CN117963113A

CN117963113A - Underwater submarine vehicle

Info

Publication number: CN117963113A
Application number: CN202410133592.8A
Authority: CN
Inventors: 胡刚毅; 陈新伯; 梁浩杨
Original assignee: Guangdong Lanqian Marine Technology Co ltd
Current assignee: Guangdong Lanqian Marine Technology Co ltd
Priority date: 2024-01-30
Filing date: 2024-01-30
Publication date: 2024-05-03

Abstract

The invention relates to the technical field of underwater robots and discloses an underwater submarine, which comprises a control cabin body and a buoyancy cabin body, wherein the outer surface of the buoyancy cabin body is streamline, the buoyancy cabin body wraps the control cabin body, and the top surface and the bottom surface of the buoyancy cabin body are respectively in smooth transition with the peripheral surface; the periphery is a convex streamline surface, the front side and the rear side of the periphery slide inwards to form a first area, the left side and the right side slide inwards to form a second area, and the detection assembly is arranged in the first area or the second area; the top surface is provided with a first channel which is communicated, a second channel is arranged between the first region and the second region, and the propeller is arranged in the first channel and the second channel. According to the invention, the control cabin body and the propeller are wrapped in the streamline buoyancy cabin body, so that the resistance in underwater movement is reduced, and the movement speed can be faster under the same thrust. And the symmetrical concave area is arranged on the streamline buoyancy cabin body and used as the installation position of the detection assembly, so that the resistance interference of the external detection assembly is reduced.

Description

Underwater submarine vehicle

Technical Field

The invention relates to the technical field of underwater robots, in particular to an underwater vehicle.

Background

An underwater vehicle is an unmanned, remotely or automatically controlled device that navigates underwater, and is also known as a "submersible robot" or "underwater robot". How to reduce the resistance of the underwater vehicle to move underwater and further improve the movement speed is one of the important directions of the current underwater vehicle research.

Chinese patent number 202220573042.4 discloses a streamlined underwater search robot. The streamline underwater searching robot comprises a robot body and a shell with an accommodating space, wherein the shell is wrapped outside the robot body and used for reducing resistance in the navigation process of the robot. However, the portion of the casing surrounding the impeller in this solution is not smooth, and there is resistance.

The invention overcomes the defects of the prior art and provides the underwater vehicle, which can further reduce the navigation resistance.

Disclosure of Invention

The invention mainly aims at providing an underwater vehicle, which is characterized by comprising a control cabin, a buoyancy cabin, a propeller and a detection assembly;

The outer surface of the buoyancy cabin body is streamline, the buoyancy cabin body wraps the control cabin body, the control cabin body is a sealed cabin body, and the propeller and the detection assembly are respectively connected with the control cabin body;

The buoyancy cabin body comprises a top surface, a bottom surface and a peripheral surface, wherein the top surface and the bottom surface are oppositely arranged and are parallel to each other, the top surface and the bottom surface are planes, the top surface is connected with the bottom surface through the peripheral surface, and the top surface and the bottom surface are respectively in smooth transition with the peripheral surface;

the periphery is a convex streamline surface, the periphery is provided with two first areas and two second areas, the two first areas are symmetrically distributed on the front side and the rear side of the periphery, the two second areas are symmetrically distributed on the left side and the right side of the periphery, the front side and the rear side of the periphery are respectively and smoothly concave to form the first areas, the left side and the right side are respectively and smoothly concave to form the second areas, and the detection assembly is arranged in the first areas or/and the second areas;

The top surface and the bottom surface are communicated through a first channel, the first area is communicated with the second area through a second channel, and the propeller is arranged in the first channel and the second channel;

the number of the first channels is at least two, and the first channels are symmetrically distributed in the geometric center of the top surface.

Optionally, the area of the second area is larger than the area of the first area, and the detection assembly comprises a first sonar and a second sonar;

The first area is provided with an outgoing line device, a camera shooting assembly and a first sonar, and the outgoing line device is connected with the control cabin body and used for signal transmission between the control cabin body and the shore-based assembly; the camera shooting assembly and the first sonar are embedded into the buoyancy cabin and are respectively connected with the control cabin to acquire underwater images;

The second sound is embedded into the buoyancy cabin body and connected with the control cabin body, and is used for acquiring underwater images.

Optionally, the wire outlet device comprises a bending assembly, the bending assembly is provided with a wire inlet, a wire outlet and a bending wire groove, and the wire inlet is communicated with the wire outlet through the bending wire groove; the cable enters the curved line groove through the wire inlet, is led out from the wire outlet along the curved line groove by bending at a preset angle, one end of the cable is connected with the control cabin body through a plug, and the other end of the cable is connected with the shore-based assembly.

Optionally, the camera shooting assembly comprises an integrated cavity, the integrated cavity is embedded in the buoyancy cabin, the integrated cavity is hollow and is divided into a lamplight chamber and a camera shooting chamber, the integrated cavity is connected with an interface assembly, and the interface assembly is connected with the control cabin; the indoor light subassembly that is equipped with of light, the indoor camera that is equipped with of camera.

