CN116002024A - Underwater vehicle - Google Patents

Abstract

The application provides an underwater vehicle relates to underwater vehicle technical field, including turning to the portion to and connect in the image capture portion and the power portion that turn to the relative both sides of portion in order to form the bar structure, turn to the portion including encircling in the peripheral a plurality of first telescopic links of bar structure axis, adjacent two first telescopic links are the V font setting, the relative both ends of a plurality of first telescopic links respectively with image capture portion and power portion swing joint. On the basis that the underwater vehicle keeps a strip-shaped structure, the underwater vehicle can have various bending and front-back misplacement postures through the steering part, so that the turning radius of the underwater vehicle is effectively shortened, the flexibility of the underwater vehicle in turning is improved, the underwater vehicle can be suitable for a small space or a complex space, and the use scene of the underwater vehicle is expanded.

Description

Underwater vehicle

Technical Field

The application relates to the technical field of underwater vehicles, in particular to an underwater vehicle.

Background

The underwater vehicle is an underwater vehicle, comprises a manned underwater vehicle and an unmanned underwater vehicle, and can complete underwater exploration, detection and even attack defense and other tasks in military.

At present, in order to improve the endurance of an underwater vehicle in actual use, the underwater vehicle is designed into a strip-shaped structure so as to reduce the navigation resistance and improve the endurance of the underwater vehicle, but the underwater vehicle of the type has the defect of overlarge turning radius, so that the flexibility of the underwater vehicle is reduced, the underwater vehicle is difficult to realize turning in a small range, and the use environment of the underwater vehicle is limited.

Disclosure of Invention

The object of the present application is to provide an underwater vehicle that addresses the above-mentioned deficiencies in the prior art.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

in one aspect of the embodiments, an underwater vehicle is provided, including turn to the portion, and connect in turn to the image capturing portion and the power portion of portion both sides in order to form the bar structure relatively, turn to the portion including encircle in a plurality of first telescopic links of bar structure axis outlying, adjacent two first telescopic links are the V font setting, a plurality of first telescopic links relative both ends respectively with image capturing portion with power portion swing joint.

Optionally, opposite ends of the plurality of first telescopic rods are movably connected with the image capturing part and the power part through universal joints respectively.

Optionally, the strip structure is further provided with a plurality of hydraulic pump assemblies in one-to-one communication with the plurality of first telescopic rods, and the hydraulic pump assemblies are used for controlling the telescopic length corresponding to the first telescopic rods.

Optionally, the hydraulic pump assembly includes a hydraulic pump and a second telescopic rod, the hydraulic pump and the first telescopic rod being respectively in communication with chambers on opposite sides of the second telescopic rod piston.

Optionally, the outer wall of the image capturing part is annular and uniformly provided with a plurality of groups of steering auxiliary components, the steering auxiliary components comprise a booster pump and a spray pipe which are mutually communicated, and the water outlet of the spray pipe is opposite to the advancing direction of the underwater vehicle.

Optionally, the image capturing portion includes the tip with turn to the first casing subassembly that the portion is connected still be provided with the vision collector in the inner chamber of first casing subassembly, the vision collector is located and is kept away from the one end that turns to the portion, a plurality of hydraulic pump subassembly all set up in the inner chamber of first casing subassembly, the hydraulic pump subassembly pass through the hydraulic pipe with first telescopic link intercommunication.

Optionally, a momentum wheel is further provided on the power section, and the momentum wheel is used for maintaining the advancing direction of the power section when the image capturing section turns.

Optionally, the image capturing part and the power part are respectively provided with a sinking and floating box assembly, and the sinking and floating box assembly is used for controlling the submerging depth of the underwater vehicle.

Optionally, the power portion includes second casing subassembly, both ends have open-ended guard cylinder and screw, one end of second casing subassembly with turn to the portion and be connected, another end of second casing subassembly with the one end of guard cylinder is connected, the screw is located in the guard cylinder, just the pivot of screw with the axis coincidence of bar structure the junction of second casing subassembly with the guard cylinder is provided with the water conservancy diversion passageway of guard cylinder opening intercommunication.

