69results about How to "Adjust posture" patented technology

The present invention belongs to the technical field of optoelectronic equipment calibration, and particularly relates to a star sensor reference cube-prism installation error calibration apparatus. According to the present invention, a photoelectric autocollimator and a single star simulator are respectively placed on two orthogonal axes of a reference plane, a detected star senor is placed at the intersection point position of the two axes so as to make the normal lines of the two orthogonal light reflection surfaces of the detected star senor reference prism be respectively parallel to the two orthogonal axes, the optical axes of the photoelectric autocollimator and the single star simulator are respectively adjusted to parallel to the reference plane through a theodolite, the star sensor is installed on a star sensor three-dimensional adjustment reference base, the input optical axis of the star sensor and the output optical axis of the single star simulator are adjusted to achieve a parallel state through the star sensor three-dimensional adjustment reference base, a detected reference cube-prism is arranged on the upper surface of the housing of the detected star senor, the installation angle error of the reference cube-prism round the X-axis and the Y-axis is measured by using photoelectric autocollimation, the star sensor three-dimensional adjustment reference base rotates 90 DEG, and the installation angle error of the reference cube-prism round the Z-axis is measured.

The invention relates to a wheel type pipeline robot with steering of driving wheels being controllable. The wheel type pipeline robot with steering of the driving wheels being controllable mainly consists of two front elastic arm units, two rear elastic arm units and a robot body. Driving motors are arranged on the two front elastic arm units separately to drive the robot to move forward or backward. The robot can pass through a bent pipeline efficiently and stably by differential speed control. A driving wheel steering and reversing mechanism is arranged in the robot body and the attitude of the robot in a pipeline can be adjusted rapidly by adjusting the included angles between the four driving wheels and the section of the pipeline simultaneously. The pipeline robot is simple in structure and capable of self-adaption of a tiny change of a pipe diameter and rapid adjustment of the attitude of the robot in the pipeline; furthermore, the pipeline robot has an obstacle crossing ability for efficiently and stably passing through the complicated pipeline such as the bent pipeline and a reducing pipeline with the best attitude angle, so that the normal inspection and maintenance of the pipeline can be guaranteed.

The invention provides a mechanical arm and a surgery robot. The tail end of the mechanical arm is used for grasping a medical apparatus. The mechanical arm comprises a first rotating joint, a first swinging joint, a second swinging joint, a second rotating joint, a moving joint, and an autorotation joint for realizing the autorotation of the medical apparatus, which are sequentially distributed from the near end to the far end. According to the mechanical arm disclosed by the invention, through the cooperation of the six joints, the adjustment of the space position and the posture of the medical apparatus can be realized, and the six joints can move around a long-distance movement center. Compared with the prior art, the mechanical arm disclosed by the invention is small in whole dimension, light in quality, convenient to mount and use; and in addition, through the moving joint and the autorotation joint, an endoscope is driven to move and autorotate, so that a doctor can convenientlyand independently complete surgery operations and endoscope grasping, the difficulty of the surgery operations is reduced, and the waste of human resources is avoided.

The invention discloses an unmanned aircraft and a protecting method thereof. The unmanned aircraft comprises a fuselage and a gas bag. The gas bag is arranged above the fuselage. When the unmanned aircraft starts to fall or is about to fall, the gas of which light is lighter than that of air is inflated into the gas bag to make to gas bag to swell.

The invention relates to a four-wheel-driven omni-directional conveying system and a working method. The system is formed by splicing a plurality of omni-directional conveying modules; each omni-directional conveying module comprises a regular quadrilateral supporting plate, four driving mechanisms are fixed on the supporting plate, each driving mechanism is connected with an omni-directional wheel, the included angle between the axes of the every two adjacent omni-directional wheels is 90 degrees, and the included angle between the axis of one omni-directional wheel and the side end face of the supporting plate is 45 degrees; and the center points of the four omni-directional wheels are distributed on a circle concentric with the supporting plate, the symmetric faces of the two end facesof one omni-directional wheel are tangent to the circle where the center points are located, and the side length of the supporting plate is 2*square root of 2 times of the radius of the circle where the center points of the omni-directional wheels are located. According to the omni-directional conveying system and the working method thereof, goods can be conveyed according to the set path and speed, the goods posture can be adjusted at the same time, and the transportation efficiency is high.

