A small amphibious unmanned underwater vehicle and a cluster thereof

Abstract

The present application belongs to the field of underwater vehicles, and particularly relates to a small amphibious unmanned underwater vehicle and a cluster thereof. The small amphibious unmanned underwater vehicle provided by the present application comprises a body, a propulsion assembly, a floating and sinking assembly and a gravity center assembly. The small amphibious unmanned underwater vehicle and the cluster thereof provided by the present application can run in water and land environments without changing the driving mode, and are suitable for various harsh environments, such as water, mudflats, marshes, snow-covered land, deserts and the like. The typical application is as a cross-water-land unmanned close-in reconnaissance equipment in landing operations. The present application has a built-in watertight compartment, and can carry various mission payloads. The present application can realize combined operation of multiple underwater vehicles. According to the task requirements, the number of combinations and the mission payload carrying scheme can be freely selected. The typical combination mode is a double-body combination mode. The present application can realize depth-keeping navigation in water.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of underwater vehicles, and particularly relates to a small amphibious unmanned underwater vehicle and a cluster thereof. BACKGROUND

[0002] At present, unmanned aerial vehicles, unmanned vehicles, unmanned ships and other military equipment develop rapidly and become multipliers of combat effectiveness, and are successfully applied to reconnaissance, transportation, harassment, cover, attack and other combat operations. However, the current unmanned equipment is applied to a single combat environment, has poor adaptability to the environment, and is difficult to meet the needs of complex combat tasks, such as landing operations, snow operations, desert operations, marsh operations and underwater operations. SUMMARY

[0003] The small amphibious unmanned underwater vehicle and the cluster thereof provided by the present application can adapt to various combat environments, can be combined and disassembled, and have a small structure.

[0004] The small amphibious unmanned underwater vehicle provided by the present application comprises a body, a propulsion assembly, a floating and sinking assembly and a gravity center assembly.

[0005] The body has front-back symmetry and left-right symmetry, and the four side surfaces of the body are provided with electromagnetic adsorption devices; the electromagnetic adsorption device comprises a magnetic pole reversing circuit.

[0006] The propulsion assembly comprises a spiral roller, a roller driving member and a movable arm; the spiral roller has two groups and is symmetrically arranged on the two sides of the body, each group comprises a left-handed spiral roller and a right-handed spiral roller, the rotation directions of the two spiral rollers in each group are opposite and the axis lines of the two spiral rollers in each group coincide, and the total length of the two spiral rollers in each group does not exceed the length of the side of the body; the roller driving member drives the roller to rotate around the axis line thereof; one end of the movable arm is hinged to the body, the other end of the movable arm is hinged to the spiral roller, and the rotation of the one end of the movable arm around the hinged axis line can make the spiral roller rotate completely to the bottom of the body.

[0007] The floating and sinking assembly comprises a cylinder, a push rod mechanism and a piston; the cylinder is sleeve-shaped, one end of the cylinder is a sealed end, and the other end of the cylinder is an open end; the push rod mechanism is a sealed structure of a push rod, the end of the push rod extends into the sealed end of the cylinder and is fixed with the piston, and the push rod can drive the piston to move back and forth in the cylinder in a sealed manner; the floating and sinking assembly has two groups and is symmetrically arranged on the body, and the open ends of the cylinders of the two groups of floating and sinking assemblies face opposite directions.

[0008] The gravity center assembly comprises a frame, a sliding rod, a counterweight sliding block and a counterweight driving member; the frame is arranged on the body and located between the two groups of floating and sinking assemblies; the sliding rod is fixed on the frame and the axis line of the sliding rod is parallel to the axis line of the cylinder; the counterweight sliding block is arranged on the sliding rod; and the counterweight driving member drives the counterweight sliding block to slide back and forth on the sliding rod.

[0009] As a further optimization of the present application, the body is in the shape of a shell; the floating and sinking assembly and the gravity center assembly are arranged in the body.

[0010] As a further optimization of the present application, the middle part of the movable arm is provided with a propeller and a propeller drive for driving the propeller to rotate.

