CN114162295B

CN114162295B - Pneumatic propelling device for underwater search and rescue and using method thereof

Info

Publication number: CN114162295B
Application number: CN202210126814.4A
Authority: CN
Inventors: 杨永宁; 朱典成; 杨桂芝; 仲凤菊
Original assignee: Shandong Polytechnic College
Current assignee: Shandong Polytechnic College
Priority date: 2022-02-11
Filing date: 2022-02-11
Publication date: 2022-05-03
Anticipated expiration: 2042-02-11
Also published as: CN114162295A

Abstract

The invention discloses a pneumatic propelling device for underwater search and rescue and a using method thereof. The invention belongs to the technical field of underwater search, and particularly relates to a pneumatic propelling device for underwater search and rescue and a using method thereof; the invention integrates the cable in the gas pipe, through the external armor mode, not only strengthens the structural strength of the gas pipe, but also ensures the reliability of the cable, distributes the air flow through the rotation of the motor, thereby controlling the propulsion mode of steering, and under the condition without any linkage system and feedback unit, the invention also provides a self-adaptive compensation type water pressure balancing mechanism and a dynamic pre-tightening type one-way ventilation mechanism, and the pre-compression amount of the pre-tightening spring is changed through the water pressure change at different depths, thereby compensating the numerical fluctuation of the air injection resistance.

Description

Pneumatic propelling device for underwater search and rescue and using method thereof

Technical Field

The invention belongs to the technical field of underwater search, and particularly relates to a pneumatic propelling device for underwater search and rescue and a using method thereof.

Background

In the process of underwater rescue or underwater unmanned search work, a propulsion device is required to control a search probe to move, if the advancing direction of the probe is taken as the front direction, the propulsion device only needs to control the steering in four directions of up-down left-right, wherein the up-down direction is a rotating axial direction, and the left-right direction is a rotating axial direction, generally, the work needs to be composed of at least three groups of propulsion modules, then the propulsion force of each propulsion module is changed through a complex control system, the steering is controlled through the difference value of the propulsion force, if the control effect is to be realized, a complex and perfect control algorithm is needed, and each propulsion module is also required to be provided with an independent driving unit, a feedback unit and a control unit; the propeller has the advantages of precise and complex structure and high manufacturing cost, and is not beneficial to popularization and use.

Underwater propulsion is mainly gas propulsion and paddle propulsion, the gas propulsion is that the device is propelled by the reverse acting force of water on gas, but as the submergence depth increases, the water pressure continuously increases, that is, a sensor is required to feed back an electric signal, and the power of an air pump is frequently adjusted to continuously adapt to new water pressure, which undoubtedly brings larger workload to an originally complex control system.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a pneumatic type propelling device for underwater search and rescue, which controls the flow and the steering by adjusting the nozzle and can automatically compensate the water pressure change, and a using method thereof; in order to simplify the structure, the device integrates the cable in the gas pipe, and then the steel wire rope is arranged outside to bear the pulling force during working, through the external armor mode, the structural strength of the gas pipe is enhanced, the gas pipe is prevented from being flattened, the reliability of the cable is ensured through the reinforced gas pipe, the air flow is distributed through the small-angle rotation of the motor, thereby controlling the propulsion mode of steering, and under the condition without any linkage system and feedback unit, the technical effect of steering the propeller underwater is realized only through a group of low-power steering motors and a smart mechanical structure.

In order to reduce the power change of an air pump caused by the water pressure change in the diving process, the invention provides a self-adaptive compensation type water pressure balancing mechanism and a dynamic pre-tightening type one-way ventilation mechanism based on a self-feedback principle, changes the pre-compression amount of a pre-tightening spring through the pressure change of water at different depths so as to compensate the numerical fluctuation of the air injection resistance, and realizes the technical effect of automatically balancing the air injection resistance only through a smart mechanical structure under the condition of no sensor or electric control unit.

The technical scheme adopted by the invention is as follows: the invention provides a pneumatic propelling device for underwater search and rescue, which comprises a single-motor micro-motion type air injection steering mechanism, a reversing cut-off type overshoot protection device, a self-adaptive compensation type water pressure balancing mechanism and a dynamic pre-tightening type one-way ventilation mechanism, wherein the reversing cut-off type overshoot protection device is arranged on the single-motor micro-motion type air injection steering mechanism, the single-motor micro-motion type air injection steering mechanism has the technical effect of controlling the flexible steering of the underwater air injection propelling device only through a group of motors and a smart mechanical structure under the condition of no linkage system and no feedback control system, the reversing cut-off type overshoot protection device can increase the opening resistance of a one-way valve in the process of switching the steering mode, thereby preventing the speed and the direction from being out of control caused by the out-of-control of air flow in the switching process, the self-adaptive compensation type water pressure balancing mechanism is arranged on the reversing cut-off type overshoot protection device, the dynamic pre-tightening type one-way ventilation mechanism is arranged on the self-adaptive compensation type water pressure balance mechanism, only gas and liquid can be allowed to pass through the dynamic pre-tightening type one-way ventilation mechanism in a one-way mode, the mode switching can be prevented from being out of control, and water flow can be prevented from flowing backwards.

Furthermore, the single-motor micro-motion type air injection steering mechanism comprises a water breaking driving assembly and a rotary reversing assembly, and the rotary reversing assembly is arranged on the water breaking driving assembly; broken water drive assembly includes fine motion double-end motor and toper balancing weight, fine motion double-end motor's one end is equipped with motor owner rotating part, on motor owner rotating part was located to toper balancing weight block, the toper balancing weight had the effect that reduces the movement resistance, fine motion double-end motor's the other end is equipped with the vice rotating part square shaft of motor, fine motion double-end motor is equipped with the vice rotating part circle axle of motor on the vice rotating part square shaft of motor, and motor owner rotating part and the synchronous rotation of the vice rotating part square shaft of motor.