The invention relates to an intelligent fitness bicycle system and an application method. The intelligent fitness bicycle system comprises a fitness bicycle body, a cloud server and a fitness bicyclecontroller and projector, wherein the fitness bicycle body comprises a bottom support, a bicycle body skeleton, a seat, a left pedal, a right pedal, a direction control handle and a suspension wheel,and the bicycle body skeleton, the seat, the left pedal, the right pedal, the direction control handle and the suspension wheel are installed on the bottom support; a rotating disc rotating along withthe left pedal and the right pedal is arranged between the left pedal and the right pedal, the suspension wheel is linked with the rotating disc through a chain, the bottom support is fixed on the ground, the bicycle body skeleton is fixed on the ground, the seat, the left pedal and the right pedal are each provided with a weight sensor, and a rotating-speed sensor is arranged on the rotating disc. According to the intelligent fitness bicycle system and the application method, by adjusting the inclination angle of the bicycle body skeleton and simulating a real journey, realer riding experiences can be obtained by inserting landmark building pictures into preset streetscape videos.

The invention provides a substrate processing device capable of transporting a storage device in a storage device accommodating-transporting unit at high efficiency. A transporting manipulator (130a) is used for transporting FOUP (80) among a loading port (10), a third loading section (150) and a show shelf (140), and a transporting manipulator (130b) arranged on the opposite side of the transporting manipulator (130a) over the show shelf (140) is used for transporting the FOUP (80) between the show shelf (140) and a second loading section (160). A mapping treatment and a transportation treatment for transporting a substrate stored in the FOUP (80) to a substrate processing device (200) are carried out in the third loading section (150). Accordingly, a plurality of transportation treatments can be carried out almost at the same time. Additionally, the transporting manipulators (130a, 130b) can execute FOUP(80) transportation treatments without interfering spatially to each other.

The invention relates to the technical field of robots, and aims to provide an amphibious robot with good mobility, low manufacturing cost, small size and wide application range. The amphibious robotcomprises a vehicle body and at least four wheel-leg composite mechanisms arranged on the two sides of the vehicle body, wherein the wheel-leg composite mechanisms comprise composite wheels with hollow inner parts and supporting legs, the axial direction of the supporting legs is perpendicular to the axial direction of the composite wheels, the upper parts of the supporting legs are rotatably connected with and communicate with the axial center of the composite wheels, the composite wheels are driven by wheel drive assemblies, the supporting legs are driven by leg drive parts, impellers are arranged in the composite wheels, water inlets are formed in the outer sides of the composite wheels, and water outlets are formed in the bottoms of the supporting legs. Through the amphibious robot, the problems that an existing amphibious robot is complex in structure, high in manufacturing cost and large in size, is not suitable for working in narrow space and is small in application range are solved.

The invention belongs to the technical field of medical instruments and devices and particularly relates to a gynecology and obstetrics medical midwifery device. For solving the problem of adjustmentinconvenience of gynecology and obstetrics midwifery devices, the technical scheme of the gynecology and obstetrics medical midwifery device comprises a bottom plate, the four corners of the bottom outer wall of the bottom plate are fixedly provided with universal wheels through screws, and the top outer wall of the bottom plate is fixedly provided with a support column through a screw; the innerwall of one side of the support column is provided with a sliding bar sliding groove, and the inner wall of the sliding bar sliding groove is slidingly connected with a sliding bar; the bottom inner wall of the support column is fixedly provided with a first hydraulic cylinder through a screw, and one end of the piston rod of the first hydraulic cylinder is fixed onto the bottom outer wall of thesliding bar; the top outer wall of the bottom plate is provided with a slider sliding groove. The gynecology and obstetrics medical midwifery device can conveniently adjust the height of a fixed bed board and the posture of a pregnant woman to improve the comfort level and the operation environment, and meanwhile, can reduce influence of amniotic fluid and blood on operation of medical personnel,enhance the midwifery effects and provide sufficient operation space for the medical personnel.

The invention relates to the technical field of mechanical part assembly, and discloses an automatic assembly production method for stainless steel hasps. Equipment adopted by the method comprises a machine frame, and a shell feeding device, a shell forward and reverse state detection device, a stepping material moving device, a shell overturning device, a positioning pin feeding and assembling device, a positioning pin installation detection device, a pull ring feeding device, a pull ring assembling device and a discharging device which are all arranged on the machine frame. According to the method, the direction of a shell can be detected, and after the shell in the wrong direction is overturned by 180 degrees, a positioning pin and a pull ring are continuously and automatically assembled, so that the production quality and efficiency of products are improved.

