A fully rotating and full-view manned submersible

Abstract

The present invention discloses a full-circle, full-view manned submersible, which specifically includes a fully transparent manned spherical shell, a personnel entrance and exit hatch on the top of the manned spherical shell, a full-circle rotating seat system inside the manned spherical shell, a drive control system sleeved on the outer side of the bottom of the manned spherical shell, a floor fixed to the bottom of the rotating seat system, a combination bracket fixed to the bottom of the floor, the bottom of the combination bracket passes through the manned spherical shell and is connected to the drive control system, the drive control system can drive the entire submersible in the horizontal and vertical directions; a sampling operation system is also installed on the top of the drive control system, the sampling operation system includes a robotic arm assembly, an operation rotating shaft system, a sampling rotating platform, and a sampling basket assembly. The present invention solves the problems of small field of view and slow switching of viewing angles during underwater operations and sightseeing, and the sampling operation system can improve operation efficiency and sample storage safety.

Description

Technical Field

[0001] The present invention relates to the technical field of submersible equipment, and in particular to a fully rotating, full-view manned submersible. Background Art

[0002] The ocean area is extremely rich in biological, mineral, oil, natural gas and other resources, and there is huge room for exploration and research. Manned submersibles are the main tools for carrying various electronic equipment, mechanical devices, and technical personnel to quickly reach various deep-sea environments and conduct precise detection. Among them, transparent manned submersibles are important underwater mobile platforms for deep-sea scientific research and sightseeing, and can realize four functions: diving, operation, navigation, and surfacing. Existing transparent manned submersibles only have partial transparency, a small field of view, a fixed view in the cabin, and slow adjustment of the observation view. In addition, the operation of the robotic arm in the existing transparent manned submersible sampling operation system is highly dependent on the docking position of the submersible, and the traditional sampling basket has a single function and low space utilization. The submersible sampling operation cannot meet the requirements of operational efficiency and storage safety. Summary of the Invention

[0003] In view of the above-mentioned problems, the present invention aims to provide a fully rotating, full-view manned submersible to solve the above-mentioned problems in the prior art.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A fully rotating, full-view manned submersible includes a manned spherical shell, and is characterized in that a rotating seat system is provided inside the manned spherical shell, a drive control system is provided on the outer side of the bottom of the manned spherical shell, a floor is fixedly provided at the bottom of the rotating seat system, a combined bracket is fixedly provided at the bottom of the floor, the bottom of the combined bracket passes through the manned spherical shell and is connected to the drive control system; a sampling operation system is also installed on the top of the drive control system.

[0006] Furthermore, the rotating seat system includes an upper seat, a lower seat, an upper rotating shaft system and a lower rotating shaft system; the upper rotating shaft system includes an upper rotating mounting plate, a lower flange and a support shaft, the upper rotating mounting plate is rotatably sleeved outside the support shaft, the lower flange is fixedly connected to the bottom of the support shaft, and the upper seat is fixedly connected to the top surface of the upper rotating mounting plate;

[0007] The structure of the lower rotating shaft system is the same as that of the upper rotating shaft system, and the lower flange in the upper rotating shaft system is fixedly connected to the top surface of the support shaft in the lower rotating shaft system, and the lower seat and the upper rotating mounting plate in the lower rotating shaft system are fixedly connected through the seat bracket; the lower flange in the lower rotating shaft system is fixedly connected to the floor.

[0008] Furthermore, the upper rotating shaft system further includes an upper flange, a cross roller bearing, a gear transmission mechanism, a drive motor and a cylindrical lower fixed housing;

[0009] An upper flange is fixedly provided at the bottom of the upper rotating mounting plate, the outer ring of the cross roller bearing is fixedly connected to the upper flange, and the inner ring of the cross roller bearing is sleeved outside the support shaft; the drive motor is installed at the bottom of the upper flange, and the drive motor and the support shaft are connected through a gear transmission mechanism, the lower fixed shell is fixedly provided on the top of the lower flange, and the gear transmission mechanism and the drive motor are both located in the lower fixed shell.

[0010] Furthermore, the gear transmission mechanism includes a large flange gear and a small rotating gear, the bottom of the large flange gear is fixedly connected to the lower flange plate, the top of the large flange gear is fixedly connected to the support shaft, the output end of the drive motor is connected to the small rotating gear, and the small rotating gear and the large flange gear are meshed with each other;

[0011] A rotary encoder is also installed at the bottom of the upper flange, which is coaxially connected to the drive motor. A light shielding plate is fixed to the bottom of the outer ring of the cross roller bearing, and two photoelectric limit switches are symmetrically installed on the outer side wall of the support shaft.

