Multifunctional underwater vehicle

Abstract

The invention discloses a multifunctional underwater vehicle. The multifunctional underwater vehicle comprises a ship body, a propeller, a rotating driver and a control device, a ship sealing cavity is formed in the ship body, a driving opening is formed in the outer side wall of the ship body, and the ship sealing cavity communicates with the driving opening; the driving openings are formed in the left side and the right side of the ship body in the advancing direction, and the driving openings in each side are arranged in pairs and distributed on the same straight line according to the front-back relation. The rotating drivers are arranged in the ship sealing cavity, and each driving opening corresponds to one rotating driver; the output end of each rotating driver horizontally extends out of the driving opening, is connected to the propeller and is used for driving the propeller to rotate by any angle; the control device is in communication connection with the rotating driver and the propeller. According to the scheme, one or more propellers are independently adjusted according to needs during underwater navigation of the underwater vehicle, so that rotation, constant-speed driving, accelerated driving, deep diving and floating are achieved during underwater navigation, and the problem that the underwater navigation function is insufficient due to the fact that the propellers of an existing underwater vehicle are single in function is solved.

Description

Technical Field

[0001] The present invention relates to the field of submersibles, and in particular to a multifunctional underwater submersible. Background Art

[0002] Unmanned submersibles are devices that travel underwater without human pilots and rely on remote control or automatic control. They mainly refer to intelligent systems that replace divers or manned small submarines to perform high-risk underwater operations such as deep-sea exploration, rescue, and mine removal. However, the structure and function of existing unmanned submersibles are too simple, and they cannot switch to different submerged states according to needs to meet different underwater tasks. In particular, they cannot accurately adjust the angle and speed of the propeller during submergence. In particular, when the submersible moves at a high speed, inaccurate control of the propeller angle may cause the driving channel to deviate seriously from the preset channel. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional underwater submersible, which is provided with a ship sealing chamber for installing a rotating drive inside the hull, and the ship sealing chamber is provided with drive openings on the left and right sides of the ship respectively, so that the hull can be equipped with at least one propeller at a left-right symmetrical position, so that the submersible can independently adjust one or more of the propellers as needed when diving, thereby realizing rotation, uniform speed travel, accelerated travel, deep diving and surfacing when diving underwater.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A multifunctional underwater submersible, comprising: a hull, a propeller, a rotation drive and a control device;

[0006] A ship sealing cavity is provided inside the hull, and a drive opening is provided on the outer side wall of the hull, and the ship sealing cavity is communicated with the drive opening; the drive opening is arranged on the left and right sides of the forward direction of the hull, and the drive openings on each side are arranged in pairs and distributed in the same straight line according to the front-back relationship;

[0007] The rotary driver is arranged in the sealed chamber of the ship, and each of the drive openings corresponds to one of the rotary drivers; the output end of each of the rotary drivers horizontally extends out of the drive opening and is connected to the propeller, so as to drive the propeller to rotate at any angle;

[0008] The control device is communicatively connected to the rotary drive and the propeller.

[0009] Optimally, the rotary driver comprises: a connecting rod, a driving gear, a driven gear and a rotary motor;

[0010] The connecting rod is rotatably limited in the driving opening, and the connecting rod is connected to the propeller at one end extending out of the sealed cavity of the ship. The driven gear is sleeved on one end of the connecting rod in the hull; the driven gear is meshed with the driving gear; the output end of the rotating motor is connected to the driving gear, which is used to drive the driving gear to rotate, and the connecting rod is driven to rotate through the driven gear.

[0011] Preferably, the outer side wall of the hull is provided with a detachable propulsion round shell at the driving opening;

[0012] The propulsion round shell is provided with a shell cavity, and the driving gear and the driven gear are rotatably mounted in the shell cavity; the output end of the rotating motor extends from the ship sealing cavity through the driving opening into the shell cavity, and one end of the connecting rod extends into the shell cavity.

