Unmanned underwater vehicle with protective structure

Abstract

The invention discloses an unmanned underwater vehicle with a protection structure, and relates to the technical field of unmanned underwater vehicles, the unmanned underwater vehicle comprises a middle-section submerged body, a front-section submerged body and a protection assembly, the middle-section submerged body comprises a submerged body seat, a hanging ring seat, a sealing seat, a synchronous rod, an armature plate, an electromagnetic pressing plate, a reset spring, a conduction seat, an extrusion button, a compressed gas tank, a gas spraying opening and a gas spraying groove; a lifting ring seat is arranged on the outer side of the top of the submerged body seat, and a sealing seat is arranged on the outer side of the bottom of the submerged body seat. The electric control push rod works to return, the front-section submerged body and the rear-section submerged body can be driven to contract towards the interior of the submerged body seat, so that the overall size of the equipment is reduced, through the design, the probability that the equipment collides with foreign objects in a narrow water area can be greatly reduced, and in the rescue task process, the electric control push rod is pushed outwards, so that the rescue efficiency is improved. The size of the equipment can be increased, carrying of materials and personnel can be facilitated by increasing the size, and the size of the equipment can be adjusted so that the equipment can adapt to various different use scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned underwater vehicles, in particular to an unmanned underwater vehicle provided with a protective structure. Background Art

[0002] Unmanned Underwater Vehicle (UUV), also often called unmanned submersible or underwater robot, is a vehicle that can operate autonomously or remotely underwater without human operation. UUV plays an important role in marine scientific research, oil and gas industry, fishery, search and rescue, underwater engineering, environmental monitoring and other fields. With the continuous development of technology, UUV will play a greater role in future ocean exploration, resource development, environmental protection and national security.

[0003] The common unmanned submersibles on the market have poor protection performance. During underwater operations, they are very likely to collide with foreign objects due to the complex underwater environment or have their propellers entangled by algae or debris. In addition, after a collision, the common unmanned submersibles on the market are usually unable to effectively detect the condition of the submerged body and can only be manually determined.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and an unmanned underwater vehicle with a protective structure is proposed. Summary of the invention

[0005] The object of the present invention is to provide an unmanned underwater vehicle provided with a protective structure to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned submersible with a protective structure, comprising a mid-section submersible, a front-section submersible and a protective assembly, wherein the mid-section submersible comprises a submersible seat, a lifting ring seat, a sealing seat, a synchronization rod, an armature plate, an electromagnetic pressure plate, a reset spring, a conduction seat, an extrusion button, a compressed gas tank, an air jet and an air jet slot, a lifting ring seat is arranged on the top outer side of the submersible seat, and a sealing seat is arranged on the bottom outer side of the submersible seat, a synchronization rod is arranged inside the sealing seat, an armature plate is arranged on the top of the synchronization rod, and an internal portion of the sealing seat An electromagnetic pressure plate is arranged, and a return spring is arranged between the electromagnetic pressure plate and the sealing seat, a conduction seat is arranged at the inner middle end of the sealing seat, and squeezing buttons are arranged on both sides of the outer side of the conduction seat, a compressed gas tank is arranged at the top of the conduction seat, and jet ports are arranged on both sides of the outer side of the compressed gas tank, a jet groove is provided inside the submersible seat, electric control push rods are arranged at both ends of the outer side of the submersible seat, and a push plate is arranged at the output end of the electric control push rod, a through groove is provided inside the push plate, and a front section submersible and a rear section submersible are respectively provided at the front and rear ends of the submersible seat.

[0007] Furthermore, the push plate and the front section submersible body and the rear section submersible body are an integrated structure, and the front section submersible body, the rear section submersible body and the submersible body seat are sleeve-connected.

[0008] Furthermore, the sealing seat is sleeve-connected with the synchronization rod, and the synchronization rod and the armature plate are an integrated structure.

[0009] Furthermore, the armature plate is connected to the electromagnetic pressure plate by electromagnetic adsorption, and the electromagnetic pressure plate is elastically connected to the return spring.

[0010] Furthermore, the compressed gas tank is connected to the jet groove through the jet port, and the jet groove is connected to the front submerged body and the rear submerged body through the through groove.