Preferably, the rotary reversing assembly comprises a flying disc type jet box body and a disc type jet flow distribution disc, the flying disc type jet box body is provided with a jet box body mounting clamping table, the flying disc type jet box body is clamped on the micro double-head motor through the jet box body mounting clamping table, the flying disc type jet box body is provided with a jet box body internal supporting column for increasing strength, the outermost periphery of the flying disc type jet box body is provided with a jet box body jet step, the flying disc type jet box body is respectively and symmetrically provided with a jet box body jet hole I and a jet box body jet hole II on the jet box body jet step, gas blown from an external air pump is discharged into water through the jet box body jet hole I and the jet box body jet hole II, the water can also provide the gas and a counter-acting force with equal size and opposite direction to the device, and the disc type jet flow distribution disc clamping table is arranged on the disc type jet flow distribution disc, the disc type air injection valve plate is clamped on a main rotating part of the motor through a valve plate clamping table, a valve ring of the valve plate is arranged on the disc type air injection valve plate and is in sliding sealing contact with an air injection step of an air injection box body, a first valve plate kidney-shaped hole and a second valve plate kidney-shaped hole are symmetrically arranged on the disc type air injection valve plate respectively, the first valve plate kidney-shaped hole can control the flow ratio of the first two groups of air injection box body air injection holes or the second two groups of air injection box body air injection holes, the second valve plate kidney-shaped hole with longer length can guarantee that the first two groups of air injection box body air injection holes or the second valve plate air injection holes are in a completely open state in the flow distribution process.

Furthermore, the reversing cut-off type overshoot prevention device comprises a propelling head sealing barrel and a self-cutting reversing rotating mechanism, the propelling head sealing barrel plays a supporting role, a propelling barrel bottom flange is arranged on the propelling head sealing barrel, the propelling head sealing barrel is arranged on the flying disc type air injection box body through the propelling barrel bottom flange, a propelling barrel top flange is arranged on the propelling head sealing barrel, and the self-cutting reversing rotating mechanism is arranged on the self-adaptive compensation type water pressure balancing mechanism.

Preferably, the self-cutting reversing and rotating mechanism comprises a suspension type rotation limiting frame, a floating type rotation driving disc and a floating type lifting driven disc, the suspension type rotation limiting frame is arranged at the bottom of the self-adaptive compensation type water pressure balancing mechanism, the suspension type rotation limiting frame has the function of supporting the floating type rotation driving disc, a rotation limiting chute is arranged on the suspension type rotation limiting frame, a hollow-out type mounting disc for driving a floating disc is arranged on the floating type rotation driving disc, the floating type rotation driving disc is rotatably arranged in the rotation limiting chute by driving the hollow-out type mounting disc, a square chute for driving the floating disc is arranged on one side of the floating type rotation driving disc, the floating type rotation driving disc is slidably arranged on a square shaft of a secondary rotating part of the motor by driving the square chute for driving the floating disc, and a double-slope boss for driving the floating disc is annularly and uniformly distributed on the other side of the floating type rotation driving disc, floating type rotary driving disk can drive floating type lifting driven disk to lift when rotating, because suspension type rotary limiting frame is fixed on compensation type floating frame, and elastic modulus of water pressure confrontation spring is far greater than elastic modulus of valve clack pre-tightening spring, therefore, for displacement of floating type lifting driven disk, displacement of floating type rotary driving disk and compensation type floating frame can be ignored, floating type rotary driving disk and suspension type rotary limiting frame are detachable parts, when external air pump can automatically control start and stop or electromagnetic valve is designed at air inlet end, suspension type rotary limiting frame and floating type rotary driving disk can be completely detached, floating type lifting driven disk is slidably arranged in self-adaptive compensation type water pressure balance mechanism, driven floating disk hollowed-out mounting disk is arranged on floating type lifting driven disk, driven floating disk guide is uniformly distributed at edge of driven floating disk hollowed-out mounting disk To the spout, one side of floating lift driven plate is equipped with driven floating plate bottom drum and the double-slope recess of driven floating plate, the double-slope recess of driven floating plate and the double-slope boss sliding contact of drive floating plate can change the deformation volume in advance of valve clack pretension spring through the slip of floating lift driven plate to change the resistance that the air passes through valve clack elasticity opening portion.

Furthermore, the self-adaptive compensation type water pressure balancing mechanism comprises a water pressure sensing box body, a self-compensation sensing floating ring, a water pressure resisting spring and a compensation type floating frame, wherein the water pressure sensing box body is arranged on a flange at the top of the propelling barrel, a box top piston cavity and a box bottom piston cavity are arranged on the water pressure sensing box body, the self-compensation sensing floating ring is clamped and slidably arranged in the box top piston cavity, the size of water pressure can be fed back through the self-compensation sensing floating ring, and the compensation type floating frame is pushed downwards so as to reduce the flowing resistance of air at the dynamic pre-tightening type one-way ventilation mechanism, the self-compensation sensing floating ring is in sliding sealing contact with the inner wall of the box top piston cavity, a floating frame piston ring is arranged on the compensation type floating frame, the floating frame piston ring is clamped and slidably arranged in the water pressure sensing box body, and the floating frame piston ring is in sliding sealing contact with the inner wall of the box bottom piston cavity, the hydraulic counter spring is arranged in a piston cavity at the top of the box body, the self-compensation induction floating ring is arranged on the hydraulic counter spring, a floating frame guide boss is arranged on the compensation type floating frame, the floating type lifting driven disc is slidably arranged on the floating frame guide boss through a driven floating disc guide sliding groove in a clamping mode, a floating frame bottom platform is arranged on the compensation type floating frame, and the suspension type rotary limiting frame is fixedly connected to the floating frame bottom platform.

Furthermore, the dynamic pre-tightening type unidirectional ventilation mechanism comprises a multilayer cable assembly, a dynamic pre-tightening guiding ventilation assembly and a cable positioning assembly, the multilayer cable assembly is clamped in the water pressure sensing box body, the dynamic pre-tightening guiding ventilation assembly is arranged in the multilayer cable assembly, and the cable positioning assembly is arranged in the multilayer cable assembly.