[0011] As a further optimization of the present application, the propulsion assembly further comprises a movable arm drive fixed on the body, which drives the movable arm to rotate around the hinge shaft where the movable arm is hinged to the body; the movable arm drives of each set of propulsion assemblies are arranged in diagonal pairs.

[0012] As a further optimization of the present application, the movable arm drive comprises a gear motor, a driving gear and a driven gear; the gear motor drives the driving gear to rotate; the driving gear is engaged with the driven gear; the center of the driven gear is connected to one end of the movable arm and can drive the movable arm to rotate around the center line of the driven gear.

[0013] As a further optimization of the present application, a plurality of limiting holes are arranged on the driven gear; further comprising a limiting assembly; the limiting assembly comprises a limiting motor, a limiting connecting rod and a limiting pin; one end of the limiting motor is connected to the limiting rod, the other end of the limiting connecting rod is hinged to one end of the limiting pin, and the other end of the limiting pin can be inserted into and separated from the limiting hole under the drive of the limiting motor.

[0014] As a further optimization of the present application, each set of spiral rollers is provided with a movable arm, the movable arm is located between the two spiral rollers of each set, the other end of the movable arm is in the shape of a sleeve, and the two ends of the sleeve of the movable arm are respectively sleeved on the opposite ends of the two spiral rollers of each set; the roller drive is arranged in the sleeve of the movable arm.

[0015] As a further optimization of the present application, the propulsion assembly further comprises a propulsion connecting rod, one end of the propulsion connecting rod is hinged to the body, and the other end of the propulsion connecting rod is hinged to the end of the spiral roller set.

[0016] As a further optimization of the present application, further comprising a watertight compartment; the watertight compartment is arranged on the top of the body, and the watertight compartment comprises a warehouse, a warehouse cover and a warehouse cover drive; the warehouse cover drive drives the warehouse cover to rotate around the hinge shaft where the warehouse cover is hinged to the warehouse to close on the warehouse;

[0017] The warehouse is in the shape of a sleeve; a plurality of integral external threads are arranged on the outer circle of the opening end of the warehouse;

[0018] The warehouse cover comprises a cover sleeve, a cover handle, a cover sleeve gear and a cover sleeve drive; the inner circle of the opening end of the cover sleeve is provided with a plurality of internal protrusions corresponding to the external protrusions, and the outer circle of the closed end of the cover sleeve is provided with a plurality of external tooth segments; one end of the cover handle is rotatably connected to the center of the closed end of the cover sleeve, and the other end of the cover handle is fixed on the hinge shaft where the warehouse cover is hinged to the warehouse; the cover sleeve gear is engaged with the external tooth segments; the cover sleeve drive is fixed on the cover handle, and the output end of the cover sleeve drive drives the cover sleeve gear to rotate.

[0019] The present invention also provides a small amphibious unmanned underwater vehicle cluster, comprising several of the aforementioned underwater vehicles, characterized in that the underwater vehicles are arranged in an array and connected to each other by an electromagnetic adsorption device.

[0020] The present invention provides a small amphibious unmanned underwater vehicle and its swarm, which has at least the following beneficial effects:

[0021] 1. This invention adopts a spiral propulsion mechanism, which can operate in both water and land environments without changing the drive method. It is suitable for a variety of harsh environments, such as water, mudflats, swamps, snowfields, and deserts. A typical application is as an unmanned close-in reconnaissance equipment that crosses water and land in amphibious operations.

[0022] 2. The present invention has a built-in watertight compartment that can carry various mission payloads. The typical mission payload is a drone, which can complete the joint reconnaissance mission between space and ground. It can also be loaded with munitions for attack or sabotage to perform missions such as attack, harassment, and obstacle clearing.

[0023] 3. The present invention has a built-in docking mechanism, which can realize the combined operation of multiple submersibles. According to the mission requirements, the number of combinations and the mission payload loading scheme can be freely selected. The typical combination method is the catamaran combination method.