[0011] Furthermore, a motor is installed at the tail end of the rear section of the submersible, and a power propeller is provided at the output end of the motor, a steering propeller is provided at the rear end of the rear section of the submersible, and a protective component is provided at the submersible seat and the outer end of the rear section of the submersible.

[0012] Furthermore, the protective assembly includes a protective frame, a bearing seat, a driven turntable, a driven paddle, a sliding seat, a movable block, a placement seat, a pressure detection spring and a tension detector. A bearing seat is provided at the end of the protective frame, and a driven turntable is placed on the inner side of the bearing seat, a driven paddle is provided on the inner side of the driven turntable, a sliding seat is provided at the outer end of the protective frame, a placement seat is provided at the outer end of the rear section of the submerged body, and a movable block is provided on the inner side of the placement seat, and a pressure detection spring and a tension detector are placed between the movable block and the placement seat.

[0013] Furthermore, the driven propeller and the power propeller are in contact with each other, and the power propeller drives the driven turntable to rotate through the driven propeller.

[0014] Furthermore, the sliding seat is sleeve-connected with the protective frame, and the sliding seat and the movable block are integrated.

[0015] Furthermore, the outer contour size of the movable block matches the inner contour size of the placement seat, and the rear section drives the sliding seat to move at the outer end of the protective frame through the placement seat.

[0016] The present invention provides an unmanned underwater vehicle with a protective structure, which has the following beneficial effects:

[0017] 1. During the underwater operation of the present invention, if the device is in a narrow water area or a water area with many obstacles, the electric control push rod can be used to retreat, which can drive the front and rear submersibles to retract into the submersible seat, which reduces the overall volume of the device. Through this design, the probability of the device colliding with foreign objects in narrow water areas can be greatly reduced. In the process of performing rescue missions, the volume of the device can be increased by pushing the electric control push rod outward. By increasing the volume, it is convenient to carry materials and personnel. Through this design, the device can adjust its volume to adapt to various different usage scenarios. In addition, the volume of the internal cavity of the device will be reduced in the process of the front and rear submersibles retracting into the submersible seat, and vice versa. The buoyancy of the device can be adjusted by adjusting the volume of the internal cavity of the device, which enables the device to quickly adjust its height in the water to cope with emergencies.

[0018] 2. During the rotation of the power propeller of the present invention, the driven propeller and the driven turntable can be driven to rotate. The driven turntable and the bearing seat can be wrapped around the outer ends of the power propeller and the driven propeller to protect both. In addition, because the driven turntable is in a rotating state, when an external object approaches the driven turntable, it will be bounced away by the driven turntable, which can improve the protection performance of the equipment. In addition, during the adjustment of the rear section, the protective frame can drive the bearing seat to move. The displacement of the bearing seat can cause the power propeller and the driven propeller to be misaligned. When algae or debris are entangled at the outer ends of the power propeller and the driven propeller, the power propeller and the driven propeller can be moved. The misalignment of the driven paddle can effectively remove algae or debris, and the protective frame can cooperate with the driven turntable and the bearing seat to protect the rear section of the submersible body, which can reduce the damage to the rear section of the submersible body and cause equipment instability. In addition, the rear section of the submersible body can drive the sliding seat to slide on the surface of the protective frame during the displacement process. If the protective frame is twisted due to impact, the sliding seat will transmit the twisting force to the pressure detection spring and the tension detector in the mounting seat through the movable block. Through this design, when the equipment collides with foreign objects, the equipment can detect its own state through the displacement of the rear section of the submersible body.

