65 is a rear end view of the submersible of the eighth embodiment of the present application. As shown in fig. 64 and 65, the frame structure 2 further includes: the buoyancy block 94 may be made of a less dense material. The buoyancy block 94 may be disposed at the top, rear, or bottom ends of the side plates 21, or may be disposed between two side plates 21.

The buoyancy block 94 provides positive buoyancy to the vehicle to meet the buoyancy and submergence requirements. The buoyancy block 94 is streamlined and may be shaped according to the shape of the side plate 21 to reduce the liquid resistance. The buoyancy block 94 has a certain ability to withstand high pressure and also has low water absorption and volumetric shrinkage. The buoyancy block 94 is provided as a block structure, and can be set according to the shape and position of each component provided on the frame structure 2, which can reduce the difficulty of processing and the processing cost.

Further, a hard outer shell 95 is provided on the outer surface of the buoyancy block 94 to protect the buoyancy block 94 from collision with external objects. The housing 95 is formed in a streamline shape according to the shape of the side plate 21, and movement resistance can be reduced.

Example nine

The embodiment is based on the above embodiment, and optimizes the submersible, especially further optimizes the manned cabin.

In the embodiment, the equipment rack is arranged in the manned cabin 1, the equipment rack can widen the activity space of passengers in the cabin, and is more convenient for observing each equipment on the equipment rack so as to know the working state of the submersible in time.

Fig. 66 is a schematic structural view of the equipment rack provided in the passenger compartment in the ninth embodiment of the present application, and fig. 67 is a bottom view of the equipment rack provided in the ninth embodiment of the present application. As shown in fig. 66 and 67, the equipment rack 14 is disposed in the cabin 11, is located at the top of the cabin 11, is disposed around the inner wall of the cabin 11 to form a cylindrical structure, and is fixed on the inner wall of the cabin 11. The equipment control devices 141 are disposed on the inner side surface of the equipment rack 14, which is the surface facing the inside of the cabin 11.

Because the equipment frame 14 is of a cylindrical structure, the bottom part to the top part of the cabin body 11 is communicated, so that the movement space of personnel in the manned cabin is increased, the passengers can move in the cabin body 11 more conveniently, the comfort is improved, and particularly, the passengers with high height can stand straight in the cabin body 11 and are not limited by height and have to lower heads for operation.

The equipment rack 14 may have a cylindrical structure: a straight cylindrical structure (i.e., a prism cylinder or a cylindrical cylinder), a cylindrical structure with a trapezoidal longitudinal section (i.e., a pyramid cylinder or a conical cylinder), a cylindrical structure with curved edges or generatrices, or other cylindrical structures. For a cylindrical structure with curved edges or curved generatrices, if the edges are curved, the cross section of the equipment rack 14 is polygonal, and if the generatrices are curved, the cross section of the equipment rack 14 is circular or elliptical.

The equipment rack 14 may be configured as a cylindrical structure having a trapezoidal longitudinal cross section, and the cross sectional area thereof gradually increases from top to bottom. The inner side surface of the equipment frame 14 facing the interior of the cabin 11 has a certain included angle with the vertical direction, and the equipment control device 141 is arranged on the equipment frame, so that the working state indicated by the equipment control device 141 can be clearly seen by a passenger in the cabin 11 slightly raising the head, the convenience is improved, and the work efficiency is favorably improved.

Further, the horizontal cross section of the equipment rack 14 may be polygonal, circular, elliptical, long circular, or the like, and may be set according to the shape of the cabin 11. In this embodiment, the cabin 11 is a spherical structure, and the longitudinal section of the equipment rack 14 may be an isosceles trapezoid, so that the shape of the equipment rack matches with that of the cabin 1.

Fig. 68 is a schematic structural diagram of an equipment rack according to a ninth embodiment of the present application. As shown in fig. 68, the equipment rack 14 may specifically include: the rack 142 and the equipment mounting plate 1424 circumferentially disposed on the rack 142, the equipment control device 141 may be disposed on the equipment mounting plate 1424. The device mounting plate 1424 may be connected to the frame 142 by welding, clamping, screwing, or the like. Alternatively, the frame 142 and the device mounting plate 1424 may also be an integral structure, and may be formed by injection molding using a plastic material with high hardness, or made of a metal material.

The frame 142 surrounds the inner wall of the cabin 11 to form a cylindrical structure, which may be: a straight tubular structure (i.e., a prism tube or a cylinder tube), a tubular structure with a trapezoidal longitudinal section (i.e., a pyramid tube or a cone tube), a tubular structure with curved edges or generatrices, or other tubular structures. For a cylindrical structure with curved edges or curved generatrices, if the edges are curved, the cross section of the frame body 142 is polygonal, and if the generatrices are curved, the cross section of the frame body 142 is circular or elliptical.

In addition, the frame body 142 may be a cylindrical structure formed by enclosing a plate-shaped structure end to end around a center line, that is: only two ends of the frame body 142 along the center line are empty; alternatively, the frame 142 may be formed by joining a plurality of sectional materials into a cylindrical structure, and the circumferential surface thereof has a hollow portion.

To the implementation mode that the circumferential surface of the frame body 142 has a hollow portion, the frame body 142 may be a square frame body, a circular ring body, an elliptical ring body, or the like, and the specific shape may be set according to the shape of the cabin 11. In this embodiment, the frame 142 is a circular ring frame. The device mounting plate 1424 is circumferentially disposed on the frame body 142 for mounting the device control device 141. The shape of the device mounting plate 1424 may be adapted to the shape of the rack 142, such as: if the frame body 142 has a polygonal tubular shape, the device mounting plate 1424 may have a flat plate shape or an arc plate shape; if the frame body 142 is cylindrical, the device mounting plate 1424 may have a flat plate shape or an arc plate shape.

This embodiment provides a specific implementation of support body 142:

fig. 69 is a schematic structural view of a frame body in an equipment frame provided in the ninth embodiment of the present application. As shown in fig. 69, the holder 142 includes: a first ring 1421, a second ring 1422, and a ring connector 1423. The diameter of the second ring 1422 is larger than that of the first ring 1421, and the second ring 1422 is located below the first ring 1421. The first ring 1421 and the second ring 1422 are coaxial, and the axis is parallel to the vertical direction.

The number of the ring connectors 1423 may be at least one, and at least one ring connector 1423 is connected between the first ring 1421 and the second ring 1422. The connecting ring 1423 may be a linear rod-like structure, an arc-like rod-like structure, an elongated sheet-like structure, or other shapes. The ring connector 1423 shown in fig. 33 is in a willow-leaf shape, and is perpendicular to the section of the first ring 1421. The annular connecting member 1423 has a first edge 1423a facing the outside of the nacelle 11 and a second edge 1423b facing the inside of the nacelle 11, and the first edge 1423a has the same curvature change rule as the nacelle 11.

The frame body 142 is further provided with at least two device mounting plates 1424, and the device mounting plates 1424 are circumferentially disposed between the first ring 1421 and the second ring 1422. The above-described device control device 3 is provided on the device mounting plate 1424.

When the number of the device mounting plates 1424 is one, the device mounting plates 1424 may be an integral structure disposed along the circumferential direction formed by the first ring 1421 and the second ring 1422.

Alternatively, when the number of the device mounting plates 1424 is two or more, the two or more device mounting plates 1424 are arranged along the circumferential direction formed by the first ring 1421 and the second ring 1422. The device mounting plate 1424 may be wrapped outside the annular ring connector 1423, i.e.: the equipment mounting plate 1424 is positioned between the annular connecting members 1423 and the cabin 1, or the equipment mounting plate 1424 may be positioned between two adjacent annular connecting members 1423.

In this embodiment, the number of the ring connectors 1423 is six, and the ring connectors are uniformly arranged along the circumferential direction of the first ring 1421 and the second ring 1422. The number of the device mounting plates 1424 is also six, and one device mounting plate 1424 is disposed between two adjacent circular ring connectors 1423.

Fig. 70 is a perspective view of an equipment mounting plate in an equipment rack according to a ninth embodiment of the present application. As shown in fig. 70, the equipment mounting plates 1424 are curved plates that are arched toward the inside of the second ring 1422, and six equipment mounting plates 1424 are arranged to collectively enclose a bell-mouth shape. The second edge 1423b of the annular connecting member 1423 has the same shape change rule as the device mounting plate 1424, and the size of the annular connecting member 1423 is also set according to the shape of the device mounting plate 1424, so that the second edge 1423b and each device mounting plate 1424 have better continuity, and the visual effect of the device rack 142 is improved.

As for the fixing manner of the device mounting plate 142, the first ring 1421, the second ring 1422, and the ring connector 1423, there are various implementation manners:

the device mounting plate 1424 is detachably connected to the frame 142, for example: the horizontal both ends of equipment mounting panel 1424 adopt bolted connection with ring connector 1423, or the mode that the vertical both ends of equipment mounting panel 1424 adopted bolted connection or buckle connection with first ring 1421 and second ring 1422 respectively.

Alternatively, the bottom end of the device mounting plate 1424 in the longitudinal direction is rotatably connected to the second ring 1422, and the top end of the device mounting plate 1424 in the longitudinal direction is detachably connected to the first ring 1421. Specifically, a hinge may be connected between the bottom end of the device mounting plate 1424 and the second ring 1422, so that the device mounting plate 1424 can rotate relative to the second ring 1422; and a bolt hole or a snap is provided at a top end of the device mounting plate 1424 to be connected or snapped with the first ring 1421 by a bolt. When maintenance of the equipment control device 141 is required, the connection between the top end of the equipment mounting plate 1424 and the first ring 1421 is released, and then the equipment mounting plate 1424 is rotated downward relative to the second ring 1422 until the surface of the equipment mounting plate 1424 facing the outside of the nacelle 11 is exposed to the maintenance personnel.

Fig. 71 is a schematic structural view illustrating that an apparatus mounting plate of an apparatus rack according to a ninth embodiment of the present application is connected to a rack body by a spring hinge. As shown in fig. 71, the bottom end of the device mounting plate 1424 is connected to the second ring 1422 by a spring hinge 1425. the spring hinge 1425 may be of a construction commonly used in the art, such as: the wardrobe door and the airplane cabin luggage case cover are of structures.

Fig. 72 is a schematic structural diagram illustrating an apparatus mounting plate in an apparatus rack according to a ninth embodiment of the present application in an open state. When it is desired to perform maintenance on the machine control element 141, the maintenance person directly manually pulls the machine mounting plate 1424 downward relative to the second ring 1422 until the device mounting plate is fixed in position, as shown in fig. 72.

Fig. 73 is a schematic structural diagram illustrating a closed state of an equipment mounting plate in an equipment rack according to a ninth embodiment of the present application. When the maintenance is completed, the maintenance worker pulls the device mounting plate 1424 upward, and the device mounting plate 1424 can automatically rotate upward to a position where it is attached to the first ring 1421 by the elastic force of the spring hinge 1425 itself, and is always kept at this position, as shown in fig. 73. The mode that adopts spring hinge 1425 to connect not only can reduce the structure of simplifying equipment mounting panel 1424, reduces the design degree of difficulty, can improve the installation effectiveness moreover, can also simplify maintenance personal's operating procedure, improves maintenance efficiency.

The device control device 141 may be a submersible control device, and specifically may include: at least one of a communication control device, a power distribution control device, a lighting control device, a camera control device, or an in-cabin environmental monitoring device. Wherein the communication control device includes: communication control devices such as sonar communication and underwater acoustic communication; the power distribution control device includes: control devices such as electric equipment in the cabin 11; the lighting control device includes; on-off control devices for the respective illumination lamps in the cabin 11, the illumination lamps outside the cabin 11, and the like; the image pickup control device includes: a switching control device of a camera outside the cabin 11; the cabin interior environment monitoring device includes: a carbon dioxide concentration monitoring device, an oxygen concentration monitoring device, and the like in the cabin 11.

