A depth-keeping anchor device for an underwater vehicle

Abstract

The application relates to the technical field of underwater vehicles, in particular to an underwater vehicle depth-keeping anchor throwing device which comprises a depth-keeping module and a positioning module, the depth-keeping module is in a circular ring structure, open ports are arranged at the top and the bottom of the depth-keeping module, two circular arc structure wire grooves are arranged in the depth-keeping module, the two ends of the two wire grooves are respectively connected with the two open ports, a cable is inserted in the wire groove, the two ends of the cable respectively penetrate through the corresponding wire grooves and extend out of the corresponding open ports, the bottom of the two cables is fixedly installed with a fixed ball, the bottom of the fixed ball is fixedly installed with an anchor body, and the top of the cable extends out of the water surface upwards and is fixedly connected with a winding device. The depth-keeping module and the positioning module are designed, the depth-keeping and depth-keeping accurate adjustment can be realized through the external depth-keeping module, and the working efficiency of the underwater vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater vehicle technical field, especially to a kind of underwater vehicle depth anchor device. BACKGROUND

[0002] Underwater vehicle can also be called submarine, it is the artificial machine that moves under water, underwater vehicle is mainly divided into manned vehicle and unmanned vehicle.

[0003] The conventional underwater vehicle is generally used for water bottom information detection and collection, marine fish research, etc., underwater vehicle is generally kept in moving state when underwater, to avoid the sinking of vehicle or be influenced by underwater current, but underwater vehicle sometimes needs to hover at specified depth when working, to facilitate the collection and analysis of surrounding information, at this time, anchor throwing operation is needed, to fix the vehicle at specified depth, but the hovering depth of vehicle when working is random, and the depth cannot be accurately predicted, and the conventional underwater vehicle anchor throwing device cannot accurately throw anchor according to water depth after throwing anchor, which will make the vehicle unable to be effectively positioned when working, at the same time, the volume of conventional underwater vehicle is generally small, and the power is limited, and the weight of anchor throwing device is generally large, which will cause great burden to vehicle if directly installed on underwater vehicle, affecting the voyage and speed of underwater vehicle, therefore, underwater vehicle depth anchor device is urgently needed. SUMMARY

[0004] The present application aims to solve the problems in the background art and provides an underwater vehicle depth anchor device.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: an underwater vehicle depth anchor device, comprising a depth setting module and a positioning module, the depth setting module is in circular ring structure, the top and bottom of depth setting module are provided with open ports, two circular arc structure wire grooves are arranged in the depth setting module, the two ends of two wire grooves are communicated with two open ports respectively, cable is inserted in wire groove, the two ends of cable are respectively penetrated through corresponding wire groove and stretched out from corresponding open port, the bottom of two cables is fixedly installed with fixed ball, the bottom of fixed ball is fixedly installed with anchor body, the top of cable extends out of water surface and is fixedly connected with winding device, circular ring structure drive track is fixedly installed on the inner ring wall of depth setting module, positioning module is slidingly connected with drive track.

[0006] In the underwater vehicle depth-keeping anchor throwing device, the positioning module is composed of a movable base, a fixed support, an extension support, a connecting unit and an auxiliary unit, the movable base is in a circular arc structure, a drive gear is rotatably installed in the movable base, drive tooth grooves are uniformly distributed on the inner wall of the drive track in the circumferential direction, one side of the drive gear extends out of the movable base and is engaged with the drive tooth grooves, the fixed support is hingedly connected to the outer wall of the movable base, the extension support is hingedly connected to the end of the fixed support away from the movable base, the connecting unit is arranged at the end of the extension support away from the fixed support, and the auxiliary unit is fixedly connected to the outer wall of the underwater vehicle.

[0007] In the underwater vehicle depth-keeping anchor throwing device, an adjusting groove is formed in the fixed support, the two ends of the adjusting groove penetrate through the fixed support, two symmetrically arranged positioning rods are inserted into the adjusting groove, the ends of the two positioning rods away from each other are flush with the two ends of the fixed support, positioning recesses are formed in the side of the movable base close to the fixed support and the side of the extension support close to the fixed support, the positions where the two positioning recesses are formed correspond to the positions where the two positioning rods are installed, inclined surfaces are formed on the sides of the two positioning rods close to each other, an adjusting block is arranged in the adjusting groove between the two positioning rods, an electric push rod is fixedly installed in the adjusting block, the telescopic end of the electric push rod penetrates through the adjusting block and is fixedly installed with a pressing block, inclined surfaces are formed on the two sides of the pressing block, and the two sides of the pressing block are in contact with the inclined surfaces on the two positioning rods.