Optionally, the propeller comprises a horizontal propeller and a vertical propeller, each first channel is correspondingly provided with one vertical propeller, and each second channel is correspondingly provided with one horizontal propeller;

the vertical propellers are vertically arranged, and the axes of the adjacent horizontal propellers are arranged at a preset angle;

The number of the first channels is 4, and the number of the second channels is 4.

Optionally, the top surface is provided with a concave area and a reserved interface, the bottom surface is provided with a reserved interface and a third sonar or DVL,

The detection assembly and the switch penetrate through the buoyancy cabin and are respectively connected with the control cabin;

The reserved interface is embedded in the surface of the buoyancy cabin body and is connected with the control cabin body.

Optionally, the detection assembly comprises a water depth sensor, wherein the water depth sensor is connected with the control cabin body and is used for detecting the underwater depth of the underwater vehicle.

Optionally, a lifting hook, a handle, a sacrificial anode and a vacuum test quick plug are arranged in the concave area;

The lifting hook, the handle and the sacrificial anode penetrate through the buoyancy cabin body to be connected with the shell of the control cabin body, and the vacuum test quick plug is communicated with the inside of the control cabin body;

the number of the lifting hooks and the number of the handles are two respectively, the lifting hooks are symmetrically distributed, and the handles are symmetrically distributed.

Optionally, the control cabin is provided with a supporting frame and a supporting surface, the supporting frame is connected with the supporting surface, and the supporting surface is connected with a supporting ring of the propeller;

the support surface is the cambered surface, the surface of first passageway and second passageway is equipped with the cambered surface breach, the shape of support surface with the shape matching of cambered surface breach.

Optionally, the propeller further comprises a shell, a blade assembly and a sealing shaft sleeve, wherein the shell is fixedly connected with the supporting ring, a sealing cavity is formed in the sealing shaft sleeve, a speed reducing assembly is arranged in the sealing shaft sleeve, the head end of the sealing shaft sleeve extends into the blade assembly, the sealing shaft sleeve is connected with the blade assembly through a dynamic sealing piece, the tail end of the sealing shaft sleeve is fixedly connected with the shell, and a static sealing piece is arranged between the contact surface of the sealing shaft sleeve and the shell; the inside sealed cavity that is of casing, the inside power component that is equipped with of casing, power component's output shaft connects the speed reduction subassembly, the speed reduction subassembly with paddle subassembly transmission is connected.

Compared with the prior art, the invention has the following beneficial effects:

according to the underwater vehicle, the control cabin body and the propeller are wrapped in the streamline buoyancy cabin body, so that resistance in underwater movement is reduced, and the speed of movement can be faster under the same thrust. And the symmetrical concave area is arranged on the streamline buoyancy cabin body and used as the installation position of the detection assembly, so that the resistance interference of the external detection assembly is reduced. In addition, the whole buoyancy cabin body is of a symmetrical structure, the propellers are symmetrically distributed, the stress is balanced, and the stability is good.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to scale, unless expressly stated otherwise.

FIG. 1 is a schematic view of an embodiment of the underwater vehicle of the present invention shown in FIG. 1;

FIG. 2 is a schematic view of FIG. 2 of an embodiment of the underwater vehicle of the present invention;

FIG. 3 is a front and rear side view of an embodiment of the underwater vehicle of the present invention;

FIG. 4 is a schematic view of a hidden buoyancy chamber of an embodiment of the underwater vehicle of the present invention, shown in FIG. 1;

FIG. 5 is a schematic view of a hidden buoyancy chamber of an embodiment of the underwater vehicle of the present invention, shown in FIG. 2;

FIG. 6 is a cross-sectional view of an embodiment of the underwater vehicle of the present invention shown in FIG. 1;

FIG. 7 is a cross-sectional view of an embodiment of the underwater vehicle of the present invention shown in FIG. 2;

FIG. 8 is a schematic view of an embodiment of an outlet device of the underwater vehicle of the present invention;

FIG. 9 is a schematic view of the interior of the outlet device of the embodiment of the underwater vehicle of the present invention;

FIG. 10 is a perspective view of an embodiment of an outlet device of the underwater vehicle of the present invention;

FIG. 11 is a schematic view of a camera assembly of an embodiment of the underwater vehicle of the present invention, shown in FIG. 1;

FIG. 12 is a schematic view of a camera assembly of an embodiment of the underwater vehicle of the present invention, shown in FIG. 2;

FIG. 13 is a cross-sectional view of a camera assembly of an embodiment of the underwater vehicle of the present invention;

FIG. 14 is a cross-sectional view 1 of a propeller of an embodiment of the underwater vehicle of the present invention;

FIG. 15 is an enlarged view of a portion of a propeller of an embodiment of the underwater vehicle of the present invention;

FIG. 16 is a cross-sectional view 2 of a propeller of an embodiment of the underwater vehicle of the present invention;

FIG. 17 is a cross-sectional view of a propeller of an embodiment of the underwater vehicle of the present invention;

FIG. 18 is an exploded schematic view of the interior of a propeller of an embodiment of the underwater vehicle of the present invention;

fig. 19 is a graph showing a propeller thrust test of an embodiment of the underwater vehicle of the present invention.