[0024] 4. The present invention is equipped with a buoyancy adjustment mechanism and a lifting propeller, which can precisely adjust the buoyancy of the submersible and achieve constant depth navigation in water. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the external structure of Example 1;

[0026] Figure 2 yes Figure 1 Schematic diagram of the structure after the main body compartment is hidden;

[0027] Figure 3 yes Figure 2 Structural diagram viewed from below;

[0028] Figure 4 yes Figure 3 Schematic diagram of the structure cut AA;

[0029] Figure 5 yes Figure 3 Schematic diagram of the BB structure;

[0030] Figure 6 yes Figure 3 Schematic diagram of the cross-section of the center of gravity component in the structure;

[0031] Figure 7 yes Figure 1 Schematic diagram of the watertight compartment in the structure;

[0032] Figure 8yes Figure 2 Enlarged schematic diagram of part of the CC structure;

[0033] Figure 9 This is a schematic diagram of the structure of Example 2;

[0034] The components include: body 1, body compartment 1a, body cover 1b, electromagnetic adsorption device 1c, propulsion assembly 2, spiral roller 2a, roller drive component 2b, movable arm 2c, movable arm drive component 2c1, gear motor 2c1a, driving gear 2c1b, driven gear 2c1c, limiting hole 2c1d, mounting plate 2c1e, propulsion connecting rod 2d, floating assembly 3, cylinder 3a, push rod mechanism 3b, piston 3c, center of gravity assembly 4, frame 4a, through hole 4a1, and slide rod 4b. Counterweight slider 4c, counterweight drive component 4d, counterweight drive motor 4d1, crossbar 4d2, swing arm 4d3, long slot hole 4d3a, watertight compartment 5, warehouse 5a, outward protrusion 5a1, warehouse cover 5b, cover sleeve 5b1, inward protrusion 5b1a, external toothed section 5b1b, cover handle 5b2, cover sleeve gear 5b3, cover sleeve drive component 5b4, warehouse cover drive component 5c, propeller 6a, propeller drive 6b, limit assembly 7, limit motor 7a, limit link 7b, limit pin 7c. Detailed Implementation

[0035] like Figures 1-3 As shown, this embodiment includes a main body 1, a propulsion component 2, a buoyancy component 3, and a center of gravity component 4.

[0036] The main body 1 has a symmetrical structure both front-to-back and left-to-right. In this embodiment, the main body 1 is shell-shaped, specifically, it is constructed by welding sheet metal into a cubic structure. The main body 1 includes a main body compartment 1a with an opening in the upward direction, and a main body cover 1b that seals the opening of the main body compartment 1a. The buoyancy component 3 and the center of gravity component 4 are both located inside the main body compartment 1a. In other embodiments, the main body 1 can be made into a solid shape, and the buoyancy component 3 and the center of gravity component 4 can be fixed to the top or bottom surface of the main body 1.

[0037] In this embodiment, electromagnetic adsorption devices 1c are provided on all four sides of the main body 1 (front, back, left, and right). Several main bodies 1 can be assembled into a larger cluster of submersibles using the electromagnetic adsorption devices 1c. The electromagnetic adsorption device 1c includes a magnetic pole reversal circuit. By controlling the direction of the magnetic poles, the electromagnetic adsorption devices 1c that were originally attracted to each other can generate a repulsive force, causing the cluster of submersibles to disintegrate.

[0038] The propulsion assembly 2 includes a spiral roller 2a, a roller drive component 2b, and a movable arm 2c.

[0039] The spiral roller 2a has spiral strips set on the arc-shaped sidewall of the roller. There are two sets of spiral rollers 2a, which are symmetrically arranged on both sides of the main body 1. Each set includes a left-hand spiral roller 2a and a right-hand spiral roller 2a, and the axis lines of the two spiral rollers 2a in the same set coincide. The total length of the two spiral rollers 2a in each set does not exceed the length of the side fixed to the main body 1.

[0040] The roller drive component 2b drives the spiral rollers 2a to rotate around the roller's axis. The roller drive component 2b is typically powered by a motor. By controlling the rotation of the four spiral rollers 2a, the submersible can move forward, backward, left, and right, whether on land or in water. For example, when the two spiral rollers 2a rotate inward, the submersible moves forward; when the two spiral rollers 2a rotate outward, the submersible moves backward. Acceleration and deceleration are achieved by controlling the rotational speed of the roller drive component 2b. The four spiral rollers 2a coordinately control forward propulsion, while differential speed control controls direction. For example, when the roller drive components 2b rotate in the same direction and at the same speed, stationary rotation is achieved; when one roller drive component 2b stops while the other rotates, a small-radius turn is achieved; when the two roller drive components rotate in the same direction but at different speeds, a large-radius turn is achieved.