[0013] It can be optimized to further include: shell screws and a cavity cover plate;

[0014] The cavity cover plate is provided with a cover plate screw hole, and the propulsion round shell is provided with a shell screw hole near the opening of the shell cavity; the cavity cover plate is arranged at the opening of the shell cavity to seal the shell cavity; the inner wall of the ship sealing cavity is provided with a ship fastening hole; the screw rods of some of the shell screws pass through the ship fastening holes and the cover plate screw holes, and are threadedly matched with the shell screw holes, so that the propulsion round shell presses the cavity cover plate against the outer wall of the hull.

[0015] Preferably, the outer edge of the propulsion circular shell is provided with a shell outer plate, and the shell outer plate is provided with a plurality of shell fastening holes distributed in a ring shape; the screw rods of some of the shell screws pass through the ship fastening holes and are threadedly engaged with the shell fastening holes, so that the propulsion circular shell is limited to the outer side wall of the hull.

[0016] It can be optimized to further include: a shell sealing ring;

[0017] An annular sealing groove is formed between the inner ring surrounded by the shell fastening hole and the outer edge of the cavity cover plate; the shell sealing ring is installed in the annular sealing groove, and the upper half of the shell sealing ring extends out of the annular sealing groove; when the propulsion circular shell is limited to the outer side wall of the hull, the annular sealing groove presses the shell sealing ring toward the outer side wall of the hull.

[0018] Preferably, the shell cavity is provided with a rod passage opening on a side away from the cavity cover plate, one end of the connecting rod is rotatably limited in the rod passage opening, and a rod sealing ring is provided near the contact surface between the connecting rod and the rod passage opening.

[0019] Optimally, the outer diameter of the propulsion hull gradually decreases from the outer side wall of the hull to the propeller.

[0020] It can be optimized to further include: a steering angle sensor device;

[0021] The rotary driver further comprises: a detection gear;

[0022] The detection gear is the same as the driving gear; the detection gear is meshed with the driven gear;

[0023] The detection end of the steering angle sensor device is coaxially installed on the detection gear; the steering angle sensor device is communicatively connected to the control device.

[0024] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0025] The present invention provides a multifunctional underwater submersible, which is provided with a ship sealing chamber for installing a rotating drive inside the hull. The ship sealing chamber is provided with drive openings on the left and right sides of the ship respectively, so that at least two propellers can be installed in the hull at left-right symmetrical positions, so that the submersible can independently adjust one or more of the propellers as needed when diving, thereby realizing rotation, uniform speed travel, accelerated travel, deep diving and surfacing when diving underwater, solving the problem of insufficient diving function caused by the single propeller function of existing submersibles. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of one embodiment of a multifunctional underwater submersible;

[0027] Figure 2 is a schematic structural diagram of one embodiment of a rotary driver;

[0028] Figure 3 is a schematic cross-sectional view of one embodiment of a rotary actuator;

[0029] Figure 4 yes Figure 3 A magnified schematic diagram of the middle part;

[0030] Figure 5 It is a schematic diagram of the exploded structure of one embodiment of the rotary actuator.

[0031] in:

[0032] Hull 1, propeller 2, rotation drive 3, control device 4; shell screw 5, cavity cover plate 6; shell sealing ring 7; steering angle sensor 8;

[0033] Ship sealing chamber 11; drive opening 12; propulsion round shell 13; ship fastening hole 14; rod through hole 15; rod sealing ring 151;

[0034] Shell cavity 131; screw hole 132 in shell; shell outer plate 133; shell fastening hole 134, annular sealing groove 135;

[0035] Connecting rod 31, driving gear 32, driven gear 33, rotating motor 34; detecting gear 35;

[0036] Cover plate screw holes 61. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", "inner end", "outer end", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features, which are used to distinguish and describe the features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "multiple" means more than two.

[0039] like Figure 1-5 , a multifunctional underwater submersible, comprising: a hull 1, a propeller 2, a rotation drive 3 and a control device 4;

[0040] The hull 1 is provided with a ship sealed cavity 11 inside, and the outer wall of the hull 1 is provided with a driving opening 12, and the ship sealed cavity 11 is communicated with the driving opening 12; the driving opening 12 is arranged on the left and right sides of the forward direction of the hull 1, and the driving openings 12 on each side are arranged in pairs and distributed in the same straight line according to the front-to-back relationship;

[0041] The rotation driver 3 is arranged in the ship sealed cavity 11, and each of the drive openings 12 corresponds to one of the rotation drivers 3; the output end of each of the rotation drivers 3 extends horizontally out of the drive opening 12 and is connected to the propeller 2, so as to drive the propeller 2 to rotate at any angle;

[0042] The control device 4 is communicatively connected to the rotation driver 3 and the propeller 2 .