[0008] In the underwater vehicle depth-keeping anchor throwing device, a directional chute is formed in the adjusting groove, and the bottom of the adjusting block is in sliding connection with the directional chute.

[0009] In the underwater vehicle depth-keeping anchor throwing device, the connecting unit is in a disc-shaped structure, strip-shaped plug-in strips are fixedly installed on the top and bottom of the connecting unit, a double-shaft positioning motor is fixedly installed in the connecting unit, positioning rods are fixedly installed on the two ends of the output shaft of the positioning motor and penetrate through the corresponding plug-in strips, the auxiliary unit is in a disc-shaped structure, an adjusting disc is rotatably installed on the bottom of the auxiliary unit through a connecting shaft, a plug-in groove is formed in the bottom of the adjusting disc, the plug-in groove is in concave-convex cooperation with the plug-in strip, a circular fixing groove is formed in the adjusting disc, the fixing groove is in communication with the plug-in groove, a plug-in port is formed in one side of the fixing groove and penetrates through the adjusting disc, and the width of the plug-in port is consistent with the width of the positioning rod.

[0010] In the underwater vehicle depth-keeping anchor throwing device, a fixed rod is fixedly installed on the outer wall of the connecting unit, a fixed groove is formed in the end of the extension support away from the fixed support, the fixed rod is inserted into the fixed groove, an electric retractor is rotatably installed in the extension support, a winding pull rope is fixedly installed on the electric retractor, and the end of the winding pull rope away from the electric retractor extends into the fixed groove and is fixedly connected with the fixed rod.

[0011] In the underwater vehicle depth-keeping anchor throwing device, the inner wall of the wire slot is rotatably provided with two symmetrically arranged driving wheels in contact with the corresponding cable, a plurality of positioning clamping teeth are arranged on the inner wall of the wire slot between the two corresponding driving wheels and in contact with the cable, the side of the positioning clamping teeth away from the cable is connected to the inner wall of the wire slot through a spring pull rod, and the inner wall of the wire slot is slidably provided with two symmetrically arranged extrusion strips.

[0012] In the underwater vehicle depth-keeping anchor throwing device, the depth-keeping module is internally provided with two symmetrically arranged hollow grooves, and the outer wall of the depth-keeping module is fixedly provided with two symmetrically arranged electric valves in communication with the two hollow grooves.

[0013] Compared with the prior art, the underwater vehicle depth-keeping anchor throwing device has the advantages that the depth-keeping module and the positioning module are designed, the external depth-keeping module can realize accurate adjustment of anchor throwing and depth keeping, the working efficiency of the underwater vehicle is improved, the problem of the increase of the weight of the underwater vehicle caused by the carrying of the anchor throwing structure is solved, and the use efficiency of the underwater vehicle is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a schematic view of the depth-keeping module and the positioning module in the present application.

[0015] Figure 2 is a schematic view of the depth-keeping module and the positioning module in the present application.

[0016] Figure 3 is a schematic view of the depth-keeping module and the positioning module in the present application. Figure 2

[0017] Figure 4 is a schematic view of the depth-keeping module and the positioning module in the present application.

[0018] Figure 5 is a schematic view of the depth-keeping module and the positioning module in the present application. Figure 2

[0019] Figure 6 is a schematic view of the depth-keeping module and the positioning module in the present application. Figure 2

[0020] Figure 7 is a schematic view of the depth-keeping module and the positioning module in the present application. Figure 2

[0021] ​​​​Figure 8 is a partial enlarged structural schematic view of E in the present application Figure 2

[0022] Figure 9 is a partial enlarged structural schematic view of F in the present application Figure 2

[0023] Figure 10 is a perspective structural schematic view of the positioning module in the present application

[0024] Figure 11 is a sectional structural schematic view of the connecting unit in the present application

[0025] Figure 12 is a sectional structural schematic view of the auxiliary unit in the present application