Optionally, a signal buoy connected with the underwater vehicle in a signal manner is arranged on the image capturing part or the power part.

The beneficial effects of this application include:

the application provides an underwater vehicle, including turn to the portion, and connect in turn to the relative both sides of portion in order to form the image capture portion and the power portion of bar structure, turn to the portion including encircle in a plurality of first telescopic links of bar structure axis outlying, adjacent two first telescopic link is the V font setting, the relative both ends of a plurality of first telescopic links respectively with image capture portion with power portion swing joint. On the basis that the underwater vehicle keeps a strip-shaped structure, the underwater vehicle can have various bending and front-back misplacement postures through the steering part, so that the turning radius of the underwater vehicle is effectively shortened, the flexibility of the underwater vehicle in turning is improved, the underwater vehicle can be suitable for a small space or a complex space, and the use scene of the underwater vehicle is expanded.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an underwater vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a second embodiment of an underwater vehicle;

FIG. 3 is a third schematic view of an underwater vehicle according to an embodiment of the present disclosure;

FIG. 4 is an exploded view of an underwater vehicle according to an embodiment of the present application;

FIG. 5 is a schematic view of an underwater vehicle in a curved attitude according to an embodiment of the present disclosure;

FIG. 6 is a second schematic view of an underwater vehicle according to an embodiment of the present disclosure in a curved position;

FIG. 7 is a third schematic view of an underwater vehicle in a curved attitude according to an embodiment of the present disclosure;

fig. 8 is a schematic view of an underwater vehicle in a state of bending dislocation according to an embodiment of the present application;

FIG. 9 is one of the partial enlarged views of an underwater vehicle provided in an embodiment of the present application;

fig. 10 is a second enlarged view of a portion of an underwater vehicle according to an embodiment of the present application.

Icon: 1-an image capturing section; 2-a power section; 3-a steering section; 4-flanges; 5-a first telescopic rod; 6-a first separator; 7-momentum wheel; 8-a first fixing rod; 9-a first housing; 10-a second housing; 11-a second separator; 12-a second fixing rod; 13-rectifying cap; 14-a third fixing rod; 15-fairing; 16-fixing screws; 17-a third separator; 18-a sealing ring; 19-a water tank; 20-a booster pump; 21-a spray pipe; 22-front fin; 23-hydraulic fixed partition; 24-hydraulic pump; 25-a second telescopic rod; 26-a hydraulic oil pipe; 27-a battery; 28-a main board; 29-an image sensor; 30-a camera; 31-a second housing assembly; 32-connecting columns; 33-a float cover; 34-signal buoy; 35-a protection cylinder; 36-fourth separator; 37-fourth fixed rod; 38-propeller; 39-diversion channel; 40-tail fin.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. It should be noted that, in the case of no conflict, the features of the embodiments of the present application may be combined with each other, and the combined embodiments still fall within the protection scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships that are conventionally put in use of the product of the application, are merely for convenience of description of the present application and simplification of description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

The main driving energy of the underwater vehicle is electric energy, and is limited by the counterweight and the volume requirement of the underwater vehicle, so that the battery capacity of the underwater vehicle is limited, and the method has important significance for completing the task of the underwater vehicle in the limited battery capacity.

The working environment based on the underwater vehicle is mainly in liquid fluid, so that the endurance mileage of the underwater vehicle can be improved by reducing the energy consumption waste caused by resistance when the underwater vehicle is in voyage. In the design, the underwater vehicle is designed into a strip-shaped structure as far as possible so as to reduce the fluid resistance born by the front surface of the underwater vehicle, but the problem that the turning radius is too large and the turning is not flexible when the underwater vehicle turns due to the increase of the length of the strip-shaped underwater vehicle, so that the use scene of the underwater vehicle is limited and the underwater vehicle cannot be used in a small space or a complex space.