Reference numerals:

1-controlling a cabin; 11-a supporting frame; 12-a supporting surface; 13-a power supply; 14-a cockpit; 15-an inertial navigation system; 2-buoyancy cabin; 21-top surface; 211-recessed areas; 212-reserving an interface; 213-a detection component; 214-a switch; 215-a handle; 216-sacrificial anode; 217-quick plug for vacuum test; 218-a hook; 22-bottom surface; 221-third sonar; 23-peripheral surface; 231-a first region; 232-a second region; 24-a first channel; 25-a second channel; 3-propeller; 30-a housing; 301-line cabins; 302-bending a pipeline; 31-a blade assembly; 311-blade shaft; 312-a first end cap; 3121-annular steps; 313-paddle; 314-a hub; 315-rectifying cap; 32-sealing the shaft sleeve; 321-positioning rings; 322-third bearing; 33-a deceleration assembly; 331-sun gear; 332-planetary gears; 333-fixed gear; 334—a connecting shaft; 335-a front cover; 336-a rear cover; 337—a first bearing; 338-a second bearing; 34-dynamic seal; 341-a dynamic seal ring; 342-static seal ring; 343-a sealing ring; 3431-a first annular groove; 3432-annular locating groove; 3433-a second annular groove; 35-static seal; 36-a power assembly; 361-an output shaft; 362-stator; 363-mover; 364-a second end cap; 3641-positioning the shaft; 365-fourth bearings; 37-a support ring; 38-a horizontal propeller; 39-vertical propeller; 4-a detection assembly; 41-a first sonar; 42-second sound; 5-a camera assembly; 50-an integrated cavity; 501-through holes; 502-sealing the groove; 503-connecting holes; 51-a lamplight chamber; 511-a first opening; 512-light assembly; 52-a camera; 521-a second opening; 522—a camera; 53-interface assembly; 531-interface; 532-interface board; 54-a lamplight cover; 55-lens cover; 56-end caps; 57-seals; 6-an outlet device; a 60-bend assembly; 61-a wire inlet; 62-outlet; 621-glue filling joint; 63-curved grooves; 64-cables; 65-upper shell; 66-a lower shell; 67-annular hole; 68-cable protective sleeves; 69-plug seat; 691-plug; 692-sealing the chamber.

Detailed Description

In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. In the description of the present invention, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or implicitly indicating the number of technical features indicated; the meaning of "plurality" is two or more. The terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that one or more other features, integers, steps, operations, elements, components, and/or groups thereof may be present or added. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly, unless otherwise specifically indicated and defined.

In addition, the technical features mentioned in the different embodiments of the invention described below can be combined with one another as long as they do not conflict with one another.

As shown in fig. 1-19, embodiments of the underwater vehicle provided by the present invention are illustrated.

Referring to fig. 1-19, the embodiment is used for underwater operation and has the functions of cruise detection and the like. This embodiment comprises a control pod 1, a buoyancy pod 2, a propeller 3 and a detection assembly 4. The outer surface of the buoyancy cabin body 2 is streamline, the buoyancy cabin body 2 wraps the control cabin body 1, the control cabin body 1 is a sealed cabin body, and the propeller 3 and the detection component 4 are respectively connected with the control cabin body 1.

The buoyancy cabin body 2 comprises a top surface 21, a bottom surface 22 and a peripheral surface 23, wherein the top surface 21 and the bottom surface 22 are oppositely arranged and are parallel to each other, the top surface 21 and the bottom surface 22 are planes, the top surface 21 and the bottom surface 22 are connected through the peripheral surface 23, and the top surface 21 and the bottom surface 22 are respectively in smooth transition (fillet transition) with the peripheral surface 23;

The peripheral surface 23 is a convex streamline surface, the peripheral surface 23 is provided with two first areas 231 and two second areas 232, the two first areas 231 are symmetrically distributed on the front side and the rear side of the peripheral surface 23, the two second areas 232 are symmetrically distributed on the left side and the right side of the peripheral surface 23, the front side and the rear side of the peripheral surface 23 are respectively smooth and concave to form the first areas 231, the left side and the right side are respectively smooth and concave to form the second areas 232, and the detection assembly 4 is arranged in the first areas 231 or/and the second areas 232.

The top surface 21 and the bottom surface 22 are communicated through a first channel 24, the first area 231 and the second area 232 are communicated through a second channel 25, and the first channel 24 and the second channel 25 are internally provided with the propeller 3. The first channels 24 are at least two in number and are symmetrically distributed about the geometric center of the top surface 21.

In an embodiment, the area of the second region 232 is larger than the area of the first region 231, and the detection assembly 4 includes a first sonar 41 and a second sonar 42.