The invention discloses a power transmission line robot capable of automatically adjusting postures, which belongs to the field of power maintenance auxiliary tools. The power transmission line robotcomprises an electric cabinet and two walking wheels; each walking wheel is provided with a walking wheel support; at least one of the walking wheel supports is provided with an angle sensor; a rotating mechanism is arranged below at least one of the walking wheel supports; the connecting line between the two walking wheels is a walking axis; the rotating central axis of the rotating mechanism isperpendicular to the walking axis and located on the transverse side of a power transmission line; the electric control box is connected with the rotating mechanism; the rotating mechanism comprises arotating motor; and the rotating motor drives the gravity center of the electric control box to be close to or away from the power transmission line in the horizontal direction. The invention furtherdiscloses an automatic posture adjusting method of the power transmission line robot. The method has the advantages that the balance of the power transmission line robot can be monitored and adjustedin real time to ensure the posture stability of the power transmission line robot.

The invention discloses an adjustable-attitude solar cell panel rack. A fixed platform is a triangle structure. Three corners of the fixed platform are connected to Hooke joints respectively. The fixed platform is an equilateral triangle and a length of a side is 700mm. Three hydraulic telescoping cylinders are connected to the corresponding Hooke joints respectively. A middle portion of each cylinder is an empty slot. The cylinders are welded on piston rods of the hydraulic telescoping cylinders respectively. Connecting rods pass through the cylinders and the two form a sliding pair. An empty slot diameter of each cylinder is equal to a diameter of each connecting rod and the two form clearance fit. The diameters of the three connecting rods are 600mm respectively and the connecting rods are welded into an equilateral triangle structure correspondingly. The connecting rods form a triangle moving platform structure. A solar cell panel is installed on the moving platform so that the solar cell panel moves along with motion of the moving platform. Through adjusting telescoping lengths of the three hydraulic telescoping cylinders, an attitude of the solar cell panel can be adjusted.

The invention relates to an adjustable combined supporting seat, which mainly comprises a nylon block (2), a supporting shaft (3), a stop lever (4) and a supporting rod (5). The adjustable combined supporting seat is characterized in that the nylon block (2) is a supporting surface of a tray of the adjustable combined supporting seat and fixedly connected with the upper end of the supporting shaft (3), a supporting shaft traveling space (54) is arranged inside the supporting rod (5), the supporting shaft (3) vertically moves along the supporting shaft traveling space (54), and the vertical height of the adjustable combined supporting seat is fixed by the aid of a locking mechanism, so that the adjustable combined supporting seat is applicable to heavy loads with different heights. The supporting shaft vertically moves along the supporting shaft traveling space, the vertical height of the adjustable combined supporting seat is fixed by the aid of the locking mechanism, accordingly, the adjustable combined supporting seat is applicable to the heavy loads with different heights, the gesture of the supporting rod can be quickly adjusted, and the height and the position of the adjustable combined supporting seat are adjusted according to subpackaging requirements.

The invention discloses an electrocoagulation cutter. The electrocoagulation cutter comprises a handle, a metal pipe, a functional pipe, a washing pipe, a transition pipe, a power line and a pipe switch; a cavity is formed in the handle; the metal pipe is used for providing a channel for fluid; a cutter head mounting position is arranged at the front end of the metal pipe; the functional pipe covers the exterior of the metal pipe in a sleeving mode; the functional pipe can conduct reciprocating motion in the axial direction relative to the metal pipe, and when the functional pipe moves towardthe front end of the metal pipe, the cutter head mounting position can be covered; the washing pipe is communicated with the metal pipe; the transition pipe is communicated with the metal pipe; the power line is connected with the metal pipe and used for transmitting electric signals of electrocoagulation or cutting to a cutter head in the cutter head mounting position; the pipe switch is used forturning on or turning off the washing pipe or the channel between the transition pipe and the metal pipe. Electrocoagulation or cutting work and washing or absorbing work on a targeted area can be achieved through signal stimulation of the power line, and the operation performance of the electrocoagulation cutter is improved.

A stroke synchronized hydraulic unit for smoothly driving the waist bridge or two side beams of operation table has the first and the second hydraulic cylinders consisting of end cover, a piston and a piston rod, multiple hydraulic pipelines, an operating valve a connection terminal, and an oil filling unit.