Based on the basis, according to the aspect of the embodiment of the application, the underwater vehicle is provided, and the underwater vehicle can have various bending and front-back misplaced postures through the steering part on the basis that the underwater vehicle keeps a strip-shaped structure, so that the turning radius of the underwater vehicle is effectively shortened, the flexibility of the underwater vehicle in turning is improved, the underwater vehicle can be suitable for a small space or a complex space, and the use scene of the underwater vehicle is expanded. Embodiments of the present application will be described below with reference to the accompanying drawings.

Referring to fig. 1 to 3, there is shown an underwater vehicle, which includes an image capturing portion 1, a steering portion 3 and a power portion 2, wherein the image capturing portion 1 and the power portion 2 are connected to opposite sides of the steering portion 3, thereby facilitating the three to form a bar structure or a strip structure after connection, the image capturing portion 1 can be used as a head portion of the underwater vehicle, the power portion 2 can be used as a tail portion of the underwater vehicle, the steering portion 3 is connected with the head portion and the tail portion, so that forward or backward power can be provided by the power portion 2, the forward or backward motion of the underwater vehicle can be pushed by the power, the image capturing portion 1 can be used as the head portion so as to provide a visual field for the motion of the underwater vehicle, and a foundation is provided for an operator to precisely control the underwater vehicle.

When the underwater vehicle needs to keep rectilinear motion (advance or retreat along a straight line), the image capturing part 1, the steering part 3 and the power part 2 keep the same central axis, namely, the three parts are positioned on the central axis a of the strip-shaped structure, so that the rectilinear motion of the underwater vehicle is kept.

When the underwater vehicle needs to turn or change direction, the steering part 3 is connected between the image capturing part 1 and the power part 2 as a joint, so that the posture of the underwater vehicle can be changed through the steering part 3, as shown in fig. 5 to 8, the strip-shaped structure of the underwater vehicle is bent, in other words, the image capturing part 1 is moved relative to the power part 2 through the steering part 3, so that the whole formed by the steering part 3 and the power part is in a bent posture or a misplaced posture, and therefore, the underwater vehicle can be driven to have smaller turning radius by matching with the power provided by the power part 2, the flexibility of the underwater vehicle during the change direction is improved, the underwater vehicle can be suitable for a small space or a complex space, and the use scene of the underwater vehicle is expanded.

Specifically, as shown in fig. 1 to 3 and fig. 9 to 10, the steering portion 3 includes a plurality of first telescopic rods 5, opposite ends of the plurality of first telescopic rods 5 are movably connected with the image capturing portion 1 and the power portion 2, and the plurality of first telescopic rods 5 are annularly wound around the periphery of the central axis a of the strip-shaped structure with the central axis a as a center, two first telescopic rods 5 adjacent in the circumferential direction have included angles, that is, two first telescopic rods 5 adjacent in the circumferential direction are V-shaped, and openings of the two adjacent V-shaped openings are opposite, so that the steering portion 3 formed by the plurality of first telescopic rods 5 can drive the strip-shaped structure to bend towards any direction, for example, as shown in fig. 5, the strip-shaped structure bends towards the right side, for example, as shown in fig. 6 and 7, the strip-shaped structure bends towards the upper side, and for example, as shown in fig. 8, the image capturing portion 1 is dislocated relative to the power portion 2.

In one embodiment, the number of the first telescopic rods 5 included in the steering portion 3 may be 6, so that the steering portion 3 can drive the bar-shaped structure to have a bending posture or a dislocation posture in a plurality of directions such as up, down, left, right, up, left, down, right, and the like on the basis of a small number of the first telescopic rods 5.

It should be appreciated that the telescopic lengths of the plurality of first telescopic links 5 of the steering section 3 may be uniformly controlled by the control hub of the underwater vehicle, so that the plurality of first telescopic links 5 have a plurality of different telescopic lengths to cooperatively control the bar-shaped structure to finally form a preset bending or dislocating posture. The control hub may be a chip structure with data processing capabilities such as a controller, processor, etc.

