CN207931959U - A kind of multifreedom motion underwater units - Google Patents

Abstract

The utility model discloses a kind of multifreedom motion underwater units, including：Device body (1), the propulsion system (2) and control system for being set to described device ontology (1)；The propulsion system (2) includes the first propulsion system (2 1) being arranged along first direction, the second propulsion system (2 2) being arranged in a second direction, along the third propulsion system (2 3) of third direction setting；Forward and backward direction propulsion may be implemented in first propulsion system (2 1), the second propulsion system (2 2), third propulsion system (2 3).On the one hand, the utility model provides the movement of more freedom so that user controls underwater equipment in more dimensional extents, and propulsion, traversing, sink-float, rolling, pitching, the action for the 6DOF that yaws of underwater equipment may be implemented；On the other hand, the utility model design is small and beautiful, and compact airflow design is utilized, and increases the flexibility of underwater equipment multiple degrees of freedom action.

Description

A kind of multifreedom motion underwater units

Technical field

The utility model is related to a kind of underwater units, more particularly to a kind of multifreedom motion underwater units.

Background technology

Existing underwater robot equipment generally includes underwater equipment itself and one to two engine propulsion devices, this The propulsion of 2, space degree of freedom, 3 degree of freedom generally can be achieved in the propulsion system of sample, can realize underwater equipment advance, It retreats, porpoising, but these simple controls can not meet the requirement to underwater equipment such as daily scientific research, amusement.Cause This, it is necessary to the exploitation of more freedom, which designs, to be proposed to the movement of underwater equipment.

Utility model content

The utility model embodiment provides a kind of multifreedom motion underwater units, can only to solve existing underwater units The technical issues of carrying out 2 degree of freedom, 3 degree of freedom movements.

A kind of multifreedom motion underwater units that the utility model embodiment provides, including：

1 motive force of device body motive force, the propulsion system motive force for being set to 1 motive force of described device ontology motive force 2 motive forces and control system；

2 motive force of propulsion system motive force includes being pushed away along the first propulsion system motive force 2-1 that first direction is arranged Power, the second propulsion system motive force 2-2 motive forces being arranged in a second direction, along the third propulsion system of third direction setting Motive force 2-3 motive forces；

The first propulsion system motive force 2-1 motive forces, the second propulsion system motive force 2-2 motive forces, third promote Systems force power 2-3 motive forces respectively include at least a puopulsion equipment.

The first propulsion system motive force 2-1 motive forces, the second propulsion system motive force 2-2 motive forces and third promote Each puopulsion equipment in systems force power 2-3 motive forces can provide the motive force of forward and backward direction, the control system System is to the first propulsion system motive force 2-1 motive forces, the second propulsion system motive force 2-2 motive forces, third propulsion system Motive force 2-3 motive forces individually control.

Further, the first direction, second direction, third direction are respectively rectangular coordinate system X, Y, Z-direction.

Further, the first propulsion system motive force 2-1 motive forces include two puopulsion equipments, the second propulsion system Motive force 2-2 motive forces include a puopulsion equipment, and third propulsion system motive force 2-3 motive forces include four puopulsion equipments.

Further, 2 motive force of the propulsion system motive force control hull realizes rotation, pitching, steering and/or translation Movement.

Further, the first propulsion system motive force 2-1 motive forces, the second propulsion system motive force 2-2 motive forces It is external hanging type puopulsion equipment, the third propulsion system motive force 2-3 motive forces two are external hanging type puopulsion equipment, and two are Embedded puopulsion equipment.

Further, two puopulsion equipments of the first propulsion system motive force 2-1 motive forces are symmetrically outer is hung on institute State the tail portion of 1 motive force of device body motive force；One puopulsion equipment of the second propulsion system motive force 2-2 motive forces The outer middle part for being hung on 1 motive force of described device ontology motive force；Two of the third propulsion system motive force 2-3 motive forces push away Into equipment, symmetrically the outer middle part for being hung on 1 motive force of described device ontology motive force, other two puopulsion equipment symmetrically embed In the rear ends of 1 motive force of described device ontology motive force.

