WO2019184662A1

WO2019184662A1 - Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof

Info

Publication number: WO2019184662A1
Application number: PCT/CN2019/076956
Authority: WO
Inventors: 宋大雷; 郭亭亭; 张逸恒; 姜迁里
Original assignee: 中国海洋大学
Priority date: 2018-03-26
Filing date: 2019-03-05
Publication date: 2019-10-03
Also published as: CN108820173A; CN108820173B

Abstract

A deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and an operating method thereof. The deformable underwater vehicle comprises a main compartment (1), a buoyancy compartment (2), a battery compartment (3), a deformation mechanism (4), and a shaftless vector propeller (5). By means of the deformation mechanism (4), the buoyancy compartment (2) and the battery compartment (3) are connected to the main compartment (1), such that the vertical and horizontal movement forms of the underwater vehicle are realized by changing the positions of the center of buoyancy and center of gravity of the deformable underwater vehicle; and in cooperation with the buoyancy adjustment function of the buoyancy compartment (2), the underwater vehicle has upward floating and downward diving movement modes in the vertical movement form. By means of the deformation mechanism (4), the positions of the buoyancy compartment (2) and the battery compartment (3) relative to the main compartment (1) are adjusted, so as to reduce the water resistance during movement of the underwater vehicle. By controlling the magnitude of the buoyancy in the buoyancy compartment (2), the functions of the underwater vehicle of floating cruise in water and seabed landing are realized; and in cooperation with the pushing, to a small extent, by the shaftless vector propeller (5), efficient cruising of the underwater vehicle is realized.

Description

Deformation submersible based on buoyancy driving and shaftless vector propulsion and working method thereof

Technical field

The invention belongs to the technical field of marine engineering, and particularly relates to a deformation submersible based on buoyancy driving and shaftless vector propulsion and a working method thereof.

Background technique

The numerous mineral resources and biological resources in the ocean show great commercial and scientific value. In recent years, with the promotion and implementation of China's “Ocean Power” strategy, marine surveys have been greatly improved in terms of scope and technical capabilities. Due to the complexity of the marine environment, submersibles are important observation and operational equipment in marine exploration, and can be used for long-term operations in high-risk environments, polluted environments, and zero-visibility waters. Its application fields are wide, including: aquaculture, inland rivers, lake salvage work, underwater construction, cross-sea bridge piers, subsea tunnels, inland river and lake bridge pier inspection and maritime safety, underwater Search and rescue work at sea and observation of marine hydrological environment.

Underwater robots are mainly divided into two categories: one is a cable underwater robot, called a remote control submersible (English name is Remote Operated Vehicle, ROV for short); the other is a cableless underwater robot, called autonomous Underwater submersible (English name is Autonomous Underwater Vehicle, referred to as AUV). Of course, with the advancement of technology, there is also a third type of underwater submersible called the water glider (English name is Auton omous Underwater Glider, referred to as AUG).

The first type of submersible ROV, because the submersible and shore station system is always connected with cables to supply power and realize data return and command transmission, the endurance can be guaranteed; but due to the cable length, etc., the working depth is mostly Within a depth of 100 meters; and due to various factors of cable, ROV is not suitable for the complex environment of underwater conditions.

The second type of submersible AUV is a new generation of underwater robots, which has the advantages of large range of motion, good mobility, safety and intelligence, and has become an important tool for accomplishing various underwater tasks. The cableless underwater robot has the advantages that the range of motion is not limited by cables, and the concealability is good. However, the AUV is small in size and limited in internal space. The energy equipment such as the power source that it can carry is very limited, and its power drive source mainly relies on the propeller to generate thrust and consumes high energy. Therefore, the energy issue has always been a key issue that constrains the development of underwater autonomous submersibles.

The third type of submersible AUG, using the net buoyancy and attitude angle adjustment to obtain propulsion, energy consumption is minimal, only consume a small amount of energy when adjusting the net buoyancy and attitude angle, and has high efficiency and long endurance (up to thousands of kilometers) specialty. However, the water glider has a slower sailing speed, and the motion profile trajectory is zigzag. The heading change and the pitch attitude change are slow, and it is impossible to perform precise operations. It is only suitable for long-term and large-scale ocean exploration.

Detection in deep seas and complex waters relies mainly on AUV and AUG equipment. However, the AUV's endurance is not strong, and AUG's maneuverability is low. Therefore, how to make the submersible have both strong maneuverability and long battery life is an urgent problem to be solved in the current and future development of underwater submersibles. In order to maximize the role of limited energy, extending the working time of underwater robots and improving the propulsion efficiency of underwater robots during high-speed navigation is a hot research topic. However, the current research is mainly limited to the following two points:

I. Based on the current AUV submersible, the work cycle is extended by algorithm optimization or reducing the energy consumption of the propeller.

II. Add propeller equipment to the current AUG to achieve maneuverability at critical moments or critical operating points.

However, neither of the above research directions can solve the most essential problem of underwater submersibles.

[Correct according to Rule 91 19.03.2019]
For example, the invention patent No. 201010003887.1 proposes an underwater vortex thruster, the main feature of which is that the dynamic action causes the "blade and the blade creel" inside the vortex vortex propeller to rotate, and the water body continues to be long distance, Long-term three-dimensional cyclotron acceleration and pressurization, the production of velocity vortex water flow, the water body reaction force becomes a new type of powerful propeller. The "blade and vane frame" includes a blade, a vane frame, a pusher outer cylinder shell, a main shaft, and a support, wherein the scroll vanes are provided with a long strip, a streamline type, and a continuous spiral pattern. Compared with the existing conventional propellers, the rotation force of the blades (including the single-axis seven-leaf high-angle propeller propeller, and the development of improved space) is reformed into a completely three-dimensional three-dimensional vortex force, which greatly improves the water body. The reaction. In the mechanical device, there are various sets of multi-speed gearboxes, mushroom gearboxes and universal joints to install multiple sets of vortex thrusters, so that the hull can improve the speed of the ship, freely control, fast forward and backward, fast turn, and high efficiency ( High power conversion rate), low noise (sound), (structure) safe and flexible (driving). Adapt to the needs of various types of hulls (commercial ships, ships, submarines, aircraft carriers and propellers that can remotely control underwater torpedoes, reconnaissance boats, etc.). However, as described in the patent, even a low-power propeller, because the AUV must rely on the propeller to move, the overall motion power consumption is relatively high.

Of course, some experts and scholars have begun to reduce the water resistance of underwater submersibles from the aspect of hydrodynamic optimization.

For example, the invention patent of the patent application No. 201010212492.2 proposes a deformation mechanism for an underwater robot, comprising an annular telescopic member, the telescopic member being connected by a plurality of parallelogram mechanisms, and the linkage rod and the front end circle on the outer side of the telescopic member. A front strut assembly is connected between the rings, and a rear strut assembly is connected between the connecting rod on the inner side of the telescopic member and the rear end ring, and the front end ring is disposed corresponding to the rear end ring, and the front and rear end rings are arranged The sliding member is connected in a sealed manner, the sliding member is in the shape of a cylindrical tube, and the sliding member passes through a hollow portion in the middle of the telescopic member. The inner cavity of the sliding member is a separate space and communicates with the outside through the front and rear rings, and the sliding member is connected. There is a drive member that is coupled to the central controller. The outer shape of the underwater robot can be changed between the ball and the shuttle body through the deformation mechanism, and the shuttle body structure can reduce the water resistance received by the submersible, greatly saving limited energy. However, the invention patent merely reduces the running resistance of the underwater submersible by inventing the deformed structure of the underwater submersible, and does not reduce the energy consumption used by using the propeller.