In sum, the steering part 3 enables the underwater vehicle to have various bending and front-back misplacement postures, so that the turning radius of the underwater vehicle is effectively shortened, the flexibility of the underwater vehicle in turning is improved, the underwater vehicle can be suitable for a small space or a complex space, and the use scene of the underwater vehicle is expanded. On the basis, through the telescopic length change of the plurality of first telescopic rods 5 of the steering part 3, not only can the underwater vehicle be provided with a plurality of turning postures such as bending, but also the turning radius of the underwater vehicle can be adjusted, so that the flexibility of the underwater vehicle is further increased, and the turning radius can be flexibly controlled and adjusted according to specific scenes.

Alternatively, as shown in fig. 9 and 10, in order to improve the flexibility of the underwater vehicle, opposite ends of each first telescopic rod 5 may be movably connected with the image capturing portion 1 and the power portion 2 through universal joints, respectively, so that the image capturing portion 1 or the power portion 2 can conveniently rotate in any direction relative to the first telescopic rods 5. Specifically, the universal joint may be any type of universal joint such as a cross-shaft type, a ball cage type, and the like.

Alternatively, as shown in fig. 1 to 10, in order to improve the stability of the connection, a flange 4 may be fixed to the end surfaces of the image capturing portion 1 and the power portion 2 on the side close to the steering portion 3, so that the ends of the plurality of first telescopic links 5 are movably connected to the hinge support of the flange 4.

Optionally, in order to control the plurality of first telescopic rods 5, a plurality of hydraulic pump assemblies may be further disposed on the strip structure, where the plurality of hydraulic pump assemblies may be located in the inner cavity of the image capturing portion 1 or the inner cavity of the power portion 2, for example, as shown in fig. 5, the plurality of hydraulic pump assemblies are fixedly disposed in the inner cavity of the image capturing portion 1, and the plurality of hydraulic pump assemblies correspond to the plurality of first telescopic rods 5 in number to form a one-to-one correspondence relationship, and the hydraulic pump assemblies may control the telescopic lengths of the corresponding connected first telescopic rods 5. And the control center is connected with the plurality of hydraulic pump assemblies so that the control center independently controls the telescopic lengths of the plurality of first telescopic links 5 through the plurality of hydraulic pump assemblies, respectively.

Alternatively, as shown in fig. 3 and 4, for convenience in controlling the telescopic length of the first telescopic rod 5 by the control center through the hydraulic pump assembly, the hydraulic pump assembly may include the hydraulic pump 24 and the second telescopic rod 25, the control center is connected to the hydraulic pump 24 so that the control center controls the hydraulic pump 24, the hydraulic pump 24 is communicated with a chamber on one side of a piston of the second telescopic rod 25, and a chamber on the other side of the piston of the second telescopic rod 25 is communicated with the first telescopic rod 5, thereby, the first telescopic rod 5 is kept synchronous with the second telescopic rod 25, for example, when the hydraulic pump 24 controls the second telescopic rod 25, the piston of the first telescopic rod 5 is synchronously moved based on the piston movement of the second telescopic rod 25, but it should be understood that the first telescopic rod 5 and the second telescopic rod 25 can be synchronously extended or shortened, or one can be synchronously shortened while the other is extended, and the application is not particularly limited. The communication between the hydraulic pump 24 and the second telescopic rod 25, and the communication between the second telescopic rod 25 and the first telescopic rod 5 can be connected through a hydraulic oil pipe 26.

For example, when the telescopic length of the first telescopic rod 5 needs to be lengthened, the hydraulic pump 24 can be controlled by the control center to start, and the hydraulic pump 24 pumps liquid into a cavity at one side of a piston of the second telescopic rod 25, so as to push the piston of the second telescopic rod 25 to move towards the other side, so that the piston of the second telescopic rod 25 pumps the liquid in the cavity at the other side of the piston into the first telescopic rod 5, and the first telescopic rod 5 is caused to extend: of course, when it is necessary to shorten the telescopic length of the first telescopic rod 5, the hydraulic pump 24 may be controlled by the control center to start, and the hydraulic pump 24 pulls the liquid out of the chamber on the piston side of the second telescopic rod 25, thereby pushing the piston of the second telescopic rod 25 to move, so that the piston of the second telescopic rod 25 sucks the liquid in the first telescopic rod 5, thereby promoting the shortening of the first telescopic rod 5.