[0012] Furthermore, the drive control system includes a directional thruster assembly, a vertical thruster assembly, a battery compartment and a buoyancy compartment. The directional thruster assemblies are installed at the four outer corners of the buoyancy compartment through directional fixing brackets, and the vertical thruster assemblies are installed at the four top corners of the buoyancy compartment through vertical fixing brackets. A battery compartment is provided in the buoyancy compartment, and a plurality of batteries are installed in the battery compartment.

[0013] Furthermore, the sampling operation system includes a mechanical arm assembly, an operation rotating shaft system, a sampling rotating platform and a sampling basket assembly;

[0014] The sampling rotating platform is located between the battery compartment and the buoyancy compartment, and the sampling rotating platform is connected to the battery compartment and the buoyancy compartment through the operating rotating shaft system. The operating rotating shaft system has the same structure as the upper rotating shaft system. The sampling rotating platform is fixedly connected to the upper rotating mounting plate in the operating rotating shaft system, the battery compartment is fixedly connected to the top of the support shaft in the operating rotating shaft system, and the buoyancy compartment is fixedly connected to the lower flange in the operating rotating shaft system; the robotic arm assembly is fixedly mounted on the top of the sampling rotating platform, and sampling basket assemblies are provided on both sides of the buoyancy compartment.

[0015] Furthermore, the sampling basket assembly includes a first box group, a second box group, a fastening mechanism and a sliding door mechanism;

[0016] The fastening mechanism is located on the outside of the first box group and the second box group, and the first box group and the second box group are connected to the buoyancy chamber through the fastening mechanism; the first box group and the second box group are fixedly connected in parallel, and the first box group and the second box group have the same structure; the sliding door mechanism is provided in both the first box group and the second box group.

[0017] Furthermore, the first box group includes an outer box and an inner box, the outer box is movably connected to a first double-door on a side away from the inner box, and the inner box is movably connected to a second double-door on a side close to the outer box; both the outer box and the inner box are movably provided with a sliding door mechanism;

[0018] The sliding door mechanism includes a sliding tube, a first strong rubber band, a second strong rubber band, a pull rod and a check piece; one end of the first strong rubber band and the second strong rubber band are respectively fixedly connected to the two doors of the first double-door; the sliding tube is fixed on the inner side of the top of the first box group, and a sliding through hole is opened at the top of the first box group corresponding to the sliding tube. The other ends of the first strong rubber band and the second strong rubber band pass around the sliding tube and pass through the first box group from the sliding through hole, and the other ends of the first strong rubber band and the second strong rubber band are both fixedly connected to the pull rod, and the pull rod is located outside the first box group. An L-shaped check piece is also fixed to the outer side of the top of the first box group, and the check piece matches the pull rod.

[0019] Furthermore, a personnel entrance and exit hatch is provided at the top of the manned spherical shell, and an entrance and exit hatch cover is movably connected to the personnel entrance and exit hatch via a connecting member, wherein the outer ring of the connecting member is fixedly connected to the manned spherical shell, and the inner ring of the connecting member is connected to the entrance and exit hatch cover via a sealing ring; an annular lighting strip is also provided at the lower portion of the connecting member;

[0020] Two connecting rods are fixed on the top of the access hatch, a plurality of brackets are fixed on the top of the connecting member, a rotating shaft is fixed between the brackets, and one end of the connecting rod away from the access hatch is rotatably sleeved on the rotating shaft.

[0021] Furthermore, a life protection system and an electrical control system are also provided in the manned spherical shell. The life protection system includes a life support cabin and an oxygen cylinder, and the oxygen cylinder is located outside the life support cabin; the electrical control system includes an electrical control cabin and a control panel, and the control panel is installed outside the electrical control cabin.

[0022] The beneficial effects of the present invention are as follows: compared with the prior art, the improvement of the present invention is that:

[0023] 1. The fully rotating, full-view manned submersible in the present invention can, as a whole, realize 360-degree full-rotation rotation of the upper and lower seats, and achieve 360-degree full-view observation through the fully transparent manned spherical shell, so that the submariner can quickly rotate to the target observation angle without adjusting the navigation direction of the submersible, thereby improving the scientific research observation efficiency and sightseeing immersion experience of the transparent manned submersible; in addition, the submersible in the present invention can also realize the rotation of the mechanical arm assembly through the sampling rotating platform, thereby opening and closing the sampling basket assemblies in different directions. The operation of the mechanical arm assembly is more flexible and efficient, which improves the scientific research sampling efficiency of the manned submersible and meets the actual use requirements.