The invention discloses an empennage-adjustable bottom sediment temperature detection device, which comprises an empennage section, a control section and a probe section, wherein the empennage sectioncomprises an upper end cover, an empennage located outside the upper end cover, an empennage motor located inside the upper end cover to control the motion of the empennage, and an upper communication cable extending out of the top of the upper end cover; the control section comprises a sealed cabin and a floating body located outside the sealed cabin; a control mainboard, a motor driving plate,a communication mainboard and a battery pack are arranged inside the sealed cabin; the probe section comprises a lower end cover, a probe extending out of the lower end cover, and a lower communication cable located inside the probe; and the upper and lower ends of the sealed cabin are respectively connected with the upper end cover and the lower end cover. The temperature detection device disclosed by the invention can effectively correct a sinking posture of the probe by controlling the empennage, and can calculate a pouring point position and motion parameters of the whole pouring process to more effectively measure a deeper geothermal temperature gradient in a seabed.

The invention provides a fire identification system based on multi-feature fusion. The system comprises a detection device, an acquisition device, a mobile device, a processing device, an adjusting device and a processor, and the detection device is used for acquiring data of a fire scene; the acquisition device is used for acquiring fire data; the mobile device is used for adjusting the positions of the detection device, the mobile device and the adjusting device; the adjusting device is used for adjusting the posture of the moving device; and the processing device is used for processing acquired data of the acquisition device. According to the invention, through cooperation of the detection device and the mobile device, coordination between obstacle avoidance and accurate movement and detection is effectively improved under the conditions of a fire disaster and poor visibility; in addition, heat dissipation of the unmanned aerial vehicle can be reduced by releasing water mist, the unmanned aerial vehicle is protected, and fire spreading caused by air flow in a fire scene is reduced.

The invention provides a computer movable bracket, comprising an installation soleplate (1), at least two bearing universal wheels (3) which are arranged at the bottom of the installation soleplate (1) and at least two groups of wheel driving components (2); the wheel driving component (2) comprises a wheel (201) which is sleeved on a driving shaft (203); one end of the driving shaft (203) is connected with a drive motor (204) which is connected with a controller which controls the drive motor (204) to drive the driving shaft (203) to rotate; the driving shaft (203) drives the wheel (201) to rotate so as to carry out the translation motion. The computer movable bracket uses the controller to control the motion of the wheel driving component (2), can continuously work according to the given mode, needs no manpower intervention; the controller controls the steering and rotation speed of the drive motor (204) and can realize various translation motions of the computer movable brackets by the changes thereof.

The invention belongs to the technical field of unmanned boats, and particularly discloses a posture-adjustable flexible double-body unmanned boat. The posture-adjustable flexible double-body unmannedboat comprises a power propelling device, wherein the two sides of the power propelling device are provided with symmetrical double-air-cushion type cylindrical supporting body devices; a spring damping device connected with a control device is arranged on the power propelling device, and a pair of telescopic devices connected with the double-air-cushion type cylindrical supporting body device isarranged on the power propelling device; and the two sides of the power propelling device are provided with the symmetrical double-air-cushion type cylindrical supporting body devices, so that the sailing stability of the unmanned boat is ensured; the power propelling device and the double-air-cushion type cylindrical supporting body devices are connected through a flexible structure, the stability of the unmanned boat is improved, the tail of a deck is connected with the telescopic devices, the navigation speed and the posture can be adjusted at any time, the adjustability of the unmanned boat is more flexible, the design of the spring damping device plays a good role in buffering and damping a control platform, and the abrasion between the precise parts on the control platform is reduced.

The invention discloses an orthopedic nursing bed facilitating posture adjustment. The orthopedic nursing bed comprises a main device frame, wherein a cross frame is arranged at the lower portion of the main device frame, a group of electric oil cylinders are arranged on the cross frame, a switch base is arranged on one side of the cross frame, side slide grooves are formed in two sides of the main device frame and are in sliding fit with lifting side plates, a group of insert grooves are formed in each lifting side plate, the insert grooves are matched with pushing frames, the lifting side plates are matched with the pushing frames through pushing frame positioning bolts in a positioning mode, a pushing head is arranged at one end of each pushing frame, a soft pad is arranged at the front portion of the pushing head, a group of split bed boards are put on the main device frame, a group of springs are further arranged at the upper portions of the split bed boards of the main device frame, and the electric oil cylinders are connected with the split bed boards through lifting connectors. The orthopedic nursing bed facilitating posture adjustment can flexibly adjust the heights of different split bed boards, facilitate patients' posture adjustment, meanwhile can also perform posture correction through assisting of the pushing frames and is simple in operation and good in effect.