Alternatively, as shown in fig. 1 to 4, a plurality of groups of steering auxiliary components are uniformly arranged on the outer wall of the image capturing part 1 in a ring shape, the steering auxiliary components comprise a booster pump 20 and a spray pipe 21 which are mutually communicated, and the water outlet of the spray pipe 21 is opposite to the advancing direction of the underwater vehicle, so that after the underwater vehicle is bent, the spray pipe 21 on the outer side of the bend can be controlled to spray water through the booster pump 20, the spray pipe 21 on the inner side of the bend is controlled to spray no water or little water through the booster pump 20, so that thrust is generated, the underwater vehicle is assisted to turn, the turning radius is further shortened, and the flexibility of the underwater vehicle is improved. The water inlet of the booster pump 20 may be directly in fluid communication with the outside of the underwater vehicle, thereby generating the driving force by sucking in the outside fluid and ejecting through the water outlet of the nozzle 21. For unified coordination control, the plurality of booster pumps 20 may be connected to the control center, so that the control center can control the corresponding steering auxiliary assembly to operate according to the bending posture, the bending direction, the turning direction, etc. of the underwater vehicle when needed.

Alternatively, since the underwater vehicle does not have a fixed end when the underwater vehicle is sailing in water, when the underwater vehicle needs to turn, the straight line posture needs to be adjusted to be the curved posture first, so that the underwater vehicle can accurately turn in a predetermined direction, the momentum wheel 7 can be disposed on the power unit 2, and therefore, when the steering unit 3 drives the image capturing unit 1 to bend, the tail of the underwater vehicle, that is, the power unit 2, can still be kept in the original advancing direction by the movement of the momentum wheel 7, so that the steering unit 3 drives the image capturing unit 1 to bend smoothly in the predetermined direction, and the whole strip structure forms the curved posture. It will be appreciated that the momentum wheel 7 may be connected to a control hub in order to control the corresponding movement of the momentum wheel 7 by the control hub in dependence of information such as turning of the underwater vehicle.

Alternatively, as shown in fig. 4, a first diaphragm 6 may be further provided between the power section 2 and the flange 4 of the steering section 3 on the side close to the power section 2, the first diaphragm 6 having an inner ring so as to mount the momentum wheel 7 to the inner ring of the first diaphragm 6. The flange 4, the first partition 6 and the power portion 2 on the side of the steering portion 3 near the power portion 2 may be connected by a plurality of first fixing rods 8, for example, the plurality of first fixing rods 8 are annularly disposed, and opposite ends of the plurality of first fixing rods 8 are respectively fixed with the flange 4 and the power portion 2, and the plurality of first fixing rods 8 penetrate through the first partition 6. Thereby, the plurality of first fixing bars 8 and the first partition plate 6 at the periphery of the momentum wheel 7 can provide a better protection thereof.

Alternatively, as shown in fig. 1 to 4, the image capturing part 1 includes a first housing 9 assembly with an end connected with the steering part 3, a vision collector is further disposed in an inner cavity of the first housing 9 assembly, the vision collector is located at one end far away from the steering part 3, image information of the front end of the underwater vehicle is conveniently acquired through the vision collector, a plurality of hydraulic pump assemblies are all disposed in the inner cavity of the first housing 9 assembly, and the hydraulic pump assemblies are communicated with the first telescopic rod 5 through hydraulic pipes.

