Openable auxiliary propulsion system for underwater vehicle

Abstract

The invention discloses an openable auxiliary propulsion system for an underwater vehicle. The openable auxiliary propulsion system comprises a support, two pairs of propulsion mechanisms and a driving mechanism, and the support is used for being connected with an underwater vehicle cabin; the driving mechanism is arranged on the support, the two pairs of propelling mechanisms are arranged on the driving mechanism, and the driving mechanism controls the two pairs of propelling mechanisms to be synchronously unfolded and folded in the radial direction of the underwater vehicle cabin. Each propelling mechanism is provided with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the underwater vehicle cabin. The openable auxiliary propulsion system for the underwater vehicle serves as an auxiliary propulsion system during maneuvering and precise operation of the underwater vehicle, and can be retracted into a cabin body when the underwater vehicle is in direct navigation or needs to shuttle in complex submarine terrains, so that the appearance smoothness of the cabin body of the underwater vehicle is guaranteed, the shape resistance is reduced, the cruising ability is greatly improved, and the underwater vehicle can be used as an auxiliary propulsion system for underwater vehicle maneuvering and precise operation. And meanwhile, the passing performance of the underwater vehicle in complex seabed terrains is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater submersibles, and in particular relates to an openable and closable auxiliary propulsion system for a submersible. Background Art

[0002] According to the technical requirements of the mission and the size of the water area, the tasks performed by existing underwater submersibles mainly include two categories. One is the exploration tasks such as target search, detection, and monitoring in a larger area of ​​water, and the other is the operational tasks such as sampling, grabbing, and valve turning in a smaller target water area. The two types of tasks have different emphases on the overall performance requirements of the submersible: exploration tasks generally require higher navigation efficiency and longer endurance; operational tasks require stable and precise attitude control. As an important part of the underwater submersible, the propulsion system and appearance design have a direct impact on its navigation efficiency and attitude control.

[0003] The propulsion system of an underwater submersible includes a main thruster and an auxiliary thruster. The main thruster is usually installed at the stern of the hull to provide the main thrust when sailing forward; the auxiliary thruster is usually installed on the outside, inside or bottom of the hull to provide additional lateral or vertical thrust when needed to achieve attitude adjustment or rapid turning. The arrangement of multiple thrusters can effectively improve the maneuverability and operation accuracy of the submersible, but the auxiliary thrusters arranged with internal openings will destroy the streamlined shape of the submersible when not in use, increasing the shape drag; the externally installed auxiliary thrusters make it difficult for the submersible to shuttle through the complex terrain of the seabed. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an openable and closable auxiliary propulsion system for a submersible, which serves as an auxiliary propulsion system for the maneuvering and precise operation of the underwater submersible. It can be retracted into the cabin when it is sailing straight or needs to shuttle through complex seabed terrain, thereby ensuring the smoothness of the submersible cabin shape, reducing shape resistance, greatly improving endurance, and at the same time ensuring the submersible's passing performance in complex seabed terrain.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A retractable auxiliary propulsion system for a submersible, characterized in that it comprises: a bracket, two pairs of propulsion mechanisms, and a driving mechanism, wherein the bracket is used to be connected to an underwater submersible cabin; the driving mechanism is arranged on the bracket, the two pairs of propulsion mechanisms are arranged on the driving mechanism, and the driving mechanism controls the two pairs of propulsion mechanisms to be synchronously extended and retracted along the radial direction of the underwater submersible cabin; each of the propulsion mechanisms is provided with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the underwater submersible cabin.

[0007] Furthermore, the propulsion mechanism includes a propulsion seat for mounting the vertical propeller, and a side cover door is fixedly provided on the side opposite to the propulsion seat.

[0008] Furthermore, the vertical propeller is a ducted propeller.

[0009] Furthermore, the driving mechanism includes a matching servo motor, a driving shaft, and a coupling rod, wherein the coupling rod is connected to the driving connecting rod; the driving connecting rod is cooperatively connected to the driving shaft; an expansion and retraction mechanism is arranged between the driving connecting rod and the propulsion mechanism on the corresponding side; the driving connecting rod is hinged to the corresponding side connecting rod in the expansion and retraction mechanism.