The invention provides a mobile robot homing control system. The mobile robot homing control system includes an infrared emitter arranged in a charging base, five infrared receivers which are used for detecting signals emitted by the infrared emitter and comprise two infrared receivers located at two sides of a robot, and three infrared receivers located at the front part of the robot, an ultrasonic sensor used for detecting a distance between the robot and the charging base, a moving mechanism used for driving the robot to move or rotate, and a main controller used for controlling the moving mechanism to act according to the distance detected by the ultrasonic sensor and the conditions of the signals of the infrared emitter which are received by the five infrared receivers so as to drive the robot to swerve or advance. With the mobile robot homing control system adopted, fast and stable automatic homing charging of the mobile robot can be realized.

The invention discloses a pole-climbing robot with a rapid height adjustment function, and belongs to the technical field of automation equipment. The pole-climbing robot is characterized by comprising a pole-climbing robot body, a plurality of hoisting unmanned aerial vehicles (13) and a balance weight (14), wherein the hoisting unmanned aerial vehicles (13) are arranged between the balance weight (14) and the pole-climbing robot body and placed on two sides of the connecting line of the balance weight (14) and the pole-climbing robot body, both the balance weight (14) and the pole-climbing robot body are connected with the hoisting unmanned aerial vehicles (13) on the two sides, and the balance weight (14) is a clump weight or balance weight barrel. According to the pole-climbing robot with the rapid height adjustment function, the pole-climbing robot body can be conveyed to an arbitrary height by the hoisting unmanned aerial vehicles and can start flexible working at an arbitrary position, the working efficiency of the pole-climbing robot body is improved, the invalid climbing height of the pole-climbing robot body is decreased, energy consumption of the pole-climbing robot bodyis further reduced, and the pole-climbing robot is convenient to use.

The invention provides a double gas warehouse rectification air pressure balance tube push bench. The double gas warehouse rectification air pressure balance tube push bench comprises a decompressionbin connected with the rear end of a working bin, a standby decompression bin connected with the rear end of the decompression bin, a first pneumatic door which is arranged between the decompression bin and the working bin and used for making the decompression bin and the working bin communicated and a second pneumatic door which is arranged between the standby decompression bin and the decompression bin and used for making the standby decompression bin and the decompression bin communicated. According to the double gas warehouse rectification air pressure balance tube push bench, when soil collapse occurs, operation personnel located in the working bin can be evacuated from the standby decompression bin to implement vacuum unloading, in this way, the safety of work of the operation personnel is improved, the operation personnel can better put their heart and soul into their work, and the work efficiency is improved. A tube push bench head can automatically forcibly conduct rectification and move along the preset axis.

The invention relates to the technical field of bearings, in particular to a bearing roller orderly-arrangement mechanism and bearing production equipment so as to solve the technical problems that in the prior art, bearing rollers depend on manual material arrangement and consequently the production efficiency is low. The bearing roller orderly-arrangement mechanism comprises a first rolling barrel, a second rolling barrel and a distributor. The first rolling barrel and the second rolling barrel can rotate oppositely around the corresponding axes of the both barrels, a conveying channel for the bearing rollers is formed between the first rolling barrel and the second rolling barrel, and the distributor is located above the conveying channel and can rotate around the axis of the distributor and poke the bearing rollers so as to adjust the postures of the bearing rollers. The bearing roller orderly-arrangement mechanism provided by the invention is high in automation degree, and the technical problem that in the prior art, the production efficiency is low due to manual material arrangement is effectively solved.

The invention discloses an intelligent underwater search and rescue robot which comprises an annular frame. A buoyancy adjusting mechanism and a driving mechanism are fixedly installed in the frame; no less than three sets of observation mechanisms are arranged outside the frame in an annular array mode; and a mechanical arm assembling base is arranged at the bottom of the frame. The driving mechanism comprises a main propeller and auxiliary propellers, wherein the axis of the main propeller is overlapped with the axis of the frame; and the auxiliary propellers are arranged on the outer circumference of the frame in an annular array mode, wherein the axes of the auxiliary propellers are parallel to the tangent line of the outer circumference of the frame. The intelligent underwater searchand rescue robot has the good underwater maneuvering performance; a large hoisting force can be provided by combining multiple sets of robots rapidly, so that the hoisting operation of covering objects underwater is completed rapidly.