[0026] In the figure: 1, depth setting module; 2, positioning module; 101, open port; 102, wiring groove; 3, cable; 301, fixed ball; 103, driving track; 201, moving base; 202, fixed support; 203, extension support; 204, connecting unit; 205, auxiliary unit; 206, driving gear; 104, driving gear slot; 207, adjusting groove; 208, positioning plug; 209, positioning groove; 210, adjusting block; 211, electric push rod; 212, extrusion block; 213, directional sliding groove; 214, plug-in strip; 215, positioning motor; 216, positioning strip; 217, adjusting disc; 218, plug-in groove; 219, fixed groove; 220, plug-in port; 221, fixed rod; 222, fixed groove; 105, driving wheel; 106, positioning clamping tooth; 107, extrusion strip; 108, hollow groove. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments of the present application.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0029] Referring to Figures 1-12 ​​The utility model provides an underwater vehicle depth-keeping anchor-throwing device, including depth-keeping module 1 and positioning module 2, depth-keeping module 1 is circular ring structure, and the top and bottom of depth-keeping module 1 are all seted up open mouth 101, and two circular arc structure's wire grooves 102 are seted up in depth-keeping module 1, and two wire grooves 102 two ends are linked with two open mouth 101 respectively, and the cable 3 is inserted in wire groove 102, and the cable 3 two ends respectively penetrates corresponding wire groove 102 and extends from corresponding open mouth 101, and the bottom of two cable 3 is fixedly installed with fixed ball 301, and the bottom of fixed ball 301 is fixedly installed with anchor body, and the top of cable 3 extends out water surface and is fixedly connected on winding device, and the inner ring wall of depth-keeping module 1 is fixedly installed with circular ring structure's drive track 103, and positioning module 2 is slidably connected on drive track 103, and depth-keeping module 1 is used to keep the depth of underwater vehicle, and positioning module 2 is used to realize the positioning of underwater vehicle, and cooperate depth-keeping module 1 to realize the depth-keeping anchor-throwing of underwater vehicle, and open mouth 101 and wire groove 102 are used for the passage of cable 3, and cable 3 cooperates fixed ball 301 and anchor body to realize anchor-throwing.

[0030] Positioning module 2 is composed of moving base 201, fixed support 202, extension support 203, connecting unit 204 and auxiliary unit 205, moving base 201 is circular arc structure, driving gear 206 is rotatably installed in moving base 201, driving tooth groove 104 is evenly distributed on the inner wall of drive track 103 in the circumferential direction, one side of driving gear 206 extends out of moving base 201 and is engaged with driving tooth groove 104, fixed support 202 is hinged to the outer wall of moving base 201, extension support 203 is hinged to the end of fixed support 202 away from moving base 201, connecting unit 204 is arranged at the end of extension support 203 away from fixed support 202, auxiliary unit 205 is fixedly connected to the outer wall of underwater vehicle, driving gear 206 in moving base 201 moves under the drive of driving motor, cooperating with driving tooth groove 104 can drive moving base 201 to move on the inner ring wall of depth-keeping module 1, which is convenient for adjusting according to the sailing angle of underwater vehicle, fixed support 202 cooperates with extension support 203 to drive connecting unit 204 to adjust the angle, which is convenient for aligning connecting unit 204 with auxiliary unit 205 fixed on underwater vehicle.