Preferably, the multi-layer cable assembly comprises a steel strip armored protection layer, a stretch-proof fabric layer, a steel wire rope and a sealing layer, the multi-layer cable assembly cannot be bent or internally closed under the reinforcement of the steel strip armored protection layer and a hydraulic pressure resisting spring, the steel wire rope and the steel strip armored protection layer are bound and fixed once at intervals by a binding belt to prevent the steel wire rope and the steel strip armored protection layer from being wound and knotted, the steel strip armored protection layer is fixedly connected in a hydraulic pressure induction box body, so that the steel wire rope and the hydraulic pressure induction box body are not easy to generate rotational deviation, the stretch-proof fabric layer is arranged in the steel strip armored protection layer, the sealing layer is arranged in the stretch-proof fabric layer, gas can be prevented from leaking out and water can be prevented from entering the multi-layer cable assembly through the sealing layer, the steel strip armored protection layer, the stretch-proof fabric layer and the sealing layer are fixedly connected, the steel wire rope is arranged at the top of the hydraulic pressure induction box body, the steel wire ropes are uniformly distributed around the steel tape armored protective layer and are main tension bearing mechanisms; the steel wire rope and the steel tape armor protective layer are bound and fixed once through the binding belt at intervals of a certain distance, and the steel wire rope and the steel tape armor protective layer are prevented from being wound and knotted.

As a further preference of the invention, the dynamic pre-tightening guide ventilation assembly comprises a flexible valve clack body and a valve clack pre-tightening spring, the flexible valve clack body is provided with a rigid valve clack mounting part, the flexible valve clack body is clamped in the multilayer mooring rope assembly through the rigid valve clack mounting part, valve clack elastic opening parts are uniformly distributed on the flexible valve clack body in an annular mode, the one-way flow of the fluid can be controlled by the elastic opening part of the valve clack, the liquid is prevented from flowing backwards into the multi-layer cable assembly, the use is not influenced when the liquid enters other cavities, most of the liquid can be discharged after the liquid is aerated again, one end of the valve clack pre-tightening spring is in contact with the valve clack elastic opening portion, the other end of the valve clack pre-tightening spring is in contact with the driven floating disc hollow mounting disc, and pre-resistance can exist in opening of the valve clack elastic opening portion through the valve clack pre-tightening spring.

Preferably, the cable positioning assembly comprises a cable positioning fixing frame and a power cable body, the cable positioning fixing frame is clamped in the multilayer cable assembly, a cable fixing frame round hole is formed in the cable positioning fixing frame, the power cable body is fixedly clamped in the cable fixing frame round hole, one end of the power cable body is connected with a power supply, the other end of the power cable body is electrically connected with the micro double-headed motor, and the power cable body, the micro double-headed motor and the connecting part of the power cable body and the micro double-headed motor are both waterproof sealing structures.

The scheme also discloses a using method of the pneumatic propelling device for underwater search and rescue, which mainly comprises the following steps:

the method comprises the following steps: gas is blown into the multilayer cable assembly through an external gas source, so that the gas can prop open the elastic opening part of the valve clack and is ejected from the first gas injection hole and the second gas injection hole of the gas injection box body at high speed, and the device is driven to advance by the reverse thrust of the gas;

step two: when steering is needed, the micro-motion double-head motor drives the disc type air injection valve plate to rotate, so that the mutual shielding relation between an air injection step of the air injection box body and a valve ring of the valve plate is changed, and the shielding relation between a kidney-shaped hole I of the valve plate and an air injection hole I of the air injection box body is changed, so that the ratio of the air discharge amount of the air injection holes of the two groups of air injection box bodies can be adjusted, and the thrust and the direction can be changed;

step three: when the air jet thrust plate needs to be pushed towards the side, the disc type air jet thrust plate needs to be rotated ninety degrees through the micro double-head motor and enters a turning control state in the other direction;

step four: in the process of switching two turning control states, the floating type rotary driving disc and the floating type lifting driven disc can be far away from each other by driving the double-slope boss of the floating disc and the double-slope groove of the driven floating disc to slide mutually, and the suspended type rotary limiting frame is fixed on the compensation type floating frame, and the elastic modulus of the water pressure resisting spring is far greater than that of the valve clack pre-tightening spring, so that the floating type lifting driven disc can rise under the jacking action of the floating type rotary driving disc and compress the valve clack pre-tightening spring, thereby blocking the elastic opening part of the valve clack and preventing the disorder and the runaway of air flow in the reversing process;

step five: along with the reduction of the submergence depth, the self-compensation induction floating ring retracts towards the top piston cavity of the box body under the pressure of water pressure, so that the pre-tightening deformation quantity of the valve clack pre-tightening spring is reduced, the resistance of the spring is reduced, and the increased air injection resistance caused by the increase of the water depth is compensated.

The invention with the structure has the following beneficial effects:

(1) the first jet box body jet hole and the second jet box body jet hole are respectively shielded by the first port plate kidney-shaped hole and the second port plate kidney-shaped hole, and the flow ratio of the propulsion air is distributed by changing the ventilation areas of the first jet box body jet hole and the second jet box body jet hole, so that the steering is controlled;

(2) the precompression quantity of the pre-tightening spring is changed through the pressure change of water at different depths through the self-adaptive compensation type water pressure balancing mechanism and the dynamic pre-tightening type one-way ventilation mechanism, so that the numerical fluctuation of the air injection resistance is compensated;

(3) the self-compensation induction floating ring can feed back the water pressure, so that the compensation type floating frame is pushed downwards, and the flow resistance of air at the dynamic pre-tightening type one-way ventilation mechanism is reduced;

(4) the dynamic pre-tightening type one-way ventilation mechanism can only allow gas and liquid to flow from the inside to the outside and cannot flow from the outside to the inside, so that the control failure during mode switching can be prevented, and water flow can be prevented from flowing backwards;

(5) the functions of the suspension type rotation limiting frame and the floating type rotation driving disc can also be realized through equipment on a ship, and when an external air pump can automatically control starting and stopping or an electromagnetic valve is designed at an air inlet end, the suspension type rotation limiting frame and the floating type rotation driving disc can be completely detached;

(6) the one-way flow of fluid can be controlled through the elastic opening part of the valve clack, the liquid is prevented from flowing backwards into the multi-layer cable assembly, the use is not influenced when the liquid enters other cavities, and most of the liquid can be discharged after the liquid is aerated again;

(7) although redundant resistance exists when the elastic opening part of the valve clack is opened through the valve clack pre-tightening spring, the variable quantity of the air injection resistance is reduced, the system adjusting load and the working complexity of equipment are reduced, and the actual benefit is greater than the disadvantage;

(8) the gas pipe and the cable are integrated together, and the steel wire rope bears tension, so that the strength of the gas pipe can be enhanced through a hollow armor structure, and the cable can be protected through the enhanced gas pipe;

(9) the steering motor can be cooled by the continuously flowing gas and the surrounding water.