The device control means 141 may include, but is not limited to, a display screen, a switch, a button, an indicator light, and the like, for displaying the operating state of each means and receiving an operation instruction of an occupant.

Fig. 70 illustrates a structure of the device mounting plate 1424, and fig. 71 to 73 illustrate another structure of the device mounting plate 1424. The device mounting plate 1424 shown in fig. 71 to 73 has a function of storing articles. Specifically, a case 1426 is provided on a surface of the device mounting plate 1424 facing the outside of the second ring 1422, and the top of the case 1426 has an opening. When the equipment mounting plate 1424 is flipped down into position relative to the second ring 1422 (in an open state), the opening of the box 1426 faces the interior of the cabin 11, and the occupant can put items into the box 1426 or take items out of the box 1426; when the device mounting plate 1424 is flipped up into position relative to the second ring 1422 (in the closed position), the opening of the box 1426 is facing up.

Example ten

As shown in fig. 1 to 4, the outer surface of the cabin 11 of the people carrying cabin 1 is provided with a light rack 15, and the light rack 15 can be fixed on the outer surface of the cabin 11 and can be kept fixed. Or, the light frame 15 can be folded and unfolded relative to the cabin 11, and when the submersible is in the process of ascending or descending, the light frame 15 is folded to reduce the resistance of seawater; when the vehicle is submerged in the target location and starts working, the light frame 15 is deployed.

Fig. 74 is a front view of a people pod according to a tenth embodiment of the present application, and fig. 75 is an inside view of the people pod according to the tenth embodiment of the present application. As shown in fig. 74 and 75, the light stand 15 is provided with an illumination device 151 and an image acquisition device 152. The image acquiring device 152 is used for acquiring images outside the cabin. The illumination device 151 is used for providing illumination to illuminate the environment in front of the cabin 11 so that the occupant can observe the environment outside the cabin through the observation window 13, and the image acquisition device 152 can acquire an image with high brightness and high definition.

Further, the cabin 11 is provided with a display device 153 connected to the image acquiring device 152 to display the image acquired by the image acquiring device 152.

Set up the cross cabin spare on the cabin body 11, the cable that links to each other with image acquisition device 152 can be through the cross cabin spare and penetrate the cabin body 11 in, the cross cabin spare has better leakproofness, can avoid liquid to get into in the cabin body 11.

Above-mentioned technical scheme, surface through at the cabin body sets up the light frame, and set up image acquisition device and lighting device on the light frame, the image acquisition device is used for acquireing the image outside the cabin, set up display device in the cabin body, this display device is used for showing the image that image acquisition device gathered, the condition outside the cabin can be seen through display device to the in-cabin personnel, especially when the passenger number of manned under-deck is greater than the quantity of observation window, everybody can both see the condition outside the cabin in real time, can realize the work of mutually supporting, the work efficiency is improved.

Moreover, the observation window provided on the submersible is usually small in size, so that the passenger usually lies on the front of the observation window and must approach the observation window to see the environment outside the cabin clearly, and the convenience is also poor. By adopting the scheme provided by the embodiment, the passenger can directly see the situation outside the cabin through the display device in the cabin, the passenger seat is simple and convenient, and the comfort is also improved. In addition, by adjusting the shooting angle of view of the image acquisition device 152, the field of view seen by the display device is wider than that seen through the observation window, which is more beneficial for the passengers to clearly observe the outside of the cabin.

The number of the image capturing devices 152 may be the same as that of the display devices 153, and one image capturing device 152 is correspondingly connected to one display device 153, so that the display device 153 is used for displaying the extravehicular image captured by the image capturing device 152 connected thereto.

Or, the image acquiring devices 152 and the display devices 153 are not connected in a one-to-one correspondence, an image processing device is connected between the image acquiring devices 152 and the display devices 153, the image processing device acquires images acquired by the image acquiring devices 152, performs stitching processing on the images acquired by the image acquiring devices 152, then segments the processed images, and each display device 153 displays a part of the image. The image processing device may be disposed in the cabin 11, and may employ an existing image processor and associated circuitry.

As for the mode of image processing performed by the image processing apparatus, a common image stitching and segmentation technique can be referred to. For example: first, the image processing apparatus acquires images acquired by the image acquisition apparatuses 152 at the same time, and determines a portion where the images overlap with each other. Then, the image processing apparatus processes the overlapping portions to stitch the images together to form one continuous panoramic image. Then, the image processing device divides the panoramic image, and selects a partial image thereof to be displayed on the display device 153.

In the present embodiment, three image acquisition devices 152 and three display devices 153 are used. The three display devices 153 are disposed in the cabin 11 and can be sequentially arranged along the horizontal direction along the inner wall of the cabin 11. Further, when three observation windows 13 are provided on the cabin 11, each display device 153 may be located above one observation window 13.

Further, one of the display devices 153 is disposed at the center thereof on the longitudinal center plane of the cabin 1, and the other two display devices 153 are symmetrically disposed at both sides of the longitudinal center plane. Each display device can be a flat display screen or a curved display screen.

One of the three image capturing devices 152 is located on the longitudinal center plane of the cabin 11, and the other two image capturing devices are symmetrically disposed on both sides of the longitudinal center plane, so that the image capturing devices 152 capture the same image of the front of the vehicle as the scene observed through the observation window 13. In addition, the passengers usually face the advancing direction of the submersible, and watch the display device 153 to see the scene in front of the submersible, so that the passengers feel more real in the cabin, the problem of disorderly direction is avoided, the passengers can cooperate with each other to work, and the working efficiency is improved.

On the basis of the above technical solution, for the implementation manners of the light frame 15 and the image capturing device 152, various implementation manners may be adopted:

the image capture device 152 may be mounted to the light frame 15 for capturing an image in one direction.

Alternatively, the image capturing device 152 may be rotated with respect to the lamp holder 15 to adjust the photographing angle. As shown in fig. 74, in the present embodiment, the image acquisition device 152 includes: a pan-tilt 1521 and a camera 1522. Wherein, cloud platform 1521 is connected on light frame 2, and camera 1522 is connected on cloud platform 1521. The pan-tilt head 1521 can drive the camera 1522 to rotate in a vertical plane (i.e., up-and-down rotation), and can also rotate in a horizontal plane (i.e., left-and-right rotation).

The cradle 1521 may adopt a structure commonly used in the prior art, and the specific structure thereof is not described in detail in this embodiment.

Further, the lighting device 151 is also connected to the pan/tilt head 1521, and the light emitting direction of the lighting device is the same as the shooting direction of the camera 1522, so as to improve the brightness of the shooting direction of the camera 1522. Under the driving of the pan-tilt 1521, the illumination device 151 and the camera 1522 can rotate synchronously. The number of illumination devices 151 may be the same as the number of cameras 1522, i.e.: a lighting device 151 and a camera 1522 are disposed on one cradle head 1521. The installation manner of the lighting device 151 and the cradle head 1521 may be set according to the specific structure of the lighting device 151 and the structure of the cradle head 1521.

In the above, the number of the image pickup devices 152 is set to three. The embodiment also provides another implementation manner: the number of the image pickup devices 152 is set to two. Specifically, the two image capturing devices 152 are disposed at the front end of the cabin 1 and symmetrically distributed on two sides of the longitudinal center plane of the cabin 1.

The number of the display devices 153 may be two or three. When the number of the display devices 153 is two, it may be connected to the image capturing devices 152 in a one-to-one correspondence to display the images captured by the corresponding image capturing devices 152. Or, no matter the number of the display devices 153 is two or three, the image processing device may be used to perform splicing and segmentation processing on the image acquired by the image acquisition device 152, and then the image is displayed by the display device 153.

EXAMPLE eleven

Fig. 76 is a side cross-sectional view of a people pod provided in accordance with an eleventh embodiment of the present application, fig. 77 is a rear view of a people pod provided in accordance with an eleventh embodiment of the present application, fig. 78 is a side view of a people pod provided in accordance with an eleventh embodiment of the present application, and fig. 79 is a top view of a people pod provided in accordance with an eleventh embodiment of the present application. As shown in fig. 76 to 79, a seat 161 and an air cleaning device 162 are provided in the cabin body 11 of the passenger cabin 1. An air flow passage 163 is formed between the seat 161 and the cabin 1, and the air cleaning device 162 is provided in the air flow passage 163 to circulate the air in the cabin 11 through the air flow passage 163.

For example: substances for absorbing carbon dioxide can be arranged in the air purification device 162 to ensure that the concentration of carbon dioxide in the cabin 11 meets the requirement, thereby ensuring that the physical condition of passengers in the cabin 11 is kept good. Alternatively, the air purification device 162 may also have the capability of adjusting the humidity inside the cabin 11 to ensure that the humidity inside the cabin is kept at a normal state. Or, the air purification device 162 may also be a device commonly used in the prior art, and a fan is disposed inside the device, so that the device can absorb air in the cabin, filter the air and then discharge the air. Alternatively, the air cleaning device 162 may have functions of absorbing carbon dioxide and adjusting humidity, and a blower may be provided therein.

In the above solution, the air purification device 162 is accommodated in the air flow passage 163 between the seat 161 and the cabin 11, so that on one hand, the movement of the passengers is not affected, and the working efficiency is further improved; on the other hand, the purified air can be promoted to flow orderly along the air flow channel, and the air in the cabin body can realize circulating flow through the air flow channel, so that the air purification efficiency is improved, and a fan is not required to be additionally arranged.

On the basis of the above technical solution, the seat 161 may specifically include: a support portion 1611, a seating portion 1612, and a backrest portion 1613.

The supporting portion 1611 is fixed to the cabin 11, a floor 164 may be disposed at the bottom of the cabin 11, and the supporting portion 1611 may be fixed to the floor 164. The supporting portion 1611 may be perpendicular to the floor 164. Alternatively, the supporting portion 1611 may be not perpendicular to the floor 164, but may form an angle with the floor 164, and the bottom end of the supporting portion 1611 may be inclined toward the rear of the seat 161.

The seating portion 1612 is provided on the top of the support portion 1611, and seats an occupant in the cabin. The seating portion 1612 has a plate-like structure and is parallel to the horizontal plane. The top end of the support portion 1611 may be connected to the center of the seating portion 1612, or may be connected to the front end edge of the seating portion 1612.

The seating portion 1612, the supporting portion 1611, the floor 164, and the cabin 11 enclose an accommodating space 1631, and the air cleaning device 162 is disposed in the accommodating space 1631.

The backrest 1613 is connected to a rear end edge of the seat 1612 and extends in the vertical direction. When the occupant sits on the seating portion 1612, the occupant can lean backward on the backrest portion 1613 at the same time. A gap is provided between the backrest 1613 and the cabin 11, and the gap serves as an air guide passage 1632. The air guide channel 1632 is communicated with the accommodating space 1631 and forms an air flow passage 163. The air purified by the air purifying device 162 may flow along the air guide passage 1632 and enter the front of the seat 161.

The seat 161 may be sized to allow one person to sit therein, and at least two seats 161 may be provided in the cabin 1. Alternatively, a seat 161 is provided in the cabin 1, the seat 161 being sized for seating at least two persons.

The seat 161 provided in this embodiment is suitable for at least two persons to sit on, and the seat 161 forms a half-bag structure along the cabin 11. The surface of the backrest 1613 facing the cabin 11 is a curved surface, and the curvature of the curved surface changes in the same manner as the cabin 11.