The first area 231 is provided with an outlet device 6, an imaging assembly 5 and a first sonar 41. The first sonar 41 is used to detect obstacles in front of the underwater vehicle. The wire outlet device 6 is connected with the control cabin body 1 and is used for controlling signal transmission between the cabin body 1 and the shore-based assembly; the camera shooting assembly 5 and the first sonar 41 are embedded into the buoyancy cabin 2 and are respectively connected with the control cabin 1 to acquire underwater images.

The second area 232 is provided with a second sound 42, and the second sound 42 is embedded in the buoyancy chamber 2 and connected with the control chamber 1 for acquiring underwater images. The second sound 42 is a side sound for detecting obstacles on both sides of the underwater vehicle.

Specifically, the first region 231 and the second region 232 have the same height, and the length of the second region 232 is greater than the length of the first region 231. The bottom of the second region 232 is smoothly convex outward. The whole shape of the underwater vehicle is a cube with the upper and lower bottom surfaces as planes and the peripheral surfaces protruding outwards, and the peripheral surface is flat and has a height smaller than the length and width of the upper and lower bottom surfaces. The buoyancy cabin body 2 is made of low-density materials and has certain buoyancy. The buoyancy cabin 2 and the control cabin 1 are connected through screws.

In one embodiment, as shown in fig. 8-10, the wire outlet device 6 includes a bending assembly 60, where the bending assembly 60 is provided with a wire inlet 61, a wire outlet 62, and a bending wire slot 63, and the wire inlet 61 communicates with the wire outlet 62 through the bending wire slot 63. The cable 64 enters the bending line groove 63 through the line inlet 61, is led out from the line outlet 62 along the bending line groove 63 by bending a preset angle, one end of the cable 64 is connected with the control cabin 1 through the plug 691, and the other end is connected with the shore-based assembly.

Specifically, the cable 64 is led in from the inlet 61, is led out from the outlet 62, the cable 64 between the inlet 61 and the outlet 62 is bent in the bending wire groove 63, and the traction force applied to the cable 64 at the inlet 61 end is dispersed in the bending wire groove 63 by utilizing the rope knot principle, so that the traction force applied to the cable 64 at the outlet 62 end is eliminated, the stress of the cable 64 at the outlet 62 end and the underwater vehicle plug is eliminated, and the cable 64 is prevented from being influenced by the traction force and communicating and supplying energy between the underwater vehicle.

The bending assembly 60 includes an upper case 65 and a lower case 66, the upper case 65 is provided with an upper bending line groove, the lower case 66 is provided with a lower bending line groove, and when the upper case 65 and the lower case 66 are matched and covered, the upper bending line groove and the lower bending line groove are matched and covered to form a bending line groove 63. Threaded holes for connection are formed between the upper case 65 and the lower case 66, and the upper case 65 and the lower case 66 are connected by screws. The size of the aperture of the curved slot 63 matches the size of the outer diameter of the cable 64, and the cable 64 fills the entire curved slot 63.

The bending unit 60 is provided with an annular hole 67, the outlet 62 and the inlet 61 are positioned on the same plane, the bending line groove 63 extends along the inlet 61 by a predetermined linear length, and extends to the outlet 62 by a predetermined linear length after winding around the annular hole 67. The annular hole 67 is circular, and a predetermined length of the curved line groove 63 extending along the line inlet 61 and the curved line groove 63 are disposed in parallel at a predetermined length of the line outlet 62. That is, the cable 64 enters from the wire inlet 61, is bent 180 degrees around the annular hole 67 and is discharged from the wire outlet 62, and the traction force of the cable 64 is dispersed into the circular bent wire groove 63.

The inlet 61 is provided with a cable guard 68. The cable 64 passes through the cable jacket 68 and then enters the curved cable slot 63 from the inlet 61. The cable boot 68 is used for cable protection.

The plug seat 69 is arranged in the first area 231, is embedded in the buoyancy chamber 2 and is fixedly connected with the outer shell of the control chamber 1 in the buoyancy chamber 2, the plug seat 69 is also fixedly connected with the bending assembly 60, and the plug seat 69 is used for installing the plug 691. The plug base 69 is provided with a sealed chamber 692, and the plug 691 is provided in the sealed chamber 692. The plug 691 includes a charging dedicated plug, a power supply, and a communication cable plug. The plug 691 is specifically a double plug, one end of which is connected to the cable 64, and the other end of which is connected to the internal circuit of the control cabin 1. One end of the connection control pod 1 is located within a sealed chamber 692, the sealed chamber 692 being used for sealing the connection between the plug 691 and the underwater vehicle. The cable 64 may specifically be a zero-gravity cable.

The wire outlet 62 side is provided with a glue filling joint 621, the wire 64 enters the glue filling joint 621 after being led out from the wire outlet 62, passes through the glue filling joint 621 and is connected with a plug 691 of the plug seat 69, and the outer side of the glue filling joint 621 is fixedly connected with the wire 64 at the wire inlet 61 side. Glue-filled joint 621 is used for waterproof sealing after two cables are welded and connected.