Drawings

Fig. 1 is a perspective view of a pneumatic propulsion device for underwater search and rescue according to the present invention;

FIG. 2 is a front view of a pneumatic propulsion device for underwater search and rescue in accordance with the present invention;

fig. 3 is a top view of a pneumatic propulsion device for underwater search and rescue according to the present invention;

FIG. 4 is a cross-sectional view taken along section line A-A of FIG. 2;

FIG. 5 is a cross-sectional view taken along section line B-B of FIG. 4;

FIG. 6 is a cross-sectional view taken along section line C-C of FIG. 4;

fig. 7 is a schematic structural view of a single-motor micro-motion air jet steering mechanism of a pneumatic propulsion device for underwater search and rescue according to the present invention;

fig. 8 is a schematic structural view of a reversing cut-off type overshoot protection device of the pneumatic propulsion device for underwater search and rescue according to the present invention;

fig. 9 is a schematic structural diagram of an adaptive compensation type water pressure balancing mechanism of a pneumatic propulsion device for underwater search and rescue according to the present invention;

fig. 10 is a schematic structural view of a dynamic pre-tightening type one-way ventilation mechanism of a pneumatic propulsion device for underwater search and rescue according to the present invention;

FIG. 11 is an enlarged view of a portion of FIG. 4 at I;

FIG. 12 is an enlarged view of a portion of FIG. 5 at II;

fig. 13 is a partial enlarged view of fig. 4 at iii.

Wherein, 1, a single-motor micro-motion type jet steering mechanism, 2, a reversing cut-off type overshoot prevention device, 3, a self-adaptive compensation type water pressure balance mechanism, 4, a dynamic pre-tightening type one-way ventilation mechanism, 5, a water breaking driving component, 6, a rotary reversing component, 7, a micro-motion double-head motor, 8, a conical balancing weight, 9, a flying disc type jet box body, 10, a disc type jet flow distribution disc, 11, a motor main rotating part, 12, a motor auxiliary rotating part square shaft, 13, a motor auxiliary rotating part circular shaft, 14, a jet box body mounting clamping table, 15, a jet box body internal supporting column, 16, a jet box body jet step, 17, a jet box body jet hole I, 18, a jet box body jet hole II, 19, a flow distribution disc clamping table, 20, a flow distribution disc valve ring, 21, a flow distribution disc kidney-shaped hole I, 22, a flow distribution disc kidney-shaped hole II, 23, a propulsion head sealing barrel body, 24, a self-cutting reversing rotating mechanism, 25. a propelling cylinder bottom flange, 26, a propelling cylinder top flange, 27, a suspension type rotary limiting frame, 28, a floating type rotary driving disc, 29, a floating type lifting driven disc, 30, a rotary limiting chute, 31, a driving floating disc hollow-out mounting disc, 32, a driving floating disc square chute, 33, a driving floating disc double-slope boss, 34, a driven floating disc hollow-out mounting disc, 35, a driven floating disc guiding chute, 36, a driven floating disc bottom cylinder, 37, a driven floating disc double-slope groove, 38, a water pressure sensing box body, 39, a self-compensation sensing floating ring, 40, a compensation type floating frame, 41, a box body top piston cavity, 42, a box body bottom piston cavity, 43, a floating frame piston ring, 44, a floating frame guiding boss, 45, a floating frame bottom platform, 46, a multilayer cable assembly, 47, a dynamic pre-tightening guiding ventilation assembly, 48 and a positioning cable assembly, 49. the hydraulic valve flap comprises a steel tape armor protective layer, 50, an anti-stretching cord fabric layer, 51, a sealing layer, 52, a flexible valve flap body, 53, a valve flap pre-tightening spring, 54, a cable positioning fixing frame, 55, an electric power cable body, 56, a valve flap rigid mounting portion, 57, a valve flap elastic opening portion, 58, a cable fixing frame round hole, 59, a hydraulic pressure resisting spring, 60 and a steel wire rope.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

As shown in figure 1, the invention provides a pneumatic propelling device for underwater search and rescue, which comprises a single-motor micro-motion type air injection steering mechanism 1, a reversing cut-off type overshoot protection device 2, a self-adaptive compensation type water pressure balancing mechanism 3 and a dynamic pre-tightening type one-way ventilation mechanism 4, wherein the reversing cut-off type overshoot protection device 2 is arranged on the single-motor micro-motion type air injection steering mechanism 1, the single-motor micro-motion type air injection steering mechanism 1 has the technical effect of controlling the underwater air injection propelling device to flexibly steer only through a group of motors and a smart mechanical structure under the condition that no linkage system or feedback control system exists, the reversing cut-off type overshoot protection device 2 can increase the opening resistance of a one-way valve in the process of switching over the steering mode, so as to prevent the speed and direction from being out of control caused by the out of control of air flow in the switching process, the self-adaptive compensation type water pressure balancing mechanism 3 is arranged on the reversing cut-off type overshoot protection device 2, can the auto-induction hydraulic pressure change through self-adaptation compensation formula water pressure balance mechanism 3, then the compensation is because of the gas injection resistance that the water pressure increase increases, and dynamic pretension formula one-way breather 4 is located on self-adaptation compensation formula water pressure balance mechanism 3, only can allow gas and liquid one-way to pass through dynamic pretension formula one-way breather 4, can enough prevent out of control when the mode switch, can prevent again that rivers from flowing backward.