Further, the first propulsion system motive force 2-1 motive forces include：

First external suspension bracket motive force 2-1-1 motive forces, the first external suspension bracket motive force 2-1-1 motive forces include the One cylindrical stent body motive force 2-1-1-1 motive forces and the first hemispherical support head motive force 2-1-1-2 motive forces, described Include the first engine motive force 2-1-1-3 motive forces in one cylindrical stent body motive force 2-1-1-1 motive forces；

First propeller motive force 2-1-2 motive forces, including the first hollow type shell motive force 2-1-2-1 motive forces and First propeller motive force 2-1-2-2 motive forces, the first propeller motive force 2-1-2-2 motive forces are sent out with described first Motivation motive force 2-1-1-3 motive forces connect.

Further, the external hanging type puopulsion equipment of the second propulsion system motive force 2-2 motive forces and the third Propulsion system motive force 2-3 two external hanging type puopulsion equipments of motive force include：

Second external suspension bracket motive force 2-2-1 motive forces, the second external suspension bracket motive force 2-2-1 motive forces include the Two cylindrical stent body motive force 2-2-1-1 motive forces, the second hemispherical support head motive force 2-2-1-2 motive forces, the second half Beaded support tail motive force 2-2-1-3 motive forces include the in the second cylindrical stent body motive force 2-2-1-1 motive forces Engine with two motive force 2-2-1-4 motive forces；

Second propeller motive force 2-2-2 motive forces, the second propeller motive force 2-2-2 motive forces include penetrating The embedded through-hole motive force 2-2-2-1 being set in the second cylindrical stent body motive force 2-2-1-1 motive forces is pushed Power, the second propeller motive force 2-2-2-2 motive forces being set in the through-hole motive force 2-2-2-1 motive forces, described Two propeller motive force 2-2-2-2 motive forces are connect with the second engine motive force 2-2-1-4 motive forces.

Further, two embedded puopulsion equipments of the third propulsion system motive force 2-3 motive forces include：

The third engine motive force 2-3-3 motive forces being set in 1 motive force of described device ontology motive force；

The embedded through-hole motive force 2-3-1 being set in 1 motive force of described device ontology motive force penetrated is pushed Power, the third propeller motive force 2-3-2 motive forces being set in the through-hole motive force 2-3-1 motive forces, the third spiral shell Rotation paddle motive force 2-3-2 motive forces are connect with the third engine motive force 2-3-3 motive forces.

Further, two puopulsion equipments of the first propulsion system motive force 2-1 motive forces push force direction identical, It moves along a straight line along X-direction；Two puopulsion equipments of the first propulsion system motive force 2-1 motive forces push force direction opposite Or push force direction identical but of different sizes, along Z axis rotary motion；Or

The third propulsion system motive force 2-3 motive forces, start front and back diagonal two puopulsion equipments and or left and right two Diagonal puopulsion equipment, and, it can be achieved that moving along a straight line along Z-direction when pushing force direction identical；Start front and back diagonal two to push away Into equipment, and push when force direction is opposite or promotion force direction is identical but of different sizes, it can be achieved that along Y-axis rotary motion；It opens Dynamic diagonal two puopulsion equipments in left and right, and when pushing force direction opposite or pushing force direction identical but of different sizes, it can be achieved that Along the rotary motion of X-axis；Or

The puopulsion equipment of the second propulsion system motive force 2-2 motive forces starts, it can be achieved that being transported along Y direction straight line It is dynamic.

In conclusion the underwater units of the utility model are compared to the prior art, on the one hand, provide more freedom Movement so that user controls underwater equipment in more dimensional extents, and propulsion, the cross of underwater equipment may be implemented Shifting, sink-float, rolling, pitching, the action for the 6DOF that yaws, wherein 4 engines are arranged by same direction, 4 are started The direction of machine is individually controlled, so that it may to realize the rotation of both direction, the application demand met in the case of simple in structure； On the other hand, the utility model design is small and beautiful, and compact airflow design is utilized, increases underwater equipment multiple degrees of freedom The flexibility of action.

Description of the drawings

It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing to be used is briefly introduced, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model Example, for those of ordinary skill in the art for, without having to pay creative labor, can also be attached according to these Figure obtains other attached drawings.

Fig. 1 is the stereoscopic schematic diagram of the utility model embodiment underwater units.

Fig. 2 is the side view of the utility model embodiment underwater units.