[0043] The present solution provides a multifunctional underwater submersible, which is provided with a ship sealing chamber 11 for installing a rotating drive 3 inside the hull 1, and the ship sealing chamber 11 is provided with drive openings 12 on the left and right sides of the ship, so that the hull 1 can be equipped with at least four propellers 2 at left-right symmetrical positions, so that the submersible can independently adjust one or more of the propellers 2 as needed when diving, thereby realizing rotation, uniform speed travel, accelerated travel, deep diving and surfacing when diving underwater, solving the problem of insufficient diving function caused by the single function of the propeller 2 of the existing submersible.

[0044] Specifically, a sealed ship cavity 11 is provided inside the hull 1, and a drive opening 12 is exposed on the outer wall of the hull 1, which can connect the inside of the sealed ship cavity 11 with the outside of the hull 1; the rotary drive 3 is installed in the sealed ship cavity 11, and the output end of the rotary drive 3 extends out of the hull 1 through the drive opening 12. Since the drive opening 12 is located on the outer wall of the hull 1 at the left and right positions, when the output end of the rotary drive 3 extends horizontally out of the drive opening 12, it is equivalent to the output end of a single rotary drive 3 extending to the left or right direction of the hull 1. Each output end of the rotary drive 3 is independently connected to a propeller 2, and can rotate around the rotating shaft of the output end of the rotary drive 3, so as to independently adjust the angle of the propeller 2. This scheme is to communicate with the rotary drive 3 and the propeller 2 through the control device 4, which can start and shut down the rotary drive 3 and the propeller 2 respectively, and can also adjust the parameters of the rotary drive 3 and the propeller 2. Specifically, if a low-speed underwater turn is required, the propeller 2 on the opposite side of the required turn can be started. For example, when a left turn is required, all the propellers 2 on the left side are stopped and a single propeller 2 on the right side is started, so that the hull 1 can turn to the left. When an accelerated turn is required, two propellers 2 on one side of the hull 1 can be started at the same time. The simultaneous start of two propellers 2 can increase the propulsion speed during the turn and increase the turning speed during the diving. When the hull 1 moves at a uniform speed in a straight line, only a single propeller 2 symmetrical on the left and right can be started, and the propeller 2 can drive the hull 1 to propel at a low speed or a uniform speed; when the linear movement speed needs to be increased, the front and rear propellers 2 on the left and right sides can be started at the same time, and the four propellers 2 provide propulsion at the same time, which accelerates the linear movement speed of the hull 1; further, when turning and driving in a straight line, the rotation driver 3 can also be started. The rotation driver 3 is used to adjust the angle of the propeller 2, so that the hull 1 can achieve upward turning, downward turning, upward linear propulsion, and downward linear propulsion. When it is necessary to dive deep, the rotary driver 3 can be started, and the output end of the rotary driver 3 drives the propeller 2 to rotate, and the angle of the propeller 2 is adjusted so that the propeller 2 rotates downward at a specific angle, so that it can achieve deep diving with the propulsion of the propeller 2; similarly, when it is necessary to float, the rotary driver 3 can be started, and the output end of the rotary driver 3 drives the propeller 2 to rotate, and the angle of the propeller 2 is adjusted so that the propeller 2 rotates upward at a specific angle, so that it can achieve floating with the propulsion of the propeller 2. In this way, this solution can independently adjust one or more propellers 2 as needed during diving, so as to achieve rotation, uniform speed driving, accelerated driving, deep diving and floating during underwater diving, solving the problem that the existing propeller 2 of the submersible has a single function, resulting in insufficient diving function.

[0045] The communication connection method here refers to the communication between connected devices through signal transmission interaction, which can be divided into wired connection and wireless connection; wired connection includes conventional data cable connection; wireless connection includes conventional WiFi, Bluetooth, infrared, NFC, etc.