Specifically, as shown in fig. 4, the first housing 9 assembly may include a first housing 9 and a second housing 10, where the first housing 9 and the second housing 10 each have respective inner cavities, and the first housing 9 and the second housing 10 may be fixedly connected by a second partition 11, and the second housing 10 may be fixedly connected to the flange 4 of the steering portion 3 on a side close to the image capturing portion 1 by a plurality of second fixing rods 12 distributed annularly. Two hydraulic fixing partition plates 23 may be disposed in the inner cavity of the first housing 9, a plurality of hydraulic pumps 24 may be installed between the two hydraulic fixing partition plates 23, a plurality of second telescopic rods 25 are installed at one side of the hydraulic pumps near the steering part 3, and a plurality of third fixing rods 14 penetrate through the hydraulic fixing partition plates 23 and are fixedly connected with the second partition plates 11. The one end that keeps away from steering unit 3 in first casing 9 is provided with the vision collector, the vision collector includes camera 30, image sensor 29 and mainboard 28, the one end that steering unit 3 was kept away from to first casing 9 is provided with rectification shroud 13, can connect through a plurality of third dead levers 14 between rectification shroud 13 and the second baffle 11, still can be connected with rectification shroud 15 through set screw 16 fixedly connected with in the one end that keeps away from first casing 9, still install third baffle 17 between rectification shroud 15 and rectification shroud 13, still can circle be equipped with sealing washer 18 between rectification shroud 13 and the first casing 9. The camera 30 may be disposed on a side of the third partition 17 near the fairing 15, and the image sensor 29 and the motherboard 28 are disposed in the inner cavity of the first housing 9. The control center can be located on the main board 28, and the camera 30 is electrically connected with the main board 28 through the image sensor 29, so that after the camera 30 obtains the front image information, the front image information is processed and transmitted through the image sensor 29, and then is output to the control center on the main board 28.

Optionally, as shown in fig. 4, a battery 27 may be further disposed in the inner cavity of the second housing 10, and the battery 27 may be electrically connected to the control center to supply electric power to all electric devices of the underwater vehicle.

Alternatively, as shown in fig. 3 and 4, the power unit 2 includes a second housing assembly 31, a protection cylinder 35 with openings at both ends, and a propeller 38, one end of the second housing assembly 31 is connected to the steering unit 3 through the first partition 6 and the flange 4, and the other end of the second housing assembly 31 is connected to one end of the protection cylinder 35 through the connection post 32, so that a diversion channel 39 communicating with the front opening of the protection cylinder 35 is formed at the connection between the second housing assembly 31 and the protection cylinder 35, the propeller 38 is installed in the protection cylinder 35, and the rotation axis of the propeller 38 coincides with the central axis of the bar-shaped structure, so that when the propeller 38 is rotated forward to generate forward thrust, water can be discharged from the rear opening of the protection cylinder 35 after entering the propeller 38 through the diversion channel 39, and similarly when the propeller 38 is rotated backward to generate backward thrust, water can enter the rear opening of the protection cylinder 35 and then be discharged from the diversion channel 39.

Specifically, a plurality of fourth spacers 36 may be disposed in the protective cylinder 35 at intervals along the central axis, one ends of the plurality of fourth fixing bars 37 are fixed to the second housing assembly 31, and the protective cylinder 35 is mounted to the second housing assembly 31 in such a manner that the plurality of fourth fixing bars 37 penetrate the plurality of fourth spacers 36.

Optionally, the image capturing part 1 and the power part 2 are respectively provided with a submerged box assembly, so that the submerged depth of the underwater vehicle can be controlled through the submerged box assembly, the submerged box assembly can comprise a water tank 19 and a submerged pump, the submerged pump can suck external water into the water tank 19 so as to facilitate the submerged underwater vehicle, and the water in the water tank 19 can be discharged so as to enable the submerged underwater vehicle to float upwards. As shown in fig. 4, one water tank 19 may be disposed in the inner cavity of the second housing 10, and the other water tank 19 may be disposed in the inner cavity of the second housing assembly 31, so that the water tanks 19 are disposed at the head and tail of the underwater vehicle, so that not only the balance of the underwater vehicle but also the floating and sinking of the underwater vehicle can be realized.