Fig. 3 is the vertical view of the utility model embodiment underwater units.

Fig. 4 is the propulsion schematic diagram in the same direction of the utility model embodiment underwater units.

Fig. 5 is the reverse propulsion schematic diagram of the utility model embodiment underwater units.

Fig. 6 is that the rotation of the utility model embodiment underwater units promotes schematic diagram.

Specific implementation mode

In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with attached drawing to this practicality It is novel to be described in further detail, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work Under the premise of all other embodiment for being obtained, shall fall within the protection scope of the present invention.

The term used in the utility model embodiment is the purpose only merely for description specific embodiment, and is not intended to Limit the application.The embodiment of the present application and the "an" of singulative used in the attached claims, " described " and "the" is also intended to including most forms, unless context clearly shows that other meanings, " a variety of " generally comprise at least two.

It should be appreciated that term "and/or" used herein is only a kind of incidence relation of description affiliated partner, indicate There may be three kinds of relationships, for example, A and/or B, can indicate：Individualism A, exists simultaneously A and B, individualism B these three Situation.In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.

It will be appreciated that though may XXX be described using term first, second, third, etc. in the embodiment of the present application, but These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, not departing from the embodiment of the present application model In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.

Depending on context, word as used in this " if ", " if " can be construed to " ... when " or " when ... " or " in response to determination " or " in response to detection ".Similarly, context is depended on, phrase " if it is determined that " or " such as Fruit detect (condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when detection (statement Condition or event) when " or " in response to detection (condition or event of statement) ".

The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.

In conjunction with Fig. 1-Fig. 3, the structure of the utility model underwater units is described in detail, wherein Fig. 1 is implemented for the utility model The stereoscopic schematic diagram of example underwater units.Fig. 2 is the side view of the utility model embodiment underwater units.Fig. 3 is the utility model The vertical view of embodiment underwater units.

A kind of multifreedom motion underwater units that the utility model embodiment provides, including：Device body 1 is set to The propulsion system 2 and control system of described device ontology 1；The propulsion system 2 includes that first be arranged along first direction pushes away Into system 2-1, the second propulsion system 2-2 being arranged in a second direction, along the third propulsion system 2-3 of third direction setting；Institute It states the first propulsion system 2-1, the second propulsion system 2-2, third propulsion system 2-3 and forward and backward direction propulsion, institute may be implemented Control system is stated individually to control the first propulsion system 2-1, the second propulsion system 2-2, third propulsion system 2-3.

Wherein, the underwater units can include but is not limited to underwater robot, underwater unmanned boat, submersible, aircraft Deng.Described device ontology usually may include the equipment in addition to dynamical system, control system in hull itself and cabin, Such as avionics system, camera system etc., the propulsion system can be controlled by the positive and negative rotation of engine, drive propeller just Reversion, so that pushing direction is on the contrary, the power control of each engine is also individually to carry out certainly.Pass through control The output power for making each engine may be implemented the actions such as to rotate or break away.

Wherein it is possible to arbitrarily set, the first direction, second direction, third direction be respectively rectangular coordinate system X, Y, Z-direction, i.e., the described first direction, second direction, third direction are vertical two-by-two.The first direction (X-direction) is underwater dress Horizontality tail portion is set to cephalad direction, the second direction (Y-direction) is that underwater units horizontality is vertical with X-direction Horizontal direction, the third direction (directions Z) are the underwater units horizontality vertical direction vertical with X-direction.

As shown in figure 4, three reference axis along coordinate system arrange that propeller, wherein X-direction arrange 2, Y-direction arrangement 1 A, Z-direction arranges 4, when each direction propeller rotates in same direction, and pushes force direction identical, output power is identical, it can be achieved that edge The linear motion of XYZ coordinate axis；Horizontal propulsion, lateral propulsion and vertical thrust can be thus achieved.Such as the X-axis along coordinate system A pair of of propeller of (i.e. horizontal direction) arrangement pushes force direction identical, it can be achieved that along X when the two propellers rotate in same direction Axis direction linear motion (promotes)；When the two propellers rotate backward, push force direction on the contrary, can realize along Z axis Rotary motion (is yawed).Z axis (i.e. vertical direction) along coordinate system arranges four propellers, starts front and back diagonal two propulsions Two diagonal propellers of device or left and right, and, it can be achieved that (rising and falling) along Z-direction linear motion when rotating in same direction；Before startup Diagonal two propellers afterwards, and when rotating backward, it can be achieved that along Y-axis rotary motion (i.e. pitching)；Start left and right diagonal two A propeller, and when rotating backward, it can be achieved that along X-axis rotary motion (i.e. rolling)；Along Y-axis (i.e. lateral) cloth of coordinate system A propeller is set, it can be achieved that moving along a straight line (i.e. traversing) along Y direction.The propulsion, traversing, heavy of underwater equipment can be realized Floating, rolling, pitching, the actions such as yaw, as shown in Figure 6.