[0041] One end of the movable arm 2c is hinged to the main body 1, and the other end of the movable arm 2c is hinged to the spiral drum 2a. The rotation of one end of the movable arm 2c around its hinge axis may drive the spiral drum 2a to rotate. The rotation range of the movable arm 2c is at least enough to allow the spiral drum 2a to rotate completely to the bottom of the main body 1. In this way, when the cluster is combined, there will be no interference between the spiral drums 2a of different submarines.

[0042] Furthermore, this embodiment also includes a movable arm drive component 2c1 in the propulsion assembly 2. The movable arm drive component 2c1 is fixed to the body 1, and the movable arm drive component 2c1 drives the movable arm 2c to rotate around the axis of hinge with the body 1. That is, the swing of the movable arm 2c is controlled automatically.

[0043] Specifically, such as Figure 8 As shown, the movable arm drive component 2c1 in this embodiment includes a gear motor 2c1a, a driving gear 2c1b, and a driven gear 2c1c. The gear motor 2c1a drives the driving gear 2c1b to rotate. The driving gear 2c1b meshes with the driven gear 2c1c and can drive the driven gear 2c1c to rotate. The center of the driven gear 2c1c is connected to one end of the movable arm 2c and can drive the movable arm 2c to rotate around the center line of the driven gear 2c1c. For ease of installation, this embodiment also provides a mounting plate 2c1e. One side of the mounting plate 2c1e is fixed to the side of the body 1. The gear motor 2c1a, the driving gear 2c1b, and the driven gear 2c1c are all mounted on the mounting plate 2c1e.

[0044] In other embodiments, the driven gear 2c1c and the driving gear 2c1b may not be provided, and the rotation of the movable arm 2c may be directly controlled by a motor, or the same function may be achieved by a crank-connecting rod mechanism.

[0045] like Figure 8 As shown, in order to precisely control the swing angle of the movable arm 2c, the transmission ratio between the driven gear 2c1c and the driving gear 2c1b in this embodiment is greater than 1. At the same time, a limiting hole 2c1d can be provided on the tooth surface of the driven gear 2c1c with a larger nominal diameter. Specifically, several limiting holes 2c1d are provided, and a limiting component 7 is provided on the mounting plate 2c1e.

[0046] The limiting assembly 7 includes a limiting motor 7a, a limiting link 7b, and a limiting pin 7c. The output of the limiting motor 7a is connected to one end of the limiting bar; rotation of the limiting motor 7a causes the other end of the limiting bar to rotate around the output axis of the limiting motor 7a. The other end of the limiting link 7b is hinged to one end of the limiting pin 7c; the other end of the limiting pin 7c, driven by the limiting motor 7a, can insert into and disengage from the limiting hole 2c1d. When the movable arm 2c rotates to a certain angle, the insertion of the limiting pin 7c into the limiting hole 2c1d restricts the rotation of the movable arm 2c.

[0047] To ensure overall symmetry, in this embodiment, the movable arm drive components 2c1 of each propulsion assembly 2 are arranged diagonally.

[0048] In addition to swinging the spiral roller 2a to the bottom of the main body 1 for easy cluster assembly, the movable arm 2c can also raise or lower the height of the main body 1 by controlling the swing angle, making it suitable for high-altitude strikes and low-altitude concealment. In fact, while adjusting the height of the main body 1, the movable arm 2c also controls the width of the submarine. In some smaller gaps, by raising the main body 1, the submarine can be made to pass through narrower gaps.

[0049] In this embodiment, a propeller 6a and a propeller drive 6b that drives the propeller 6a to rotate are provided in the middle of the movable arm 2c. When in water, the propeller 6a and propeller drive 6b in the middle of the two movable arms 2c on both sides can realize the vertical movement of the submersible. When the two propeller drives 6b rotate clockwise at the same time, the submersible floats up; when the two propeller drives 6b rotate counterclockwise at the same time, the submersible dives down.