Summary of invention

technical problem

Problem solution

Technical solution

Aiming at the above technical problems existing in the prior art, the present invention proposes a deformation submersible based on buoyancy driving and shaftless vector propulsion and a working method thereof, which is reasonable in design, overcomes the deficiencies of the prior art, and has good effects.

In order to achieve the above object, the present invention adopts the following technical solutions:

Deformation submersible based on buoyancy drive and shaftless vector propulsion, including main cabin, buoyancy chamber, battery compartment, deformation mechanism and shaftless vector thruster;

Wherein the main cabin includes a control mechanism; configured to implement a driving function;

a control mechanism and a slave controller in the buoyancy chamber, a lithium battery in the battery compartment, and a left deformation rotation mechanism and a right deformation rotation mechanism in the denaturation mechanism are connected by a line;

The buoyancy chamber has two sets, which are divided into two buoyancy chambers, and the mechanical mechanism is completely identical, including the front rolling diaphragm, the rear rolling diaphragm, the buoyancy cabin, the front buoyancy driving mechanism, the rear buoyancy driving mechanism and the slave controller;

The front rolling diaphragm and the front inner wall of the buoyancy cabin are connected and fixed, and the rear rolling diaphragm and the rear inner wall of the buoyancy cabin are connected and fixed;

The front buoyancy driving mechanism has two sets, which are respectively fixed and fixed at the front ends of the left and right buoyancy chambers, and are configured to push and pull the front rolling diaphragm;

The rear buoyancy driving mechanism has two sets, which are respectively installed and fixed at the rear ends of the left and right buoyancy chambers, and are configured to push and pull the rear rolling diaphragm;

The slave controller, which is the control core and communication hub of the buoyancy bay, is configured to control and drive the front buoyancy drive mechanism and the rear buoyancy drive mechanism to control the position of the front rolling diaphragm and the rear rolling diaphragm to achieve deformation diving Buoyancy adjustment; receiving control commands from the control mechanism in the main cabin, and transmitting information including the execution result of the own instruction or the working state thereof;

The battery compartment includes two sets of symmetrical left and right battery compartments configured to provide electrical energy to the main cabin, the buoyancy chamber, the deformation mechanism, and the shaftless vector thruster;

The deformation mechanism comprises a left deformation mechanism, a right deformation mechanism, a left fixed arm, a right fixed arm, a left rotating arm, a right rotating arm, a left deformation rotating mechanism and a right deformation rotating mechanism;

a left deformation mechanism and a right deformation mechanism configured to effect positional transformation of the buoyancy chamber and the battery compartment;

The left fixed arm and the right fixed arm are symmetrically installed on both sides of the main cabin, parallel to the main cabin, and are horizontally fixed transverse arm-shaped, and are configured to connect the main cabin with the left rotating arm and the right rotating branch The arm, the left deformation rotation mechanism and the right deformation rotation mechanism; and also serve as a support and fixed carrier for the shaftless vector thruster;

a left rotation arm and a right rotation arm symmetrically mounted on both sides of the main cabin, configured to cooperate with the left deformation rotation mechanism and the right deformation rotation mechanism to achieve rotation of the opposite left fixed arm and the right fixed arm, thereby Realize the positional change of the buoyancy and battery compartments;

The left deformation rotation mechanism includes a first left deformation rotation mechanism, a second left deformation rotation mechanism, and a third left deformation rotation mechanism;

The right deformation rotation mechanism includes a first right deformation rotation mechanism, a second right deformation rotation mechanism, and a third right deformation rotation mechanism;

a first left deformation rotation mechanism, a second left deformation rotation mechanism, and a third left deformation rotation mechanism and a first right deformation rotary machine

The second right deformation rotating mechanism and the third right deformation rotating mechanism are symmetrical;

The first left deformation rotating mechanism is fixedly fixed between the left rotating arm and the buoyant cabin of the left side in the buoyancy chamber,

Configuring to achieve relative angular rotation between the buoyant tank body on the left side and the left swivel arm;

The first right deformation rotating mechanism is fixedly mounted between the right rotating arm and the right side buoyancy tank in the buoyancy chamber, and is configured to achieve a relative between the right side buoyancy tank and the right rotating arm Angle rotation

a second left deformation rotation mechanism is fixedly disposed between the left rotation arm and the left fixed arm, and configured to realize a relative angular rotation between the left rotation arm and the left fixed arm;

a second right deformation rotation mechanism is fixedly disposed between the right rotation arm and the right fixed arm, and configured to realize a relative angular rotation between the right rotation arm and the right fixed arm;

The third left deformation rotating mechanism is fixedly mounted between the left rotating arm and the battery compartment body on the left side of the battery compartment, and is configured to realize between the buoyant cabin body on the left side and the battery compartment body on the left side Relative angle rotation

The third right deformation rotating mechanism is fixed between the right rotating arm and the battery compartment body on the right side of the battery compartment, and is configured to realize between the right side buoyancy tank body and the right side battery compartment body Relative angle rotation

Shaftless vector thrusters, including shaftless thrusters and vector angle drive mechanisms;

A shaftless vector thruster, two sets, respectively mounted on the left fixed arm and the right fixed arm fixed in the deformation mechanism, configured to control the working angle of the shaftless propeller by a vector angle driving mechanism, by controlling The control mechanism in the main cabin drives the shaftless propeller to operate, enabling the omnidirectional movement of the deformed submersible.

Preferably, both the front rolling diaphragm and the rear rolling diaphragm are hemispherical structures.

Preferably, a sealing ring is provided at the front end inner wall joint of the front rolling diaphragm and the buoyancy cabin and the rear end inner wall joint of the rear rolling diaphragm and the buoyancy cabin.

Preferably, the main cabin further includes a main cabin, a front shroud, a rear shroud, a communication antenna and a camera mechanism;

The main cabin body is cylindrical, and the control mechanism and the camera mechanism are disposed in the main cabin; the front and rear end cap devices of the main cabin body are provided with lateral and radial sealing rings;

The front flow guide is semi-spindle shaped and fixed to the front end of the main body; the rear guide is semi-spindle shaped and mounted on the rear end of the main body, and the middle circumference of the rear shroud is evenly arranged. Block deflector; the communication antenna is rod-shaped, installed in the middle and rear of the rear shroud, used to deform the wireless communication between the submersible and the shore station after the water is discharged; the camera mechanism is used to photograph the environment or the detected object underwater. Or video.

Preferably, the battery compartment comprises a battery compartment, a lithium battery, a shroud and a ski; the lithium battery is placed in the battery compartment, and the shroud is in the shape of a semi-spherical ball for reducing the water resistance of the movement; The raft structure is respectively fixed and fixed under the left battery compartment and the right battery compartment, and is used to avoid falling into the mud by increasing the contact area with the sea floor when the deformation submersible is bottomed or bottomed and observed.