[0010] Furthermore, a frame is provided on the bracket, and a driving assembly for controlling the linear motion of the coupling rod is provided on the frame. When the driving assembly controls the extension and retraction of the driving shaft, two driving connecting rods cooperate with the extension and retraction mechanism to realize the synchronous extension and retraction of two pairs of propulsion mechanisms.

[0011] Furthermore, the unfolding and retracting mechanism comprises two pairs of connecting rods, two rotating rings, two gaskets, two sleeves, a central shaft, a shaft seat, two end covers, a bolt, and a nut;

[0012] The two rotating rings in the unfolding and retracting mechanism are sleeved on the central shaft, and a gasket is respectively arranged between the end cover and the rotating ring, between the rotating ring and the rotating ring, and between the rotating ring and the shaft seat to reduce the wear between the parts; the bottom end cover fixes the central shaft to the shaft seat through bolts and nuts of the top end cover, and axially limits other rotating parts;

[0013] Among them, the sleeve in the deployment and retraction mechanism is installed on the inner wall of the rotating ring, which is used to reduce the friction between the rotating ring and the central axis. The opposite ends of each pair of connecting rods in the deployment and retraction mechanism are connected to the corresponding propulsion seat, and the facing ends of each pair of connecting rods in the deployment and retraction mechanism are connected to the rotating ring; the propulsion seat ends of the two pairs of connecting rods in the deployment and retraction mechanism are hinged to the corresponding propulsion mechanism.

[0014] Furthermore, a main control cabin is arranged on the frame, and the main control cabin is communicatively connected with the servo motor.

[0015] An underwater submersible, comprising an underwater submersible cabin, a main thruster arranged at the stern of the underwater submersible cabin, and a lateral auxiliary thruster arranged inside the underwater submersible cabin, characterized in that it also comprises:

[0016] The retractable auxiliary propulsion system for a submersible according to claim 1 is disposed inside the underwater submersible cabin;

[0017] A hatch opening is arranged on the underwater vehicle cabin body and is matched with the side cover hatch.

[0018] Furthermore, when the underwater submersible needs to adjust its posture, the two pairs of propulsion mechanisms are deployed, and the four vertical propellers respectively arranged on the four propulsion mechanisms are the first propeller, the second propeller, the third propeller and the fourth propeller:

[0019] When the underwater submersible moves forward, the third propeller and the fourth propeller rotate forward to provide an upward thrust, and the first propeller and the second propeller rotate reversely to provide a downward thrust, thereby generating a forward tilting moment;

[0020] When the underwater submersible moves backward, the first propeller and the second propeller rotate forward to provide an upward thrust, and the third propeller and the fourth propeller rotate reversely to provide a downward thrust, thereby generating a backward moment;

[0021] When the underwater submersible rolls to the left, the second propeller and the fourth propeller rotate forward to provide an upward thrust, and the first propeller and the third propeller rotate reversely to provide a downward thrust, thereby generating a leftward rolling moment;

[0022] When the underwater vehicle rolls to the right, the first propeller and the third propeller rotate forward to provide an upward thrust, and the second propeller and the fourth propeller rotate reversely to provide a downward thrust, thereby generating a leftward rolling moment.

[0023] Further, when the underwater submersible rotates in situ to change its heading to the left, the four propellers rotate forward or reversely at the same time, the first propeller and the third propeller have the same rotation speed, the second propeller and the fourth propeller have the same rotation speed, and the rotation speed of the first propeller and the third propeller is higher than the rotation speed of the second propeller and the fourth propeller, providing a rotational torque; during this process, the main propeller and the lateral auxiliary propeller are not started;