[0024] 2. In the rotating seat system of the present invention, the upper and lower seats achieve independent full-circle rotation via corresponding upper and lower rotating shaft systems, respectively. Crossed roller bearings are used to maintain the support shafts of the upper and lower rotating shaft systems stationary, while the upper rotating mounting plate rotates around the support shafts. This allows for independent control of the upper and lower seats without mutual interference, allowing two people to simultaneously perform different operations. As the rotating shaft system rotates, the rotation angle feedback from the rotary encoder and the absolute position feedback from the photoelectric limit switch provide rotational position information, which is fed back to the servo propulsion motor for comparison and compensation. This accurately controls the rotation of the upper rotating mounting plate, achieving high positioning accuracy and smoother rotation.

[0025] 3. The manned sphere in the present invention is made of organic glass with a thickness of t=70mm and a radius R=1170mm. It has a transparency that can achieve a 360-degree horizontal field of view in the cabin and can fully withstand the pressure of 1000 meters underwater. The gap between the bottom plate and the manned sphere is greater than or equal to 22mm, which meets the strain displacement of the organic glass under changes in water pressure.

[0026] 4. The sampling basket assembly in the present invention adopts a first box group and a second box group fixed in parallel, and the first box group and the second box group both include an inner box and an outer box, that is, four spaces are separated in each sampling basket, which improves the utilization rate of the storage sample space, and the outer box and the inner box are respectively provided with a first double-opening door and a second double-opening door. The corresponding first double-opening door and the second double-opening door can be opened or closed by the mutual cooperation of the sliding door mechanism and the robotic arm assembly. Under the upward force of the robotic arm assembly, the pull rod converts the vertical force into a horizontal pulling force through the sliding tube to open the double-opening door. When the double-opening door is closed, the pull rod is fixed to the top of the box group by a check member. The robotic arm assembly is flexible in operation, and the sampling basket assembly makes the sampling operation and storage process more reliable and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the external structure of the manned submersible of the present invention.

[0028] Figure 2 This is a cross-sectional view of the internal structure of the manned submersible of the present invention.

[0029] Figure 3 This is a top view of the manned submersible structure of the present invention.

[0030] Figure 4 This is a schematic diagram of the overall structure of the rotating seat system of the present invention.

[0031] Figure 5 This is a cross-sectional view of the rotating seat system structure of the present invention.

[0032] Figure 6 This is a top view of the rotating seat system structure of the present invention.

[0033] Figure 7 It is a schematic diagram of the structure of the upper seat and the upper rotating shaft system of the present invention.

[0034] Figure 8 This is a cross-sectional view of the rotating shaft system structure of the present invention.

[0035] Figure 9 It is a schematic diagram of the overall structure of the rotating shaft system of the present invention.

[0036] Figure 10 It is a schematic diagram of the overall structure of the robotic arm assembly, operating rotating axis system and sampling rotating platform of the present invention.

[0037] Figure 11 This is a cross-sectional view of the structure of the robotic arm assembly, the operating rotating axis system, and the sampling rotating platform of the present invention.

[0038] Figure 12 This is a schematic diagram of the overall structure of the sampling basket assembly of the present invention.

[0039] Figure 13 This is a structural diagram of the first box group of the present invention.

[0040] Among them: 1-manned spherical shell, 11-personnel entry and exit hatch, 12-entry and exit hatch, 13-connecting component, 14-sealing ring, 15-lighting strip, 16-connecting rod, 17-bracket, 18-rotating shaft, 2-rotating seat system, 21-upper seat, 22-lower seat, 23-upper rotating shaft system, 231-upper rotating mounting plate, 232-lower flange, 233-support shaft, 234-upper flange, 235-cross roller bearing, 2 351-outer ring, 2352-inner ring, 236-gear transmission mechanism, 2361-large flange gear, 2362-small rotating gear, 237-drive motor, 238-lower fixed housing, 2391-rotary encoder, 2392-photoelectric limit switch, 2393-light shield, 24-lower rotating shaft system, 25-seat bracket, 3-drive control system, 31-directional thruster assembly, 32-vertical thruster assembly, 33-electric Pool cabin, 331-battery, 34-buoyancy cabin, 35-direction fixing bracket, 36-vertical fixing bracket, 4-sampling operation system, 41-mechanical arm assembly, 42-operation rotating axis system, 43-sampling rotating platform, 44-sampling basket assembly, 441-first box group, 442-second box group, 443-outer box, 444-inner box, 445-first limit spring hinge, 446-first double door, 447-second limit Spring hinge, 448-second double-leaf door, 45-fastening mechanism, 46-sliding door mechanism, 461-sliding tube, 462-first strong rubber band, 463-second strong rubber band, 464-pull rod, 465-check piece, 466-sliding through hole, 5-life protection system, 51-life support cabin, 52-oxygen cylinder, 6-electrical control system, 61-electrical control cabin, 62-control panel, 7-floor, 8-combination bracket. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0042] Refer to the attached Figure 1-13 The shown embodiment shows a fully rotating, full-view manned submersible, comprising a manned spherical shell 1, wherein a rotating seat system 2 is provided inside the manned spherical shell 1, a drive control system 3 is sleeved on the outer side of the bottom of the manned spherical shell 1, a floor 7 is fixed to the bottom of the rotating seat system 2, a combination bracket 8 is fixed to the bottom of the floor 7, and the bottom of the combination bracket 8 passes through the manned spherical shell 1 and is connected to the drive control system 3; a sampling operation system 4 is also installed on the top of the drive control system 3.