In addition, the present invention also relates to a working method of a deformed submersible based on buoyancy driving and shaftless vector propulsion, which adopts a deformed submersible based on buoyancy driving and shaftless vector propulsion as described above, and works of a deformed submersible. There are two states: vertical motion and horizontal motion. These two working states change the buoyancy of the buoyancy chamber by controlling the volume of the rolling diaphragm in the buoyancy chamber, and the buoyancy chamber and battery are matched with the deformation mechanism. The change of the position of the cabin to change the position of the center of gravity and the center of gravity;

Wherein, the vertical motion form, including the floating motion and the dive motion; the state is determined by the volume of the rolling diaphragm in the buoyancy chamber, and if the overall buoyancy of the deformed submersible is greater than the gravity, the deformed submersible floats; If the buoyancy is less than gravity, the deformed submersible dive movement;

The horizontal motion pattern includes the underwater cruise state and the seabed landing mode; if the buoyancy cabin's buoyancy adjustment is basically the same as the buoyancy and gravity, the attitude of the deformed submersible can be adjusted by the shaftless vector thruster to achieve the endurance state; The final effect of the buoyancy adjustment is that if the buoyancy is slightly smaller than the gravity, the deformed submersible will land at this time, and the attitude and motion state adjustment of the deformed submersible can be realized by the shaftless vector thruster to realize observation and work tasks;

Among them, the working process of the upward movement in the vertical motion pattern is as follows:

The front buoyancy driving mechanism is controlled by the control mechanism in the main cabin to make the volume of the front rolling diaphragm unchanged, and the volume of the rear rolling diaphragm is increased by the driving of the rear buoyancy driving mechanism, and the overall buoyancy of the deformed submersible is greater than gravity, and the deformation submersible In the floating motion mode;

The working process of the dive movement in the vertical motion pattern is as follows:

The front buoyancy driving mechanism is controlled by the control mechanism in the main cabin to make the volume of the front rolling diaphragm unchanged, and the volume of the rear rolling diaphragm is reduced by the driving of the rear buoyancy driving mechanism, and the overall buoyancy of the deformed submersible is less than gravity, and the deformation submersible In a submerged motion mode;

The working process of the underwater cruise state in the horizontal motion pattern is as follows:

The front buoyancy drive mechanism and the rear buoyancy drive mechanism are respectively controlled by the control mechanism in the main cabin to slightly adjust the volume of the front rolling diaphragm and the rear rolling diaphragm, so that the overall buoyancy of the deformed submersible is approximately equal to gravity, and the submersible is in a suspended state. Is the cruise mode;

The working process of the submarine landing mode in the horizontal motion pattern is as follows:

The front buoyancy drive mechanism and the rear buoyancy drive mechanism are respectively controlled by the control mechanism in the main cabin to slightly adjust the volume of the front rolling diaphragm and the rear rolling diaphragm, so that the overall buoyancy of the deformed submersible is slightly smaller than gravity, and the submersible exhibits micro Sinking state.

Preferably, the specific process of adjusting the floating center of the deformed submersible to the rear of its center of gravity is:

Controlling the left deformation mechanism and the right deformation mechanism through the control mechanism in the main cabin, the left rotation arm and the right rotation arm are rotated by the left deformation rotation mechanism and the right deformation rotation mechanism to be parallel with the main cabin, and also on both sides. The left fixed arm and the right fixed arm are parallel, the buoyancy compartment is located directly behind the main compartment and the battery compartment is located directly in front of the main compartment, and the floating center is located directly behind the main compartment, specifically at the distance behind it and the buoyancy compartment The buoyancy is related to the size of the buoyancy; the center of gravity is directly in front of the main compartment, and the distance directly below it is related to the gravity of the battery compartment; at this time, the working state of the deformed submersible is the state of floating or dive observation, by controlling the front of the buoyancy chamber. The overall size of the rolling diaphragm and the rear rolling diaphragm can adjust the buoyancy of the deformed submersible to change the direction, attitude and speed of the floating or dive movement of the submersible;

Preferably, the specific process of adjusting the floating center of the deformed submersible directly above its center of gravity is:

Controlling the left deformation rotation mechanism and the right deformation rotation mechanism in the left deformation mechanism and the right deformation mechanism by the control mechanism in the main cabin to rotate the left rotation arm and the right rotation arm to be perpendicular to the left fixed arm and the right fixed arm, At the same time, it is also perpendicular to the main cabin. The buoyancy chamber is located directly above the main cabin and the battery compartment is located directly below the main cabin. The buoyancy is located directly above the main cabin. The distance directly above it is related to the buoyancy generated by the buoyancy chamber. The center of gravity is located directly below the main compartment, and the distance directly below it is related to the gravity of the battery compartment; at this time, the working state of the deformed submersible is hovering or sitting bottom observation state, by controlling the front rolling diaphragm in the buoyancy chamber and The overall size of the rear rolling diaphragm adjusts the buoyancy of the deformed submersible to change the hovering, floating or dive movement of the submersible.

Advantageous effects of the invention

Beneficial effect

1. An efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention uses buoyancy driving to reduce energy consumption when sailing in the sea area, and is used for state leveling by buoyancy driving mechanism during small area detection or operation. The high-efficiency shaftless vector thruster achieves high maneuverability, and the active deformation mechanism is used to realize the change of the center of gravity and the floating center position of the submersible in the water to adapt to the different movement requirements of the deformed submersible in the water body and the seabed, which are different in nature. The fixed dynamic characteristics of the traditional submersible, which laid the foundation for improving the performance of the submersible;

2. The invention realizes the position change of the buoyancy chamber and the battery compartment by setting different buoyancy chambers and battery compartments, and the deformation mechanism realizes the position change of the floating center and the center of gravity of the deformed submersible, thereby realizing the submersible The vertical movement form and the horizontal movement form solve the drawbacks of the current majority of the submersibles due to the fixed shape and the single posture and monotonous function;

3. The invention realizes the adjustment of the buoyancy chamber volume by setting the front and rear rolling diaphragm in the buoyancy chamber and the buoyancy driving mechanism, thereby realizing the buoyancy adjustment of the deformed submersible, so that the submersible has the floating motion mode in the vertical movement mode and Dive sport mode.

4. The deformed submersible according to the present invention can realize the control of the movement speed by adjusting the volume of the buoyancy chamber in the floating or dive movement mode of the large-scale sea area, thereby eliminating the high energy consumption caused by the work of the shaftless vector propeller. The working efficiency and navigation mileage of the deformed submersible are improved, and the deformation mechanism is used to drive the buoyancy chamber and the battery compartment to the rear and the front of the main cabin, respectively, which reduces the water resistance during the movement of the submersible and improves the hydrodynamic navigation efficiency. ;

5. In the horizontal movement of the deformed submersible according to the present invention, by controlling the buoyancy of the buoyancy chamber, the buoyancy and gravity are equalized or the buoyancy is slightly smaller than the gravity, and the suspended cruise state and the seabed landing state can be generated, and at the same time, no The small-scale push of the shaft vector thruster can realize the efficient cruising or submarine landing detection of the deformed submersible, with high work efficiency and high energy utilization rate;

6. The invention realizes the micro-tuning adjustment of the buoyancy chamber volume by the buoyancy driving mechanism, thereby realizing the buoyancy unbalance micro-adjustment function of the deformed submersible; when the submersible machine is required to work in a certain posture, the driving can be driven by four buoyancy driving mechanisms. Different strokes make the deformed submersible provide unbalanced buoyancy and realize the micro-setting of the deformed submersible, which provides a better propulsion strategy for the subsequent shaftless vector thruster, reduces the adjustment time of the propeller, and reduces the energy accordingly. Consumption.