[0031] The adjusting groove 207 is provided in the fixed support 202, two ends of the adjusting groove 207 penetrate the fixed support 202 respectively, two symmetrically arranged positioning insertion rods 208 are inserted in the adjusting groove 207, the ends of the two positioning insertion rods 208 away from each other are flush with the two ends of the fixed support 202 respectively, the side of the moving base 201 close to the fixed support 202 and the side of the extension support 203 close to the fixed support 202 are both provided with positioning grooves 209, the positions where the two positioning grooves 209 are provided correspond to the positions where the two positioning insertion rods 208 are mounted respectively, the sides of the two positioning insertion rods 208 close to each other are both provided with inclined surfaces, the adjusting block 210 is arranged between the two positioning insertion rods 208 in the adjusting groove 207, the electric push rod 211 is fixedly installed in the adjusting block 210, the telescopic end of the electric push rod 211 penetrates the adjusting block 210 and is fixedly installed with the extrusion block 212, the two sides of the extrusion block 212 are both provided with inclined surfaces, the two sides of the extrusion block 212 are in contact with the inclined surfaces on the two positioning insertion rods 208 respectively, in the initial state, the extrusion block 212 is moved by the electric push rod 211, the movement of the extrusion block 212 will simultaneously extrude and push the two positioning insertion rods 208, the two positioning insertion rods 208 extruded and pushed will move away from each other and extend out of the adjusting groove 207 and are inserted in the corresponding positioning grooves 209, at this time, the fixed support 202 will be vertically fixed on the moving base 201 under the insertion of the two positioning insertion rods 208, at the same time, the extension support 203 will be in a straight line state with the fixed support 202, at this time, the fixed support 202 and the extension support 203 will be contracted to the inner ring of the depth fixing module 1, which is convenient for putting and recycling the depth fixing module 1, the two positioning insertion rods 208 are both spring rods, when the extrusion block 212 is reset, the two positioning insertion rods 208 will automatically move towards each other and contact, at this time, the two positioning insertion rods 208 will be contracted into the adjusting groove 207, at this time, the corresponding adjusting motor can drive the fixed support 202 and the extension support 203 to be adjusted in angle.

[0032] The directional sliding groove 213 is provided in the adjusting groove 207, the bottom of the adjusting block 210 is in sliding connection with the directional sliding groove 213, and when the extrusion block 212 is reset and needs to be positioned, the extrusion block 212 is moved in a specified direction by the directional sliding groove 213, which can extrude the positioning insertion rod 208 in the specified direction to make it extend out of the adjusting groove 207 and be inserted in the corresponding positioning groove 209 again.

[0033] The connecting unit 204 is in a disc-shaped structure, the top and bottom of the connecting unit 204 are fixedly installed with the strip-shaped structure of the plug-in strip 214, the connecting unit 204 is fixedly installed with the double-axial structure of the positioning motor 215, the both ends of the output shaft of the positioning motor 215 respectively penetrate through the corresponding plug-in strip 214 and are fixedly installed with the positioning strip 216, the auxiliary unit 205 is in a disc-shaped structure, the bottom of the auxiliary unit 205 is rotatably installed with the adjusting disc 217 through the connecting shaft, the bottom of the adjusting disc 217 is provided with the plug-in groove 218, the plug-in groove 218 is matched with the plug-in strip 214, the adjusting disc 217 is provided with the circular structure of the fixed groove 219, the fixed groove 219 is communicated with the plug-in groove 218, one side of the fixed groove 219 is provided with the plug-in port 220, the plug-in port 220 penetrates through the adjusting disc 217, the width of the plug-in port 220 is consistent with the width of the positioning strip 216, when the underwater vehicle needs to be fixed, the movable base 201, the fixed support 202 and the extension support 203 are matched with each other, the navigation position and angle of the underwater vehicle are sensed through the sensor fixed on the outer wall of the depth fixing module 1, the posture is adjusted in time, the connecting unit 204 and the auxiliary unit 205 are kept in the aligned state, when the underwater vehicle moves and passes through the depth fixing module 1, the plug-in groove 218 and the plug-in port 220 on the auxiliary unit 205 are respectively plugged with the plug-in strip 214 and the positioning strip 216, the motor is fixedly installed in the auxiliary unit 205, the motor can drive the adjusting disc 217 to rotate through the connecting shaft, the adjusting disc 217 can drive the fixed underwater vehicle to rotate horizontally, and the underwater vehicle is convenient for working.

[0034] The outer wall of the connecting unit 204 is fixedly installed with the fixed rod 221, the end, away from the fixed support 202, of the extension support 203 is provided with the fixed groove 222, the fixed rod 221 is inserted into the fixed groove 222, the electric retractor is rotatably installed in the extension support 203, the electric retractor is fixedly installed with the winding pull rope, one end, away from the electric retractor, of the winding pull rope extends into the fixed groove 222 and is fixedly connected with the fixed rod 221, when the underwater vehicle needs to move at a plurality of angles, the winding pull rope is released through the electric retractor, at this time, the underwater vehicle can drive the connecting unit 204 to separate from the extension support 203 and move at a plurality of angles.