In this embodiment, the cabin 11 is a spherical structure, and the surface of the backrest 1613 facing the cabin 11 is a part of a spherical surface. The cabin 11 is provided with three observation windows 13, and the center of the backrest 1613 is opposite to the observation window 13 in the middle.

The central angle θ of the two ends of the backrest 1613 in the same horizontal plane is 90 ° -270 °, specifically, on the same horizontal cross-sectional circle of the cabin 11, the center of the cross-sectional circle is point O, the two ends of the backrest 1613 are point a and point B, respectively, and the central angle θ of the point a and the point B is 90 ° -270 °.

The length of the seat 1612 may be the same as the backrest 1613; alternatively, the seating portion 1612 may be longer than the backrest portion 1613 and extend below the observation window 13 to form a console, and a control device 165 for controlling the operation of the manipulator may be provided on the console.

With the seat 161, air in the cabin can enter the accommodating space 1631 from two ends of the seat 161, and after being processed by the air purifying device 162, the air returns to the cabin from the air guide channel 1632 behind the seat 161.

Further, a vent hole 166 may be opened in the support portion 1611, and the vent hole 166 communicates with the air flow passage 163. As shown by the arrows in fig. 76, the air in the cabin can also enter the accommodating space 1631 through the vent holes 166, and after being processed by the air cleaning device 162, the air returns to the cabin from the air guide channel 1632 behind the seat 161, thereby increasing the speed of air cleaning.

Further, the air cleaning device 162 includes: a first container 1621, and a blower 1622.

Wherein the first container 1621 contains a carbon dioxide absorbent, and when the first container 1621 is in an open state, the gas to be purified in the cabin 11 can enter the first container 1621 and fully contact and react with the carbon dioxide absorbent. The carbon dioxide absorbent may be calcium hydroxide, lithium hydroxide, calcium hydroxide and lithium hydroxide, or other substances capable of absorbing carbon dioxide.

The air inlet side of the fan 1622 faces the ends of the seat 161 or the vents 166 and the air outlet side of the fan 1622 faces the air guide 1632. When the blower 1622 works, the circulation flow speed of air can be increased, so that the air is promoted to flow through the carbon dioxide absorbent rapidly and then blown into the cabin from the rear part of the seat 161, the air purification speed is increased, and a good riding environment is provided for passengers.

Optionally, activated carbon is also contained in the first container 1621 for absorbing other gases in the cabin air to keep the cabin air fresh.

Alternatively, the air cleaning device 162 further includes: a second container (not shown) containing activated carbon. When the second container is in an open state, air entering the accommodating space 1631 can contact the activated carbon.

Optionally, the first container 1621 is disposed above the fan 1622. Specifically, the first container 1621 may be directly placed above the blower 1622, or a support may be disposed on the top of the blower 1622, and the first container 1621 may be placed on the support.

Example twelve

The passenger compartment 1 and the equipment of the frame structure 2 can transmit gas, liquid and electric signals, and the passenger compartment is realized by a compartment penetrating device. The present embodiment provides a cabin penetrating device capable of transferring gas and/or liquid between a people cabin 1 and equipment of a frame structure 2.

For example: as shown in fig. 1, an oxygen tank 22 is disposed on the frame structure 2, an air outlet of the oxygen tank 22 is connected to an oxygen pipeline, and the oxygen pipeline is connected to a cabin penetrating device disposed on the cabin 11 to inject oxygen into the cabin 11, so as to keep the physical state of passengers in the cabin good.

The frame structure 2 is also provided with a battery assembly, and the battery assembly is driven by a hydraulic cylinder to move along the front-back direction, so that the gravity center of the submersible is adjusted, and the pitching adjustment of the submersible is realized. Usually, a hydraulic source is arranged in the people pod 1, which supplies power fluid to the hydraulic cylinders via a pod-piercing device.

The embodiment provides a specific implementation manner of the cabin penetrating device, which can reduce the number of holes on the cabin body 11, and further improve the reliability and safety of the submersible.

Fig. 80 is a first structural schematic view of a cabin penetrating device provided in the twelfth embodiment of the present application, and fig. 81 is a second structural schematic view of the cabin penetrating device provided in the twelfth embodiment of the present application. As shown in fig. 80 and 81, the cabin penetrating device includes: a hatch 171, a channel integrator 172 and a channel switch 173.

Wherein, the cabin penetrating member 171 penetrates the cabin 11. Specifically, the cabin body 11 is provided with a cabin penetrating plate 111, and a through hole for the cabin penetrating member 171 to penetrate through is formed in the cabin penetrating plate 111. The deck-penetrating plate 111 may be fixed to the cabin 11, or may be integrally formed with the cabin 11. A first passage 1711 is provided in the penetrating member 171 for gas or liquid to flow through, and the number of the first passages 1711 may be at least one. A first passage 1711 extends through the cabin penetration member 171 and has an end located outside the cabin 11 for connection to equipment arranged on the frame structure 2, such as an oxygen tank 22.

The channel assemblies 172 are located within the nacelle 11 and are connected to the bulkhead 171. The channel integration member 172 is provided with at least two pipe connections 1721 for connecting to the equipment in the chamber 11, such as: a source of hydraulic pressure. Alternatively, the conduit 1721 may be directly exposed to the interior of the tank 11, for example, oxygen may be supplied to the tank 11. A second channel is further arranged in the channel integration member 172, and the second channel is respectively communicated with the pipeline interface 1721 and the first channel 1711.

The channel switch 173 is disposed on the channel integration member 172, connected to the second channel, and configured to control on/off of the second channel, and further control connection or disconnection between each pipeline interface 1721 and the first channel 1711.

Assume that the number of first passages 1711 is one and the number of pipe ports 1721 is two. The second passage communicates with the first passage 1711 and the two pipe interfaces 1721, respectively. If the number of the channel switch 173 is one, the channel switch 173 may control the first channel 1711 to communicate with one pipe interface 1721, may control the first channel 1711 to communicate with another pipe interface 1721, or controls the first channel 1711 to communicate with both of the two pipe interfaces 1721 or not. If the number of the passage switching members 173 is two, the two passage switching members 173 are each used to control one pipe port 1721 to communicate with the first passage 1711. Two pipeline interfaces 1721 are communicated with a first channel 1711, so that one channel is changed into two channels, namely: taking the conveying liquid as an example, one first channel 1711 inputs one path of liquid, and two pipeline interfaces 1721 output two paths of liquid, so that two paths of liquid can be provided for the cabin body 11 by adopting one cabin penetrating device, and the number of the cabin penetrating devices is reduced under the condition of meeting the needs in the cabin.

Assuming that the number of the first passages 1711 is one and the number of the pipe ports 1721 is four, the second passages communicate with the first passages 1711 and the two pipe ports 1721, respectively. The number of the passage switching members 173 may be four, for controlling the respective pipe ports 1721 to communicate with the first passage 1711. The cabin penetrating device can provide four ways of liquid into the cabin body 11, the number of the cabin penetrating devices is further reduced under the condition that the needs in the cabin are met, the number of holes formed in the cabin body is further reduced, and the safety and the reliability of the submersible are improved.

Fig. 82 is an exploded view of a penetration device provided in the twelfth embodiment of the present application, and fig. 83 is a front view of the penetration device provided in the twelfth embodiment of the present application. As shown in fig. 82 and 83, the penetration member 171 may be implemented as follows:

the penetration member 171 includes: a cabin penetrating bolt 1712 and a cabin penetrating nut 1713. One end of the cabin penetrating bolt 1712 is a bolt head 1712a, and the other end is a bolt tail 1712 b. The cabin penetrating piece 171 penetrates through the cabin penetrating plate 111, and the bolt tail portion 1712b protrudes out of the surface of the cabin penetrating plate 111. The outer circumference of the bolt tail 1712b is provided with external threads for being matched and fixed with a cabin penetrating nut 1713. The first passage 1711 extends through the entire pod 171 along the centerline of the pod 171.

The surface of bolt head 1712a facing bulkhead 111 is flat, and the surface of bulkhead 111 facing bolt head 1712a is also flat, so that there is flat contact between bolt head 1712a and bulkhead 111.

In addition, a first sealing ring 174 is arranged between the cabin penetrating member 171 and the cabin penetrating disc 111, the first sealing ring 174 is sleeved on the cabin penetrating bolt 1712 and is tightly pressed between the bolt head 1712a and the cabin penetrating disc 111, and external liquid is prevented from entering the cabin body 11 from a gap between the cabin penetrating member 171 and the cabin penetrating disc 111.

Fig. 84 is a cross-sectional view of the L-L section of fig. 83. As shown in fig. 82 to 84, a third sealing ring 176 is provided between the cabin penetrating nut 1713 and the cabin penetrating disk 111 to improve the sealing effect. Even if occasionally liquid enters the gap between the penetration bolt 1712 and the penetration plate 111, it is blocked by the third sealing ring 176 and does not enter the cabin 11. Moreover, the third sealing ring 176 is compressed between the cabin penetrating nut 1713 and the cabin penetrating disc 111, and the resilience of the third sealing ring 176 applies axial pressure to the cabin penetrating nut 1713, so that the friction force between the cabin penetrating nut 1713 and the cabin penetrating disc is increased, and the effect of preventing the cabin penetrating nut 1713 from loosening can be achieved.

For the connection of the pod 171 to the channel integrator 172, reference may be made to the following:

fig. 85 is a cross-sectional view of the section M-M in fig. 83. As shown in fig. 82, 83, and 85, at least two third bolt holes 1722 are formed through the passage assembly 172, the center line direction of the third bolt holes 1722 is parallel to the axial direction of the penetration member 171, and the third bolt holes 1722 penetrate the entire passage assembly 172.

Correspondingly, at least two female screw holes (not shown) are formed in the bolt tail 1712b, the center line direction of which is parallel to the axial direction of the cabin penetrating member 171. At least two connecting bolts 177 are used to pass through the third bolt holes 1722 and then through the internal thread holes for fixing, so as to fixedly connect the channel manifold 172 with the cabin penetrating member 171.

In the drawings given in this embodiment, the number of the third bolt holes 1722 is four, and the third bolt holes are arranged in two rows and two columns; four corresponding internal thread holes are correspondingly arranged at the positions of the bolt tail portions 1712b, and four connecting bolts 177 are adopted for corresponding connection.

In addition, a gasket 178 is further used to fit over the connecting bolt 177 and is located between the head of the connecting bolt 177 and the channel assembly 172.

The channel integrated member 172 may be a hexahedron, in this embodiment, the channel integrated member 172 is a cuboid, and a bottom surface of the channel integrated member is a square, which is higher than a side length of the bottom surface. The bottom surface of the channel manifold 172 is fitted toward the penetration member 171. The third bolt holes 1722 vertically penetrate through two opposite bottom surfaces of the channel assembly 172.

The pipe port 1721 is provided on the side surface between the two bottom surfaces in the channel integration 172. In this embodiment, four line connections 1721 are provided on each side.

Fig. 86 is a cross-sectional view of the N-N section of fig. 83. As shown in fig. 86, a second passage 1723 is located within passage integrator 172 and communicates with line port 1721. The end of the second passage 1723 that is adapted to communicate with the first passage 1711 extends through the surface of the passage assembly 172 facing the pod 171. After the channel assembly 172 and the pod 171 are assembled, the second channel 1723 is aligned with the first channel 1711 to communicate therewith.