[0046] Optimally, the rotary driver 3 comprises: a connecting rod 31, a driving gear 32, a driven gear 33 and a rotary motor 34;

[0047] The connecting rod 31 is rotatably limited in the driving opening 12, and the connecting rod 31 is connected to the propeller 2 at one end extending out of the ship sealing chamber 11, and the driven gear 33 is sleeved on one end of the connecting rod 31 in the hull 1; the driven gear 33 is meshed with the driving gear 32; the output end of the rotating motor 34 is connected to the driving gear 32, and is used to drive the driving gear 32 to rotate, and the connecting rod 31 is driven to rotate through the driven gear 33.

[0048] The rotating motor 34 can drive the driving gear 32 to rotate. Based on the meshing relationship between the driving gear 32 and the driven gear 33, the driven gear 33 drives the connecting rod 31 to rotate, thereby driving the propeller 2 to rotate. In this solution, the gear transmission structure is preferably used to drive the propeller 2 to rotate. The outer diameters of the driving gear 32 and the driven gear 33 can be designed to control the rotation speed of the connecting rod 31, thereby reducing the rotation speed of the propeller 2, and ensuring that the propeller 2 is accurately adjusted to a specific angle at a lower speed. At the same time, the driving gear 32 and the driven gear 33 can stagger the output end of the connecting rod 31 and the rotating motor 34, so that the spatial distribution of the rotating driver 3 in the ship's sealed chamber 11 is more reasonable.

[0049] Optimally, the outer side wall of the hull 1 is provided with a detachable propulsion round shell 13 at the driving opening 12;

[0050] The propulsion shell 13 is provided with a shell cavity 131, and the driving gear 32 and the driven gear 33 are rotatably installed in the shell cavity 131; the output end of the rotating motor 34 extends from the ship sealing cavity 11 through the driving opening 12 into the shell cavity 131, and one end of the connecting rod 31 extends into the shell cavity 131.

[0051] The present solution preferably sets a propulsion shell 13 on the outside of the hull 1, and the propulsion shell 13 is detachable, so that the propulsion shell 13 can be disassembled when daily maintenance is required, and the propulsion shell 13 can be separated from the outer wall of the hull 1 to expose the driving gear 32 and the driven gear 33, so as to facilitate direct debugging and maintenance of the rotating driver 3 of the original shell cavity 131, thereby solving the problem of troublesome maintenance of the submersible propeller.

[0052] It can be optimized to further include: a shell screw 5 and a cavity cover plate 6;

[0053] The cavity cover plate 6 is provided with a cover plate screw hole 61, and the propulsion round shell 13 is provided with a shell inner screw hole 132 near the opening of the shell cavity 131; the cavity cover plate 6 is arranged at the opening of the shell cavity 131 to seal the shell cavity 131; the inner wall of the ship sealing cavity 11 is provided with a ship fastening hole 14; part of the screw of the shell screw 5 passes through the ship fastening hole 14 and the cover plate screw hole 61, and is threadedly matched with the shell inner screw hole 132, so that the propulsion round shell 13 presses the cavity cover plate 6 against the outer wall of the hull 1.

[0054] When the cavity cover 6 is installed on the opening of the shell cavity 131, the cavity cover 6 is equivalent to covering the opening of the shell cavity 131; the shell screw 5 is located in the ship's sealed cavity 11, and after passing through the ship's fastening hole 14 and the cover screw hole 61 in turn, it is threadedly matched with the screw hole 132 in the shell near the propulsion round shell 13, so that the propulsion round shell 13 presses the cavity cover 6 against the outer wall of the hull 1. When the shell screw 5 is tightened, the shell screw 5 rests against the inner wall of the ship's sealed cavity 11. The shell screw 5 not only fixes the propulsion round shell 13, but also locks the cavity cover 6 to the opening of the shell cavity 131, ensuring that the shell cavity 131 is both sealed and removable.

[0055] Preferably, the outer edge of the propulsion shell 13 is provided with a shell outer plate 133, and the shell outer plate 133 is provided with a plurality of shell fastening holes 134 distributed in a ring shape; the screw rods of some of the shell screws 5 pass through the ship fastening holes 14 and are threadedly engaged with the shell fastening holes 134, so that the propulsion shell 13 is limited to the outer side wall of the hull 1.