[0024] When the underwater submersible rotates in place to change its course to the right, the four propellers rotate forward or reversely at the same time, the first propeller and the third propeller have the same rotation speed, the second propeller and the fourth propeller have the same rotation speed, and the rotation speed of the second propeller and the fourth propeller is higher than the rotation speed of the first propeller and the third propeller, providing a rotational torque; during this process, the main propeller and the lateral auxiliary propeller are not started.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The propulsion mechanism in the present invention can be recovered to the interior of the submersible cabin through the driving mechanism and the unfolding and retracting mechanism to reduce resistance and increase range, thereby achieving efficient cruising; the propulsion mechanism can be extended to the outside of the submersible body through the driving structure, with a large lever arm and increased torque, and the control performance has been greatly improved, thereby improving the ability of fine operations, so that the submersible has the performance of full-degree-of-freedom high-precision motion control, and can achieve special operations under the requirements of underwater suspension, and achieve close-range precision operations. The present invention solves the contradiction between low-resistance cruising and precision operations, and breaks through the bottleneck of the demand for long-range fine operations of submersibles. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of a retractable auxiliary propulsion system for a submersible provided by an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the structure after the propulsion mechanism is extended in an embodiment of the present invention;

[0029] Figure 3 is a structural schematic diagram of an unfolding and retracting mechanism in an embodiment of the present invention;

[0030] Figure 4 is a structural schematic diagram of a propulsion mechanism in an embodiment of the present invention;

[0031] Figure 5 is a schematic structural diagram of a driving mechanism in an embodiment of the present invention;

[0032] Figure 6 is a schematic structural diagram of an underwater vehicle according to an embodiment of the present invention when a propulsion mechanism is deployed;

[0033] Figure 7 is a schematic structural diagram of an underwater vehicle in an embodiment of the present invention when a propulsion mechanism is retracted;

[0034] Figure 8 It is a schematic structural diagram of four vertical propellers on a retractable auxiliary propulsion system for a submersible according to an embodiment of the present invention;

[0035] Fig. 9 Schematic diagram of a lateral auxiliary thruster and a main control cabin in an underwater submersible according to an embodiment of the present invention;

[0036] Fig.10 It is a partial schematic diagram of the unfolding and retracting mechanism in an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 01- underwater vehicle cabin, 02- main thruster, 03- lateral auxiliary thruster, 04- hatch opening;

[0039] 1- bracket, 11- frame, 12- driving mechanism mounting seat, 13- expansion and contraction mechanism mounting seat;

[0040] 2- propulsion mechanism, 21- vertical propeller, 22- propulsion seat, 23- side cover door;

[0041] 3-driving mechanism, 31-servo motor, 32-driving shaft, 33-coupling rod, 34-driving connecting rod;

[0042] 4-extension and retraction mechanism, 41-connecting rod, 42-rotating ring, 43-gasket, 44-shaft sleeve, 45-center shaft, 46-shaft seat, 47-end cover, 48-bolt, 49-nut;

[0043] 5- Main control cabin. DETAILED DESCRIPTION

[0044] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "top", "bottom", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0047] In the present invention, terms such as "connected" and "connection" should be understood in a broad sense, indicating that the connection may be fixed, integral or detachable; it may be directly connected or indirectly connected through an intermediate medium. A person skilled in the art can determine the specific meaning of the above terms in the present invention according to specific circumstances, and it is not to be understood as a limitation of the present invention.

[0048] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.

[0049] Example 1

[0050] like Figure 1-5As shown, the present invention provides an openable and closable auxiliary propulsion system for a submersible, which includes: a bracket 1, two pairs of propulsion mechanisms 2, and a driving mechanism 3, wherein the bracket 1 is used to be connected to an underwater submersible cabin 01; the driving mechanism 3 is arranged on the bracket 1, and the two pairs of propulsion mechanisms 2 are arranged on the driving mechanism 3, and the driving mechanism 3 controls the two pairs of propulsion mechanisms to be synchronously extended and retracted along the radial direction of the underwater submersible cabin; each propulsion mechanism 2 is provided with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the underwater submersible cabin 01.

[0051] like Figure 4 As shown, the propulsion mechanism 2 includes a propulsion seat 22 for mounting a vertical propeller 21, and a side cover door 23 is fixedly provided on a side opposite to the propulsion seat 22. Specifically, the vertical propeller 21 is a ducted propeller.

[0052] like Figure 5 As shown, the driving mechanism 3 includes a corresponding servo motor 31, a driving shaft 32, and a coupling rod 33. The coupling rod 33 is connected to a driving connecting rod 34. The driving connecting rod 34 is connected to the driving shaft 33. An unfolding and retracting mechanism 4 is provided between the driving connecting rod 34 and the propulsion mechanism 2 on the corresponding side. The driving connecting rod 34 is hinged to the corresponding side connecting rod in the unfolding and retracting mechanism 4.