Further, a receiving groove 1724 is formed in the bottom surface of the channel assembly 172 facing the chamber penetration member 171 for receiving the second sealing ring 175. The centerline of the receiving groove 1724 coincides with the centerline of the second passage 1723. The second seal 175 is compressed between the channel assembly 172 and the pod 171 and is located at the outer edge of the second channel 1723 to prevent liquid or gas from leaking out of the gap between the channel assembly 172 and the pod 171.

For the way of using the channel switch 173 to control the connection or disconnection between the pipeline interface 1721 and the first channel 1711, various means can be adopted, and this embodiment provides a specific way:

fig. 87 is a cross-sectional view of section Q-Q of fig. 83. Fig. 87 shows that four line connections 1721 are provided on the channel manifold 172, respectively: the first port 1721a, the second port 1721b, the third port 1721c and the fourth port 1721d are respectively disposed on four sides of the channel assembly 172. Each interface may be open within the enclosure 11 or connected to corresponding equipment within the enclosure 11.

The second passage 1723 includes: a main channel and a branch channel, wherein one end of the main channel penetrates the channel integration member 172 to face the bottom surface of the penetration member 171 for communicating with the first channel 1711, and the other end of the main channel is connected with the channel switch member 173. The branch channels are respectively connected with the main channel and the pipeline interface 1721 through a channel switch part 173, and the channel switch part 173 is used for controlling the connection or disconnection between the main channel and the pipeline interface 1721.

Specifically, as shown in fig. 80, two first channels 1711 are provided on the cabin penetrating component 171, and correspondingly, the number of the main channels is two, which are respectively: first primary passage 1723a and second primary passage 1723b are each in aligned communication with one of first passages 1711. As shown in FIG. 86, first primary channel 1723a and second primary channel 1723b are each "L" shaped structures that are identical. Taking first primary channel 1723a as an example, first primary channel 1723a includes: a first section channel 1723a1 and a second section channel 1723a2, wherein the first section channel 1723a1 and the second section channel 1723a2 are in communication and perpendicular to each other. The centerline of the first segment of the passage 1723a1 coincides with the centerline of the pod 171 to interface with the first passage; the second-stage passage 1723a2 extends in the left-right direction as viewed in fig. 87 to communicate with the line port 1721 through the branch passage.

As shown in fig. 87, the number of branch channels is four, which are: a first subchannel 1723e, a second subchannel 1723f, a third subchannel 1723g, and a fourth subchannel 1723 h. Wherein, four branch passageways communicate end to end in turn to form a closed ring shape, and each branch passageway is connected with a pipeline interface 1721. First subchannel 1723e is also coupled to first main channel 1723a, and third subchannel 1723g is also coupled to second main channel 1723 b.

The channel switch 173 may be a device capable of controlling the opening and closing of a gas channel or a liquid channel, and a valve is used as the channel switch 173 in this embodiment. The number of the channel switches 173 is four, which are: a first valve 1731, a second valve 1732, a third valve 1733, and a fourth valve 1734. Four valves are connected to one branch channel each. As shown in fig. 82, an opening/closing member mounting hole 1725 is formed in each of four side surfaces of the passage integrating member 172 parallel to the center line of the penetration member 171, and the valve body of the valve can be fitted into the opening/closing member mounting hole 1725.

The first valve 1731 is a three-way valve, and the valve core thereof rotates to communicate the first main channel 1723a with the upper half of the first branch channel 1723e or with the lower half of the first branch channel 1723 e. Alternatively, actuation of the spool of the first valve 1731 may cause both the upper and lower halves of the first branch passage 1723e to communicate with the first main passage 1723 a. The third valve 1733 has the same structure and operation principle as the first valve 1731.

The second valve 1732 may be a two-way valve, and the left half and the right half of the second main passage 1723b may be connected or disconnected by the valve core thereof. The fourth valve 1734 is identical in structure and operation to the second valve 1732.

The working process for controlling the communication between the main channel and the pipeline interface by adopting the technical scheme is as follows:

taking the first main channel 1723a as an example, the first valve 1731 is actuated to connect the first main channel 1723a with the upper half of the first branch channel 1723e, and further with the first port 1721 a. When the second valve 1732 is actuated, the second branch passage 1723f is communicated with the first branch passage 1723e and further communicated with the second port 1721b, so that the first port 1721a and the second port 1721b can both deliver liquid or gas.

Actuation of the first valve 1731 may communicate the first main passageway 1723a with the lower half of the first branch passageway 1723e, which in turn communicates with the fourth port 1721 d. If the fourth valve is operated, the fourth branch channel 1723h is communicated with the first branch channel 1723e and further communicated with the third port 1721c, so that the third port 1721c and the fourth port 1721d can both convey liquid or gas.

Or, if the first valve 1731 is actuated to enable the upper half and the lower half of the first branch channel 1723e to be communicated with the first main channel 1723a, the second valve 1732 and/or the fourth valve 224 are actuated to enable the first port 1721a, the second port 1721b and the fourth port 1721d to be communicated, or enable the first port 1721a, the third port 1721c and the fourth port 1721d to be communicated, or enable the first port 1721a, the second port 1721b, the third port 1721c and the fourth port 1721d to be communicated, thereby achieving four-way gas or liquid delivery.

The connection between the second main channel 1723b and each interface can refer to the first main channel 1723a, which is not described herein.

By controlling the action of each valve, at least one pipeline interface can be controlled to convey liquid or gas.

Shown in fig. 88 is another implementation of fig. 87. Four first channels 1711 are provided in the pod-penetrating member 171, parallel to each other. As shown in fig. 88, correspondingly, four main channels are provided on the channel assembly 172, respectively: first primary channel 1723a, second primary channel 1723b, third primary channel 1723c, and fourth primary channel 1723 d.

The difference from the scheme shown in fig. 87 is that: the second valve 1732 and the fourth valve 1734 have the same structure and connection manner as the first valve 1731. Taking the second valve 1732 as an example, the second valve 1732 is a three-way valve and is connected to the left half and the right half of the third main channel 1723c and the second branch channel 1723f, respectively. Actuation of the second valve 331 causes the third main passage 1723c to communicate with the left half of the second branch passage 1723f, which in turn communicates with the second port 1721 b; or the third main channel 1723c can be communicated with the right half section of the second branch channel 1723f, and further communicated with the first interface 1721 a; or both the left and right halves of the second branch passage 1723f may be in communication with the third main passage 1723c, thereby enabling both the second port 1721b and the first port 1721a to deliver gas or liquid.

For the solution shown in fig. 88, the four pipeline interfaces can be respectively communicated with the four main channels in various combinations through the actions of the four valves, and the specific combination manner can be designed and implemented by those skilled in the art, which is not limited in this embodiment.

For a chamber traversing device employing two first channels 1711, the two first channels 1711 may carry liquid simultaneously, may carry gas simultaneously, or may carry both liquid and gas. If liquid and gas are delivered simultaneously, the operation of each valve is controlled accordingly so that gas and liquid are delivered independently through different main and branch channels.

The valves may be manual valves, so that passengers in the cabin 11 can manually operate the valves. Each valve can also adopt an electric control valve, and the opening and closing of the electric control valve are controlled by a corresponding controller and a corresponding control circuit.

EXAMPLE thirteen

Fig. 89 is a schematic structural view of a people pod according to a thirteenth embodiment of the present application. As shown in fig. 89, a window seat 112 is provided on the cabin 11, an observation window 13 is provided on the window seat 112, and the occupant in the cabin 11 can observe the environment outside the cabin through the observation window 13.

Fig. 90 is a sectional view of a viewing window provided in embodiment thirteen of the present application. As shown in fig. 90, the observation window 13 includes: a first light-transmitting member 131, a second light-transmitting member 132, and an elastic connection member 133. The first light-transmitting member 131 is disposed on the window holder 112. The second light-transmitting member 132 is coaxial with the first light-transmitting member 131. The top surface of the second light-transmitting member 132, which is the surface facing away from the first light-transmitting member 131, i.e., the surface that is outermost with respect to the cabin 11, is provided with a plurality of concentric annular grooves. The elastic connector 133 is connected between the second light-transmitting member 132 and the window holder 112, and encloses a closed space for filling the light-guiding liquid with the first light-transmitting member 131 and the second light-transmitting member 132.

The first light-transmitting member 131 may be a lens and is fixed in the window base 112. The axis of the first light-transmitting member 131 coincides with the axis of the window holder 112.

The second light-transmitting member 132 is disposed coaxially with the first light-transmitting member 131, that is: the axis of the second light-transmitting member 132 coincides with the axis of the first light-transmitting member 131. The top surface of the second light-transmitting member 132 away from the cabin 11 is provided with a plurality of concentric ring grooves, and at least one side wall of the concentric ring grooves is an outwardly arched arc surface. The outwardly curved surface is specifically a curved surface curved toward the outside of the concentric ring groove, or may also be understood as a curved surface curved toward the edge side of the second light transmitting member 132. So that light rays with wider range can enter the cabin 11 through the second light-transmitting member 132, and the observation visual angle can be widened

Fig. 91 is a view comparing a second light-transmitting member with a planar lens in a viewing window provided in example thirteen of the present application. Fig. 91 shows a comparison of the light transmission angle of the second light-transmitting member 132 with the concentric annular grooves 1321 and a lens with a planar surface. In fig. 91, the center line of the lens R is parallel to the center line of the second light-transmitting member 132. The dashed box represents the lens R with a planar surface, the light ray v2 is directed at the upper surface of the lens R at an angle of incidence, and the normal n2 is perpendicular to the upper surface of the lens R, i.e. parallel to the center line of the lens R. The ray v2 is refracted by the lens R and exits from the point T1. The light ray v1 is directed to the curved surface of the second light-transmitting member 132 at the same incident angle as v2, and the normal n1 is perpendicular to the tangent plane of the surface of the second light-transmitting member 132 and has an angle with the center line. The light ray v1 is refracted by the second light-transmitting member 132 and then exits from the point T2. When the emergent light passing through the lens R and the second light-transmitting member 132 is coincident, it can be seen that the included angle between the light ray v1 and the central line of the second light-transmitting member 132 is larger than the included angle between the light ray v2 and the central line of the lens R, so that the light-transmitting range of the second light-transmitting member 132 is larger, and the observation visual angle is widened.

The elastic connector 133 and the first and second light-transmitting

members

131 and 132 enclose a closed space filled with a light-guiding liquid. The leaded light liquid can be the pure water, also can be other liquid, can conduct light, and light energy loss is less. This embodiment adopts pure water as the leaded light liquid, has higher light transmissivity.

The resilient connecting member 133 itself may be made of a resilient material that deforms when compressed. When the submersible is gradually submerged, the water pressure is continuously increased. The second light-transmitting member 132 has a limited pressure-resistant capability, and if one end of the second light-transmitting member is pressed more and the other end is pressed less, the pressure imbalance between the two ends is likely to cause the second light-transmitting member 132 to break, and further cause the failure of the observation window 13. The elastic connector 133 deforms when being pressed and transmits the pressure to the light guiding liquid, so that the pressure of the light guiding liquid is the same as the water pressure outside the cabin, and the pressure applied to the inner side and the outer side of the second light-transmitting member 132 is the same, thereby preventing the second light-transmitting member 132 from cracking.

According to the technical scheme, the first light-transmitting piece is arranged in the window seat of the loading cabin body, the second light-transmitting piece which is coaxial with the first light-transmitting piece is adopted, the top surface of the second light-transmitting piece is provided with a plurality of concentric ring grooves, at least one side wall of each concentric ring groove is an outwards arched cambered surface, an elastic connecting piece is connected between the second light-transmitting piece and the window seat, and light-guiding liquid is filled in a closed space defined by the elastic connecting piece, the first light-transmitting piece and the second light-transmitting piece; on the other hand, the elastic connecting piece capable of being deformed under pressure is adopted, so that the pressure at two ends of the second light-transmitting piece is kept consistent, the problem that the observation window is invalid due to the fact that the two ends of the second light-transmitting piece are broken due to unequal pressure is avoided, the reliability of the observation window is improved, and the reliability that the submersible can normally perform underwater operation is also improved.