In an embodiment, as shown in fig. 11-13, the camera assembly 5 includes an integrated cavity 50, the integrated cavity 50 is embedded in the buoyancy chamber 2, the inside of the integrated cavity 50 is hollow and divided into a lamplight chamber 51 and a camera chamber 52, the integrated cavity 50 is connected with an interface assembly 53, and the interface assembly 53 is connected with the control chamber 1. A light assembly 512 is provided in the light chamber 51, and a camera 522 is provided in the camera chamber 52. The camera 522 and the light component 512 are integrated and then connected with the underwater vehicle through the same interface component 53, so that the structural complexity of the underwater vehicle can be reduced.

Specifically, the light chamber 51 is provided with a first opening 511, a light assembly 512 is arranged inside the light chamber, the camera chamber 52 is provided with a second opening 521, and a camera 522 is arranged inside the camera chamber; the first opening 511 is located on the same side as the second opening 521. The first opening 511 is used for mounting the transparent light cover 54, and the second opening 521 is used for mounting the transparent lens cover 55. The light cover 54 is in sealing connection with the light chamber 51, the lens cover 55 is in sealing connection with the camera chamber 52, the interface component 53 is in sealing connection with the integrated cavity 50, and the light cover 54, the lens cover 55, the interface component 53 and the integrated cavity 50 form a sealed cavity. The number of the light chambers 51 is 2, the number of the image capturing chambers 52 is 1, and the 2 light chambers 51 are symmetrically distributed on two sides of the image capturing chambers 52.

One end of the integrated cavity 50 is an open end, the other end is provided with a through hole 501 for installing the interface component 53, and the peripheral surface is a closed surface. The open end is provided with an end cap 56, a sealing groove 502 is arranged between the end cap 56 and the integrated cavity 50, a sealing element 57 is arranged in the sealing groove 502, and a connecting hole 503 is arranged at the periphery of the sealing groove 502 for installing a connecting element (not shown). The end cover 56 is provided with the first opening 511 and the second opening 521, the end cover 56 is used for installing the lens cover 55 and the light cover 54, a sealing groove 502 is arranged between the lens cover 55 and the end cover 56, a sealing groove 502 is arranged between the light cover 54 and the end cover 56, and a sealing piece 57 is arranged in the sealing groove 502. The light cover 54 is connected with the end cover 56 through screws, and the lens cover 55 is connected with the end cover 56 through screws.

The end cap 56 is used for connecting the light cover 54, the lens cover 16 and the integrated cavity 50, and the shape of the end cap 56 is matched with the shape of the open end of the integrated cavity 50. The connection holes 503 are in particular threaded holes, and the connection members are in particular screws. The light cover 54, the lens cover 16 and the end cover 56 are connected through screws. The seal groove 502 between the lens cover 55 and the end cover 56, and the seal groove 502 between the light cover 54 and the end cover 56 are formed on the upper surface of the end cover 56. A seal groove 502 between the end cap 56 and the integration cavity 50 is provided on the upper surface of the open end of the integration cavity 50. The seal 57 is specifically a seal ring, and the seal 57 and the seal groove 502 seal the inside of the integrated cavity 50.

The interface component 53 comprises a plurality of interfaces 531 and an interface board 532, wherein the interfaces 531 are communicated with the inside of the integrated cavity 50 through holes 501, a sealing groove 502 is arranged between the interface board 532 and the outer surface of the integrated cavity 50, a sealing piece 57 is arranged in the sealing groove 502, and connecting holes 503 are arranged on the periphery of the sealing groove 502 and used for installing connecting pieces. The number of interfaces 531 is at least three for mounting one or more of a water depth sensor, a sacrificial anode, a vacuum detection plug or a threading bolt. And a sealant is filled in the connector for installing the threading bolt.

The water depth sensor is used for detecting the water depth; the sacrificial anode prevents the metal components of the camera assembly from being corroded under water (especially seawater); the vacuum detection plug is used for externally connecting vacuum detection equipment to detect the air tightness of the integrated cavity 50; the threading bolts are used for connecting the internal circuits of the control cabin body 1 and communicating the internal circuits of the integrated cavity 50 with the circuits of the control cabin body.

The lens cover 55 is of a hollow hemispherical structure, the camera extends into the lens cover 55, and the direction of acquiring the image is adjusted in the lens cover 55. In particular to swing up and down. The lens cover 55 having a hemispherical structure provides a space for the movement of the camera 522. The camera 522 is specifically a wide-angle camera. The light cover 54 has a flat plate structure, and the first opening 511 has a flared shape. The light assembly 512 is specifically an LED lamp, and the first opening 511 adopts an outwardly diverging horn shape, and the surface of the first opening is made of a scattering material, which is beneficial to expanding the illumination range.