[0043] Specifically, the manned sphere 1 is made of fully transparent organic glass, with a thickness of t = 70mm and a radius of R = 1170mm, providing a 360-degree horizontal field of view within the cabin. A personnel access hatch 11 is defined at the top of the manned sphere 1. A hatch cover 12 is movably connected to the hatch 11 via a connecting member 13. The outer ring of the connecting member 13 is fixedly connected to the manned sphere 1, while the inner ring of the connecting member 13 is connected to the hatch cover 12 via a sealing ring 14, as shown in Appendix 2. A circular lighting strip 15 is also provided at the bottom of the connecting member 13.

[0044] Two connecting rods 16 are fixed to the top of the access hatch 12. A plurality of brackets 17 are fixed to the top of the connecting member 13. A rotating shaft 18 is fixed between the brackets 17. The end of the connecting rod 16, away from the access hatch 12, is rotatably mounted on the rotating shaft 18. Pulling the connecting rod 16 upward causes the connecting rod 16 and one end of the rotating shaft 18 to rotate, thereby driving the access hatch 12 to rotate, opening the access hatch 11 and facilitating the submersible's entry into the manned sphere 1. Conversely, the access hatch 11 can be closed. A lighting strip 15 can illuminate the interior of the manned sphere 1. The bottom of the manned sphere 1 is connected to the battery compartment 33 of the drive control system 3, and the battery compartment 33 surrounds the bottom of the manned sphere 1. It should be noted that, except for the necessary connection structures described in this application, all connections that require sealing are sealed using existing technologies to ensure a sealed environment for the manned sphere 1.

[0045] Preferably, the manned submersible set in the present invention is a kilometer-level submersible with an operating range within a depth of 1000 meters. The maximum pressure on the manned spherical shell 1 is 10 MPa. The nonlinear stability formula of the spherical shell is:

[0046]

[0047] Where, is the critical load for elastic instability, is the initial defect factor, is with The defect term multiplier, The maximum value is 1, v is Poisson's ratio, σ Take as the maximum stress when the spherical shell undergoes critical instability, yes σ The material modulus at the corresponding design stress. is the ratio of the thickness to the radius of the spherical shell and is a dimensionless quantity.

[0048] Furthermore, the elastic modulus of organic glass , Poisson's ratio v =0.32.F ( f R )=1, , t R = 70mm / 1170mm=0.0598, then:

[0049]

[0050] It was verified that the plexiglass manned sphere with a thickness of 70mm and a radius of 1170mm can fully withstand the pressure of 1000 meters underwater.

[0051] Furthermore, a floor 7 is provided in the manned spherical shell 1. The floor 7 is fixedly connected to the drive control system 3 via a combination bracket 8. A certain gap is provided between the floor 7 and the manned spherical shell 1 to prevent the organic glass from being strained and displaced under changes in water pressure. The strain-displacement formula is:

[0052]

[0053] Where, u is the strain displacement distance, R e is the outer radius of the manned spherical shell, R i is the inner radius of the manned spherical shell, K = R e / R i , k = r / R e , r is the radius of any point, E is the elastic modulus, v is Poisson's ratio, p o For pressure.

[0054] Specifically, to determine the spatial range of the cabin layout, it is necessary to calculate the strain displacement distance of the point on the radius of the manned spherical shell, so r= R i The outer radius of the manned spherical shell R e =1170mm, inner radius R i =1100mm, K =1170mm / 1100mm=1.064, k =1100mm / 1100mm=1, v =0.32, E =3160, p o=10Mpa. Then:

[0055]

[0056] The results show that the manned spherical shell 1 will be strained and compressed by 22mm under a pressure of 10Mpa. The gap between the floor 7 and the manned spherical shell 1 should be greater than or equal to 22mm. The safe position of the cabin layout is within the radius R’ = R i - u =1100mm-22mm=1078mm in the spherical space.