Alternatively, the second light-transmitting member 132 may be a fresnel lens commonly used in the prior art, and the above-mentioned effects can be achieved.

The first light-transmitting member 131 and the window base 112 matched with the first light-transmitting member can be realized by the following steps:

the number of the window seats 112 provided on the cabin 11 may be one, two, three, or more than three. As shown in fig. 89, in the present embodiment, three window seats 112 are provided on the cabin 11, each window seat 112 is provided with one observation window 13, and each observation window 13 may have the same structure.

Fig. 92 is a schematic structural view of a passenger compartment provided with a window seat according to a thirteenth embodiment of the present application. As shown in fig. 89 and 92, the number of the window seats 112 is three, wherein one window seat 112 is located at the foremost end of the cabin 11, and the other two window seats 112 are symmetrically distributed on both sides of the cabin 11, and the center lines of the window seats 112 on both sides have a lower level than the center line of the window seat 112 in the middle.

The three window seats 112 may have the same size, and the corresponding observation windows 13 may have the same size. Or, the three window seats 112 have different sizes, specifically, the sizes of the two side window seats 112 are smaller than that of the middle window seat, and the sizes of the corresponding two side observation windows 13 are smaller than that of the observation window 13 located in the middle.

The window holder 112 has a conical window mounting surface 1121, and the first light transmission member 131 is fixed to the window mounting surface 1121.

Fig. 93 is a schematic structural view of a first light-transmitting member in an observation window according to a thirteenth embodiment of the present application. As shown in fig. 90 and 93, the first light-transmitting member 131 has a truncated cone shape, and the end with the smaller base area faces the inside of the window holder 112. The end face of the first light-transmitting member 131 with a larger bottom area is referred to as a first top end face 1311, and the end face with a smaller bottom area is referred to as a first bottom end face 1312. The first top end surface 1311 and the first bottom end surface 1312 are both planar. Alternatively, the first bottom end surface 1312 may be a concave surface, and the first top end surface 1311 may be a convex surface, so that the viewing angle can be widened to some extent. The concave and convex surfaces are for the first light-transmitting member 131 itself, that is: the concave surface is recessed on the surface of the first light-transmitting member 131, and the convex surface is protruded on the surface of the first light-transmitting member 131.

The first light-transmitting member 131 may be made of a transparent material, for example: glass, polymethyl methacrylate, polycarbonate, and the like.

The first light-transmitting member 131 may be sized to fit the window holder 112 such that the first light-transmitting member 131 is completely received in the window holder 112 (i.e., the first top end surface 1311 of the first light-transmitting member 131 is lower than the window holder 112 in fig. 90), or the first top end surface 1311 of the first light-transmitting member 131 is flush with the window holder 112, or the first top end surface 1311 of the first light-transmitting member 131 is higher than the window holder 112. In this embodiment, the first top end surface 1311 of the first light-transmitting member 131 is higher than the window holder 112.

On the basis of the above technical solution, the second light-transmitting member 132 can be implemented by adopting the following scheme:

fig. 94 is a schematic structural view of a second light-transmitting member in an observation window provided in a thirteenth embodiment of the present application, fig. 95 is a front view of the second light-transmitting member in the observation window provided in the thirteenth embodiment of the present application, and fig. 96 is a cross-sectional view of an S-S cross section in fig. 95. As shown in fig. 90, 94, 95 and 96, the second light-transmitting element 132 is generally disc-shaped, and the surface facing away from the window seat 112 is referred to as a second top end surface 1322, and the surface facing the window seat 112 is referred to as a second bottom end surface 1323.

The second top end surface 1322 is provided with a plurality of concentric ring grooves 1321, and at least one side wall of the concentric ring groove 1321 is an outwardly arched cambered surface. Specifically, the concentric ring slot 1321 has an inner sidewall and an outer sidewall, and the inner sidewall is close to a center of the concentric ring slot 1321. The inner sidewall is an outwardly arched surface serving as a light incident surface, and the outer sidewall is parallel to the center line of the second light-transmitting member 132, so as to form a structure with a saw-tooth-shaped cross section as shown in fig. 96. Alternatively, the concentric ring slot 1321 may also adopt other implementation manners, and the embodiment is not limited.

From the perspective of fig. 95 and 96, the height of the second top end surface 1322 gradually decreases from the center toward the outer edge, i.e., the top outer contour surface thereof is convex.

The diameter of the second top end surface 1322 is larger than that of the second bottom end surface 1323, so that the observation window 13 is approximately circular truncated cone-shaped as a whole. In addition, the diameter of the bottom end of the second light-transmitting member 132 is greater than the diameter of the top end of the first light-transmitting member 131, specifically: the diameter of the second bottom end surface 1323 is larger than the diameter of the first top end surface 1311.

The second light-transmitting member 132 is also made of a transparent material, such as: glass, polymethyl methacrylate, polycarbonate, and the like.

Further, the second bottom surface 1323 is set to be concave to reduce the focal length of the second light-transmitting member 132, so that the viewing angle can be improved.

The elastic connection member 133 described above may be implemented as follows:

fig. 97 is a schematic structural view of an elastic connection member in an observation window provided in a thirteenth embodiment of the present application, and fig. 98 is a longitudinal sectional view of the elastic connection member in the observation window provided in the thirteenth embodiment of the present application. As shown in fig. 97 and 98, the elastic connector 133 has a circular truncated cone-shaped cylindrical structure, and the axis thereof coincides with the axis of the first light-transmitting member 131. An end of the elastic connection member 133 facing the first light-transmitting member 131 is referred to as a connection member bottom end 1331, and an end facing the second light-transmitting member 132 is referred to as a connection member top end 1332, and the diameter of the elastic connection member 133 is gradually increased in a direction from the bottom end to the top end.

The connector bottom end 1331 has a smaller diameter and is connected to the window base 112. The connector tip 1332 has a larger diameter and is connected to the second light-transmitting member 132. The elastic connector 133 and the first top end surface 1311 and the second bottom end surface 1323 define a closed space.

As shown in fig. 98, the elastic connection piece 133 is provided with a liquid injection port 1333 and an air exhaust port 1334, and the light guide liquid can be injected into the closed space through the liquid injection port 1333, and the gas in the closed space is exhausted through the air exhaust port 1334 until the light guide liquid fills the entire closed space and all the gas is exhausted. Fig. 98 is a diagram schematically showing the liquid injection port 1333 and the air exhaust port 1334, and does not specifically limit the specific positions or the number of the liquid injection port 1333 and the air exhaust port 1334.

Valves or plugs may be provided at the injection port 1333 and the exhaust port 1334. Before the submersible is launched, a liquid pump is used to fill the closed space with liquid, then the liquid injection port 1333 and the air exhaust port 1334 are closed by a valve or a plug, and then the submersible can be submerged for operation. The liquid in the closed space can keep enough purity and a static state and cannot be influenced by the movement of a submersible or the external water quality environment.

Further, in the process that the elastic connecting member 133 is connected to the window base 112 and the second light-transmitting member 132, respectively, the elastic connecting member 133 is stretched and in a tightened state, so that the elastic connecting member has a better pressure transmission capability.

The connector bottom end 1331 is provided with a plurality of first connector mounting holes 1335 uniformly arranged in the circumferential direction, and the connector top end 1332 is provided with a plurality of second connector mounting holes 1336 uniformly arranged in the circumferential direction.

The elastic connection member 133 may be made of an elastic material such as rubber, and the elastic connection member 133 may be deformed when a pressure difference exists between the inside and the outside. Meanwhile, the elastic connection member 133 should have a certain material strength and corrosion resistance.

The elastic connecting member 133 is connected to the window base 112 and the second light-transmitting member 132, and has good sealing performance, and the connection manner may be various, for example, the following manners:

a first coupling assembly is employed for coupling the window holder 112 and the elastic connection member 133. Fig. 99 is an enlarged view of the area U in fig. 90. As shown in fig. 90 and 99, the first connection assembly includes: a first connection ring 1341 and a second connection ring 1342. Wherein the first connection ring 1341 is located in the closed space inside the elastic connecting member 133, the second connection ring 1342 is located outside the elastic connecting member 133, and the first connection ring 1341 and the second connection ring 1342 clamp the elastic connecting member 133 from both sides.

Specifically, fig. 100 is a schematic structural diagram of a first connecting ring in an observation window provided in the thirteenth embodiment of the present application. As shown in fig. 100, the first connection ring 1341 has a ring-shaped structure, one end of which has a larger diameter and the other end of which has a smaller diameter along the extension direction of the central line. The smaller diameter end of the first connecting ring 1341 faces the window seat 112. The outer wall of the first connection ring 1341 is sized to fit the inner wall of the elastic connection member 133 such that the first connection ring 1341 can abut against the connection member bottom end 1331 of the elastic connection member 133. The first connection ring 1341 is provided with a plurality of third connection piece mounting holes 13411 uniformly arranged along the circumferential direction.

Fig. 101 is a schematic structural view of a second connection ring in an observation window provided in the thirteenth embodiment of the present application. As shown in fig. 101, the second connection ring 1342 has a first axial connection end 13421 and a second axial connection end 13422, and the first axial connection end 13421 and the second axial connection end 13422 are closed rings and form an obtuse angle therebetween.

The first axial connecting end 13421 is provided with a plurality of fourth connecting piece mounting holes 13423 uniformly arranged along the circumferential direction. The second axial connecting end 13422 is provided with a plurality of fifth connecting member mounting holes 13424 uniformly arranged along the circumferential direction.

As shown in fig. 99, first axial connection end 13421 is located on the outside of resilient connector 133 and second axial connection end 13422 is located on the underside of resilient connector 133. The third connector mounting hole 13411 on the first connection ring 1341, the first connector mounting hole 1335 on the elastic connector 133 and the fifth connector mounting hole 13424 on the second connection ring 1342 are coaxially disposed to be sequentially inserted through the mounting holes by the first bolt 1351 and fixed by the first nut 1352, so that the elastic connector 133 is clamped by the first connection ring 1341 and the second connection ring 1342 from both sides.

A fourth seal groove 13412 is formed in a surface of the first connecting ring 1341 facing the elastic joint 133, and a fourth seal ring 1361 is provided in the fourth seal groove 13412. Alternatively, a seal groove for accommodating the fourth seal ring 1361 may be formed in a surface of the second connection ring 1342 facing the elastic connecting member 133 to improve the sealing property with respect to the elastic connecting member 133.

The first bolt 1351 is further sleeved at both ends with first washers 1353 respectively located between the head of the first bolt 1351 and the second connection ring 1342, and between the first connection ring 1341 and the first nut 1352.

The second connection ring 1342 is fixedly connected to the window holder 112, and the first translucent member 131 can be fixed to the window holder 112. Specifically, as shown in fig. 90, 93 and 99, a first assembling slope 1313 is provided at an edge of the first top end surface 1311 of the first light transmitting member 131, and the first assembling slope 1313 is a slope inclined downward. Correspondingly, the second axial connection end 13422 extends to the top of the first light-transmitting member 131, and a second assembly slope 13425 is provided at the end of the second axial connection end 13422 for contacting the first assembly slope 1313.