In one embodiment, the propeller 3 comprises horizontal propellers 38 and vertical propellers 39, one vertical propeller 39 being provided for each first channel 24 and one horizontal propeller 38 for each second channel 25. The vertical thrusters 39 are vertically disposed with a predetermined angle between the axes of adjacent horizontal thrusters 38. The number of first channels 24 is 4 and the number of second channels 25 is 4. Specifically, the angle between the horizontal propeller 38 and the mid-line of the short side of the underwater vehicle is 30 degrees, the component force is larger in the horizontal front and rear directions, the larger forward power can be provided, and the steering is provided by the component force in the horizontal left and right directions.

In an embodiment, the top surface 21 is provided with a recessed area 211 and a reserved interface 212, the bottom surface 22 is provided with a reserved interface 212 and a third sonar 221, and the third sonar 221 may be replaced by a DVL. Reserved interfaces 212 may be used to install associated subsea operating components. The concave area 211 is internally provided with a detection component 213 and a switch 214, and the detection component 213 and the switch 214 penetrate through the buoyancy cabin 2 and are respectively connected with the control cabin 1. The reserved interface 212 is embedded on the surface of the buoyancy chamber body 2 and is connected with the control chamber body 1. The third sonar 221 may specifically be a bottom sonar. The recessed area 211 may prevent the mounting assembly from protruding outward to increase navigational resistance. The reserved interface 212 of the top surface 21 is located in the center of the top surface 21 and can be used for installing 360 sonar.

Further, the detection assembly 213 may specifically be a water depth sensor, which is connected to the control cabin 1, and is used for detecting the underwater depth of the underwater vehicle. A hook 218, a handle 215, a sacrificial anode 216 and a vacuum test quick plug 217 are arranged in the concave area 211. The lifting hook 218, the handle 215 and the sacrificial anode 216 penetrate through the buoyancy chamber 2 to be connected with the shell of the control chamber 1, and the vacuum test quick plug 217 is communicated with the interior of the control chamber 1. The sacrificial anode 216 prevents the metal parts of the control cabin 1 from being corroded under water (especially seawater); the vacuum detection plug 217 is used for externally connecting vacuum detection equipment to detect the air tightness inside. The number of the lifting hooks 218 and the number of the handles 215 are two, the lifting hooks 218 are symmetrically distributed, and the handles 215 are symmetrically distributed.

In one embodiment, the control cabin 1 is provided with a support frame 11 and a support surface 12, the support frame 11 being connected to the support surface 12, the support surface 12 being connected to a support ring 37 of the propeller 3. The supporting surface 12 is an arc surface, arc surface notches are arranged on the surfaces of the first channel 24 and the second channel 25, and the shape of the supporting surface 12 is matched with the shape of the arc surface notches. The support frame 11 plays a role of supporting the propeller 3, and the support surface 12 is used for realizing smooth continuity of the inner wall surfaces of the first channel 24 and the second channel 25 and reducing resistance factors. The control cabin body 1 is internally provided with a power supply 13 for converting alternating current and direct current, a cockpit 14 for converting control signals and electric signals, an inertial navigation system 15 for navigation, a circuit board, a heat dissipation plate and other structures, and all the components are electrically connected.

In one embodiment, as shown in fig. 14-18, the propeller 3 further includes a housing 30, a blade assembly 31, and a sealing sleeve 32. The shell 30 is fixedly connected with the supporting ring 37, a sealing cavity is formed in the sealing shaft sleeve 32, and a speed reducing assembly 33 is arranged in the sealing shaft sleeve 32. The head end of the sealing shaft sleeve 32 stretches into the blade assembly 31, the sealing shaft sleeve 32 is connected with the blade assembly 31 through a dynamic sealing piece 34, the tail end of the sealing shaft sleeve 32 is fixedly connected with the shell 30, and a static sealing piece 35 is arranged between the contact surfaces of the sealing shaft sleeve 32 and the shell 30. The inside of the shell 30 is a sealed cavity, a power assembly 36 is arranged in the shell 30, an output shaft 361 of the power assembly 36 is connected with a speed reduction assembly 33, and the speed reduction assembly 33 is in transmission connection with the blade assembly 31.

The sealing shaft sleeve 32 is used for sealing and waterproofing the speed reducing assembly 33, the shell 30 is used for sealing and waterproofing the power assembly 36, and a plurality of annular positioning clamping grooves are formed in the sealing shaft sleeve 32. The power assembly 36 may be a motor without a casing, and the speed reduction assembly 33 may be a planetary speed reduction mechanism. The rotation speed of the output shaft 361 of the power assembly 36 is output to the blade assembly 31 after being decelerated by the deceleration assembly 33, the blade assembly 31 is driven to rotate, and the blade assembly 31 rotates to drive water flow to generate pushing force. As shown in fig. 19, the sealing structure adopted by the propeller 3 of the present embodiment has a larger thrust force generated at the same power than the oil seal sealing method.