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a horizontal cruising mode and a submarine landing mode in a horizontal motion mode of an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

2 is a schematic structural view of a floating motion state and a dive motion state in a vertical motion mode of an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

FIG. 3 is a schematic perspective structural view of an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

4 is a schematic top plan view of an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

FIG. 5 is a schematic diagram of a left side structure of an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

Fig. 6 is a front view showing the structure of an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

FIG. 7 is a schematic front view showing the structure of a high-efficiency deformed submersible based on buoyancy driving and shaftless vector propulsion according to the present invention.

Among them, 1-main cabin; 11-main cabin body; 12-front shroud; 13-rear deflector; 14-communication antenna; 15-control mechanism; 16-camera mechanism; 2-buoyer cabin; Rolling diaphragm; 22-rear rolling diaphragm; 23-buoyancy cabin; 24-front buoyancy drive mechanism; 25-rear buoyancy drive mechanism; 26-slave controller; 3-battery compartment; 31-battery compartment; - Lithium battery; 33 - shroud; 34 - sled; 4- deformation mechanism; 41 - left deformation mechanism; 42 - right deformation mechanism; 43 - left fixed arm; 44 - right fixed arm; 45 - left rotating branch Arm; 46-right rotating arm; 47-left deforming rotating mechanism; 48-right deforming rotating mechanism; 5--axisless vector thruster; 51-shaftless thruster; 52-vector angle driving mechanism.

Invention embodiment

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in FIG. 3-7, an efficient deformation submersible based on buoyancy driving and shaftless vector propulsion includes a main cabin 1, a buoyancy chamber 2, a battery compartment 3, a deformation mechanism 4, and a shaftless vector propeller 5.

The main cabin 1 includes a main cabin 11, a front shroud 12, a rear shroud 13, a communication antenna 14, a control mechanism 15, and an imaging mechanism 16.

The main compartment 1 has a total of 1 set, which is the core control and driving part of the high-efficiency deformation submersible based on buoyancy driving and shaftless vector propulsion, and its main function is to drive other sub-mechanisms or sub-devices. The main cabin 11 is cylindrical, and the control mechanism 15 and the camera mechanism 16 and the driving mechanism of other components are placed inside. The main cabin 11 has an end cover device at the front and rear, and is provided with a horizontal and radial O-ring for sealing. Suitable for deep sea high pressure environments. The front shroud 12 is designed to reduce the water resistance during the movement of the deformed submersible, and is designed to be semi-spindle shaped and fixed to the front end of the main cabin 11. The rear shroud 13 is also a semi-spindle shape, but four baffles are evenly arranged in the middle circumferential portion of the rear shroud 13 because of the enhanced hydrodynamic coefficient and the flexibility of the deformed submersible. . The communication antenna 14 is in the shape of a rod and is installed in the middle and rear of the rear shroud 13, and is mainly used for wireless communication with the shore station after the water is deformed by the deformed submersible. The control mechanism 15 is a control core part of the whole set of deformed submersibles, not only controls the operation of the camera mechanism 16 in the main cabin 1, but also communicates with the slave controller 25 in the buoyancy chamber 2 to control the buoyancy drive mechanism 24 to operate. . In addition, the control mechanism 15 is also connected to the lithium battery 32 in the battery compartment 3 to obtain electrical energy. Finally, the control mechanism 15 is connected to the left deformation rotation mechanism 47 and the right deformation rotation mechanism 48 in the denaturation mechanism 4 and controls the movement of the two mechanisms to realize the deformation function of the submersible. The camera mechanism 16 is mainly used to realize shooting or video recording of an environment or a detected object under water for use by a staff member or a scientific researcher.

The buoyancy chamber 2 includes a front rolling diaphragm 21, a rear rolling diaphragm 22, a buoyancy cabin 23, a front buoyancy driving mechanism 24, a rear buoyancy driving mechanism 25, and a slave controller 26.

The buoyancy chamber 2 has 2 sets, which are divided into two buoyancy chambers. The mechanical mechanism is completely consistent. The function is to realize the buoyancy chamber 2 volume change by the buoyancy driving mechanism 24 to drive the front rolling diaphragm 21 and the rear rolling diaphragm 22. The buoyancy of the deformed submersible is changed; at the same time, by controlling the difference in volume between the front rolling diaphragm 21 and the rear rolling diaphragm 22, the posture of the deformed submersible can also be changed; when the deformed submersible needs to hover or sit down, the buoyancy and The fine adjustment of the front rolling diaphragm 21 and the rear rolling diaphragm 22 in the gravity neutral state also enables the buoyancy micro-tuning of the deformed submersible, making the state change easier and reducing the power consumption of the shaftless vector thruster 5.

The front rolling diaphragm 21 and the rear rolling diaphragm 22 are hemispherical structures for the following reasons: 1) reducing water resistance and improving the movement efficiency of the deformed submersible; 2) rolling diaphragms are required to withstand high pressure, and are easier to use with them. The tight hemisphere support mechanism controls its support and telescoping. The central peripheral portion of the front rolling film 21 and the rear rolling film 22 leaves a partial convolution to facilitate the rolling expansion and contraction of the diaphragm; the edges of the front rolling film 21 and the rear rolling film 22 are fixed to the buoyancy by a sealing mechanism. At the circumference of the inner wall of the cabin body 23, a seal ring is provided at the joint to ensure the sealing effect of the front rolling diaphragm 21 and the rear rolling diaphragm 22 with the inner wall of the buoyancy tank body 23. The connection structure and method of the front rolling diaphragm 21 and the rear rolling diaphragm 22 and the inner wall of the buoyancy cabin 23 are the same, except that the front rolling diaphragm 21 and the front inner wall of the buoyancy cabin 23 are connected and fixed, and the rolling film 22 is subsequently rolled. It is connected and fixed to the inner wall of the rear end of the buoyancy tank body 23. The front buoyancy driving mechanism 24 and the rear buoyancy driving mechanism 25 are mainly used for pushing and pulling the front rolling diaphragm 21 and the rear rolling diaphragm 22 respectively, thereby changing the volume of the buoyancy chamber 2 and changing the buoyancy and floating center of the entire deformed submersible. The position is slightly fixed. The front buoyancy driving mechanism 24 and the rear buoyancy driving mechanism 25 respectively have two sets, that is, two sets of front buoyancy driving mechanisms 24 are respectively fixed and fixed on the front ends of the left and right buoyancy chambers 2; the rear buoyancy driving mechanism 25 also has two sets. , installed at the rear end of the two buoyancy chambers 2 on the left and right. The mechanical structure of the above four sets of buoyancy driving mechanisms is completely the same. When the current buoyancy driving mechanism 24 and the rear buoyancy driving mechanism 25 drive the front rolling diaphragm 21 and the rear rolling diaphragm 22 to move substantially, and then greatly adjust the buoyancy, this is used as buoyancy. The driving action of the driving mechanism is used to change the motion state of the deformed submersible, such as floating or dive; and the current buoyancy driving mechanism 24 and the rear buoyancy driving mechanism 25 drive the small rolling motion of the front rolling diaphragm 21 and the rear rolling diaphragm 22 to When the buoyancy is adjusted slightly, this time, as a buoyancy micro-setting function, the deformed submersible is adjusted to a neutral or other required state, thereby saving the energy consumption of the shaftless vector thruster 5. When the buoyancy driving mechanism 24 and the rear buoyancy driving mechanism 25 drive the front rolling film 21 and the rear rolling film 22 to be slightly unbalanced or asymmetrically moved, and then the buoyancy is unevenly adjusted or asymmetrically adjusted, the deformed submersible can be Get an expected job posture and achieve the desired work results. The slave controller 26 is the control core and communication hub of the buoyancy bay 2. There are two main functions: 1) controlling and driving the front buoyancy driving mechanism 24 and the rear buoyancy driving mechanism 25 to thereby control the positions of the front rolling diaphragm 21 and the rear rolling diaphragm 22, thereby realizing the adjustment of the buoyancy of the deformed submersible; 2) The control command from the control unit 15 in the main cabin 1 is received, and information such as the result of execution of the own instruction or the state of its own operation is transmitted thereto.