[0053] like Figure 8 As shown, the four vertical propellers on the propulsion mechanism of the retractable auxiliary propulsion system for the submersible include: a first propeller 211, a second propeller 212, a third propeller 213, and a fourth propeller 214.

[0054] like Fig. 9 As shown, a lateral auxiliary thruster 03 and a main control cabin 5 are installed on the submersible support 1.

[0055] like Figure 1 and Figure 5 As shown, the bracket 1 is provided with a frame 11, a drive mechanism mounting seat 12, and an expansion and retraction mechanism mounting seat 13. The frame 11 is provided with a drive component for controlling the linear motion of the coupling rod 33. When the drive component controls the extension and retraction of the drive shaft 32, the two drive connecting rods 34 cooperate with the expansion and retraction mechanism 4 to realize the synchronous expansion and retraction of the two pairs of propulsion mechanisms 2.

[0056] like Figure 3 and Fig.10 As shown, the unfolding and retracting mechanism 4 includes two pairs of connecting rods 41, two rotating rings 42, two gaskets 43, two shaft sleeves 44, a central shaft 45, a shaft seat 46, two end covers 47, a bolt 48, and a nut 49;

[0057] The two rotating rings 42 in the unfolding and retracting mechanism 4 are sleeved on the central shaft 45, and a gasket 43 is respectively arranged between the end cover 47 and the rotating ring 42, the rotating ring 42 and the rotating ring 42, and the rotating ring 42 and the shaft seat 46 to reduce the wear between the parts; the bottom end cover 47 fixes the central shaft 45 to the shaft seat 46 through the bolt 48 and the nut 49 of the top end cover 47, and axially limits other rotating parts;

[0058] Among them, the shaft sleeve 44 in the unfolding and retracting mechanism 4 is installed on the inner wall of the rotating ring 42, which is used to reduce the friction between the rotating ring 42 and the central axis 45. The opposite ends of each pair of connecting rods 41 in the unfolding and retracting mechanism 4 are connected to the corresponding propulsion seat 22, and the facing ends of each pair of connecting rods 41 in the unfolding and retracting mechanism 4 are connected to the rotating ring 42; the propulsion seat ends of the two pairs of connecting rods 41 in the unfolding and retracting mechanism 4 are hinged to the corresponding propulsion mechanism 2.

[0059] A main control cabin 5 is disposed on the frame 11 , and the main control cabin 5 is communicatively connected with the servo motor 31 .

[0060] When the servo motor 31 drives the internal screw to rotate, it drives the driving shaft 32 to move forward or backward: when the driving shaft 32 moves forward, it drives the coupling rod 33 to move forward, and the coupling rod 33 drives the connecting rods in the corresponding side expansion and retraction mechanism 4 to move closer to each other through the driving connecting rod 34, driving the propulsion seat 22 to retract inward; when the driving shaft 32 moves backward, it drives the coupling rod 33 to move backward, and the coupling rod 33 drives the connecting rods 41 in the corresponding side expansion and retraction mechanism 4 to separate from each other through the driving connecting rod 34, driving the propulsion seat 22 to expand outward.

[0061] Example 2

[0062] An underwater submersible comprises an underwater submersible cabin 01, a main thruster 02 arranged at the stern of the underwater submersible cabin 01, a lateral auxiliary thruster 03 arranged inside the underwater submersible cabin 01, an openable and closable auxiliary thruster system for the submersible described in Example 1 arranged inside the underwater submersible cabin 01, and a hatch opening 04 arranged on the underwater submersible cabin 01 and adapted to a side cover hatch 23.

[0063] When the underwater submersible does not need a retractable auxiliary propulsion system for the submersible or needs to shuttle in a narrow seabed terrain, the two propulsion mechanisms 2 are retracted into the underwater submersible cabin 01, such as Figure 7 As shown, at this time, the side cover hatch 24 cooperates with the hatch opening 04 to ensure the integrity of the underwater submersible cabin 01 and the smoothness of the appearance. At this time, the underwater submersible is powered by the main propeller 02.