The reduction assembly 33 specifically includes a sun gear 331, a planetary gear 332, a fixed gear 333, a connecting shaft 334, a front cover 335, and a rear cover 336. The front cover 335 and the rear cover 336 are annular, the front cover 335 and the rear cover 336 are connected through the connecting shaft 334, the planetary gear 332 is sleeved on the connecting shaft 334, a first bearing 337 is sleeved between the connecting shaft 334 and the planetary gear 332, and the front cover 335 is connected with the blade assembly 31. The output shaft 361 of the power assembly 36 extends into the sealing shaft sleeve 32 from the tail end of the sealing shaft sleeve 32 and penetrates through the rear cover 336, a second bearing 338 is arranged between the peripheral surface of the rear cover 336 and the inner surface of the sealing shaft sleeve 32, and the front cover 335 and the rear cover 336 are distributed on two side end surfaces of the sun gear 331. The sun gear 331 is sleeved on the output shaft 361 of the power assembly 36, rotates synchronously with the output shaft 361, and the fixed gear 333 is annular and surrounds the peripheral surface of the sun gear 331, and the outer side of the fixed gear 333 is fixedly connected with the inner side of the sealing shaft sleeve 32. The connecting shaft 334 is located between the inner peripheral surface of the fixed gear 333 and the outer peripheral surface of the sun gear 331, and the planetary gears 332 sleeved on the connecting shaft 334 are respectively meshed with the inner side of the fixed gear 333 and the sun gear 331. The outer circumferential surface of the second bearing 338 is engaged in the engagement groove of the seal sleeve 32, and the inner circumferential surface contacts the outer circumferential surface of the rear cover 336, thereby performing radial positioning of the rear cover 336 and reducing friction.

The number of the connecting shafts 334 is three, and the sun gears 331 are arranged in an annular array with the axes, and the number of the planetary gears 332 corresponds to the number of the connecting shafts 334. The sun gear 331 and the planetary gears 332 are spur gears, and the fixed gear 333 is an internal gear. The sun gear 331 is meshed with the planetary gears 332, and the planetary gears 332 are meshed with the internal teeth of the fixed gear 333. The output shaft 361 drives the sun gear 331 to rotate, and further drives the planet gears 332 to rotate around the sun gear 331, and the connecting shafts 334 sleeved on the planet gears 332 rotate around the sun gear 331. Since the first bearing 337 is interposed between the connection shaft 334 and the planetary gear 332, the planetary gear 332 rotates around the connection shaft 334. When the connecting shaft 334 rotates around the sun gear 331, the front cover 335 and the rear cover 336 connected with the two ends of the connecting shaft 334 are driven to rotate, so as to drive the blade assembly 31 connected with the front cover 335 to rotate, and the rotation speed of the power assembly 36 is reduced and then output to the blade assembly 31.

Blade assembly 31 specifically includes a blade shaft 311, a first end cap 312, a blade 313, a hub 314, and a fairing cap 315. The paddle 313 is arranged on the outer surface of the paddle hub 314, the paddle shaft 311 is arranged inside the paddle hub 314, the rectification cap 315 is connected with the paddle shaft 311 and the paddle hub 314, the paddle hub 314 is covered at the head end of the sealing shaft sleeve 32, and the rectification cap is connected with the shell 30 in a matching way. The first end cap 312 is disposed at the head end of the sealing shaft sleeve 32, and is used for connecting the dynamic seal 34 with the sealing shaft sleeve 32, one end of the blade shaft 311 passes through the first end cap 312 and stretches into the sealing shaft sleeve 32, and is fixedly connected with the front cover 335, and the other end is fixedly connected with the rectifying cap 315. The support ring 37 is connected with the head end of the housing 30, and the support ring 171 is located between the housing 30 and the hub 314 and fixedly connected with the housing 30 and the hub 314.

The dynamic seal 34 includes a dynamic seal ring 341, a static seal ring 342, and a seal ring 343. The sealing ring 343 is sleeved on the paddle shaft 311, a first annular groove 3431 is formed in one side of the end face of the sealing ring 343, an annular positioning groove 3432 is formed in the other side of the end face of the sealing ring 343, and a second annular groove 3433 is formed in the peripheral face of the sealing ring 343. The middle part of the first end cover 312 is provided with an annular step 3121, and a screw is arranged outside the first end cover 312 and fixedly connected with the sealing ring 343. The annular step 3121 and the first annular groove 3431 enclose a first annular seal groove, a movable seal ring 341 for filling is arranged in the first annular seal groove, sealing waterproof among the first end cover 312, the seal ring 343 and the blade shaft 311 is realized, the second annular groove 3433 and the inner surface of the seal shaft sleeve 32 enclose a second annular seal groove, a static seal ring 342 for filling is arranged in the second annular seal groove, and sealing waterproof among the seal ring 343 and the seal shaft sleeve 32 is realized. Radial positioning of the blade shaft 311 within the seal sleeve 32 is achieved by the first end cap 312 and the dynamic seal 34. Axial positioning of blade shaft 311 within seal sleeve 32 is achieved by fairing cap 315 and hub 314. The sealing and waterproofing of the first end cover 312, the blade shaft 311 and the head end of the sealing shaft sleeve 32 are realized through the dynamic seal 34.