Optionally, the specific implementation details of the propulsion system are as follows：

The first propulsion system 2-1, the second propulsion system 2-2, third propulsion system 2-3 respectively include at least a propulsion Equipment.

Preferably, the first propulsion system 2-1 includes two puopulsion equipments, and the second propulsion system 2-2 is pushed away including one Into equipment, third propulsion system 2-3 includes four puopulsion equipments.

Preferably, the first propulsion system 2-1, the second propulsion system 2-2 are external hanging type puopulsion equipment, the third Propulsion system 2-3 two is external hanging type puopulsion equipment, and two are embedded puopulsion equipment.Described first can certainly be selected to push away The carry out arbitrarily combined into system 2-1, the second propulsion system 2-2, the third propulsion system 2-3 is plug-in or embedded design, with It is principle that can realize that multiple degrees of freedom promotes, and with position arrangement, is designed beautifully as secondary principle.

Two puopulsion equipments that preferred arrangement mode is the first propulsion system 2-1 are symmetrically outer to be hung on described device The tail portion of ontology 1, to realize horizontal promote；The outer middle part for being hung on described device ontology 1 of the second propulsion system 2-2；Institute Two puopulsion equipments for stating third propulsion system 2-2 are symmetrically hung on the middle part of described device ontology 1 outside, other two propulsion is set The standby rear ends for being symmetrically embedded in described device ontology 1.

In the following, being plug-in with the first propulsion system 2-1, the second propulsion system 2-2, two third propulsion systems Formula puopulsion equipment, two third propulsion system 2-3 are to illustrate for embedded puopulsion equipment.

Further, the first propulsion system 2-1 includes the first external suspension bracket 2-1-1, the first external suspension bracket 2- 1-1 includes the first cylindrical stent body 2-1-1-1 and the first hemispherical support head 2-1-1-2, the first hemispherical support head 2-1- 1-2 may be set to be other any shapes, to be easy to flow backwards, for the purpose of reduction ship resistance.First cylindrical stent Include the first engine 2-1-1-3 in body 2-1-1-1；

The first propulsion system 2-1 further includes that the first propeller 2-1-2, the first propeller 2-1-2 further includes One hollow type shell 2-1-2-1 and the first propeller 2-1-2-2, the first propeller 2-1-2-2 and first engine 2-1-1-3 connections, the first hollow type shell 2-1-2-1 is preferably that front-rear direction is penetrating, to facilitate first propeller 2-1-2-2 forward and backward directions promote, and the first hollow type shell 2-1-2-1 is preferably shaped to cylinder or truncated cone-shaped.

Further, the second propulsion system 2-2 includes the second external suspension bracket 2-2-1, the second external suspension bracket 2- 2-1 includes the second cylindrical stent body 2-2-1-1, the second hemispherical support head 2-2-1-2, the second hemispherical support tail 2-2-1- Include the second engine 2-2-1-4 in 3, the second cylindrical stent body 2-2-1-1；The second hemispherical support head 2-2- 1-2, the second hemispherical support tail 2-2-1-3 may be set to be other any shapes, and to be easy to flow backwards, reducing ship resistance is Purpose.

The second propulsion system 2-2 further includes that the second propeller 2-2-2, the second propeller 2-2-2 includes penetrating The embedded through-hole 2-2-2-1 being set on the second cylindrical stent body 2-2-1-1, be set to the through-hole 2-2-2- The second propeller 2-2-2-2, the second propeller 2-2-2-2 in 1 is connect with the second engine 2-2-1-4.