Second bolt 1354 is inserted through fifth connector mounting hole 13424 on second axial connection end 13422 and into window holder 112 for fixation, thereby achieving the fixed connection of second connecting ring 1342 to window holder 112. And, the first assembling slope 1313 is pressed downward by the second assembling slope 13425 to fix the first light-transmitting member 131 in the window holder 112.

Further, as shown in fig. 90, 93 and 99, a sixth sealing groove 1314 is formed on the sidewall of the first light-transmitting member 131 for accommodating a sixth sealing ring 1363 therein to prevent liquid from entering the chamber 11 through the gap between the first light-transmitting member 131 and the window seat 112.

If the viewing window is applied in other scenes than a vehicle, for example: when installed in the deep sea space station, the window holder 112 as described above is installed in the deep sea space station, and the observation window 13 is attached to the window holder 112.

The second connecting member is used to connect the elastic connecting member 133 and the second light-transmitting member 132. Fig. 102 is an enlarged view of area W of fig. 90. As shown in fig. 90 and 102, the second connecting assembly includes: a third attachment ring 1343 and a fourth attachment ring 1344. Wherein the third connecting ring 1343 is located outside the elastic connection member 133, the fourth connecting ring 1344 is located in the closed space, and the third connecting ring 1343 and the fourth connecting ring 1344 clamp the elastic connection member 133 from both sides.

Specifically, fig. 103 is a schematic structural view of a third connection ring in the observation window provided in the thirteenth embodiment of the present application. As shown in fig. 103, the third connection ring 1343 has a ring-shaped structure, and has a larger diameter at one end and a smaller diameter at the other end along the extension direction of the central line. The smaller diameter end of the third connection ring 1343 faces the elastic connection member 133. The inner wall of the third attachment ring 1343 is dimensioned to fit the outer wall of the flexible connector 133 such that the third attachment ring 1343 fits snugly against the connector tip 1332 of the flexible connector 133. The third connection ring 1343 is provided with a plurality of sixth connection piece mounting holes 13431 uniformly arranged along the circumferential direction.

Fig. 104 is a schematic structural view of a fourth connection ring in an observation window provided in the thirteenth embodiment of the present application. As shown in fig. 104, fourth attachment ring 1344 has a third axial attachment end 13441 and a fourth axial attachment end 13442, and third axial attachment end 13441 and fourth axial attachment end 13442 are each in the form of a closed loop defining an obtuse angle therebetween.

The third axial connecting end 13441 is provided with a plurality of seventh connecting piece mounting holes 13443 uniformly arranged along the circumferential direction. The fourth axial connecting end 13442 is provided with a plurality of eighth connector mounting holes 13444 uniformly arranged along the circumferential direction.

As shown in FIG. 102, the fourth axial connection end 13442 is located on the inner side (i.e., left side) of the resilient connector 133 and the third axial connection end 13441 is located on the upper side of the resilient connector 133. Eighth connector mounting hole 13444 on fourth attachment ring 1344, second connector mounting hole 1336 on flexible connector 133 and sixth connector mounting hole 13431 on third attachment ring 1343 are coaxially disposed to pass through the mounting holes in sequence and engage with second nut 1356 for fixation using third bolt 1355 so that third attachment ring 1343 and fourth attachment ring 1344 clamp flexible connector 133 from both sides.

A fifth seal groove 13432 is formed in a surface of the third connection ring 1343 facing the elastic joint 133, and a fifth seal ring 1362 is provided in the fifth seal groove 13432. Alternatively, a seal groove for accommodating the fifth seal ring 1362 may be formed in a surface of the fourth connection ring 1344 facing the elastic connecting member 133 to improve the sealing property with the elastic connecting member 133.

Second washers 1357 are further sleeved on both ends of the third bolt 1355, and are respectively positioned between the head of the third bolt 1355 and the fourth connection ring 1344, and between the third connection ring 1343 and the second nut 1356.

For the connection of the second light-transmitting member 132 and the elastic connecting member 133, the following implementation may be adopted: as shown in fig. 102, a fifth connection ring 1345 is provided, the left end of which extends to the top of the second light-transmitting member 132, and the right end of which is connected to the fourth connection ring 1344 by bolts, so as to apply a downward pressure to the second light-transmitting member 132, thereby fixing the second light-transmitting member 132 downward.

Specifically, as shown in fig. 95 and 96, a third fitting slope 1324 is provided at an edge of the second top end surface 1322 of the second light-transmitting member 132, and the third fitting slope 1324 is inclined obliquely downward. Fig. 105 is a schematic structural view of a fifth connection ring in an observation window according to a thirteenth embodiment of the present application. As shown in fig. 102 and 105, correspondingly, the inner wall of the fifth connection ring 1345 is provided with a slope, which is called: a fourth assembly ramp 13451 for contacting the third assembly ramp 1324.

In addition, a plurality of ninth link mounting holes 13452 are provided in the fifth connecting ring 1345, and are evenly arranged in the circumferential direction.

Fourth bolt 1358 is used to pass through ninth connector mounting hole 13452 in fifth attachment ring 1345 and seventh connector mounting hole 13443 in fourth attachment ring 1344 in that order and mate with third nut 1359 for securement. And, a downward pressure is applied to the third assembly slope 1324 by the fourth assembly slope 13451 to fix the second light-transmitting member 132.

In addition, two third washers 13510 are used to fit over the fourth bolt 1358, respectively between the head of the fourth bolt 1358 and the fifth connection ring 1345, and between the fourth connection ring 1344 and the third nut 1359.

Further, as shown in fig. 95, 96 and 102, a seventh sealing groove 1325 is further formed in a sidewall of the second light-transmitting member 132 for accommodating a seventh sealing ring 1364, so as to prevent liquid from entering the accommodating space from a gap between the second light-transmitting member 132 and the fourth connecting ring 1344.

On the basis of the above technical solution, fig. 106 is a schematic structural diagram of a connecting sheet in an observation window provided in the thirteenth embodiment of the present application. As shown in fig. 89, 90, 102 and 106, a third connection assembly is connected between the second and third connection rings 1342 and 1343 to support the elastic connector 133 so that its shape remains fixed.

Specifically, the third connecting assembly comprises a plurality of connecting pieces 1346 uniformly arranged along the circumferential direction, two tenth connecting piece mounting holes 13461 are formed in the connecting pieces 1346, and bolts are used to respectively penetrate through one of the tenth connecting piece mounting holes 13461 and the fourth connecting piece mounting hole 13423 on the second connecting ring 1342, so that one end of the connecting piece 1346 is fixedly connected with the second connecting ring 1342; and bolts are inserted through the other tenth connector mounting hole 13461 and a sixth connector mounting hole 13431 of the third connection ring 1343, respectively, to fixedly connect the other end of the connection piece 1346 to the third connection ring 1343.

Fig. 107 is a schematic view illustrating a viewing angle range of a viewing window according to a thirteenth embodiment of the present application. As shown in fig. 107, the passenger compartment 1 provided in this embodiment has three observation windows 13, and the included angle between the center lines of two adjacent observation windows 13 may be 40 ° to 50 °. In this embodiment, the included angle α between the center lines of two adjacent observation windows 13 is 45 °.

By adopting the technical scheme, the conical angle lambda of the single observation window 13 is 90 degrees, the observation visual angle beta of the single observation window 13 can reach more than 104 degrees, the observation visual angle of the single observation window 13 is widened, the underwater operation of a passenger is facilitated, the manipulator 91 can be independently operated by one passenger to execute the grabbing action, and the efficiency is improved.

In addition, the visual angle observed by combining the three observation windows 13 is correspondingly expanded, in fig. 107, the total visual angle of the three observation windows 13 is 360 degrees minus gamma (152 degrees), which reaches over 208 degrees, and is more beneficial for the passengers to observe the conditions in the front and the two sides of the submersible in a wider range.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; may be mechanically, electrically or otherwise in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A submersible vehicle, comprising: a load compartment and a frame structure, the frame structure comprising:

at least two side plates arranged in a vertical direction; a gap is reserved between every two adjacent side plates, and the front ends of the side plates are used for being connected with the cabin body of the loading cabin;

a ballast device for adjusting the weight of the submersible vehicle, the ballast device being disposed on the side plate; the ballast device includes:

a gas tank provided on the side plate;

the first ballast tank is arranged at the top of the side plate and is provided with a first liquid injection and discharge port and a first gas injection and discharge port, the first ballast tank is communicated with the external environment through the first liquid injection and discharge port, and the first gas injection and discharge port is connected with the gas tank;

the second ballast tank is arranged on the side plate and is positioned below the first ballast tank; the second ballast tank is provided with a second liquid injection and discharge port and a second gas injection and discharge port, the second ballast tank is communicated with the external environment through the second liquid injection and discharge port, and the second gas injection and discharge port is connected with the gas tank.

2. The submersible of claim 1, wherein the side plates are of a flat plate construction, the side plates being arranged in parallel.

3. A submersible as claimed in claim 1 or 2 wherein the number of side plates is two.

4. The submersible of claim 3, wherein the distance between the front ends of the two side plates is less than the lateral width of the load compartment.

5. The submersible of claim 4, wherein the load bay is spherical;

the front end of the side plate is provided with an inwards concave arc surface which is used for being attached to the outer surface of the loading cabin.

6. The submersible of claim 1, wherein the side panels are provided with lightening holes.

7. The submersible of claim 1, further comprising a submersible frame; the sit bottom bracket includes:

the seat bottom connecting rod is arranged at the bottoms of the at least two side plates in a penetrating way;

the seat bottom connecting piece is connected with the end part of the seat bottom connecting rod;

and the base is connected with the base connecting piece and is positioned below the two side plates.

8. The submersible of claim 7, wherein both ends of the submersible connecting rod are bent in a direction toward the base.

9. A submersible as claimed in claim 7 or 8 wherein the number of submersible connecting rods is two, with the two submersible connecting rods being parallel.

10. The submersible of claim 1, further comprising:

and the buoyancy block is arranged at least one of the top end, the rear end, the bottom end and the space between the two side plates.

11. The submersible of claim 10, further comprising: a housing; is arranged on the outer surface of the buoyancy block.

12. The submersible of claim 1, further comprising:

and the lifting device is arranged on the side plate.

13. The submersible of claim 12, wherein the lifting device comprises:

the hoisting cross beam is bridged between the at least two side plates; the lifting beam is provided with a lifting hole for the hook to penetrate through, and the part of the hook penetrating through the lifting hole is propped against the bottom surface of the lifting beam; the central line of the hoisting hole is parallel to the vertical direction.

14. The submersible of claim 13, wherein the lifting beam comprises:

at least two lifting rods connected between the at least two side plates; the central lines of the lifting rods are parallel and are positioned at the same horizontal height;

the hoisting block is connected between the middle parts of the at least two hoisting rods; the hoisting hole is arranged on the hoisting block.

15. The submersible of claim 14, wherein the lifting beam further comprises:

the lifting plates are arranged in parallel and are respectively connected to two ends of the lifting rod; the lifting plate is also connected with the side plate.

16. The submersible of claim 15, wherein the number of lifting bars is two and the number of lifting plates is two; the two lifting rods and the two lifting plates form a rectangular frame in an enclosing mode, and the center line of the lifting hole is overlapped with the center line of the rectangular frame.

17. The submersible of claim 14 wherein the boom is hollow tubular and the boom is oval, circular or polygonal in cross-section.

18. The submersible of claim 14, wherein a transition radius is provided between the top surface of the lifting block and the wall of the lifting hole.

19. The submersible of claim 1, further comprising: and the electronic tank is connected between the side plates.

20. The submersible of claim 19, wherein the number of side plates is two; the electronic tank is connected between the two side plates in the horizontal direction.