[0057] Furthermore, the rotating seat system 2 includes an upper seat 21, a lower seat 22, an upper rotating shaft system 23 and a lower rotating shaft system 24; the upper seat 21 is fixedly connected to the upper rotating shaft system 23, and the lower seat 22 is fixedly connected to the lower rotating shaft system 24. The upper rotating shaft system 23 and the lower rotating shaft system 24 are independently controlled, so that the upper seat 21 and the lower seat 22 can independently realize full-circle rotation.

[0058] The upper rotating shaft system 23 includes an upper rotating mounting plate 231, a lower flange 232, a support shaft 233, an upper flange 234, a cross roller bearing 235, a gear transmission mechanism 236, a drive motor 237 and a cylindrical lower fixed shell 238. The upper seat 21 is fixedly connected to the upper rotating mounting plate 231 by bolts. The upper rotating mounting plate 231 is rotatably sleeved outside the support shaft 233. An upper flange 234 is fixedly provided at the bottom of the upper rotating mounting plate 231. The outer ring 2351 of the cross roller bearing 235 is fixedly connected to the upper flange 234. The inner ring 2352 of the cross roller bearing 235 is sleeved outside the support shaft 233. Through the arrangement of the cross roller bearing 235, it can be ensured that the upper rotating mounting plate 231 can rotate 360 ​​degrees when the support shaft 233 is stationary.

[0059] The drive motor 237 is mounted on the bottom of the upper flange 234 by bolts, and the drive motor 237 is connected to the support shaft 233 by a gear transmission mechanism 236. The gear transmission mechanism 236 includes a large flange gear 2361 and a small rotating gear 2362. The bottom of the large flange gear 2361 is fixedly connected to the lower flange 232 by bolts, and the top of the large flange gear 2361 is also fixedly connected to the bottom of the support shaft 233 by bolts. That is, the support shaft 233, the large flange gear 2361 and the lower flange 232 are fixed to form an integral, immovable structure. The output end of the drive motor 237 is connected to the small rotating gear 2362, and the small rotating gear 2362 and the large flange gear 2361 are meshed with each other; the lower fixed shell 238 is fixed on the top of the lower flange 232, and the gear transmission mechanism 236 and the drive motor 237 are both located in the lower fixed shell 238. When the driving motor 237 is working, it drives the small rotating gear 2362 to rotate. Since the support shaft 233, the large flange gear 2361 and the lower flange plate 232 are fixed, the small rotating gear 2362 rotates circumferentially around the outer circumference of the large flange gear 2361, thereby driving the driving motor 237, the upper flange plate 234 and the upper rotating mounting plate 231 to rotate, thereby realizing the rotation of the upper seat 21.

[0060] A rotary encoder 2391 is also mounted on the bottom of the upper flange 234 and is coaxially connected to the drive motor 237. A light shield 2393 is fixed to the bottom of the outer ring 2351 of the cross-roller bearing 235. Two photoelectric limit switches 2392 are symmetrically mounted 180 degrees on the outer wall of the support shaft 233. The drive motor 237 is a servo motor. The rotation angle feedback from the rotary encoder 2391 and the absolute position feedback from the photoelectric limit switches 2392 are used to obtain rotational position information, which is fed back to the servo motor for comparison and compensation. This accurately controls the rotation of the upper rotating mounting plate 231, achieving high positioning accuracy and smoother rotation of the upper rotating mounting plate 231.

[0061] The structure of the lower rotating shaft system 24 is the same as that of the upper rotating shaft system 23, and the lower flange 232 in the upper rotating shaft system 23 is fixedly connected to the top surface of the support shaft 233 in the lower rotating shaft system 24, and the lower seat 22 and the upper rotating mounting plate 231 in the lower rotating shaft system 24 are fixedly connected through the seat bracket 25; the lower flange 232 in the lower rotating shaft system 24 is fixedly connected to the floor 7.

[0062] Furthermore, the drive control system 3 includes a directional propeller assembly 31, a vertical propeller assembly 32, a battery compartment 33, and a buoyancy compartment 34. The directional propeller assembly 31 is installed at the four outer corners of the buoyancy compartment 34 through directional fixing brackets 35, so that the drive control system 3 can move horizontally. The vertical propeller assembly 32 is installed at the four top corners of the buoyancy compartment 34 through vertical fixing brackets 36, so that the drive control system 3 can move longitudinally. The buoyancy compartment 34 is provided with a battery compartment 33, and the battery compartment 33 is equipped with six groups of batteries 331, which are distributed in a circular and equidistant manner in the battery compartment 33 to provide power for the entire submersible. It should be noted that the directional propeller assembly 31 and the vertical propeller assembly 32 in the present invention both adopt the propeller assembly in the prior art, so they are not described in detail in this application.