Further, the embedded third propulsion system 2-3 includes that the third being set in described device ontology 1 is started Machine 2-3-3；The engine is located at the rear ends of described device ontology.The third propulsion system 2-3 further includes wearing The saturating embedded through-hole 2-3-1 being set on described device ontology 1, and the third spiral shell that is set in the through-hole 2-3-1 Rotation paddle 2-3-2, the third propeller 2-3-2 are connect with the third engine 2-3-3.

Third propulsion system described in external hanging type includes the second external suspension bracket 2-2-1, the second external suspension bracket 2-2-1 packets Include the second cylindrical stent body 2-2-1-1, the second hemispherical support head 2-2-1-2, the second hemispherical support tail 2-2-1-3, institute State in the second cylindrical stent body 2-2-1-1 includes the second engine 2-2-1-4；The second hemispherical support head 2-2-1- 2, the second hemispherical support tail 2-2-1-3 may be set to be other any shapes, and to be easy to flow backwards, reduction ship resistance is mesh 's.

Third propulsion system described in external hanging type further includes that the second propeller 2-2-2, the second propeller 2-2-2 includes The embedded through-hole 2-2-2-1 being set on the second cylindrical stent body 2-2-1-1 penetrated, is set to the through-hole The second propeller 2-2-2-2, the second propeller 2-2-2-2 and the second engine 2-2-1-4 in 2-2-2-1 connects It connects.

Preferably, as shown in fig. 6, further, two puopulsion equipments of the first propulsion system 2-1 push force direction It is identical, it moves along a straight line along X-direction；Two puopulsion equipments of the first propulsion system 2-1 push force direction opposite or push Force direction is identical but of different sizes, along Z axis rotary motion；Push force direction on the contrary, can be accomplished by the following way, wherein one It is rotated clockwise when a installation right-handed screw paddle, another is rotated counterclockwise when installing right-handed screw paddle, or one of installation is anti- It is rotated counterclockwise when propeller, another is rotated clockwise when installing counterpropeller.

The third propulsion system 2-3, start front and back diagonal two puopulsion equipments and or diagonal promote in left and right two set It is standby, and, it can be achieved that moving along a straight line along Z-direction when pushing force direction identical；Start front and back diagonal two puopulsion equipments, and , it can be achieved that along Y-axis rotary motion when pushing force direction opposite or pushing force direction identical but of different sizes；Start left and right diagonal two A puopulsion equipment, and push when force direction is opposite or promotion force direction is identical but of different sizes, it can be achieved that the rotation along X-axis is transported It is dynamic；Or

The puopulsion equipment of the second propulsion system 2-2 starts, it can be achieved that moving along a straight line along Y direction.

In conclusion the underwater units of the utility model are compared to the prior art, on the one hand, provide more freedom Movement so that user controls underwater equipment in more dimensional extents, and propulsion, the cross of underwater equipment may be implemented Shifting, sink-float, rolling, pitching, the action for the 6DOF that yaws, by individually controlling the rotation direction of each engine, and output Power more can flexibly realize free activity, meet more motion requirements, wherein be arranged 4 by same direction and start Machine individually controls the direction of 4 engines, so that it may full in the case of simple in structure to realize the rotation of both direction The application demand of foot；On the other hand, the utility model design is small and beautiful, and compact airflow design is utilized, increases water The flexibility of lower equipment multiple degrees of freedom action, reduces the resistance of underwater equipment, equipment carries out multivariant activity under water When ensure its flexibility.

It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that process, method, commodity or equipment including a series of elements are not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, commodity or equipment including the element.

Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that： It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc. With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (10)

1. a kind of multifreedom motion underwater units, which is characterized in that include：

Device body (1), the propulsion system (2) and control system for being set to described device ontology (1)；

The propulsion system (2) includes the first propulsion system (2-1) being arranged along first direction, second be arranged in a second direction Propulsion system (2-2), along the third propulsion system (2-3) of third direction setting；

First propulsion system (2-1), the second propulsion system (2-2), third propulsion system (2-3) are respectively pushed away including at least one Into equipment；

Each propulsion in first propulsion system (2-1), the second propulsion system (2-2) and third propulsion system (2-3) Equipment can provide the motive force of forward and backward direction, and the control system promotes first propulsion system (2-1), second System (2-2), third propulsion system (2-3) individually control.