21. The submersible of claim 20, wherein the electronics tank comprises:

the tank body is of a cylindrical structure, and the cross section of the tank body is circular, elliptical or rectangular;

the sealing cover is connected to the end part of the tank body in a sealing way; the seal cover is in a hemispherical shape.

22. The submersible of claim 21, wherein the two side plates are parallel and the centerline of the electronics tank is perpendicular to the side plates.

23. The submersible of claim 22, further comprising:

and the clamping piece is connected between the electronic tank and the side plate.

24. The submersible of claim 23, wherein the tank has first flanges on the outer circumferential surfaces of both ends, the distance between the first flanges being greater than the distance between the side plates;

the clamping piece is clamped between the first flange and the side plate.

25. The submersible of claim 24, wherein the snap-in comprises:

a first snap ring having a first opening; a plurality of first bolt holes are uniformly distributed in the first clamping ring;

a second snap ring having a second opening; the second clamping ring is connected to the edge of the inner side of the first clamping ring and is perpendicular to the first clamping ring; the second opening is aligned with the first opening;

one clamping and connecting plate is connected to the end part of the first clamping ring, the end part of the second clamping ring and the end part of the other side of the first clamping ring and the end part of the other side of the second clamping ring; the clamping and connecting plate is perpendicular to the first clamping ring and the second clamping ring; and the two clamping and connecting plates are correspondingly provided with second bolt holes with coincident axes.

26. The submersible of claim 24, wherein the cover is provided with a second flange corresponding to the first flange;

the electronic tank further includes:

the hoop is sleeved on the peripheral surfaces of the first flange and the second flange;

the first sealing element is arranged between the tank body and the sealing cover.

27. The submersible of claim 26, wherein the lid is provided with a lid plug portion that can extend into the tank and that is in plug-fit engagement with an inner wall of the tank;

the outer peripheral surface of the sealing cover insertion part or the inner peripheral surface of the tank body corresponding to the sealing cover insertion part is provided with a first sealing groove for accommodating the first sealing element.

28. The submersible of claim 26, wherein a second seal groove is provided in the end of the tank facing the cover or the end of the cover facing the tank for receiving the first seal.

29. The submersible of claim 26,

the end part of the tank body is provided with a tank body inserting part;

the sealing cover is provided with a cavity capable of containing the tank body insertion part, and the cavity wall of the cavity can be in insertion fit with the tank body insertion part.

30. The submersible vehicle according to claim 29, wherein an outer circumferential surface of the canister socket or a wall of the cover corresponding to the canister socket is provided with a third seal groove for receiving the first seal.

31. The submersible of claim 26, wherein the cross-sectional shape of the first flange is wedge-shaped, triangular, rectangular, arcuate, or trapezoidal;

the cross section of the second flange is wedge-shaped, triangular, rectangular, arc-shaped or trapezoidal.

32. The submersible of any one of claims 26-29, wherein the clip is an annular member and has two circumferentially opposed connection ends, wherein each connection end is provided with a web, and wherein the web is provided with a first fastener hole for receiving a first fastener.

33. The submersible of claim 32, wherein the yoke comprises first and second oppositely disposed yokes and the first and second yokes are each an annular member, wherein:

the inner wall of the first hoop is provided with a first groove matched with the first flange in shape, and a plurality of second fastening holes for penetrating second fastening pieces are formed along the circumferential direction of the first groove;

the inner wall of the second hoop is provided with a second groove matched with the second flange in shape, and third fastening holes corresponding to the second fastening holes in a one-to-one mode are formed in the circumferential direction of the second groove.

34. The submersible of claim 32, wherein the first seal is a seal ring; the first fastener includes a bolt and a nut.

35. The submersible of claim 1, wherein the first ballast tank comprises: the side enclosing plates extend upwards from the edges of the bottom plate, and the top plate is connected to the tops of the side enclosing plates; the bottom plate, the side enclosing plates and the top plate enclose a closed space for containing gas and/or liquid.

36. The submersible of claim 35, wherein the side enclosures are angled relative to the floor by a set angle of 90 ° -150 °.

37. The submersible of claim 35, wherein the top plate is arched away from the bottom plate.

38. The submersible of claim 35, wherein the outer surface of the roof is formed from a plurality of flat surfaces that are joined together.

39. The submersible of claim 1, wherein the second ballast tank is a hollow sphere.

40. The submersible of claim 1, further comprising:

a battery assembly disposed on the side plate;

and the battery moving assembly is arranged on the side plate and used for adjusting the position of the battery assembly so as to adjust the posture of the submersible.

41. The submersible of claim 40, wherein the battery-moving assembly comprises:

a guide member provided on the side plate;

and the battery driving part is arranged on the side plate and used for driving the battery assembly to move along the guide part.

42. The submersible of claim 41, wherein the battery drive is further configured to drive the battery assembly to move out of engagement with the guide to dump the battery assembly.

43. The submersible of claim 42, wherein the guide comprises:

the guide rod extends along the longitudinal direction of the side plate, and a first guide structure is arranged on the guide rod;

the battery pack supporting plate is used for bearing the battery pack, a second guide structure is arranged on the supporting plate, and the second guide structure is used for being matched with the first guide structure to guide the movement of the supporting plate.

44. The submersible of claim 43, wherein the number of guide rods is two, symmetrically disposed on two side plates; the opposite surfaces of the two guide rods are provided with guide grooves which penetrate through the rear ends of the guide rods, so that the bearing plate can be separated from the guide grooves from the rear ends of the guide grooves;

the two opposite side edges of the bearing plate are slidably inserted into the guide grooves.

45. The submersible of claim 44, wherein the battery assembly comprises:

the first battery assembly is arranged on the bearing plate;

and the second battery assembly is arranged on the bearing plate and is positioned in front of the first battery assembly.

46. The submersible of claim 45, wherein the output voltage of the second battery assembly is greater than the output voltage of the first battery assembly.

47. The submersible of claim 45 or 46, wherein the carrier plate comprises:

the first bearing plate is used for bearing the first battery component;

the second bearing plate is used for bearing the second battery component; the second bearing plate is hinged to the front end of the first bearing plate and used for receiving the driving force of the battery driving piece.

48. The submersible of claim 47, wherein the battery-moving assembly further comprises:

and a support member connected between the front ends of the two guide members.

49. The submersible of claim 48, wherein the battery drive comprises:

a hydraulic cylinder disposed on the support;

and one end of the piston rod is inserted into the hydraulic cylinder body, and the other end of the piston rod is connected with the second bearing plate.

50. The submersible of claim 47, wherein the rear end of the first bearing plate is provided with a stop.

51. The submersible of claim 40, wherein the battery assembly comprises: the battery cell module comprises a box body and at least one battery cell module arranged in the box body;

the battery cell module comprises: the battery cells are sequentially arranged along the thickness direction of the battery cells;

the electric core is provided with at least one through hole penetrating through the thickness of the electric core, and a first side surface and a second side surface which are oppositely arranged along the thickness direction of the electric core, wherein:

the first side surface is provided with at least one first positioning bulge;

the second side surface is provided with first positioning grooves which correspond to the first positioning bulges one by one and can be matched with the first positioning bulges in an inserted manner;

the first positioning bulges in the two adjacent battery cores are correspondingly matched with the first positioning grooves in an inserting manner.

52. The submersible of claim 51, wherein the first side is further provided with at least one second detent;

the second side surface is also provided with second positioning bulges which correspond to the second positioning grooves one by one and can be matched with the second positioning grooves in an inserting manner.

53. The submersible of claim 52, wherein the at least one first detent projection is two and the at least one second detent recess is two, wherein one first detent projection and one second detent recess are disposed at a top of the first side and the other first detent projection and the other second detent recess are disposed at a bottom of the first side.

54. The submersible of claim 52, wherein the first and second locating projections are each cylindrical projections.

55. The submersible of any of claims 51-54, wherein the number of through-holes is four, and four through-holes are provided at the four corners of the cell.

56. The submersible of any of claims 51-54, wherein the cells are Li-Fe cells.

57. The submersible of claim 52, wherein the tank is provided with a tank opening;

the battery assembly further includes:

the cover body is fixedly connected to the box body and used for sealing the opening of the box body;

and a second sealing member installed between the case and the cover, the second sealing member being for sealing a gap between the case and the cover.

58. The submersible of claim 57, wherein the tank is provided with a tank seal groove for embedding the second seal.

59. The submersible of claim 57, wherein the battery assembly further comprises:

and the battery cell connecting piece is used for penetrating through the through hole and connecting a plurality of battery cells in series.

60. The submersible of claim 59, wherein the inner wall of the casing is provided with a casing groove extending in a vertical direction and corresponding to the cell connectors, and both ends of the cell connectors are slidably fitted into the corresponding casing grooves.

61. The submersible of claim 59, wherein the cell connector is a round bar.

62. The submersible of claim 57, wherein when there are two or more of the at least one cell module, the array of cell modules is distributed within the tank;

spacers are arranged between the battery cell modules along the arrangement direction of the battery cells;

the spacer is provided with a first mounting hole used for penetrating the first positioning protrusion and the second positioning protrusion, and a second mounting hole communicated with the through hole of the battery cell in a one-to-one correspondence manner.

63. The submersible of claim 57, further comprising oil filled within the tank.

64. The submersible of claim 1, further comprising:

and the propelling device is arranged on the side plate.

65. The submersible of claim 64, wherein the propulsion device comprises:

a first propeller;

and the rotary driving device is arranged on the side plate, is connected with the first propeller and is used for driving the first propeller to rotate.

66. The submersible of claim 65, wherein the first propulsion direction of the first propeller is an up-down direction;

the number of the first propellers is at least two, and the first propellers are symmetrically arranged on two sides of the frame structure.

67. The submersible of claim 66, wherein the rotary drive is configured to drive the first propeller to rotate in a vertical plane parallel to the fore-aft direction.

68. The submersible of any of claims 65-67, wherein the rotational drive comprises:

the mounting plate is connected to the side plate;

the driver is connected to the mounting plate;

and the transmission mechanism is connected to the mounting plate and is respectively connected with the driver and the first propeller.

69. The submersible of claim 68, wherein the transmission mechanism comprises:

the driving wheel is connected with the output shaft of the driver;

the driven wheel is connected with the driving wheel;

and the connecting rod is arranged on the mounting plate and is respectively connected with the driven wheel and the first propeller.

70. The submersible of claim 69, wherein the transmission mechanism further comprises: a chain;

the driving wheel and the driven wheel are chain wheels, and the chain is sleeved on the driving wheel and the driven wheel.

71. The submersible of claim 66, further comprising:

a second propeller, the propelling direction of which is the front-back direction; the number of the second propellers is at least two, and the second propellers are symmetrically arranged on two sides of the frame structure.

72. The submersible of claim 71, further comprising:

a third propeller, the propelling direction of which is the left and right direction;

the number of the side plates is two, and the third propeller transversely spans between the two side plates.

73. The submersible of claim 72, further comprising: a sleeve;

through holes with coincident center lines are respectively arranged on the side plates, the sleeve is connected between the side plates, and the center line of the sleeve is coincident with the center line of the through hole;

the third impeller is disposed within the sleeve.

74. The submersible of claim 65, wherein the first propeller comprises:

a housing;

a stator disposed within the housing;

a rotor disposed within the housing; the rotor is provided with rotatable propeller blades extending in a radial direction of the housing;

at least one cutting mechanism disposed within the housing for cutting foreign matter entering the housing.

75. The submersible of claim 74, wherein the cutting mechanism comprises a first cutting mechanism and a second cutting mechanism, wherein:

along the axial direction of the housing, the first cutting mechanism is disposed at one side of the rotor, and the second cutting mechanism is disposed at the other side of the rotor.