The battery compartment 3 includes a battery compartment 31, a lithium battery 32, a shroud 33, and a ski 34.

The battery compartment 3 is symmetrical in two sets, divided into a left battery compartment and a right battery compartment, and its main function is to supply electric energy to the main cabin 1, the buoyancy chamber 2, the deformation mechanism 4, and the shaftless vector propeller 5. The lithium battery 32 is placed in the battery compartment 31, and the shroud 32 is also in the shape of a semi-spherical ball to reduce its water resistance. There are two sets of sleds 34, which are raft structures, which are respectively fixed under the left and right battery compartments. The effect is that the skid 34 can avoid falling into the mud by increasing the contact area with the sea floor when the deformed submersible is bottomed or bottomed and observed.

The deformation mechanism 4 includes a left deformation mechanism 41, a right deformation mechanism 42, a left fixed arm 43, a right fixed arm 44, a left rotation arm 45, a right rotation arm 46, a left deformation rotation mechanism 47, and a right deformation rotation mechanism 48. .

The left deformation mechanism 41 and the right deformation mechanism 42 have the same structure and function, and the main function is to respectively drive and realize the positional transformation of the buoyancy chamber 2 and the battery compartment 3. In the process of transformation, in order to ensure the bilateral symmetry of the deformation submersible, under normal circumstances The rotation of the left deformation mechanism 41 and the right deformation mechanism 42 are identical. Of course, if there is a special requirement for the posture of the deformation submersible, the floating center and the center of gravity can be changed by the different movement positions of the left deformation mechanism 41 and the right deformation mechanism 42. Positional relationship. The left fixed arm 43 and the right fixed arm 44 are respectively two sets of symmetrical mechanisms, and are horizontally fixed horizontal arm-shaped, respectively installed on both sides of the main cabin 1, parallel to the main cabin 1, the main function is: connecting the main The cabin and left rotating arm 45, right rotating arm 46, left deforming rotating mechanism 47 and right deforming rotating mechanism 48 are also supporting and fixing carriers for the shaftless vector pusher 5. The left rotating arm 45 and the right rotating arm 46 are also symmetrically mounted on both sides of the main cabin 1 respectively. The effect of the rotating arm is mainly to achieve a relative left fixed branch with the left deforming rotating mechanism 47 and the right deforming rotating mechanism 48. The rotation of the arm 43 and the right fixed arm 44 enables the positional change of the buoyancy chamber 2 and the battery compartment 3.

The left deformation rotation mechanism 47 and the right deformation rotation mechanism 48 have a total of six sets of completely symmetrical mechanisms, three sets on the left side and three sets on the right side. 1 for the left side of the first set of left deformation rotation mechanism 47 is fixed between the left rotation arm 45 and the buoyancy tank body 23 on the left side of the buoyancy chamber 2, the role is to realize the buoyancy cabin body 23 on the left side The relative rotation between the left rotating arms 45 is relative. 2 The first set of left deformation rotating mechanism 48 for the right side is mounted between the right rotating arm 46 and the buoyancy tank body 23 on the right side of the buoyancy chamber 2, and functions to realize the buoyancy tank body 23 on the right side. Rotation with a relative angle between the right rotating arm 46. 3 The second set of left deformation rotating mechanism 47 for the left side is fixedly mounted between the left rotating arm 45 and the left fixed arm 43 for effecting relative angular rotation between the left rotating arm 45 and the left fixed arm 43. . 4 The second set of left deformation rotating mechanism 48 for the right side is mounted and fixed between the right rotating arm 46 and the right fixed arm 44 for effecting relative angular rotation between the right rotating arm 46 and the right fixed arm 44. . 5 The left set of left deformation rotation mechanism 47 is fixedly mounted between the left rotation arm 45 and the battery compartment body 31 on the left side of the battery compartment 3, and functions to realize the buoyancy cabin body 23 on the left side and the left side. The relative angular rotation between the side battery compartments 31. 6 for the right third set of right deformation rotating mechanism 48 is fixed between the right rotating arm 46 and the battery compartment body 31 on the right side of the battery compartment 3, the role is to achieve the right side of the buoyancy cabin 23 and The relative angle between the battery compartments 31 on the right side is rotated.

The process of changing the position of the buoyancy chamber 2 and the battery compartment 3 by the left deformation mechanism 41 and the right deformation mechanism 42 is as follows:

When the left deformation rotation mechanism 47 and the right deformation rotation mechanism 48 in the left deformation mechanism 41 and the right deformation mechanism 42 rotate the left rotation arm 45 and the right rotation arm 46 to be perpendicular to the left fixed arm 43 and the right fixed arm 44 While also being perpendicular to the main compartment 1, the buoyancy chamber 2 is located directly above the main compartment 1 and the battery compartment 3 is located directly below the main compartment 1, and it is assumed that the left and right sets of front rolling diaphragms 21 in the buoyancy chamber 2 and The rear rolling diaphragm 22 is the same in volume. In other words, the left and right front buoyancy driving mechanisms 24 and the rear buoyancy driving mechanism 25 in the buoyancy chamber 2 are in the same position, and the two buoyancy chambers of the buoyancy chamber 2 are generated. The same and symmetrical buoyancy. The floating center is located directly above the main cabin 1, and the distance directly above it is related to the buoyancy generated by the buoyancy chamber 2; the center of gravity is directly below the main cabin 1, specifically below the distance of the main compartment 1, and the gravity of the battery compartment 3 related. At this time, the working state of the deformed submersible is a hovering or bottoming observation state, and the buoyancy of the deformed submersible can be adjusted by controlling the overall volume of the front rolling diaphragm 21 and the rear rolling diaphragm 22 in the buoyancy chamber 2, thereby changing Hovering, floating or dive movement of the submersible.

When the left deformation mechanism 41 and the right deformation mechanism 42 in the deformation mechanism 4 drive the left and

right rotation arms

45 and 46 on both sides to rotate parallel to the main compartment 1 by the left deformation rotation mechanism 47 and the right deformation rotation mechanism 48. In the state, it is also parallel with the left fixed arm 43 and the right fixed arm 44 on both sides. At this time, at this time, the buoyancy chamber 2 is located directly behind the main cabin 1 and the battery compartment 3 is located directly in front of the main cabin 1, and it is assumed that the left and right front and

rear rolling diaphragms

21 and 22 of the buoyancy chamber 2 are both in volume. In the same way, in other words, the left and right front buoyancy driving mechanisms 24 and the rear buoyancy driving mechanism 25 in the buoyancy chamber 2 are in the same position, and the left and right buoyancy chambers of the buoyancy chamber 2 generate the same and symmetrical buoyancy. The floating center is located directly behind the main cabin 1, and the distance directly behind it is related to the buoyancy generated by the buoyancy chamber 2; the center of gravity is directly in front of the main cabin 1, specifically at a distance directly below it and the gravity of the battery compartment 3 related. At this time, the working state of the deformed submersible is the floating or dive observation state, and the buoyancy of the deformed submersible can be adjusted by controlling the overall volume of the front rolling diaphragm 21 and the rear rolling diaphragm 22 in the buoyancy chamber 2, thereby changing the diving. The direction, posture and speed of the floating or dive movement of the device.