2. underwater units as described in claim 1, which is characterized in that the first direction, second direction, third direction difference For rectangular coordinate system X, Y, Z-direction.

3. underwater units as claimed in claim 2, which is characterized in that first propulsion system (2-1) includes two propulsions Equipment, the second propulsion system (2-2) include a puopulsion equipment, and third propulsion system (2-3) includes four puopulsion equipments.

4. underwater units as claimed any one in claims 1 to 3, which is characterized in that the propulsion system (2) controls hull Realize rotation, pitching, steering and/or translational motion.

5. underwater units as claimed in claim 4, which is characterized in that first propulsion system (2-1), the second propulsion system (2-2) is external hanging type puopulsion equipment, and the third propulsion system (2-3) two is external hanging type puopulsion equipment, and two are embedded Formula puopulsion equipment.

6. underwater units as claimed in claim 5, which is characterized in that two propulsions of first propulsion system (2-1) are set The standby symmetrical outer tail portion for being hung on described device ontology (1)；It is hung on outside one puopulsion equipment of second propulsion system (2-2) The middle part of described device ontology (1)；Two puopulsion equipments of the third propulsion system (2-3) are symmetrically outer to be hung on described device The middle part of ontology (1), other two puopulsion equipment are symmetrically embedded in the rear ends of described device ontology (1).

7. underwater units as claimed in claim 6, which is characterized in that first propulsion system (2-1) includes：

First external suspension bracket (2-1-1), first external suspension bracket (2-1-1) include the first cylindrical stent body (2-1-1-1) With the first hemispherical support head (2-1-1-2), interior the first cylindrical stent body (2-1-1-1) includes the first engine (2- 1-1-3)；

First propeller (2-1-2), including the first hollow type shell (2-1-2-1) and the first propeller (2-1-2-2), described One propeller (2-1-2-2) is connect with first engine (2-1-1-3).

8. underwater units as claimed in claim 6, which is characterized in that the external hanging type of second propulsion system (2-2) promotes Two external hanging type puopulsion equipments of equipment and the third propulsion system (2-3) include：

Second external suspension bracket (2-2-1), second external suspension bracket (2-2-1) include the second cylindrical stent body (2-2-1-1), Second hemispherical support head (2-2-1-2), the second hemispherical support tail (2-2-1-3), the second cylindrical stent body (2-2- It include the second engine (2-2-1-4) in 1-1)；

Second propeller (2-2-2), second propeller (2-2-2) include penetrate be set to second cylindrical stent Embedded through-hole (2-2-2-1) on body (2-2-1-1), the second propeller (2-2- being set in the through-hole (2-2-2-1) 2-2), second propeller (2-2-2-2) connect with second engine (2-2-1-4).

9. underwater units as claimed in claim 6, which is characterized in that the third propulsion system (2-3) two is embedded to push away Include into equipment：

The third engine (2-3-3) being set in described device ontology (1)；

The embedded through-hole (2-3-1) being set on described device ontology (1) penetrated is set in the through-hole (2-3-1) Third propeller (2-3-2), the third propeller (2-3-2) connect with the third engine (2-3-3).

10. underwater units as claimed in claim 6, which is characterized in that two propulsions of first propulsion system (2-1) are set It is standby to push force direction identical, it moves along a straight line along X-direction；Two puopulsion equipment motive forces of first propulsion system (2-1) Direction is opposite or pushes force direction identical but of different sizes, along Z axis rotary motion；Or

The third propulsion system (2-3), start front and back diagonal two puopulsion equipments and or the two diagonal puopulsion equipments in left and right, And, it can be achieved that moving along a straight line along Z-direction when pushing force direction identical；Start front and back diagonal two puopulsion equipments, and pushes away , it can be achieved that along Y-axis rotary motion when power direction is opposite or pushes force direction identical but of different sizes；Start diagonal two of left and right Puopulsion equipment, and push when force direction is opposite or promotion force direction is identical but of different sizes, it can be achieved that the rotation along X-axis is transported It is dynamic；Or

The puopulsion equipment of second propulsion system (2-2) starts, it can be achieved that moving along a straight line along Y direction.