[0063] Furthermore, the sampling operation system 4 includes a mechanical arm assembly 41, an operation rotating shaft system 42, a sampling rotating platform 43 and a sampling basket assembly 44;

[0064] The sampling rotating platform 43 is located between the battery compartment 33 and the buoyancy compartment 34, and the sampling rotating platform 43 is connected to the battery compartment 33 and the buoyancy compartment 34 through the operating rotating shaft system 42. The operating rotating shaft system 42 has the same structure as the upper rotating shaft system 23. The sampling rotating platform 43 is fixedly connected to the upper rotating mounting plate in the operating rotating shaft system 42, the battery compartment 33 is fixedly connected to the top of the support shaft in the operating rotating shaft system 42, and the buoyancy compartment 34 is fixedly connected to the lower flange in the operating rotating shaft system 42; the robotic arm assembly 41 is fixedly mounted on the top of the sampling rotating platform 43, and sampling basket assemblies 44 are provided on both sides of the buoyancy compartment 34.

[0065] More specifically, the sampling basket assembly 44 includes a first box group 441 , a second box group 442 , a fastening mechanism 45 , and a sliding door mechanism 46 ;

[0066] The fastening mechanism 45 is located on the outside of the first box group 441 and the second box group 442, and the first box group 441 and the second box group 442 are connected to the buoyancy chamber 34 through the fastening mechanism 45. The fastening mechanism 45 adopts a plate-like structure and is connected to the buoyancy chamber 34 by bolts; the first box group 441 and the second box group 442 are fixedly connected in parallel, and the first box group 441 and the second box group 442 have the same structure, and the first box group 441 and the second box group 442 are both provided with the sliding door mechanism 46.

[0067] The first box assembly 441 includes an outer box 443 and an inner box 444. The side of the outer box 443 away from the inner box 444 is movably connected to a first double-door 446 via a first limit spring hinge 445. The side of the inner box 444 close to the outer box 443 is movably connected to a second double-door 448 via a second limit spring hinge 447. Both the outer box 443 and the inner box 444 are movably provided with a sliding door mechanism 46.

[0068] The sliding door mechanism 46 includes a sliding tube 461, a first strong rubber band 462, a second strong rubber band 463, a pull rod 464 and a check member 465; one end of the first strong rubber band 462 and the second strong rubber band 463 are respectively fixedly connected to the two doors of the first double-door 446; the sliding tube 461 is fixedly arranged on the inner side of the top of the first box group 441, and a sliding through hole 466 is opened at the position corresponding to the sliding tube 461 on the top of the first box group 441. The other ends of a strong rubber band 462 and a second strong rubber band 463 pass through the slide tube 461 and then pass through the first housing assembly 441 through the sliding through hole 466. The other ends of the first and second strong rubber bands 462 and 463 are fixedly connected to the pull rod 464, which is located outside the first housing assembly 441. An L-shaped check member 465 is also fixed to the top outer side of the first housing assembly 441 and matches the pull rod 464. When the mechanical arm assembly 41 pulls upward, the pull rod 446 converts the vertical force into a horizontal pulling force through the slide tube 461, thereby opening the double-leaf door. When the double-leaf door is closed, the pull rod 464 is locked on the check member 465 and fixed to the top of the housing assembly through the check member 465. The mechanical arm assembly 41 is flexible in operation, and the sampling basket assembly 44 makes the sampling operation and storage process more reliable and convenient.

[0069] Furthermore, a life protection system 5 and an electrical control system 6 are also provided in the manned spherical shell 1. The life protection system 5 includes a life support cabin 51 and an oxygen cylinder 52. The oxygen cylinder 52 is located in the life support cabin 51; the electrical control system 6 includes an electrical control cabin 61 and a control panel 62. The electrical control cabin 61 is installed on the top of the support shaft 233 of the upper rotating shaft system 23 by bolts, and the control panel 62 is installed outside the electrical control cabin 61 and is symmetrically distributed at 180 degrees. The life support cabin 51 is fixedly installed on the top of the electrical control cabin 61.