[0064] When the underwater vehicle needs to adjust its position, the four propulsion mechanisms 2 are displayed, such as Figure 6 As shown:

[0065] When the underwater submersible moves forward, the third propeller and the fourth propeller rotate forward to provide an upward thrust, and the first propeller and the second propeller rotate backward to provide a downward thrust, thereby generating a forward tilting moment;

[0066] When the underwater submersible moves backward, the first propeller and the second propeller rotate forward to provide an upward thrust, and the third propeller and the fourth propeller rotate reversely to provide a downward thrust, thereby generating a backward moment;

[0067] When the underwater submersible rolls to the left, the second propeller and the fourth propeller rotate forward to provide an upward thrust, and the first propeller and the third propeller rotate reversely to provide a downward thrust, thereby generating a rolling moment to the left;

[0068] When the underwater submersible rolls to the right, the first propeller and the third propeller rotate forward to provide an upward thrust, and the second propeller and the fourth propeller rotate reversely to provide a downward thrust, thereby generating a rolling moment to the left;

[0069] Existing submersibles need to adjust their buoyancy by draining water or dumping loads when surfacing or diving, and the whole process is inefficient and slow. However, the underwater submersible provided with a deployable attitude adjustment propulsion system can quickly surface by rotating the vertical propeller forward and dive by rotating the vertical propeller backward during near-bottom exploration and mid-sea cruising, so as to adapt to the complex terrain of the seabed.

[0070] When floating, the four propellers rotate forward at the same time to provide upward thrust;

[0071] When diving, the four propellers reverse simultaneously to provide downward thrust;

[0072] When the underwater submersible rotates in situ to change its course to the left, the four propellers rotate forward or reverse at the same time, the first propeller and the third propeller rotate at the same speed, the second propeller and the fourth propeller rotate at the same speed, and the first propeller and the third propeller rotate at a higher speed than the second propeller and the fourth propeller, providing a rotational torque; during this process, the main propeller 02 and the lateral auxiliary propeller 03 are not started;

[0073] When the underwater submersible rotates in place to change its course to the right, the four propellers rotate forward or reverse at the same time, the first propeller and the third propeller rotate at the same speed, the second propeller and the fourth propeller rotate at the same speed, and the second propeller and the fourth propeller rotate at a higher speed than the first propeller and the third propeller, providing a rotation torque. In this process, the main propeller 02 and the lateral auxiliary propeller 03 are not started.

[0074] It should be noted that the above-described embodiments are only preferred embodiments of the present invention. For those skilled in the art, without departing from the principles of the present invention, the present invention may be modified, improved and replaced with equivalents, and these modifications, improvements and equivalent replacements are also considered to fall within the scope of protection of the claims of the present invention.

Claims

1. A retractable auxiliary propulsion system for a submersible, characterized in that: include: A bracket, two pairs of propulsion mechanisms, and a driving mechanism, wherein the bracket is used to be connected to an underwater submersible cabin; the driving mechanism is arranged on the bracket, the two pairs of propulsion mechanisms are arranged on the driving mechanism, and the driving mechanism controls the two pairs of propulsion mechanisms to be synchronously extended and retracted along the radial direction of the underwater submersible cabin; each of the propulsion mechanisms is provided with a vertical propeller, and the central axis of the vertical propeller is parallel to the vertical axis of the underwater submersible cabin.

2. The retractable auxiliary propulsion system for a submersible according to claim 1, characterized in that: The propulsion mechanism comprises a propulsion seat for mounting the vertical propeller, and a side cover door is fixedly arranged on a side opposite to the propulsion seat.

3. The retractable auxiliary propulsion system for a submersible according to claim 1, characterized in that: The vertical propeller is a ducted propeller.

4. The retractable auxiliary propulsion system for a submersible according to claim 1, characterized in that: The driving mechanism includes a matching servo motor, a driving shaft, and a coupling rod, wherein the coupling rod is connected to a driving connecting rod; the driving connecting rod is cooperatively connected to the driving shaft; an expansion and retraction mechanism is provided between the driving connecting rod and the propulsion mechanism on the corresponding side, and the driving connecting rod is hinged to the corresponding side connecting rod in the expansion and retraction mechanism.