The shaftless vector thruster 5 includes a shaftless thruster 51 and a vector angle drive mechanism 52.

The shaftless vector pusher 5 has two sets, which are respectively fixed on the left fixed arm 43 and the right fixed arm 44 fixed in the deformation mechanism 4, and the main function is to control the shaftless propeller 51 by the vector angle driving mechanism 52. The working angle is then driven by the control mechanism 15 in the main cabin 1 to drive the shaftless propeller 51 to achieve different angles of thrust to achieve omnidirectional motion of the deformed submersible. The shaftless propeller is coupled to the vector angle driving mechanism 52, and can be driven by the angle of the vector angle driving mechanism 52 to drive the shaftless propeller 51 to achieve an omnidirectional rotation of the angle.

Example 2

Based on the above embodiments, the present invention also mentions an efficient deformation submersible control and working method based on buoyancy driving and shaftless vector propulsion, and the specific process is as follows:

There are two main working states of the deformed submersible: vertical motion form (I) horizontal motion form (II). Both working states change the buoyancy chamber by controlling the size of the rolling diaphragm in the buoyancy chamber 2. The buoyancy of 2 and the deformation structure of the matching deformation mechanism 4 are realized by changing the positions of the buoyancy chamber 2 and the battery compartment 3 to change the position of the center of gravity and the center of gravity.

[Correct according to Rule 91 19.03.2019]
Wherein, the vertical motion pattern (I) includes: the floating motion (i) and the dive motion (ii), the state of which is determined by the volume of the rolling diaphragm in the buoyancy chamber 2, and if the buoyancy chamber 2 is finally adjusted, if the deformation When the overall buoyancy of the submersible is greater than gravity, the deformed submersible floats; when the overall buoyancy is less than gravity, the deformed submersible dive.

[Correct according to Rule 91 19.03.2019]
The horizontal motion pattern (II) includes: underwater cruise state (iii) and seabed landing mode (iv). At this time, the final effect of the buoyancy adjustment of the buoyancy chamber 2 is that the buoyancy is substantially the same as the gravity, and the shaftless vector thruster can be passed. The work of 5 performs the attitude adjustment of the deformed submersible to achieve the endurance state; if the final effect of the buoyancy adjustment of the buoyancy chamber 2 is that the buoyancy is slightly smaller than the gravity, the submersible is landed, and the bottom is passed through the sled 34, and then propelled through the shaftless vector. The device 5 realizes the adjustment of the attitude or motion state of the deformed submersible to realize observation and work tasks.

The adjustment process of the total four working modes in the vertical motion pattern (I) and the horizontal motion pattern (II) is as follows:

[Correct according to Rule 91 19.03.2019]
Upward motion (i) in the vertical motion pattern (I):

1) The control mechanism 15 in the main cabin 1 controls the front buoyancy driving mechanism 24 in the left-right symmetrical structure so that the front rolling diaphragm 21 is not changed in volume, but after the rear buoyancy driving mechanism 25 drives, the rolling diaphragm 22 is increased in volume and deformed at the same time. The overall buoyancy of the submersible is greater than the gravity. At this time, the submersible exhibits a floating motion mode; the speed during the floating motion is related to the extent to which the rolling diaphragm 22 is increased after the rear buoyancy driving mechanism 25 is driven, and the larger the volume, the buoyancy generated. The larger the deformation, the faster the floating submersible floats.

2) In order to reduce the water resistance in the floating motion, the control mechanism 15 in the main cabin 1 controls the left deformation mechanism 41 and the right deformation mechanism 42 in the deformation mechanism 4 to realize the positional change of the battery compartment 3 and the buoyancy chamber 2, and finally The effect is that the buoyancy chamber 2 is located directly behind the main cabin 1 and the battery compartment 3 is located directly in front of the main cabin 1, at which time the buoyancy chamber 2, the battery compartment 3, the deformation mechanism 4 and the shaftless vector thruster 5 receive the least water resistance. The deformed submersible has the highest working efficiency, and if there is no too high floating speed requirement, there is no need to start the shaftless vector thruster 5 to save energy.

[Correct according to Rule 91 19.03.2019]
Dive movement in vertical motion pattern (I) (ii):

1) The control mechanism 15 in the main cabin 1 controls the front buoyancy driving mechanism 24 in the left-right symmetrical structure so that the front rolling diaphragm 21 has a volume constant, but after the rear buoyancy driving mechanism 25 drives, the rolling diaphragm 22 is reduced in volume and deformed at the same time. The overall buoyancy of the submersible is less than gravity. At this time, the submersible exhibits a submersible motion mode; the smaller the dive movement, the smaller the buoyancy generated, and the faster the deformer dive.

2) In order to reduce the water resistance in the floating motion, similarly, the control mechanism 15 in the main cabin 1 controls the left deformation mechanism 41 and the right deformation mechanism 42 in the deformation mechanism 4 to realize the positional change of the battery compartment 3 and the buoyancy chamber 2, The final effect is that the buoyancy chamber 2 is located directly behind the main cabin 1 and the battery compartment 3 is located directly in front of the main cabin 1, at which time the buoyancy chamber 2, the battery compartment 3, the deformation mechanism 4, and the shaftless vector thruster 5 are subjected to water resistance. The smallest, deformed submersible has the highest efficiency, and if there is no too high dive speed requirement, there is no need to start the shaftless vector thruster 5 to save energy.

[Correct according to Rule 91 19.03.2019]
Water cruising state in horizontal motion pattern (II) (iii):

1) The control mechanism 15 in the main cabin 1 controls the front buoyancy drive mechanism 24 and the rear buoyancy drive mechanism 25 in the left and right symmetrical structure to finely adjust the volume of the front rolling diaphragm 21 and the rear rolling diaphragm 22, respectively, so that the deformation submersible The overall buoyancy is approximately equal to gravity, and the submersible is in a suspended state, which is the cruise mode. At this time, the control mechanism 15 controls the shaftless vector pusher 5 to finely adjust the posture or the motion state of the deformed submersible, which is easy to change the working posture or the moving state of the submersible, saves the setting time, and saves the energy consumed by the propeller. Improve the long range and long voyage of the deformed submersible work. Of course, the above-described process of realizing the state change by the shaftless vector pusher 5 can also control the front buoyancy drive mechanism 24 and the rear buoyancy drive mechanism 25 in the left and right symmetrical structure to the front rolling diaphragm by the control mechanism 15 in the main cabin 1 again. The volume of the 21 and rear rolling diaphragms 22 is micro-tuned to break the balance of the overall buoyancy and gravity of the deformed submersible, at which point the submersible will enter the next desired state.