[0070] The operating principle of the present invention is as follows: When the manned submersible is in use, a submersible enters the manned spherical shell 1 through the personnel access hatch 11 and closes the access hatch 12. The submersible's diving depth and direction are controlled by the directional thruster assembly 31 and the vertical thruster assembly 32. The manned spherical shell 1 can accommodate two submersibles simultaneously, controlling the drive motors 237 in the upper rotating shaft system 23 and the lower rotating shaft system 24, respectively, to adjust the orientation of the upper seat 21 and the lower seat 22. This allows for 360-degree, full-view observation and corresponding underwater operations without changing the submersible's direction.

[0071] When sampling work is required, without changing the navigation direction of the submersible, the sampling rotating platform 43 is controlled to rotate by controlling the driving motor 237 in the operating rotating shaft system 42, so that the mechanical arm assembly 41 is located above the corresponding sampling basket assembly 44. By making the mechanical arm assembly 41 pull the pull rod 464 in the sampling basket assembly 44, the corresponding double doors can be opened and the sampled samples can be stored. The entire submersible includes 8 sample storage spaces, which can be used for classified storage of samples to improve space utilization.

[0072] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A full-circle, full-view manned submersible, comprising a manned spherical shell (1), characterized in that: The manned spherical shell (1) is made of fully transparent organic glass; a rotating seat system (2) is provided in the manned spherical shell (1); a driving control system (3) is sleeved on the outer side of the bottom of the manned spherical shell (1); a floor (7) is fixedly provided at the bottom of the rotating seat system (2); a combination bracket (8) is fixedly provided at the bottom of the floor (7); the bottom of the combination bracket (8) passes through the manned spherical shell (1) and is connected to the driving control system (3); a sampling operation system (4) is also installed on the top of the driving control system (3); The rotating seat system (2) comprises an upper seat (21), a lower seat (22), an upper rotating shaft system (23) and a lower rotating shaft system (24); the structure of the lower rotating shaft system (24) is the same as that of the upper rotating shaft system (23); The upper rotating shaft system (23) includes an upper rotating mounting plate (231), a lower flange (232), a support shaft (233), an upper flange (234), a cross roller bearing (235), a gear transmission mechanism (236), a drive motor (237) and a cylindrical lower fixed housing (238); the upper rotating mounting plate (231) is rotatably sleeved outside the support shaft (233); the lower flange (232) is fixedly connected to the bottom of the support shaft (233); and the upper seat (21) is fixedly connected to the top surface of the upper rotating mounting plate (231); An upper flange (234) is fixedly provided at the bottom of the upper rotating mounting plate (231); an outer ring (2351) of the cross roller bearing (235) is fixedly connected to the upper flange (234); and an inner ring (2352) of the cross roller bearing (235) is sleeved outside the support shaft (233); the drive motor (237) is mounted at the bottom of the upper flange (234), and the drive motor (237) and the support shaft (233) are connected in transmission via a gear transmission mechanism (236); the lower fixed housing (238) is fixedly provided at the top of the lower flange (232), and the gear transmission mechanism (236) and the drive motor (237) are both located in the lower fixed housing (238); The sampling operation system (4) includes a mechanical arm assembly (41), an operation rotating shaft system (42), a sampling rotating platform (43) and a sampling basket assembly (44); the mechanical arm assembly (41) is fixed on the top of the sampling rotating platform (43); the sampling basket assembly (44) includes a first box group (441), a second box group (442), a fastening mechanism (45) and a sliding door mechanism (46); the first box group (441) includes an outer box (443) and an inner box (444), The side of the outer box (443) away from the inner box (444) is movably connected to a first double-door (446), and the side of the inner box (444) close to the outer box (443) is movably connected to a second double-door (448); both the outer box (443) and the inner box (444) are movably provided with a sliding door mechanism (46); the corresponding first double-door (446) and second double-door (448) can be opened or closed by the mutual cooperation of the sliding door mechanism (46) and the mechanical arm assembly (41); The sliding door mechanism (46) includes a sliding tube (461), a first strong rubber band (462), a second strong rubber band (463), a pull rod (464) and a check member (465); one end of the first strong rubber band (462) and the second strong rubber band (463) are respectively fixedly connected to the two doors of the first double-door (446); the sliding tube (461) is fixed on the inner side of the top of the first box group (441), and a sliding through hole (466) is opened at a position corresponding to the sliding tube (461) on the top of the first box group (441). After the other ends of the strong rubber band (462) and the second strong rubber band (463) pass through the sliding tube (461), they pass through the first box group (441) from the sliding through hole (466), and the other ends of the first strong rubber band (462) and the second strong rubber band (463) are fixedly connected to the pull rod (464), and the pull rod (464) is located outside the first box group (441). An L-shaped check piece (465) is also fixed on the outer side of the top of the first box group (441), and the check piece (465) matches the pull rod (464).