Optionally, as shown in fig. 4, a signal buoy 34 and a buoy cover 33 covering the signal buoy 34 may be further disposed in the inner cavity of the second housing assembly 31, where the signal buoy 34 may be connected to the control center through a signal line, so that after the underwater vehicle is submerged, the signal buoy 34 may float on the water surface by opening the buoy cover 33, so that the terminal may transmit signals with the underwater vehicle through the signal buoy 34.

Optionally, as shown in fig. 4, a plurality of front fins 22 may be further disposed on the outer wall of the first housing 9, and a plurality of tail fins 40 may be further disposed on the outer wall of the protective cylinder 35, so that the front fins 22 and the tail fins 40 can assist the underwater vehicle to advance along a straight line. As shown in fig. 4, the nozzle 21 of the steering assist assembly may be integrated with the front fin 22, i.e., the water outlet of the nozzle 21 is located at the trailing end of the front fin 22. The front fins 22 correspond in number to steering assist assemblies so as to achieve a one-to-one correspondence.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. The utility model provides an underwater vehicle, its characterized in that includes steering unit, and connect in steering unit opposite both sides in order to form the image capturing portion and the power portion of bar structure, steering unit including encircle in the peripheral a plurality of first telescopic links of bar structure axis, adjacent two first telescopic links are the V font setting, the opposite ends of a plurality of first telescopic links respectively with image capturing portion with power portion swing joint.

2. The underwater vehicle as in claim 1, wherein opposite ends of the plurality of first telescoping rods are movably connected to the image capturing section and the power section by universal joints, respectively.

3. An underwater vehicle as claimed in claim 1 or 2, characterised in that a plurality of hydraulic pump assemblies are provided on the bar structure in one-to-one communication with the plurality of first telescopic links, the hydraulic pump assemblies being adapted to control the telescopic length of the respective first telescopic links.

4. An underwater vehicle as claimed in claim 3, characterised in that the hydraulic pump assembly comprises a hydraulic pump and a second telescopic rod, the hydraulic pump and the first telescopic rod communicating with chambers on opposite sides of the second telescopic rod piston respectively.

5. The underwater vehicle as claimed in claim 1, wherein a plurality of sets of steering auxiliary components are uniformly arranged on the outer wall of the image capturing part in a ring shape, the steering auxiliary components comprise a booster pump and a spray pipe which are communicated with each other, and a water outlet of the spray pipe is opposite to the advancing direction of the underwater vehicle.

6. An underwater vehicle as claimed in claim 3, characterised in that the image capturing section comprises a first housing assembly having an end connected to the steering section, a vision collector being provided in the interior of the first housing assembly, the vision collector being located at an end remote from the steering section, the plurality of hydraulic pump assemblies each being provided in the interior of the first housing assembly, the hydraulic pump assemblies being in communication with the first telescopic link via hydraulic pipes.

7. The underwater vehicle as claimed in claim 1, characterized in that a momentum wheel is further provided at the power section for maintaining the forward direction of the power section when the image capturing section turns.

8. The underwater vehicle as claimed in claim 1, wherein a ballast tank assembly is provided at each of the image capturing section and the power section, the ballast tank assembly being for controlling a submergence depth of the underwater vehicle.

9. The underwater vehicle as claimed in claim 1, wherein the power section includes a second housing assembly, a protection cylinder having openings at both ends, and a propeller, one end of the second housing assembly is connected to the steering section, the other end of the second housing assembly is connected to one end of the protection cylinder, the propeller is located in the protection cylinder, and a rotation axis of the propeller coincides with a central axis of the bar-shaped structure, and a guide passage communicating with the opening of the protection cylinder is provided at a junction of the second housing assembly and the protection cylinder.

10. The underwater vehicle as claimed in claim 1, characterized in that a signal buoy is provided at the image capturing section or the power section in signal connection with the underwater vehicle.

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