2) In this process, in order to ensure the working stability of the deformed submersible, the floating center of the submersible needs to be adjusted directly above the center of gravity. The specific process is: the control mechanism 15 in the main cabin 1 controls the left deformation rotation mechanism 47 and the right deformation rotation mechanism 48 in the left deformation mechanism 41 and the right deformation mechanism 42 to rotate the left rotation arm 45 and the right rotation arm 46 to The left fixed arm 43 and the right fixed arm 44 are perpendicular, at which time the buoyancy chamber 2 is located directly above the main cabin 1 and the battery compartment 3 is located directly below the main cabin 1; at this time, the buoyancy is located directly above the main cabin 1, specifically The distance directly above it is related to the buoyancy generated by the buoyancy chamber 2; the center of gravity is located directly below the main compartment 1, and the distance directly below it is related to the gravity of the battery compartment 3.

[Correct according to Rule 91 19.03.2019]
Seabed landing mode (iv) in horizontal motion pattern (II):

1) The control mechanism 15 in the main cabin 1 controls the front buoyancy drive mechanism 24 and the rear buoyancy drive mechanism 25 in the left and right symmetrical structure to finely adjust the volume of the front rolling diaphragm 21 and the rear rolling diaphragm 22, respectively, so that the deformation submersible The overall buoyancy is slightly less than gravity, and the submersible is slightly sinking. When the submersible sinks to the bottom of the sea, it becomes a landing mode. At this time, the control mechanism 15 controls the shaftless vector pusher 5 to finely adjust the posture or the motion state of the deformed submersible to realize the observation or the work task, and it is easy to change the working posture or the motion state of the submersible, save the set time, and save the propulsion. The energy consumed by the device improves the long range and long voyage of the deformed submersible. Of course, the above-described process of realizing the state change by the shaftless vector pusher 5 can also control the front buoyancy drive mechanism 24 and the rear buoyancy drive mechanism 25 in the left and right symmetrical structure to the front rolling diaphragm by the control mechanism 15 in the main cabin 1 again. The volume of the 21 and rear rolling diaphragms 22 is micro-tuned to break the balance of the overall buoyancy and gravity of the deformed submersible, at which point the submersible will enter the next desired state.

2) In this process, in order to ensure the stability of the working of the deformed submersible, it is necessary to adjust the floating center of the submersible to the top of the center of gravity. The specific process is: the control mechanism 15 in the main cabin 1 controls the left deformation rotation mechanism 47 and the right deformation rotation mechanism 48 in the left deformation mechanism 41 and the right deformation mechanism 42 to rotate the left rotation arm 45 and the right rotation arm 46 to The left fixed arm 43 and the right fixed arm 44 are perpendicular, at which time the buoyancy chamber 2 is located directly above the main cabin 1 and the battery compartment 3 is located directly below the main cabin 1; at this time, the buoyancy is located directly above the main cabin 1, specifically The distance directly above it is related to the buoyancy generated by the buoyancy chamber 2; the center of gravity is located directly below the main compartment 1, and the distance directly below it is related to the gravity of the battery compartment 3.

The above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and variations, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the present invention. The scope of protection of the invention.

Claims

Deformation submersible based on buoyancy drive and shaftless vector propulsion, including: main cabin, buoyancy chamber, battery compartment, deformation mechanism and shaftless vector thruster;

Wherein the main cabin includes a control mechanism; configured to implement a driving function;

a control mechanism and a slave controller in the buoyancy chamber, a lithium battery in the battery compartment, and a left deformation rotation mechanism and a right deformation rotation mechanism in the denaturation mechanism are connected by a line;

The buoyancy chamber has two sets, which are divided into two buoyancy chambers, and the mechanical mechanism is completely identical, including the front rolling diaphragm, the rear rolling diaphragm, the buoyancy cabin, the front buoyancy driving mechanism, the rear buoyancy driving mechanism and the slave controller;

The front rolling diaphragm and the front inner wall of the buoyancy cabin are connected and fixed, and the rear rolling diaphragm and the rear inner wall of the buoyancy cabin are connected and fixed;

The front buoyancy driving mechanism has two sets, which are respectively fixed and fixed at the front ends of the left and right buoyancy chambers, and are configured to push and pull the front rolling diaphragm;

The rear buoyancy driving mechanism has two sets, which are respectively installed and fixed at the rear ends of the left and right buoyancy chambers, and are configured to push and pull the rear rolling diaphragm;

The slave controller, which is the control core and communication hub of the buoyancy bay, is configured to control and drive the front buoyancy drive mechanism and the rear buoyancy drive mechanism to control the position of the front rolling diaphragm and the rear rolling diaphragm to achieve deformation diving Buoyancy adjustment; receiving control commands from the control mechanism in the main cabin, and transmitting information including the execution result of the own instruction or the working state thereof;

The battery compartment includes two sets of symmetrical left and right battery compartments configured to provide electrical energy to the main cabin, the buoyancy chamber, the deformation mechanism, and the shaftless vector thruster;

The deformation mechanism comprises a left deformation mechanism, a right deformation mechanism, a left fixed arm, a right fixed arm, a left rotating arm, a right rotating arm, a left deformation rotating mechanism and a right deformation rotating mechanism;

a left deformation mechanism and a right deformation mechanism configured to effect positional transformation of the buoyancy chamber and the battery compartment;

The left fixed arm and the right fixed arm are symmetrically installed on both sides of the main cabin, parallel to the main cabin, and are horizontally fixed transverse arm-shaped, and are configured to connect the main cabin with the left rotating arm and the right rotating branch The arm, the left deformation rotation mechanism and the right deformation rotation mechanism; and also serve as a support and fixed carrier for the shaftless vector thruster;

a left rotation arm and a right rotation arm symmetrically mounted on both sides of the main cabin, configured to cooperate with the left deformation rotation mechanism and the right deformation rotation mechanism to achieve rotation of the opposite left fixed arm and the right fixed arm, thereby Realize the positional change of the buoyancy and battery compartments;

The left deformation rotation mechanism includes a first left deformation rotation mechanism, a second left deformation rotation mechanism, and a third left deformation rotation mechanism;

The right deformation rotation mechanism includes a first right deformation rotation mechanism, a second right deformation rotation mechanism, and a third right deformation rotation mechanism;

a first left deformation rotation mechanism, a second left deformation rotation mechanism, and a third left deformation rotation mechanism and a first right deformation rotation machine

The second right deformation rotating mechanism and the third right deformation rotating mechanism are symmetrical;

The first left deformation rotating mechanism is fixedly fixed between the left rotating arm and the buoyant cabin of the left side in the buoyancy chamber,

Configuring to achieve relative angular rotation between the buoyant tank body on the left side and the left swivel arm;

The first right deformation rotating mechanism is fixedly mounted between the right rotating arm and the right side buoyancy tank in the buoyancy chamber, and is configured to achieve a relative between the right side buoyancy tank and the right rotating arm Angle rotation

a second left deformation rotation mechanism is fixedly disposed between the left rotation arm and the left fixed arm, and configured to realize a relative angular rotation between the left rotation arm and the left fixed arm;

a second right deformation rotation mechanism is fixedly disposed between the right rotation arm and the right fixed arm, and configured to realize a relative angular rotation between the right rotation arm and the right fixed arm;

The third left deformation rotating mechanism is fixedly mounted between the left rotating arm and the battery compartment body on the left side of the battery compartment, and is configured to realize between the buoyant cabin body on the left side and the battery compartment body on the left side Relative angle rotation

The third right deformation rotating mechanism is fixed between the right rotating arm and the battery compartment body on the right side of the battery compartment, and is configured to realize between the right side buoyancy tank body and the right side battery compartment body Relative angle rotation