[0056] The outer edge of the propulsion round shell 13 is provided with an annularly distributed shell fastening holes 134, which can be used to accommodate a plurality of shell screws 5. The shell screws 5 can be installed at different positions on the outside and inside of the propulsion round shell 13. The inner wall of the ship sealing cavity 11 has a reserved ship fastening hole 14 corresponding to the position of the shell fastening hole 134. After the shell screw 5 passes through the ship fastening hole 14, it is threadedly engaged with the shell fastening hole 134, thereby improving the fixing stability of the propulsion round shell 13 on the outside of the hull 1.

[0057] It can be optimized to further include: a shell sealing ring 7;

[0058] An annular sealing groove 135 is formed between the inner circle surrounded by the shell fastening hole 134 and the outer edge of the cavity cover plate 6; the shell sealing ring 7 is installed in the annular sealing groove 135, and the upper half of the shell sealing ring 7 extends out of the annular sealing groove 135; when the propulsion shell 13 is limited to the outer side wall of the hull 1, the annular sealing groove 135 presses the shell sealing ring 7 toward the outer side wall of the hull 1.

[0059] The shell outer plate 133 is provided with a plurality of annular sealing grooves 135, which can be used to accommodate the shell sealing ring 7. When the shell screw 5 is threadedly engaged with the shell fastening hole 134 or the shell inner screw hole 132, the shell outer plate 133 will be directly or indirectly pressed against the outer side wall of the hull 1, so that the part of the shell sealing ring 7 extending out of the annular sealing groove 135 can be elastically deformed, so that the shell sealing ring 7 can fully fill the annular sealing groove 135, and then the opening of the inner circle shell cavity 131 of the shell sealing ring 7 can be sealed.

[0060] Optimally, the shell cavity 131 is provided with a rod passage 15 on a side away from the cavity cover plate 6, one end of the connecting rod 31 is rotatably limited at the rod passage 15, and a rod sealing ring 151 is provided near the contact surface between the connecting rod 31 and the rod passage 15.

[0061] The connecting rod 31 is limited in rotation at the rod through hole 15, so a rod sealing ring 151 is arranged near the contact surface between the two to prevent water from entering the ship sealing chamber 11 from the rod through hole 15, thereby enhancing the sealing performance of the ship sealing chamber 11. At the same time, the number of the rod sealing rings 151 can be multiple.

[0062] Optimally, the outer diameter of the propulsion shell 13 gradually decreases from the outer side wall of the hull 1 to the propeller 2 .

[0063] The outer diameter of the propulsion shell 13 is the largest on the side close to the outer wall of the hull 1, and the outer diameter of the propulsion shell 13 is the smallest on the side close to the propeller 2. Therefore, the propulsion shell 13 can accommodate more accessories on the outer wall of the hull 1, and the outer diameter of the propulsion shell 13 is gradually reduced, which can reduce the resistance during diving.

[0064] It can be optimized to further include: a steering angle sensor device 8;

[0065] The rotary driver 3 further includes: a detection gear 35;

[0066] The detection gear 35 is the same as the driving gear 32; the detection gear 35 is meshed with the driven gear 33;

[0067] The detection end of the steering angle sensor device 8 is coaxially mounted on the detection gear 35 ; the steering angle sensor device 8 is communicatively connected to the control device 4 .

[0068] The detection gear 35 is identical to the driving gear 32 in parameters such as shape and size; the detection end of the steering angle sensor 8 is coaxially mounted on the detection gear 35, that is, the detection end of the steering angle sensor 8 rotates synchronously with the detection gear 35, and the rotation of the detection gear 35 can be detected. Since the detection gear 35 is identical to the driving gear 32, the rotation state of the driving gear 32 is the same as the rotation state of the detection gear 35. Therefore, the rotation state of the detection gear 35 can be identified by the steering angle sensor 8, and thereby the rotation state of the driving gear 32 can be characterized without affecting the normal operation of the driving gear 32. The steering angle sensor 8 then feeds back the rotation state to the control device 4, and the control device 4 obtains the rotation angle of the driving gear 32, and further controls the rotating motor 34 corresponding to the driving gear 32, thereby being able to provide real-time feedback and accurately control the rotation angle of the thruster 2 to ensure that the actual course of the submersible is close to the preset course.