The present invention belongs to the technical field of optoelectronic equipment calibration, and particularly relates to a star sensor reference cube-prism installation error calibration apparatus. According to the present invention, a photoelectric autocollimator and a single star simulator are respectively placed on two orthogonal axes of a reference plane, a detected star senor is placed at the intersection point position of the two axes so as to make the normal lines of the two orthogonal light reflection surfaces of the detected star senor reference prism be respectively parallel to the two orthogonal axes, the optical axes of the photoelectric autocollimator and the single star simulator are respectively adjusted to parallel to the reference plane through a theodolite, the star sensor is installed on a star sensor three-dimensional adjustment reference base, the input optical axis of the star sensor and the output optical axis of the single star simulator are adjusted to achieve a parallel state through the star sensor three-dimensional adjustment reference base, a detected reference cube-prism is arranged on the upper surface of the housing of the detected star senor, the installation angle error of the reference cube-prism round the X-axis and the Y-axis is measured by using photoelectric autocollimation, the star sensor three-dimensional adjustment reference base rotates 90 DEG, and the installation angle error of the reference cube-prism round the Z-axis is measured.

The invention relates to the field of special tool equipment for scientific investigation vessels and especially relates to an adjustable underwater robot bracket for a scientific investigation vessel. The bracket comprises a main bracket and an axillary bracket fixed to one side of the main bracket. The main bracket comprises a mobile frame and a main lifting bracket mounted on the mobile frame. A bull wheel stand is arranged on the main lifting bracket, the main lifting bracket is erected on the mobile frame through the bull wheel stand and can freely move on the mobile frame, the axillary bracket comprises the mobile frame and an axillary lifting bracket mounted on the mobile frame, a pair of the bull wheel stands and a pair of pony wheel stands are mounted on the axillary lifting bracket, and the axillary lifting bracket is erected on the mobile frame through the bull wheel stands and the pony wheel stands and can freely move on the mobile frame. The adjustable underwater robot bracket for the scientific investigation vessel is simple and convenient in operation, high in universality and reliable in performance, and brings great convenience to the shifting and maintenance inspection operation of underwater robots during quarterdeck operation of scientific investigation vessels.

The invention provides a suspension device and a capsule endoscopy magnetic control system, and relates to the technical field of medical instruments. The suspension device comprises a base provided with a matching part; a suspension member, wherein at least part of the suspension member is arranged in the base; a middle member, which is pressed at the upper end of the suspension member; and an adsorption part, which is arranged above the middle member. When the adsorption part does not have an adsorption force, the middle member is pressed at the upper end of the suspension member, so that atleast part of the suspension member abuts against the matching part, and the suspension member is locked. When the adsorption part has an adsorption force, the middle member is driven to move vertically, so that at least part of the suspension member is separated from the matching part, and the posture of the suspension member is suitable for adjustment. The suspension device has the advantages of simple and compact structure and easy operation, and the problem that an existing magnetic control device needs to overcome inclination caused by the fact that the ground is not horizontal in different environments can be solved.

A carrying type all-transparent underwater manned observation submersible vehicle comprises a transparent manned cabin with a butting skirt. An openable people entrance and exit is arranged on a manned cabin body surrounded by the opening of the butting skirt; a buoyancy material shell wraps the joint of the manned cabin and the opening of the butting skirt, the buoyancy material shell, the mannedcabin wrapped by the buoyancy material shell and the outer wall face of the butting skirt jointly form a hollow shell, an annular water ballast space, an oxygen carrier assembly and a battery cabin are arranged inside the hollow shell, the annular water ballast space is arranged on the periphery of the outer wall face of the joint of the butting skirt and the manned cabin, and the oxygen carrierassembly and the battery cabin are arranged inside the space on the outer radial side of the annular water ballast space; a vertical thruster is fixedly arranged on the hollow shell; a connecting frame stretches over the manned cabin, the connecting frame and the butting skirt are located on the two sides of the buoyancy material shell respectively, the two ends of the connecting frame are symmetrically and fixedly connected to the buoyancy material shell, and the top of the manned cabin and the connecting frame are fixedly connected; horizontal thrusters are symmetrically arranged on the connecting frame. The requirement of workers for close-range observation during underwater research along with a boat can be met.