As shown in fig. 1, 2, 4, 5, 7 and 13, the single-motor jogging type air jet steering mechanism 1 comprises a water breaking driving assembly 5 and a rotary reversing assembly 6, wherein the rotary reversing assembly 6 is arranged on the water breaking driving assembly 5; the water breaking driving assembly 5 comprises a micro double-end motor 7 and a conical balancing weight 8, one end of the micro double-end motor 7 is provided with a motor main rotating part 11, the conical balancing weight 8 is clamped on the motor main rotating part 11, the conical balancing weight 8 has the function of reducing the movement resistance, the other end of the micro double-end motor 7 is provided with a motor auxiliary rotating part square shaft 12, the micro double-end motor 7 is provided with a motor auxiliary rotating part round shaft 13 on the motor auxiliary rotating part square shaft 12, and the motor main rotating part 11 and the motor auxiliary rotating part square shaft 12 synchronously rotate; the rotary reversing assembly 6 comprises a flying disc type jet box body 9 and a disc type jet flow distribution disc 10, a jet box body mounting clamping table 14 is arranged on the flying disc type jet box body 9, the flying disc type jet box body 9 is clamped on the micro double-head motor 7 through the jet box body mounting clamping table 14, a jet box body inner supporting column 15 used for increasing the strength is arranged on the flying disc type jet box body 9, a jet box body jet step 16 is arranged on the outermost periphery of the flying disc type jet box body 9, a jet box body jet hole I17 and a jet box body jet hole II 18 are respectively and symmetrically arranged on the jet box body jet step 16 of the flying disc type jet box body 9, gas blown from an external air pump is discharged into water through the jet box body jet hole I17 and the jet box body jet hole II 18, the water can also provide reaction force with the same size and opposite direction for the gas and the device, and a flow distribution disc type jet flow distribution disc clamping table 19 is arranged on the disc type jet flow distribution disc 10, the disc type air injection valve plate 10 is clamped on the main rotating part 11 of the motor through a valve plate clamping table 19, a valve plate valve ring 20 is arranged on the disc type air injection valve plate 10, the valve plate valve ring 20 is in sliding and sealing contact with an air injection step 16 of an air injection box body, a first valve plate kidney-shaped hole 21 and a second valve plate kidney-shaped hole 22 are symmetrically arranged on the disc type air injection valve plate 10 respectively, the first valve plate kidney-shaped hole 21 can control the flow ratio of the first two groups of air injection box body air injection holes 17 or the second two groups of air injection box body air injection holes 18, the longer second valve plate kidney-shaped hole 22 can ensure that the other two groups of air injection box body air injection holes 17 or the second air injection box body air injection holes 18 are in a completely open state in the flow distribution process.

As shown in fig. 1, 4, 5, 8, 9 and 12, the reversing and cutting type overshoot protection device 2 comprises a propelling head sealing cylinder 23 and a self-cutting reversing rotation mechanism 24, wherein the propelling head sealing cylinder 23 plays a supporting role, a propelling cylinder bottom flange 25 is arranged on the propelling head sealing cylinder 23, the propelling head sealing cylinder 23 is arranged on the flying disc type air injection box body 9 through the propelling cylinder bottom flange 25, a propelling cylinder top flange 26 is arranged on the propelling head sealing cylinder 23, and the self-cutting reversing rotation mechanism 24 is arranged on the self-adaptive compensation type water pressure balance mechanism 3; the self-cutting reversing rotating mechanism 24 comprises a suspension type rotating limiting frame 27, a floating type rotating driving disk 28 and a floating type lifting driven disk 29, the suspension type rotating limiting frame 27 is arranged at the bottom of the self-adaptive compensation type water pressure balancing mechanism 3, the suspension type rotating limiting frame 27 has the function of supporting the floating type rotating driving disk 28, a rotating limiting chute 30 is arranged on the suspension type rotating limiting frame 27, a driving floating disk hollow-out mounting disk 31 is arranged on the floating type rotating driving disk 28, the floating type rotating driving disk 28 is rotationally arranged in the rotating limiting chute 30 through the driving floating disk hollow-out mounting disk 31, a driving floating disk square chute 32 is arranged on one side of the floating type rotating driving disk 28, the floating type rotating driving disk 28 is clamped and slidably arranged on the auxiliary rotating part square shaft 12 of the motor through the driving floating disk square chute 32, and driving floating disk double-slope bosses 33 are annularly and uniformly distributed on the other side of the floating type rotating driving disk 28, when the floating type rotary driving disk 28 rotates, the floating type lifting driven disk 29 can be driven to lift, because the suspension type rotary limiting frame 27 is fixed on the compensation type floating frame 40, and the elastic modulus of the water pressure resisting spring 59 is far larger than that of the valve clack pre-tightening spring 53, compared with the displacement of the floating type lifting driven disk 29, the displacement of the floating type rotary driving disk 28 and the compensation type floating frame 40 can be ignored, the floating type rotary driving disk 28 and the suspension type rotary limiting frame 27 are detachable parts, when an external air pump can automatically control start and stop or an electromagnetic valve is designed at an air inlet end, the suspension type rotary limiting frame 27 and the floating type rotary driving disk 28 can be completely detached, the floating type lifting driven disk 29 is arranged in the self-adaptive compensation type water pressure balance mechanism 3 in a sliding manner, the floating type lifting driven disk 29 is provided with a driven floating disk hollow mounting disk 34, floating lift driven plate 29 is equipped with driven floating plate direction spout 35 at driven floating plate fretwork formula mounting disc 34's marginal annular equipartition, one side of floating lift driven plate 29 is equipped with driven floating plate bottom drum 36 and driven floating plate double slope recess 37, driven floating plate double slope recess 37 and the two slope boss 33 sliding contact of drive floating plate, through the slip of floating lift driven plate 29, can change the deformation volume in advance of valve clack pretension spring 53, thereby change the resistance that the air passes through valve clack elasticity opening portion 57.