[0035] The inner wall of the wiring slot 102 is rotatably provided with two symmetrically arranged driving wheels 105, the driving wheels 105 are in contact with the corresponding cable 3, a plurality of positioning clamping teeth 106 are arranged between the two corresponding driving wheels 105 on the inner wall of the wiring slot 102, the positioning clamping teeth 106 are in contact with the cable 3, the side of the positioning clamping teeth 106 away from the cable 3 is connected with the inner wall of the wiring slot 102 through a spring pull rod, the inner wall of the wiring slot 102 is slidably provided with two symmetrically arranged extrusion strips 107, the two extrusion strips 107 are both arc-shaped structures, the side of the positioning clamping teeth 106 away from the cable 3 is provided with an arc surface, the side of the positioning clamping teeth 106 provided with the arc surface is in contact with the extrusion strip 107, the two extrusion strips 107 are electrically driven, the movement of the two extrusion strips 107 can make the extrusion strip 107 abut against the arc surface at the bottom of the corresponding positioning clamping tooth 106, and the positioning clamping tooth 106 subjected to the abutment will move to the direction of the cable 3 and fix the cable 3.

[0036] The depth setting module 1 is provided with two symmetrically arranged hollow grooves 108, two symmetrically arranged electric valves are fixedly arranged on the outer wall of the depth setting module 1, the two electric valves are respectively communicated with the two hollow grooves 108, the two hollow grooves 108 can be emptied or filled with seawater through the electric valves, and the weight of the depth setting module 1 can be increased or reduced by emptying or injecting seawater, so that the depth setting module 1 floats or sinks.

[0037] The specific working principle and use method of the present application will be explained in detail as follows: when the depth setting anchor is needed, the depth setting module 1 is released through the winding device fixed on the water surface ship, when the depth setting module 1 enters the water, seawater is injected into the two hollow grooves 108 through the two electric valves, when the two hollow grooves 108 are filled with seawater, the weight is increased and the depth setting module 1 will automatically sink, when the depth setting module 1 sinks to the specified position, the hollow grooves 108 are emptied through the electric valves, at this time, the depth setting module 1 will automatically float up, at this time, the positioning clamping tooth 106 is operated to release the cable 3, and the cable 3 is fixed under the condition of the self weight of the anchor body and cooperates with the fixed ball 301, at this time, the cable 3 will not float up with the depth setting module 1, when the depth setting module 1 reaches the specified position, the cable 3 is fixed again through the operation of the positioning clamping tooth 106, at this time, the water surface ship continues to release the cable 3 and performs the anchor throwing operation, when the anchor body is fixed on the seabed, the depth setting module 1 can be operated to ascend and descend by injecting water or emptying the hollow grooves 108, and the depth setting module 1 is operated to move to the specified depth, and then the underwater vehicle is operated to be fixed.

[0038] Further, the above-mentioned fixed connection should be understood in a broad sense unless otherwise specified and limited, for example, it can be welding, or gluing, or integrally formed, and the like, which are well known to those skilled in the art.

[0039] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An underwater vehicle depth-holding anchoring device comprising a depth-holding module (1) and a positioning module (2), characterized in that: The depth setting module (1) is in a circular ring structure, and the top and bottom of the depth setting module (1) are provided with open ports (101). Two circular arc structure wire grooves (102) are arranged in the depth setting module (1), the two ends of the two wire grooves (102) are communicated with the two open ports (101) respectively, a cable (3) is arranged in the wire groove (102), the two ends of the cable (3) penetrate through the corresponding wire groove (102) and extend out of the corresponding open port (101), the bottom of the two cables (3) is fixedly provided with a fixed ball (301), the bottom of the fixed ball (301) is fixedly provided with an anchor body, the top of the cable (3) extends out of the water surface and is fixedly connected to a winding device, a circular ring structure driving track (103) is fixedly arranged on the inner wall of the depth setting module (1), and a positioning module (2) is slidingly connected to the driving track (103). The positioning module (2) is composed of a moving base (201), a fixed support (202), an extension support (203), a connecting unit (204) and an auxiliary unit (205). The moving base (201) is in a circular arc structure, a driving gear (206) is rotatably arranged in the moving base (201), a driving gear slot (104) is arranged on the inner wall of the driving track (103) and uniformly distributed along the circumference of the driving track (103), one side of the driving gear (206) extends out of the moving base (201) and is engaged with the driving gear slot (104), the fixed support (202) is hingedly arranged on the outer wall of the moving base (201), the extension support (203) is hingedly arranged at the end of the fixed support (202) away from the moving base (201), the connecting unit (204) is arranged at the end of the extension support (203) away from the fixed support (202), and the auxiliary unit (205) is fixedly connected to the outer wall of the underwater vehicle. The connecting unit (204) is in a disc structure, the top and bottom of the connecting unit (204) are fixedly provided with a long strip structure plug-in strip (214), a double-shaft structure positioning motor (215) is fixedly arranged in the connecting unit (204), the output shafts of the positioning motor (215) penetrate through the corresponding plug-in strips (214) and are fixedly provided with positioning strips (216) at the two ends, the auxiliary unit (205) is in a disc structure, an adjusting disc (217) is rotatably arranged at the bottom of the auxiliary unit (205) through a connecting shaft, an insertion groove (218) is arranged at the bottom of the adjusting disc (217), the insertion groove (218) is matched with the plug-in strip (214), a circular structure fixing groove (219) is arranged in the adjusting disc (217), the fixing groove (219) is communicated with the insertion groove (218), an insertion port (220) is arranged at one side of the fixing groove (219), the insertion port (220) penetrates through the adjusting disc (217), and the width of the insertion port (220) is consistent with the width of the positioning strip (216).