Shaftless vector thrusters, including shaftless thrusters and vector angle drive mechanisms;

A shaftless vector thruster, two sets, respectively mounted on the left fixed arm and the right fixed arm fixed in the deformation mechanism, configured to control the working angle of the shaftless propeller by a vector angle driving mechanism, by controlling The control mechanism in the main cabin drives the shaftless propeller to operate, enabling the omnidirectional movement of the deformed submersible.
The deformable submersible based on buoyancy driving and shaftless vector propulsion according to claim 1, wherein the front rolling diaphragm and the rear rolling diaphragm are both hemispherical structures.
The deformation submersible based on buoyancy driving and shaftless vector propulsion according to claim 1, wherein the front rolling film and the front end inner wall joint of the buoyancy tank body and the rear rolling diaphragm and the buoyancy cabin body are rear Sealing rings are provided at the joints of the inner wall of the end.
The deformation submersible based on buoyancy driving and shaftless vector propulsion according to claim 1, wherein the main cabin further comprises a main cabin, a front shroud, a rear shroud, a communication antenna and a camera mechanism;

The main cabin body is cylindrical, and the control mechanism and the camera mechanism are disposed in the main cabin; the front and rear end cap devices of the main cabin body are provided with lateral and radial sealing rings;

The front flow guide is semi-spindle shaped and fixed to the front end of the main body; the rear guide is semi-spindle shaped and mounted on the rear end of the main body, and the middle circumference of the rear shroud is evenly arranged. Block deflector; the communication antenna is rod-shaped, installed in the middle and rear of the rear shroud, used to deform the wireless communication between the submersible and the shore station after the water is discharged; the camera mechanism is used to photograph the environment or the detected object underwater. Or video.
The deformation submersible based on buoyancy driving and shaftless vector propulsion according to claim 1, characterized in that: the battery compartment comprises a battery compartment, a lithium battery, a shroud and a ski; the lithium battery is placed in the battery compartment, The flow cover is in the shape of a semi-spherical ball, which is used to reduce the water resistance of the movement; the two sets of sled are made of a seesaw structure, which are respectively installed and fixed under the left battery compartment and the right battery compartment, and are used for the bottom observation of the deformation submersible or When sitting down and looking forward, avoid falling into the mud by increasing the contact area with the sea floor.
A working method of a deformed submersible based on buoyancy driving and shaftless vector propulsion, characterized in that the deformation submersible based on buoyancy driving and shaftless vector propulsion according to claim 1 has two working states of the deformed submersible. : Vertical motion pattern and horizontal motion pattern. These two working states change the buoyancy of the buoyancy chamber by controlling the volume of the rolling diaphragm in the buoyancy chamber, and change the position of the buoyancy chamber and the battery compartment with the deformation mechanism. Thereby changing the position of the center of gravity and the center of gravity;

Wherein, the vertical motion form, including the floating motion and the dive motion; the state is determined by the volume of the rolling diaphragm in the buoyancy chamber, and if the overall buoyancy of the deformed submersible is greater than the gravity, the deformed submersible floats; If the buoyancy is less than gravity, the deformed submersible dive movement;

The horizontal motion pattern includes the underwater cruise state and the seabed landing mode; if the buoyancy cabin's buoyancy adjustment is basically the same as the buoyancy and gravity, the attitude of the deformed submersible can be adjusted by the shaftless vector thruster to achieve the endurance state; The final effect of the buoyancy adjustment is that if the buoyancy is slightly smaller than the gravity, the deformed submersible will land at this time, and the attitude and motion state adjustment of the deformed submersible can be realized by the shaftless vector thruster to realize observation and work tasks;

Among them, the working process of the upward movement in the vertical motion pattern is as follows:

The front buoyancy driving mechanism is controlled by the control mechanism in the main cabin to make the volume of the front rolling diaphragm unchanged, and the volume of the rear rolling diaphragm is increased by the driving of the rear buoyancy driving mechanism, and the overall buoyancy of the deformed submersible is greater than gravity, and the deformation submersible In the floating motion mode;

The working process of the dive movement in the vertical motion pattern is as follows:

The front buoyancy driving mechanism is controlled by the control mechanism in the main cabin to make the volume of the front rolling diaphragm unchanged, and the volume of the rear rolling diaphragm is reduced by the driving of the rear buoyancy driving mechanism, and the overall buoyancy of the deformed submersible is less than gravity, and the deformation submersible In a submerged motion mode;

The working process of the underwater cruise state in the horizontal motion pattern is as follows:

The front buoyancy drive mechanism and the rear buoyancy drive mechanism are respectively controlled by the control mechanism in the main cabin to slightly adjust the volume of the front rolling diaphragm and the rear rolling diaphragm, so that the overall buoyancy of the deformed submersible is approximately equal to gravity, and the submersible is in a suspended state. Is the cruise mode;

The working process of the submarine landing mode in the horizontal motion pattern is as follows:

The front buoyancy drive mechanism and the rear buoyancy drive mechanism are respectively controlled by the control mechanism in the main cabin to slightly adjust the volume of the front rolling diaphragm and the rear rolling diaphragm, so that the overall buoyancy of the deformed submersible is slightly smaller than gravity, and the submersible exhibits micro Sinking state.
The working method of a deformed submersible based on buoyancy driving and shaftless vector propulsion according to claim 6, wherein the specific process of adjusting the floating center of the deformed submersible to the rear of the center of gravity is:

Controlling the left deformation mechanism and the right deformation mechanism through the control mechanism in the main cabin, the left rotation arm and the right rotation arm are rotated by the left deformation rotation mechanism and the right deformation rotation mechanism to be parallel with the main cabin, and also on both sides. The left fixed arm and the right fixed arm are parallel, the buoyancy compartment is located directly behind the main compartment and the battery compartment is located directly in front of the main compartment, and the floating center is located directly behind the main compartment, specifically at the distance behind it and the buoyancy compartment The buoyancy is related to the size of the buoyancy; the center of gravity is directly in front of the main compartment, and the distance directly below it is related to the gravity of the battery compartment; at this time, the working state of the deformed submersible is the state of floating or dive observation, by controlling the front of the buoyancy chamber. The overall size of the rolling diaphragm and the rear rolling diaphragm adjusts the buoyancy of the deformed submersible to change the direction, attitude and speed of the submersible's floating or dive motion.
The working method of a deformed submersible based on buoyancy driving and shaftless vector propulsion according to claim 6, wherein the specific process of adjusting the floating center of the deformed submersible to directly above the center of gravity is:

Controlling the left deformation rotation mechanism and the right deformation rotation mechanism in the left deformation mechanism and the right deformation mechanism by the control mechanism in the main cabin to rotate the left rotation arm and the right rotation arm to be perpendicular to the left fixed arm and the right fixed arm, At the same time, it is also perpendicular to the main cabin. The buoyancy chamber is located directly above the main cabin and the battery compartment is located directly below the main cabin. The buoyancy is located directly above the main cabin. The distance directly above it is related to the buoyancy generated by the buoyancy chamber. The center of gravity is located directly below the main compartment, and the distance directly below it is related to the gravity of the battery compartment; at this time, the working state of the deformed submersible is hovering or sitting bottom observation state, by controlling the front rolling diaphragm in the buoyancy chamber and The overall size of the rear rolling diaphragm adjusts the buoyancy of the deformed submersible to change the hovering, floating or dive movement of the submersible.