As shown in fig. 1, 4, 5, 6, 8, 9 and 11, the adaptive compensation type water pressure balancing mechanism 3 includes a water pressure sensing box 38, a self-compensation sensing floating ring 39, a water pressure opposing spring 59 and a compensation type floating frame 40, the water pressure sensing box 38 is disposed on the top flange 26 of the propelling cylinder, the water pressure sensing box 38 is provided with a box top piston cavity 41 and a box bottom piston cavity 42, the self-compensation sensing floating ring 39 is slidably engaged with the box top piston cavity 41, the magnitude of the water pressure can be fed back through the self-compensation sensing floating ring 39, and the compensation type floating frame 40 is pushed downward, so as to reduce the flow resistance of air at the dynamic pre-tightening type one-way ventilating mechanism 4, the self-compensation sensing floating ring 39 is slidably and sealingly contacted with the inner wall of the box top piston cavity 41, the compensation type floating frame 40 is provided with a floating frame 43, the floating frame 43 is slidably engaged with the water pressure sensing box 38, the inner wall sliding seal contact of frame piston ring 43 and bottom half piston chamber 42 floats, water pressure is confronted in the spring 59 locates box top piston chamber 41, self-compensating response floating collar 39 locates on water pressure confronts the spring 59, be equipped with unsteady frame direction boss 44 on the frame 40 that floats of compensation formula, floating lift driven plate 29 slides through driven floating plate direction spout 35 block and locates on unsteady frame direction boss 44, be equipped with unsteady frame bottom platform 45 on the frame 40 that floats of compensation formula, suspension type rotation spacing 27 rigid coupling is on unsteady frame bottom platform 45.

As shown in fig. 1, 2, 4, 5 and 10, the dynamic pre-tightening type unidirectional ventilation mechanism 4 includes a multi-layer cable assembly 46, a dynamic pre-tightening guiding ventilation assembly 47 and a cable positioning assembly 48, the multi-layer cable assembly 46 is clamped in the water pressure sensing tank 38, the dynamic pre-tightening guiding ventilation assembly 47 is disposed in the multi-layer cable assembly 46, and the cable positioning assembly 48 is disposed in the multi-layer cable assembly 46; the multi-layer cable assembly 46 comprises a steel-tape armored protective layer 49, a tensile cord fabric layer 50, a steel wire rope 60 and a sealing layer 51, the multi-layer cable assembly 46 cannot be bent or is internally closed under the reinforcement of the steel-tape armored protective layer 49 and a hydraulic pressure resisting spring 59, the steel-tape armored protective layer 49 is arranged in the hydraulic pressure sensing box body 38, the tensile cord fabric layer 50 is arranged in the steel-tape armored protective layer 49, the sealing layer 51 is arranged in the tensile cord fabric layer 50, gas leakage and water entering into the multi-layer cable assembly 46 can be prevented through the sealing layer 51, the steel-tape armored protective layer 49, the tensile cord fabric layer 50 and the sealing layer 51 are fixedly connected, the steel wire rope 60 is arranged at the top of the hydraulic pressure sensing box body 38, the steel wire rope 60 is uniformly distributed around the steel-tape armored protective layer 49, the steel wire rope is a main tensile force bearing mechanism, and the steel wire rope 60 and the steel-tape armored protective layer 49 are arranged at intervals, the steel wire rope 60 and the steel tape armor protective layer 49 are prevented from being wound and knotted with each other by being bound and fixed once through a binding belt; the dynamic pre-tightening guide ventilation assembly 47 comprises a flexible valve clack body 52 and a valve clack pre-tightening spring 53, a valve clack rigid mounting part 56 is arranged on the flexible valve clack body 52, the flexible valve clack body 52 is clamped in the multilayer cable assembly 46 through the valve clack rigid mounting part 56, valve clack elastic opening parts 57 are annularly and uniformly distributed on the flexible valve clack body 52, the one-way flow of fluid can be controlled through the valve clack elastic opening parts 57, the liquid is prevented from flowing backwards into the multilayer cable assembly 46, when the liquid enters other cavities, the use is not influenced, most of liquid can be discharged through re-ventilation, one end of the valve clack pre-tightening spring 53 is contacted with the valve clack elastic opening parts 57, the other end of the valve clack pre-tightening spring 53 is contacted with the driven floating disc hollow-type mounting disc 34, and pre-resistance can exist in the opening of the valve clack elastic opening parts 57 through the valve clack pre-tightening spring 53; the cable positioning assembly 48 comprises a cable positioning fixing frame 54 and an electric power cable body 55, the cable positioning fixing frame 54 is clamped in the multilayer cable assembly 46, a cable fixing frame round hole 58 is formed in the cable positioning fixing frame 54, the electric power cable body 55 is fixedly connected in the cable fixing frame round hole 58 in a clamping mode, one end of the electric power cable body 55 is connected with a power supply, the other end of the electric power cable body 55 is electrically connected with the micro double-headed motor 7, and the electric power cable body 55, the micro double-headed motor 7 and the connecting portion of the electric power cable body and the micro double-headed motor 7 are both waterproof sealing structures.

When the device is used specifically, firstly, a user needs to blow gas into the multilayer cable assembly 46 through an external gas source, the gas can prop open the elastic opening part 57 of the valve clack, and then the gas is ejected from the first gas injection hole 17 and the second gas injection hole 18 of the gas injection box body at a high speed, so that the device is driven to advance through the reverse thrust of the gas;

when the steering is needed, the micro double-head motor 7 drives the disc type jet valve plate 10 to rotate, so that the mutual shielding relation between the jet step 16 of the jet box body and the valve ring 20 of the valve plate is changed, and the ratio of the displacement of the two groups of jet holes I17 of the jet box body can be adjusted by changing the shielding relation between the waist-shaped hole I21 of the valve plate and the jet holes I17 of the jet box body, so that the thrust is changed, and the direction is adjusted;

when the air jet thrust plate needs to be pushed towards the side, the micro double-head motor 7 is needed to rotate the disc type air jet thrust plate 10 for ninety degrees, and the air jet thrust plate enters a turning control state in the other direction;

in the process of switching two turning control states, the floating type rotary driving disc 28 and the floating type lifting driven disc 29 can be far away from each other by driving the floating disc double-slope boss 33 and the driven floating disc double-slope groove 37 to slide mutually, because the suspended type rotary limiting frame 27 is fixed on the compensation type floating frame 40, and the elastic modulus of the water pressure resisting spring 59 is far greater than that of the valve clack pre-tightening spring 53, the floating type lifting driven disc 29 can rise under the jacking action of the floating type rotary driving disc 28 at the moment and compress the valve clack pre-tightening spring 53, so that the elastic opening part 57 of the valve clack is blocked, and the air flow is prevented from being disordered and out of control in the reversing process;

along with the reduction of the submergence depth, the self-compensation induction floating ring 39 retracts towards the top piston cavity 41 of the box body under the pressure of water pressure, so that the pre-tightening deformation quantity of the valve clack pre-tightening spring 53 is reduced, the resistance of the spring is reduced, and the increased air injection resistance caused by the increase of the water depth is compensated; the above is the overall workflow of the present invention.