76. The submersible of claim 74, wherein the cutting mechanism comprises:

one end of the bracket is fixedly connected to the shell, and the other end of the bracket extends towards the axial lead direction of the shell along the radial direction of the shell;

and at least one cutting blade mounted to an end of the holder remote from the housing, at least one of the cutting blades each extending in a radial direction of the housing.

77. The submersible of claim 76, wherein at least one of the cutting blades is two or more, the two or more cutting blades being evenly distributed about a circumference of the shaft axis of the housing.

78. The submersible of claim 76, wherein each of the cutting blades is removably mounted to the bracket.

79. The submersible of any one of claims 74-77, further comprising a flow directing boost mechanism provided to the housing for directing fluid through the flow directing boost mechanism and obtaining auxiliary thrust from the fluid.

80. The submersible of claim 79, wherein the number of the flow guide boost mechanisms is two, one being provided at each end of the housing in the axial direction.

81. The submersible of claim 79, wherein the flow directing and boosting mechanism comprises a shroud mounted on the housing and a blade fixedly attached to an inner wall of the shroud;

the rotation directions of the blades in the two guide boosting mechanisms are the same and are opposite to the rotation directions of the propeller blades.

82. The submersible of claim 79, wherein the cutting mechanism is disposed between the flow directing boost mechanism and the propeller blades in an axial direction of the housing.

83. The submersible of claim 1, wherein the loading bay further comprises:

the equipment frame is arranged in the cabin body and is arranged in a cylindrical structure along the inner wall of the top of the cabin body in a surrounding manner;

and the equipment control device is arranged on the surface of the equipment frame facing the cabin body.

84. The submersible of claim 83, wherein the equipment rack comprises:

the frame body is arranged in a cylindrical structure along the inner wall of the cabin body in a surrounding manner and is fixed on the inner wall of the top of the cabin body;

and the equipment mounting plate is used for arranging an equipment control device and is connected to the frame body along the circumferential direction.

85. The submersible of claim 84, wherein the longitudinal cross-section of the cradle body is an isosceles trapezoid.

86. The submersible of claim 84, wherein the rack comprises:

a first circular ring;

the second circular ring is coaxially arranged with the first circular ring; the diameter of the second circular ring is larger than that of the first circular ring;

the circular ring connecting piece is connected between the first circular ring and the second circular ring; the equipment mounting plate is connected between the first ring and the second ring along the circumferential direction.

87. The submersible of claim 86, wherein the equipment mounting plate is disposed between two adjacent circular ring connectors.

88. The submersible of claim 87, wherein the number of ring connectors is six, evenly arranged along the circumference of the first and second rings.

89. The submersible of any of claims 86-88, wherein the equipment mounting plate is a curved plate that is arched toward the inside of the second ring.

90. The submersible of claim 87, wherein the bottom end of the equipment mounting plate is connected to the second ring by a spring hinge.

91. The submersible of claim 1, wherein the loading bay further comprises:

the light frame is arranged on the outer surface of the cabin body; the lighting frame is provided with a lighting device;

the image acquisition device is arranged on the lamplight frame;

and the display device is arranged in the cabin body and is connected with the image acquisition device.

92. The submersible of claim 91, wherein the number of image capture devices is three and the number of display devices is three.

93. The submersible of claim 92, wherein a first of the three image capture devices is located on a longitudinal central plane of the hull, and the second and third image capture devices are symmetrically disposed on opposite sides of the longitudinal central plane.

94. The submersible of claim 93, wherein three display devices are arranged in series in a horizontal direction within the hull, a first of the three display devices having a center located on a longitudinal center plane of the hull, and a second display device and a third display device symmetrically disposed on opposite sides of the longitudinal center plane.

95. The submersible of claim 91, wherein the number of image acquisition devices is two and the number of display devices is two.

96. The submersible of claim 95, wherein the two image capture devices are symmetrically disposed on opposite sides of a longitudinal center plane of the hull.

97. The submersible vehicle of any of claims 91-96, further comprising:

and the image processing device is arranged in the cabin body and is respectively connected with the image acquisition device and the display device.

98. The submersible of claim 91, wherein the image acquisition device comprises:

a camera;

and the holder is connected with the camera and used for driving the camera to rotate in a vertical plane and/or in a horizontal plane, and the holder is connected to the lamplight frame.

99. The submersible of claim 98, wherein the illumination device is coupled to the pan/tilt head.

100. The submersible of claim 1, wherein the loading bay further comprises:

a seat disposed within the cabin; an air flow channel is formed between the seat and the cabin body;

and the air purifying device is used for enabling the air in the cabin body to circularly flow through the air flow channel and is arranged in the air flow channel.

101. The submersible of claim 100, wherein the seat comprises:

the supporting part is fixed on the cabin body;

a seating part disposed on the top of the support part; the sitting part, the supporting part and the cabin body form an accommodating space for accommodating the air purification device;

a backrest part provided at one side edge of the seating part; an air guide channel is formed between the backrest part and the cabin body, and the air guide channel is communicated with the accommodating space and forms the air flow channel.

102. The submersible of claim 101, wherein a surface of the backrest portion facing the hull is a curved surface having a curvature that varies in a manner consistent with the hull.

103. The submersible of claim 102, wherein a surface of the backrest portion facing the nacelle is a portion of a sphere.

104. The submersible of claim 103, wherein the central angle of each end of the back portion is between 90 ° and 270 °.

105. The submersible of claim 102, wherein the support portion defines a vent aperture therein, the vent aperture being in communication with the air flow passage.

106. The submersible as recited in any one of claims 101-105, wherein the air purification device comprises:

a first container accommodating a carbon dioxide absorbent; when the first container is in an open state, gas in the cabin body can enter the first container;

and the air outlet side of the fan faces the air guide channel.

107. The submersible of claim 106, wherein the first container is disposed above the fan.

108. The submersible of claim 106, wherein the carbon dioxide absorbent is calcium hydroxide and/or lithium hydroxide.

109. The submersible of claim 106, wherein the air purification device further comprises:

a second container containing activated carbon.

110. The submersible of claim 1, wherein the loading bay further comprises:

the cabin penetrating component penetrates through a cabin penetrating disc arranged on the cabin body, and at least one first channel is arranged in the cabin penetrating component;

the channel integration piece is positioned in the cabin body and connected with the cabin penetrating piece; the channel integration piece is provided with at least two pipeline interfaces and a second channel which is respectively communicated with the pipeline interfaces and the first channel;

and the channel switch piece is connected to the second channel so as to control the communication or disconnection of the at least two pipeline interfaces and the first channel.

111. The submersible of claim 110, wherein the bulkhead comprises:

the cabin penetrating bolt penetrates through the cabin penetrating plate;

the cabin penetrating nut is positioned in the cabin body and connected with the cabin penetrating bolt;

and the first sealing ring is sleeved on the cabin penetrating bolt and is positioned between the head of the cabin penetrating bolt and the cabin penetrating disc.

112. The submersible of claim 110, wherein the second channel comprises:

one end of the main channel penetrates out of the surface of the channel integration piece to be communicated with the first channel, and the other end of the main channel is connected with the channel switch piece;

and the branch channel is respectively connected with the main channel and the pipeline interface through the channel switch piece.

113. The submersible of claim 112, wherein the primary channel comprises:

the first section of channel is in butt joint communication with the first channel, and the center line of the first section of channel is superposed with the center line of the first channel;

and the second section of channel is used for being connected with the channel switching piece, is communicated with the first section of channel and is vertical to the first section of channel.

114. The submersible of claim 113, wherein a surface of the channel manifold facing the pod is provided with a receiving groove for receiving the second seal, the receiving groove having a centerline coincident with a centerline of the first section of the channel.

115. The submersible of claim 112, wherein the number of conduit interfaces is four; the number of the channel switch pieces is four, and the channel switch pieces are used for controlling at least one of the four pipeline interfaces to be communicated with the main channel.

116. The submersible of claim 115, wherein the first channel is two in number; the number of the main channels is two, and one main channel is correspondingly communicated with one first channel.

117. The submersible of claim 115, wherein the first channel is four in number; the number of the main channels is four, and one main channel is correspondingly communicated with one first channel.

118. The submersible of claim 110, 116 or 117, wherein the channel manifold is a cuboid; the pipeline interface is arranged on the surface of the channel integration piece parallel to the direction of the center line of the cabin penetrating piece.

119. The submersible of claim 118, wherein the surface of the channel manifold parallel to the centerline of the bulkhead further comprises a switch mounting hole for mounting a channel switch.

120. The submersible of claim 118, wherein the channel manifold is provided with a third bolt hole for passing a connecting bolt, the third bolt hole having a centerline parallel to the centerline of the bulkhead;

and the tail part of the cabin penetrating piece is provided with an internal thread hole used for being connected with the connecting bolt.

121. The submersible of claim 1, further comprising:

and the observation window is arranged on the window seat of the cabin body.

122. The submersible of claim 121, wherein the viewing window comprises:

the first light-transmitting piece is arranged on the window seat;

a second light transmissive member coaxial with the first light transmissive member; the top surface of the second light-transmitting piece is provided with a plurality of concentric ring grooves, and the side wall of at least one side of each concentric ring groove is an outwards arched cambered surface;

the elastic connecting piece is connected between the window seat and the second light-transmitting piece; the elastic connecting piece, the first light-transmitting piece and the second light-transmitting piece enclose a closed space for filling light-guiding liquid.

123. The submersible of claim 122, wherein the inboard side wall in each concentric ring groove is an outwardly arched surface.

124. The submersible of claim 123, wherein an outer sidewall of each concentric ring groove is parallel to the axis of the second light transmissive member.

125. The submersible as recited in any one of claims 122-124, wherein the bottom surface of the second light transmissive member is concave.

126. The submersible of claim 122, wherein the window mount has a conical window mounting surface and the first light transmissive member is frusto-conical and is secured to the window mounting surface.

127. The submersible of claim 122, further comprising: a first connection assembly; the first connection assembly includes:

a first connecting ring located within the enclosed space;

a second connecting ring having a first axial connecting end and a second axial connecting end; the first axial connecting end is positioned outside the closed space and is connected with the first connecting ring through a bolt so as to clamp the elastic connecting piece from two sides; the second axial connecting end extends to the top of the first light-transmitting piece and is connected with the window seat.

128. The submersible of claim 127, wherein a surface of the first connector ring facing the resilient connector is provided with a fourth seal groove for receiving a fourth seal ring.

129. The submersible of claim 127, further comprising: a second connection assembly; the second connection assembly includes:

a third connection ring located outside the closed space;

a fourth connecting ring having a third axial connecting end and a fourth axial connecting end; the third axial connecting end is positioned in the closed space and is connected with the third connecting ring through a bolt so as to clamp the elastic connecting piece from two sides; the fourth axial connecting end is connected with the second light-transmitting member.

130. The submersible of claim 129, wherein a surface of the third connection ring facing the resilient connector is provided with a fifth seal groove for receiving a fifth seal ring.

131. The submersible of claim 129, further comprising:

and one end of the fifth connecting ring extends to the top of the second light-transmitting piece, and the other end of the fifth connecting ring is connected with the fourth axial connecting end through a bolt.

132. The submersible of claim 129, further comprising: a third connection assembly, the third connection assembly comprising:

and at least two connecting sheets uniformly distributed along the circumferential direction are connected between the second connecting ring and the third connecting ring.

133. The submersible of claim 122, wherein the number of window seats is three; the included angle between the central lines of two adjacent window seats is 40-50 degrees.

134. The submersible of claim 122, wherein the light-conducting liquid is pure water.