5. The retractable auxiliary propulsion system for a submersible according to claim 4, characterized in that: The bracket is provided with a frame, and the frame is provided with a driving assembly for controlling the linear motion of the coupling rod. When the driving assembly controls the extension and retraction of the driving shaft, two driving connecting rods cooperate with the extension and retraction mechanism to realize the synchronous extension and retraction of two pairs of propulsion mechanisms.

6. The retractable auxiliary propulsion system for a submersible according to claim 4, characterized in that: The unfolding and retracting mechanism comprises two pairs of connecting rods, two rotating rings, two gaskets, two shaft sleeves, a central shaft, a shaft seat, two end covers, a bolt, and a nut; The two rotating rings in the unfolding and retracting mechanism are sleeved on the central shaft, and a gasket is respectively arranged between the end cover and the rotating ring, between the rotating ring and the rotating ring, and between the rotating ring and the shaft seat to reduce the wear between the parts; the bottom end cover fixes the central shaft to the shaft seat through bolts and nuts of the top end cover, and axially limits the rotating parts; Among them, the sleeve in the deployment and retraction mechanism is installed on the inner wall of the rotating ring, which is used to reduce the friction between the rotating ring and the central axis. The opposite ends of each pair of connecting rods in the deployment and retraction mechanism are connected to the corresponding propulsion seat, and the facing ends of each pair of connecting rods in the deployment and retraction mechanism are connected to the rotating ring; the propulsion seat ends of the two pairs of connecting rods in the deployment and retraction mechanism are hinged to the corresponding propulsion mechanism.

7. The retractable auxiliary propulsion system for a submersible according to claim 4, characterized in that: A main control cabin is arranged on the frame, and the main control cabin is communicatively connected with the servo motor.

8. An underwater submersible, comprising an underwater submersible cabin, a main propeller arranged at the stern of the underwater submersible cabin, and a lateral auxiliary propeller arranged inside the underwater submersible cabin, characterized in that: Also includes: The retractable auxiliary propulsion system for a submersible according to claim 1 is disposed inside the underwater submersible cabin; A hatch opening is arranged on the underwater vehicle cabin body and is matched with the side cover hatch.

9. The underwater vehicle according to claim 8, characterized in that: When the underwater submersible needs to adjust its position, the two pairs of propulsion mechanisms are deployed, and the four vertical propellers respectively arranged on the four propulsion mechanisms are the first propeller, the second propeller, the third propeller and the fourth propeller: When the underwater submersible moves forward, the third propeller and the fourth propeller rotate forward to provide an upward thrust, and the first propeller and the second propeller rotate reversely to provide a downward thrust, thereby generating a forward tilting moment; When the underwater submersible moves backward, the first propeller and the second propeller rotate forward to provide an upward thrust, and the third propeller and the fourth propeller rotate reversely to provide a downward thrust, thereby generating a backward moment; When the underwater submersible rolls to the left, the second propeller and the fourth propeller rotate forward to provide an upward thrust, and the first propeller and the third propeller rotate reversely to provide a downward thrust, thereby generating a leftward rolling moment; When the underwater vehicle rolls to the right, the first propeller and the third propeller rotate forward to provide an upward thrust, and the second propeller and the fourth propeller rotate reversely to provide a downward thrust, thereby generating a leftward rolling moment.

10. The underwater vehicle according to claim 9, characterized in that: When the underwater submersible rotates in situ to change its course to the left, the four propellers rotate forward or reversely at the same time, the first propeller and the third propeller rotate at the same speed, the second propeller and the fourth propeller rotate at the same speed, and the first propeller and the third propeller rotate at a higher speed than the second propeller and the fourth propeller, providing a rotational torque; During this process, the main thruster and the lateral auxiliary thruster are not started; When the underwater submersible rotates in situ to change its course to the right, the four propellers rotate forward or reversely at the same time, the first propeller and the third propeller rotate at the same speed, the second propeller and the fourth propeller rotate at the same speed, and the second propeller and the fourth propeller rotate at a higher speed than the first propeller and the third propeller, providing a rotational torque; During this process, neither the main thruster nor the lateral auxiliary thruster is started.

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