As another new embodiment of the present invention, when the external air pump can automatically control the start and stop or the electromagnetic valve is installed at the air inlet end, the suspension type rotation limiting frame 27 and the floating type rotation driving disk 28 can be detached, and the air pump itself or the electromagnetic valve can control the air circulation in the multi-layer cable assembly 46 without increasing the amount of pre-deformation of the valve flap pre-tightening spring 53.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should be able to conceive of the present invention without creative design of the similar structural modes and embodiments without departing from the spirit of the present invention, and all such modifications should fall within the protection scope of the present invention.

Claims

1. The utility model provides a pneumatic type is advancing device for search and rescue under water which characterized in that: the device comprises a single-motor micro-dynamic air jet steering mechanism (1), a reversing cut-off overshoot prevention device (2), a self-adaptive compensation type water pressure balance mechanism (3) and a dynamic pre-tightening type one-way ventilation mechanism (4), wherein the reversing cut-off overshoot prevention device (2) is arranged on the single-motor micro-dynamic air jet steering mechanism (1), the self-adaptive compensation type water pressure balance mechanism (3) is arranged on the reversing cut-off overshoot prevention device (2), and the dynamic pre-tightening type one-way ventilation mechanism (4) is arranged on the self-adaptive compensation type water pressure balance mechanism (3); the single-motor micro-motion type air injection steering mechanism (1) comprises a water breaking driving assembly (5) and a rotary reversing assembly (6), wherein the rotary reversing assembly (6) is arranged on the water breaking driving assembly (5); the water breaking driving assembly (5) comprises a micro double-end motor (7) and a conical balancing weight (8), one end of the micro double-end motor (7) is provided with a motor main rotating part (11), the conical balancing weight (8) is clamped on the motor main rotating part (11), the other end of the micro double-end motor (7) is provided with a motor auxiliary rotating part square shaft (12), and a motor auxiliary rotating part round shaft (13) is arranged on the motor auxiliary rotating part square shaft (12) of the micro double-end motor (7);

the rotary reversing assembly (6) comprises a flying disc type air injection box body (9) and a disc type air injection valve plate (10), an air injection box body mounting clamping table (14) is arranged on the flying disc type air injection box body (9), the flying disc type air injection box body (9) is clamped on the micro double-head motor (7) through the air injection box body mounting clamping table (14), an air injection box body inner supporting column (15) used for increasing strength is arranged on the flying disc type air injection box body (9), an air injection box body air injection step (16) is arranged on the outermost periphery of the flying disc type air injection box body (9), two air injection box body air injection holes I (17) and two air injection box body air injection holes II (18) are symmetrically arranged on the air injection box body air injection step (16) of the flying disc type air injection valve plate (9), the disc type air injection valve plate clamping table (19) is arranged on the motor main rotating part (11) through the valve plate clamping table (19), the disc type air injection valve plate (10) is provided with a valve ring (20) of the valve plate, the valve ring (20) of the valve plate is in sliding sealing contact with an air injection step (16) of an air injection box body, the disc type air injection valve plate (10) is respectively and symmetrically provided with a first kidney-shaped hole (21) of the valve plate and a second kidney-shaped hole (22) of the valve plate, the first kidney-shaped hole (21) of the valve plate can control the flow ratio between the first jet holes (17) of the two air injection box bodies or between the second jet holes (18) of the two air injection box bodies, and the second kidney-shaped hole (22) of the valve plate with longer length can ensure that the first jet holes (17) of the other two air injection box bodies or the second jet holes (18) of the other two air injection box bodies are in a completely open state in the flow distribution process;

the reversing cut-off type overshoot prevention device (2) comprises a propelling head sealing cylinder body (23) and a self-cutting reversing rotating mechanism (24), a propelling cylinder bottom flange (25) is arranged on the propelling head sealing cylinder body (23), the propelling head sealing cylinder body (23) is arranged on the flying disc type air injection box body (9) through the propelling cylinder bottom flange (25), a propelling cylinder top flange (26) is arranged on the propelling head sealing cylinder body (23), and the self-cutting reversing rotating mechanism (24) is arranged on the self-adaptive compensation type water pressure balancing mechanism (3);

the self-cutting-off reversing rotating mechanism (24) comprises a suspension type rotating limiting frame (27), a floating type rotating driving disk (28) and a floating type lifting driven disk (29), the suspension type rotating limiting frame (27) is arranged at the bottom of the self-adaptive compensation type water pressure balancing mechanism (3), a rotating limiting sliding groove (30) is formed in the suspension type rotating limiting frame (27), a hollow mounting disk (31) for driving a floating disk is arranged on the floating type rotating driving disk (28), the floating type rotating driving disk (28) is rotatably arranged in the rotating limiting sliding groove (30) through the hollow mounting disk (31) for driving the floating disk, a square sliding groove (32) for driving the floating disk is formed in one side of the floating type rotating driving disk (28), and the floating type rotating driving disk (28) is clamped and slidably arranged on a square shaft (12) of the auxiliary rotating part of the motor through the square sliding groove (32) for driving the floating disk, the other side of the floating type rotary driving disk (28) is annularly and uniformly provided with driving floating disk double-slope bosses (33), the floating type lifting driven disk (29) is arranged in the self-adaptive compensation type water pressure balance mechanism (3) in a sliding mode, a driven floating disk hollow-out type mounting disk (34) is arranged on the floating type lifting driven disk (29), driven floating disk guide sliding grooves (35) are annularly and uniformly arranged on the edge of the driven floating disk hollow-out type mounting disk (34) of the floating type lifting driven disk (29), a driven floating disk bottom cylinder (36) and driven floating disk double-slope grooves (37) are arranged on one side of the floating type lifting driven disk (29), and the driven floating disk double-slope grooves (37) are in sliding contact with the driving floating disk double-slope bosses (33);