[0050] In other embodiments, each set of spiral rollers 2a may also have two movable arms 2c located at both ends of each set of spiral rollers 2a. In this embodiment, each set of spiral rollers 2a has only one movable arm 2c, which is located between the left-hand spiral roller 2a and the right-hand spiral roller 2a. The other end of the movable arm 2c is sleeve-shaped, such as... Figure 4As shown, the two ends of the sleeve of the movable arm 2c are respectively fitted onto one end of the left-hand spiral drum 2a and the right-hand spiral drum 2a, and the drum drive component 2b is disposed inside the sleeve of the movable arm 2c. Integrating the drum drive component 2b inside the sleeve of the movable arm 2c makes the structure of the submersible more compact and small. Furthermore, the propulsion assembly 2 also includes a propulsion link 2d, one end of which is hinged to the body 1, and the other end of which is hinged to the end of the spiral drum 2a assembly.

[0051] like Figure 5 As shown, the buoyancy assembly 3 includes a cylinder 3a, a push rod mechanism 3b, and a piston 3c. The buoyancy assembly 3 is fixed to the bottom surface of the main body cover 1b.

[0052] The cylinder 3a is sleeve-shaped, with one end being a sealed end and the other end being an open end. The push rod mechanism 3b is a sealing structure that pushes out the push rod. Specifically, it can be an electric push rod or a ball screw structure. The end of the push rod extends into the sealed end of the cylinder 3a and is fixed to the piston 3c. The push rod can push the piston 3c to make a sealed back-and-forth movement inside the cylinder 3a. Specifically, a sealing rubber ring can be fitted on the contact surface between the piston 3c and the cylinder 3a. In this embodiment, the movement of the piston 3c can control the water intake at the open end of the cylinder 3a, thereby changing the buoyancy of the buoyancy assembly 3. There are two sets of buoyancy assemblies 3, symmetrically arranged on the main body 1. The open ends of the cylinders 3a of the two sets of buoyancy assemblies 3 face opposite directions. This arrangement is to ensure that when the buoyancy of the buoyancy assembly 3 is adjusted, the center of gravity of the submersible is kept as central as possible, avoiding a situation where one side has high buoyancy and the other side has low buoyancy, causing the submersible to tilt.

[0053] like Figure 6As shown, the center of gravity assembly 4 includes a frame 4a, a sliding rod 4b, a counterweight slider 4c, and a counterweight drive component 4d. In this embodiment, the frame 4a is fixed to the bottom surface of the main body cover 1b and located between the two sets of floating and sinking assemblies 3. The axis of the sliding rod 4b is parallel to the axis of the cylinder 3a, and both ends of the sliding rod 4b are fixed to the frame 4a. The counterweight slider 4c is sleeved on the sliding rod 4b and can slide back and forth along the length of the sliding rod 4b. The counterweight drive component 4d drives the slider to slide back and forth on the sliding rod. Specifically, the counterweight drive component 4d includes a counterweight drive motor 4d1, a crossbar 4d2, and a swing arm 4d3. The output shaft of the counterweight drive motor 4d1 acts on one end of the swing arm 4d3. The swing arm 4d3 has a long slot 4d3a along its length. The crossbar 4d2 is perpendicular to the slide bar 4b and passes through the counterweight slider 4c. The crossbar 4d2 also passes through the long slot 4d3a. Under the action of the counterweight drive motor 4d1, the swing arm 4d3 swings back and forth. Simultaneously, a through hole parallel to the slide bar 4b needs to be provided on the frame 4a. The end of the crossbar 4d2 is placed in the through hole 4a1. The long slot allows the crossbar 4d2 to move back and forth within the through hole 4a1, thereby driving the counterweight slider 4c to slide back and forth on the slide bar 4b, thus adjusting the center of gravity. In other embodiments, the counterweight drive component 4d can also directly adopt other forms of crank-slider structures.