2. The fully rotating, full-view manned submersible according to claim 1, characterized in that: The lower flange (232) in the upper rotating shaft system (23) is fixedly connected to the top surface of the support shaft (233) in the lower rotating shaft system (24); the lower seat (22) is fixedly connected to the upper rotating mounting plate (231) in the lower rotating shaft system (24) via a seat bracket (25); and the lower flange (232) in the lower rotating shaft system (24) is fixedly connected to the floor (7).

3. The fully rotating, full-view manned submersible according to claim 1, characterized in that: The gear transmission mechanism (236) includes a large flange gear (2361) and a small rotating gear (2362), the bottom of the large flange gear (2361) is fixedly connected to the lower flange plate (232), the top of the large flange gear (2361) is fixedly connected to the support shaft (233), the output end of the drive motor (237) is connected to the small rotating gear (2362), and the small rotating gear (2362) and the large flange gear (2361) are meshed with each other; A rotary encoder (2391) is also installed at the bottom of the upper flange (234), and the rotary encoder (2391) is coaxially connected to the drive motor (237). A light shielding plate (2393) is fixed to the bottom of the outer ring (2351) of the cross roller bearing (235), and two photoelectric limit switches (2392) are symmetrically installed on the outer side wall of the support shaft (233).

4. The fully rotating, full-view manned submersible according to claim 1, characterized in that: The drive control system (3) comprises a directional propeller assembly (31), a vertical propeller assembly (32), a battery compartment (33) and a buoyancy compartment (34). The directional propeller assembly (31) is mounted at the four outer corners of the buoyancy compartment (34) via directional fixing brackets (35). The vertical propeller assembly (32) is mounted at the four top corners of the buoyancy compartment (34) via vertical fixing brackets (36). The buoyancy compartment (34) is provided with a battery compartment (33), and a plurality of batteries (331) are mounted in the battery compartment (33).

5. The fully rotating, full-view manned submersible according to claim 4, characterized in that: The sampling rotating platform (43) is located between the battery compartment (33) and the buoyancy compartment (34), and the sampling rotating platform (43) is connected to the battery compartment (33) and the buoyancy compartment (34) through the operating rotating shaft system (42). The operating rotating shaft system (42) has the same structure as the upper rotating shaft system (23). The sampling rotating platform (43) is fixedly connected to the upper rotating mounting plate in the operating rotating shaft system (42), the battery compartment (33) is fixedly connected to the top of the support shaft in the operating rotating shaft system (42), and the buoyancy compartment (34) is fixedly connected to the lower flange in the operating rotating shaft system (42); sampling basket assemblies (44) are provided on both sides of the buoyancy compartment (34).

6. The fully rotating, full-view manned submersible according to claim 5, characterized in that: The fastening mechanism (45) is located outside the first box group (441) and the second box group (442), and the first box group (441) and the second box group (442) are connected to the buoyancy chamber (34) through the fastening mechanism (45); the first box group (441) and the second box group (442) are fixedly connected in parallel, and the first box group (441) and the second box group (442) have the same structure, and the sliding door mechanism (46) is provided in both the first box group (441) and the second box group (442).

7. The fully rotating, full-view manned submersible according to claim 1, characterized in that: A personnel access hatch (11) is provided on the top of the manned spherical shell (1), and an access hatch cover (12) is movably connected to the personnel access hatch (11) via a connecting member (13). The outer ring of the connecting member (13) is fixedly connected to the manned spherical shell (1), and the inner ring of the connecting member (13) is connected to the access hatch cover (12) via a sealing ring (14); an annular lighting strip (15) is also provided at the lower portion of the connecting member (13); Two connecting rods (16) are fixedly provided on the top of the access hatch (12), a plurality of brackets (17) are fixedly provided on the top of the connecting member (13), a rotating shaft (18) is fixedly provided between the plurality of brackets (17), and an end of the connecting rod (16) away from the access hatch (12) is rotatably sleeved on the rotating shaft (18).

8. The fully rotating, full-view manned submersible according to claim 1, characterized in that: A life protection system (5) and an electrical control system (6) are further provided in the manned spherical shell (1). The life protection system (5) comprises a life protection cabin (51) and an oxygen cylinder (52), wherein the oxygen cylinder (52) is located in the life protection cabin (51); and the electrical control system (6) comprises an electrical control cabin (61) and a control panel (62), wherein the control panel (62) is installed outside the electrical control cabin (61).

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