the self-adaptive compensation type water pressure balancing mechanism (3) comprises a water pressure sensing box body (38), a self-compensation sensing floating ring (39), a water pressure resisting spring (59) and a compensation type floating frame (40), wherein the water pressure sensing box body (38) is arranged on a top flange (26) of the propelling cylinder, a box top piston cavity (41) and a box bottom piston cavity (42) are arranged on the water pressure sensing box body (38), the self-compensation sensing floating ring (39) is clamped and slidably arranged in the box top piston cavity (41), the self-compensation sensing floating ring (39) is in sliding sealing contact with the inner wall of the box top piston cavity (41), a floating frame piston ring (43) is arranged on the compensation type floating frame (40), the floating frame piston ring (43) is clamped and slidably arranged in the water pressure sensing box body (38), and the floating frame piston ring (43) is in sliding sealing contact with the inner wall of the box bottom piston cavity (42), in box top piston chamber (41) was located in water pressure antagonism spring (59), on water pressure antagonism spring (59) was located in self-compensating response floating collar (39), be equipped with unsteady frame direction boss (44) on compensation formula floating frame (40), floating lift driven plate (29) slide through driven floating plate direction spout (35) block and locate unsteady frame direction boss (44), be equipped with unsteady frame bottom platform (45) on compensation formula floating frame (40), suspension type rotation spacing (27) rigid coupling is on unsteady frame bottom platform (45).

2. The pneumatic propelling device for underwater search and rescue according to claim 1, wherein: the dynamic pre-tightening type one-way ventilation mechanism (4) comprises a multi-layer cable assembly (46), a dynamic pre-tightening guide ventilation assembly (47) and a cable positioning assembly (48), the multi-layer cable assembly (46) is clamped in the water pressure sensing box body (38), the dynamic pre-tightening guide ventilation assembly (47) is arranged in the multi-layer cable assembly (46), and the cable positioning assembly (48) is arranged in the multi-layer cable assembly (46).

3. The pneumatic propelling device for underwater search and rescue according to claim 2, wherein: the multilayer mooring rope assembly (46) comprises a steel strip armor protective layer (49), a stretch-resistant cord fabric (50), a steel wire rope (60) and a sealing layer (51), wherein the steel strip armor protective layer (49) is arranged in the water pressure sensing box body (38), the stretch-resistant cord fabric (50) is arranged in the steel strip armor protective layer (49), the sealing layer (51) is arranged in the stretch-resistant cord fabric (50), the steel strip armor protective layer (49), the stretch-resistant cord fabric (50) and the sealing layer (51) are fixedly connected, the steel wire rope (60) is arranged at the top of the water pressure sensing box body (38), and the steel wire rope (60) is uniformly distributed around the steel strip armor protective layer (49).

4. The pneumatic propelling device for underwater search and rescue according to claim 3, wherein: the dynamic pre-tightening guide ventilation assembly (47) comprises a flexible valve clack body (52) and a valve clack pre-tightening spring (53), a valve clack rigid mounting portion (56) is arranged on the flexible valve clack body (52), the flexible valve clack body (52) is clamped in the multilayer mooring rope assembly (46) through the valve clack rigid mounting portion (56), a valve clack elastic opening portion (57) is annularly arranged on the flexible valve clack body (52), one end of the valve clack pre-tightening spring (53) is in contact with the valve clack elastic opening portion (57), and the other end of the valve clack pre-tightening spring (53) is in contact with a driven floating disc hollow-out mounting disc (34).

5. The pneumatic propelling device for underwater search and rescue according to claim 4, wherein: the cable positioning assembly (48) comprises a cable positioning fixing frame (54) and an electric power cable body (55), the cable positioning fixing frame (54) is clamped in the multilayer mooring rope assembly (46), a cable fixing frame round hole (58) is formed in the cable positioning fixing frame (54), the electric power cable body (55) is clamped and fixedly connected in the cable fixing frame round hole (58), one end of the electric power cable body (55) is connected with a power source, and the other end of the electric power cable body (55) is electrically connected with the micro double-headed motor (7).

6. The use method of the pneumatic propelling device for underwater search and rescue according to claim 5 is characterized by comprising the following steps:

the method comprises the following steps: gas is blown into the multilayer cable assembly (46) through an external gas source, so that the gas props up the elastic opening part (57) of the valve clack, and then the gas is ejected from the first gas ejecting hole (17) and the second gas ejecting hole (18) of the gas ejecting box body, and the device is driven to advance through the reverse thrust of the gas;

step two: when the steering is needed, the micro-motion double-head motor (7) drives the disc type air injection valve plate (10) to rotate, so that the mutual shielding relation between an air injection step (16) of the air injection box body and a valve ring (20) of the valve plate is changed, and the ratio of the air displacement of the two groups of air injection box body air injection holes I (17) is adjusted by changing the shielding relation between the valve plate kidney-shaped holes I (21) and the air injection box body air injection holes I (17), so that the thrust is changed, and the direction is adjusted;

step three: when the air jet engine needs to be pushed towards the side, the disc type air jet valve plate (10) is rotated by ninety degrees through the micro double-head motor (7) to enter a turning control state in the other direction;

step four: in the process of switching two turning control states, the floating type rotary driving disc (28) and the floating type lifting driven disc (29) are separated from each other by driving the floating disc double-slope boss (33) and the driven floating disc double-slope groove (37) to slide mutually, and because the suspension type rotary limiting frame (27) is fixed on the compensation type floating frame (40), and the elastic modulus of the water pressure resisting spring (59) is greater than that of the valve clack pre-tightening spring (53), the floating type lifting driven disc (29) can rise under the jacking action of the floating type rotary driving disc (28) and compress the valve clack pre-tightening spring (53), so that an elastic opening part (57) of the valve clack is blocked, and the air flow is prevented from being disordered and out of control in the reversing process;

step five: along with the reduction of the submergence depth, the self-compensation induction floating ring (39) retracts into a piston cavity (41) at the top of the box body under the pressure of water pressure, so that the pre-tightening deformation quantity of a valve clack pre-tightening spring (53) is reduced, the resistance of the spring is reduced, and the increased air injection resistance caused by the increase of the water depth is compensated.