[0054] like Figure 7 As shown, this embodiment also includes a watertight compartment 5, which can be used to park drones or place other objects. The watertight compartment 5 is located on the top of the main body 1 and includes a storage compartment 5a, a cover 5b, and a cover drive component 5c. The cover drive component 5c drives the cover 5b to rotate around a hinge axis that is hinged to the storage compartment 5a, thereby covering the storage compartment 5a. To ensure the sealing performance of the watertight compartment 5 after it is closed, a sealing ring is essential. As a common method, the sealing ring will not be described in detail here. It should be noted that, in order to ensure the covering effect between the cover 5b and the storage compartment 5a, the storage compartment 5a is made into a sleeve shape. The outer ring of the opening end of the storage compartment 5a has several integrally externally threaded protrusions 5a1.

[0055] The cover 5b includes a cover sleeve 5b1, a cover handle 5b2, a cover sleeve gear 5b3, and a cover sleeve drive 5b4. The cover sleeve 5b1 is shaped like a cover sleeve. The inner ring of the open end of the cover sleeve 5b1 has an inner protrusion 5b1a corresponding to the outer protrusion 5a1, and the outer ring of the closed end of the cover sleeve 5b1 has several external toothed segments 5b1b. One end of the cover handle 5b2 is rotatably connected to the center of the closed end of the cover sleeve 5b1, and the other end of the cover handle 5b2 is fixed to the hinge shaft for the cover 5b to close. The cover sleeve gear 5b3 meshes with the external toothed segments 5b1b. The cover sleeve drive 5b4 is fixed to the cover handle 5b2, and the output end of the cover sleeve drive 5b4 is connected to the center of the cover sleeve gear 5b3 and can drive the cover sleeve gear 5b3 to rotate. The closing process is as follows:

[0056] Driven by the cover drive 5c, the cover 5b rotates around the hinge axis that connects it to the warehouse 5a and closes onto the warehouse 5a. At this time, the outer protrusion 5a1 and the inner protrusion 5b1a are misaligned. Then, the cover drive 5b4 drives the cover gear 5b3 to rotate. The cover gear 5b3 drives the outer toothed section 5b1b, which in turn drives the cover 5b1 to rotate. The rotation of the cover 5b1 causes the outer protrusion 5a1 and the inner protrusion 5b1a to overlap. Since the outer protrusion 5a1 is an integral external thread structure, as more and more of the outer protrusion 5a1 and the inner protrusion 5b1a overlap, the squeezing force between the outer protrusion 5a1 and the inner protrusion 5b1a increases. Similar to the principle of a beverage bottle cap, the greater the squeezing force between the outer protrusion 5a1 and the inner protrusion 5b1a, the tighter the warehouse 5a and the cover 5b are pressed together, and the better the sealing effect.

[0057] Example 2

[0058] like Figure 9 As shown, this embodiment provides a submersible cluster based on Embodiment 1, comprising several submersibles from Embodiment 1, arranged in an array, and connected to each other via an electromagnetic adsorption device 1c. Since different submersibles perform different tasks, the items placed in the storage compartment 5a vary, resulting in different center of gravity positions and weights. When assembling the cluster underwater, this may lead to overall imbalance. The buoyancy component 3 and the center of gravity component 4 effectively adjust the overall center of gravity, ensuring the submersible cluster remains stable.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A small amphibious unmanned underwater vehicle swarm, characterized in that, The submarine comprises a body, a propulsion assembly, a floating and sinking assembly and a gravity center assembly. The body is symmetrical in front and back and left and right, and the four sides of the body are provided with electromagnetic adsorption devices; the electromagnetic adsorption device comprises a magnetic pole reversing circuit. The propulsion assembly comprises a spiral roller, a roller driving member and a movable arm; the spiral roller has two groups and is symmetrically arranged on both sides of the body, each group comprises a left-handed spiral roller and a right-handed spiral roller, the two spiral rollers in each group are opposite in rotation direction and coaxial, and the total length of the two spiral rollers in each group does not exceed the length of the body side on which the spiral rollers are fixed; the roller driving member drives the roller to rotate around the axis; one end of the movable arm is hinged to the body, the other end of the movable arm is hinged to the spiral roller, and the rotation of the one end of the movable arm around the hinge axis can make the spiral roller rotate to the bottom of the body; the propulsion assembly further comprises a movable arm driving member, the movable arm driving member is fixed to the body, and the movable arm driving member drives the movable arm to rotate around the hinge axis of the body; the movable arm driving members of each group of propulsion assemblies are arranged in diagonal. The floating and sinking assembly comprises a cylinder, a push rod mechanism and a piston; the cylinder is sleeve-shaped, one end of the cylinder is a sealed end, and the other end of the cylinder is an open end; the push rod mechanism is a sealed structure of a push rod, the end of the push rod extends into the sealed end of the cylinder and is fixed with the piston, and the push rod can push the piston to move back and forth in the cylinder; the floating and sinking assembly has two groups and is symmetrically arranged on the body, and the open ends of the two groups of floating and sinking assemblies face opposite directions. The gravity center assembly comprises a frame, a sliding rod, a counterweight sliding block and a counterweight driving member; the frame is arranged on the body and between the two groups of floating and sinking assemblies; the sliding rod is fixed to the frame and the axis of the sliding rod is parallel to the axis of the cylinder; the counterweight sliding block is arranged on the sliding rod; and the counterweight driving member drives the counterweight sliding block to slide back and forth on the sliding rod. A plurality of submarines are arranged in an array, and the submarines are connected by the electromagnetic adsorption devices.