[0069] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multifunctional underwater submersible, characterized in that: include: hull, propellers, rotary drives and controls; A ship sealing cavity is provided inside the hull, and a drive opening is provided on the outer side wall of the hull, and the ship sealing cavity is communicated with the drive opening; the drive opening is arranged on the left and right sides of the forward direction of the hull, and the drive openings on each side are arranged in pairs and distributed in the same straight line according to the front-back relationship; The rotary drive is arranged in the ship sealing chamber, and each of the drive openings corresponds to one rotary drive; The output end of each of the rotation drivers horizontally extends out of the drive opening and is connected to the propeller, and is used to drive the propeller to rotate at any angle; The control device is communicatively connected to the rotary drive and the propeller.

2. A multifunctional underwater submersible according to claim 1, characterized in that: The rotary driver comprises: a connecting rod, a driving gear, a driven gear and a rotary motor; The connecting rod is rotatably limited in the driving opening, and the connecting rod is connected to the propeller at one end extending out of the sealed cavity of the ship. The driven gear is sleeved on one end of the connecting rod in the hull; the driven gear is meshed with the driving gear; the output end of the rotating motor is connected to the driving gear, which is used to drive the driving gear to rotate, and the connecting rod is driven to rotate through the driven gear.

3. A multifunctional underwater submersible according to claim 2, characterized in that: The outer side wall of the hull is provided with a detachable propulsion round shell at the driving opening; The propulsion round shell is provided with a shell cavity, and the driving gear and the driven gear are rotatably mounted in the shell cavity; The output end of the rotating motor extends from the ship sealing cavity through the driving opening into the shell cavity, and one end of the connecting rod extends into the shell cavity.

4. A multifunctional underwater submersible according to claim 3, characterized in that: Also includes: shell screws and cavity cover plates; The cavity cover plate is provided with a cover plate screw hole, and the propulsion round shell is provided with a shell screw hole near the opening of the shell cavity; the cavity cover plate is arranged at the opening of the shell cavity to seal the shell cavity; the inner wall of the ship sealing cavity is provided with a ship fastening hole; the screw rods of some of the shell screws pass through the ship fastening holes and the cover plate screw holes, and are threadedly matched with the shell screw holes, so that the propulsion round shell presses the cavity cover plate against the outer wall of the hull.

5. A multifunctional underwater submersible according to claim 4, characterized in that: The outer edge of the propulsion circular shell is provided with a shell outer plate, and the shell outer plate is provided with a plurality of shell fastening holes distributed in a ring shape; the screw rods of some of the shell screws pass through the ship fastening holes and are threadedly engaged with the shell fastening holes, so that the propulsion circular shell is limited to the outer side wall of the hull.

6. A multifunctional underwater submersible according to claim 5, characterized in that: Also includes: Shell seal; An annular sealing groove is formed between the inner ring surrounded by the shell fastening hole and the outer edge of the cavity cover plate; the shell sealing ring is installed in the annular sealing groove, and the upper half of the shell sealing ring extends out of the annular sealing groove; when the propulsion circular shell is limited to the outer side wall of the hull, the annular sealing groove presses the shell sealing ring toward the outer side wall of the hull.

7. A multifunctional underwater submersible according to claim 4, characterized in that: The shell cavity is provided with a rod through hole on a side away from the cavity cover plate, one end of the connecting rod is rotatably limited in the rod through hole, and a rod sealing ring is provided near the contact surface between the connecting rod and the rod through hole.

8. A multifunctional underwater submersible according to claim 7, characterized in that: The outer diameter of the propulsion shell gradually decreases from the outer side wall of the hull to the propeller.

9. A multifunctional underwater submersible according to any one of claims 2 to 8, characterized in that: Also includes: Steering angle sensor; The rotary driver further comprises: a detection gear; The detection gear is the same as the driving gear; the detection gear is meshed with the driven gear; The detection end of the steering angle sensor device is coaxially installed on the detection gear; the steering angle sensor device is communicatively connected to the control device.

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