2. The depth anchoring device of an underwater vehicle according to claim 1, characterized in that: The adjusting groove (207) is provided with two symmetrically arranged positioning insertion rods (208) inserted in the adjusting groove (207), the two positioning insertion rods (208) are flush with the two ends of the fixed support (202) at the ends away from each other, the side of the mobile base (201) close to the fixed support (202) and the side of the extension support (203) close to the fixed support (202) are both provided with positioning grooves (209), the two positioning grooves (209) are arranged at positions corresponding to the mounting positions of the two positioning insertion rods (208), the side of the two positioning insertion rods (208) close to each other is provided with an inclined surface, the adjusting block (210) is arranged in the adjusting groove (207) and between the two positioning insertion rods (208), the electric push rod (211) is fixedly installed in the adjusting block (210), the extension end of the electric push rod (211) penetrates through the adjusting block (210) and is fixedly installed with the extrusion block (212), the two sides of the extrusion block (212) are both provided with inclined surfaces, and the two sides of the extrusion block (212) are in contact with the inclined surfaces on the two positioning insertion rods (208) respectively.

3. A depth anchoring device for an underwater vehicle according to claim 2, wherein: The adjusting groove (207) is provided with a directional sliding groove (213), and the bottom of the adjusting block (210) is in sliding connection with the directional sliding groove (213).

4. The depth anchoring device of an underwater vehicle according to claim 1, characterized in that: The outer wall of the connecting unit (204) is fixedly installed with a fixed rod (221), the end of the extension support (203) away from the fixed support (202) is provided with a fixed groove (222), the fixed rod (221) is inserted into the fixed groove (222), the electric winding device is rotatably installed in the extension support (203), the winding pull rope is fixedly installed on the electric winding device, and the end of the winding pull rope away from the electric winding device extends into the fixed groove (222) and is fixedly connected with the fixed rod (221).

5. The depth anchoring device of an underwater vehicle according to claim 1, characterized in that: The inner wall of the wiring groove (102) is rotatably installed with two symmetrically arranged driving wheels (105), the driving wheels (105) are in contact with the corresponding cables (3), a plurality of positioning clamping teeth (106) are inserted into the inner wall of the wiring groove (102) and located between the two corresponding driving wheels (105), the positioning clamping teeth (106) are in contact with the cables (3), the side of the positioning clamping teeth (106) away from the cables (3) is connected with the inner wall of the wiring groove (102) through a spring pull rod, the inner wall of the wiring groove (102) is slidably installed with two symmetrically arranged extrusion strips (107), the two extrusion strips (107) are both arc-shaped structures, the side of the positioning clamping teeth (106) away from the cables (3) is provided with an arc surface, and the side of the positioning clamping teeth (106) provided with the arc surface is in contact with the extrusion strips (107).

6. The depth anchoring device of an underwater vehicle according to claim 1, characterized in that: The depth setting module (1) is provided with two symmetrically arranged hollow grooves (108), and two symmetrically arranged electric valves are fixedly installed on the outer wall of the depth setting module (1).

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