2. The small amphibious unmanned underwater vehicle swarm of claim 1, wherein, The body is in the shape of a shell; the floating and sinking assembly and the gravity center assembly are arranged in the body.

3. The small amphibious unmanned underwater vehicle swarm of claim 1, wherein, The middle part of the movable arm is provided with a propeller and a propeller driving member for driving the propeller to rotate.

4. The small amphibious unmanned underwater vehicle swarm of claim 1, wherein, The movable arm driving member comprises a gear motor, a driving gear and a driven gear; the gear motor drives the driving gear to rotate; the driving gear is engaged with the driven gear; one end of the movable arm is connected to the center of the driven gear and can drive the movable arm to rotate around the center line of the driven gear.

5. The small amphibious unmanned underwater vehicle swarm of claim 4, wherein, A plurality of limiting holes are arranged on the driven gear; the limiting assembly further comprises a limiting motor, a limiting connecting rod and a limiting pin; one end of the limiting motor is connected to the limiting rod, the other end of the limiting connecting rod is hinged to one end of the limiting pin, and the other end of the limiting pin can be inserted into and separated from the limiting hole under the driving of the limiting motor.

6. The small amphibious unmanned underwater vehicle swarm of claim 1, wherein, Each group of spiral rollers is provided with one movable arm, the movable arm is located between the two spiral rollers of each group, the other end of the movable arm is in the shape of a sleeve, and the two ends of the sleeve of the movable arm are respectively sleeved on the opposite ends of the two spiral rollers of each group; the roller driving member is arranged in the sleeve of the movable arm.

7. The small amphibious unmanned underwater vehicle cluster of claim 6, wherein, The propulsion assembly further comprises a propulsion connecting rod, one end of the propulsion connecting rod is hinged to the body, and the other end of the propulsion connecting rod is hinged to the end of the spiral roller group.

8. The small amphibious unmanned underwater vehicle swarm of claim 1, wherein, The water-tight compartment is arranged on the top of the body, and comprises a warehouse, a warehouse cover and a warehouse cover driving element; the warehouse cover driving element drives the warehouse cover to rotate around the hinge and close on the warehouse; The opening end of the warehouse is in the form of a sleeve, and the outer circle of the edge of the opening end of the warehouse is provided with a plurality of integral external threads; The warehouse cover comprises a cover sleeve, a cover handle, a cover sleeve gear and a cover sleeve driving element; the inner circle of the edge of the opening end of the cover sleeve is provided with a plurality of internal threads corresponding to the external threads, and the outer circle of the edge of the closed end of the cover sleeve is provided with a plurality of external thread segments; one end of the cover handle is rotatably connected to the center of the closed end of the cover sleeve, and the other end of the cover handle is fixed on the hinge shaft where the warehouse cover is hinged to the warehouse; the cover sleeve gear is engaged with the external thread segments; the cover sleeve driving element is fixed on the cover handle, and the output end of the cover sleeve driving element drives the cover sleeve gear to rotate.

Images