Further, the sealing sleeve 32 further comprises a positioning ring 321 and a third bearing 322, the positioning ring 321 is installed in the annular positioning groove 3432, the third bearing 322 is sleeved on the blade shaft 311 and positioned in the sealing sleeve 32, one end face side of the third bearing 322 is positioned in contact with the sealing ring 343, and the other end face of the third bearing 322 is positioned in contact with the front cover 335. In other embodiments, one positioning ring 321 may be disposed on each of two end surfaces of the third bearing 322, the positioning ring 321 on the left end surface is mounted in the annular positioning groove 3432, and the positioning ring 321 on the right end surface is located between the third bearing 322 and the front cover 335. The positioning ring 321 is used for the axial positioning of the third bearing 322 in the sealing sleeve 32, and the third bearing 322 is used for the radial positioning of the blade shaft 311 in the sealing sleeve 32.

The power assembly 36 specifically includes an output shaft 361, a stator 362, a mover 363, and a second end cap 364. The stator 362 is provided inside the housing 30, the mover 363 is provided inside the stator 362, the mover 363 is connected to the output shaft 361, and the output shaft 361 rotates in synchronization with the mover 162. The rear end of the output shaft 361 is connected to a positioning shaft 3641 extending from the second end cover 364, and a fourth bearing 365 is provided between the inner side of the output shaft 361 and the outer circumferential surface of the positioning shaft 3641. A fourth bearing 365 is provided between the front end of the output shaft 361 and the inside of the housing 30. A static seal 35 is provided between the peripheral surface of the second end cap 364 and the contact surface of the inner side surface of the housing 30.

The stator 362 is specifically a coil, the mover 363 is specifically a permanent magnet, and the coil is energized to drive the permanent magnet disposed inside the coil to rotate. The fourth bearing 365 is used for radial positioning of the output shaft 361. The static seal 35 is embodied as a sealing gasket.

The tail of the shell 30 is also provided with a circuit cabin 301, the shell of the circuit cabin 301 is connected with the shell 30 in a matching way, a bending pipeline 302 is arranged in the circuit cabin 301, the bending pipeline 302 is communicated with the shell 30 and the outside of the circuit cabin 301, the bending pipeline 302 is filled with sealant, and the bending pipeline 302 is used for arranging circuits and connecting the circuits in the control cabin body 1.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. The underwater vehicle is characterized by comprising a control cabin, a buoyancy cabin, a propeller and a detection assembly;

2. The underwater vehicle of claim 1, wherein the second region has an area greater than an area of the first region, the detection assembly comprising an imaging assembly, a first sonar, and a second sonar;

3. The underwater vehicle of claim 2, wherein the wire outlet device comprises a bending assembly, the bending assembly is provided with a wire inlet, a wire outlet and a bending wire slot, and the wire inlet is communicated with the wire outlet through the bending wire slot; the cable enters the curved line groove through the wire inlet, is led out from the wire outlet along the curved line groove by bending at a preset angle, one end of the cable is connected with the control cabin body through a plug, and the other end of the cable is connected with the shore-based assembly.

4. The underwater vehicle of claim 2, wherein the camera assembly comprises an integrated cavity, the integrated cavity is embedded in the buoyancy cabin, the integrated cavity is hollow and is divided into a lamplight chamber and a camera chamber, the integrated cavity is connected with an interface assembly, and the interface assembly is connected with the control cabin; the indoor light subassembly that is equipped with of light, the indoor camera that is equipped with of camera.

5. The underwater vehicle of claim 1, wherein the propellers comprise horizontal propellers and vertical propellers, one for each first channel and one for each second channel;

6. The underwater vehicle as claimed in claim 1, wherein the top surface is provided with a recessed area and a reserved interface, the bottom surface is provided with a reserved interface and a third sonar or DVL,

7. The underwater vehicle of claim 6, wherein the detection assembly comprises a water depth sensor coupled to the control cabin, the water depth sensor configured to detect a depth of the underwater vehicle.

8. The underwater vehicle of claim 6, wherein hooks, handles, sacrificial anodes and vacuum test quick plugs are provided in the recessed area;

9. The underwater vehicle of claim 1, wherein the control cabin is provided with a support frame and a support surface, the support frame being connected to the support surface, the support surface being connected to a support ring of the propeller;

10. The underwater vehicle of claim 9, wherein the propeller further comprises a shell, a blade assembly and a sealing shaft sleeve, the shell is fixedly connected with the supporting ring, a sealing cavity is formed in the sealing shaft sleeve, a speed reducing assembly is arranged in the sealing shaft sleeve, the head end of the sealing shaft sleeve stretches into the blade assembly, the sealing shaft sleeve is connected with the blade assembly through a dynamic sealing piece, the tail end of the sealing shaft sleeve is fixedly connected with the shell, and a static sealing piece is arranged between the contact surface of the sealing shaft sleeve and the shell; the inside sealed cavity that is of casing, the inside power component that is equipped with of casing, power component's output shaft connects the speed reduction subassembly, the speed reduction subassembly with paddle subassembly transmission is connected.