[0019] 3. When the present invention is performing a rescue mission, the protective frame can be used as a supporting carrier to carry the rescue object, and the staff can fix the cable on the lifting ring seat to facilitate the lifting of the rescue object after the loading is completed. After the rescue object is loaded on the equipment, the electric control push rod pushes the push plate, which can make the front section submersible and the rear section submersible move out from the interior of the submersible seat. In this process, the equipment can energize the electromagnetic pressure plate to adsorb the electromagnetic pressure plate and the armature plate. At this time, when the synchronization rod is driven by the front section submersible and the rear section submersible to move synchronously, it can drive the electromagnetic pressure plate to stretch the reset spring to move. After the electromagnetic pressure plate is displaced, the squeezing of the squeezing button on the conduction seat is released. When the squeezing button is in an un-squeezed state, the compressed gas tank will work, which enables the compressed gas tank to spray the internal compressed nitrogen through the jet port, and the jet slot can be connected to the front section submersible and the rear section submersible through the through slot. Through this design, the equipment can expand the internal volume while injecting nitrogen into it, which greatly improves the buoyancy of the equipment, thereby improving the convenience of lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A is a schematic diagram of the overall three-dimensional structure of an unmanned underwater vehicle provided with a protective structure according to the present invention;

[0021] Figure 2 A schematic diagram B of the overall three-dimensional structure of an unmanned underwater vehicle provided with a protective structure according to the present invention;

[0022] Figure 3 Figure C is a schematic diagram of the overall three-dimensional structure of an unmanned underwater vehicle with a protective structure according to the present invention;

[0023] Figure 4 This is a schematic diagram of the electric control push rod structure of an unmanned underwater vehicle provided with a protective structure according to the present invention;

[0024] Figure 5 This is a schematic diagram of the overall cross-sectional structure of an unmanned underwater vehicle provided with a protective structure according to the present invention;

[0025] Figure 6 The present invention is an unmanned underwater vehicle with a protective structure Figure 5 The enlarged structural diagram at A in the middle;

[0026] Figure 7 The present invention is an unmanned underwater vehicle with a protective structure Figure 5 The enlarged structural diagram at B in the middle;

[0027] Figure 8 This is a schematic diagram of the structure of a protection component of an unmanned underwater vehicle provided with a protection structure according to the present invention;

[0028] Fig. 9 The present invention is an unmanned underwater vehicle with a protective structure Figure 8Enlarged structural diagram at point C in the middle.

[0029] In the figure: 1. middle section submergence; 101. submergence seat; 102. lifting ring seat; 103. sealing seat; 104. synchronization rod; 105. armature plate; 106. electromagnetic pressure plate; 107. reset spring; 108. conduction seat; 109. squeeze button; 110. compressed gas tank; 111. jet nozzle; 112. jet slot; 2. electric control push rod; 3. push plate; 4. through slot; 5. front section submergence; 6. rear section submergence; 7. motor; 8. power propeller; 9. steering propeller; 10. protection component; 1001. protection frame; 1002. bearing seat; 1003. driven turntable; 1004. driven propeller; 1005. sliding seat; 1006. movable block; 1007. placement seat; 1008. pressure detection spring; 1009. tension detector. DETAILED DESCRIPTION

[0030] See also Figures 1 to 9 The present invention provides a technical solution: an unmanned submersible with a protective structure, comprising a middle submersible 1, a front submersible 5 and a protective assembly 10, wherein the middle submersible 1 comprises a submersible seat 101, a lifting ring seat 102, a sealing seat 103, a synchronization rod 104, an armature plate 105, an electromagnetic pressure plate 106, a reset spring 107, a conduction seat 108, a squeeze button 109, a compressed gas tank 110, an air jet 111 and an air jet slot 112, a lifting ring seat 102 is arranged on the top outer side of the submersible seat 101, and a sealing seat 103 is arranged on the bottom outer side of the submersible seat 101, a synchronization rod 104 is arranged inside the sealing seat 103, an armature plate 105 is arranged on the top of the synchronization rod 104, and the sealing seat 103 An electromagnetic pressure plate 106 is arranged inside, and a return spring 107 is arranged between the electromagnetic pressure plate 106 and the sealing seat 103, a conduction seat 108 is arranged at the middle end of the sealing seat 103, and squeezing buttons 109 are arranged on both sides of the outside of the conduction seat 108, a compressed gas tank 110 is arranged on the top of the conduction seat 108, and jet ports 111 are arranged on both sides of the outside of the compressed gas tank 110, a jet groove 112 is provided inside the submersible seat 101, electric control push rods 2 are arranged at both ends of the outside of the submersible seat 101, and a push plate 3 is provided at the output end of the electric control push rod 2, a through groove 4 is provided inside the push plate 3, and a front submersible 5 and a rear submersible 6 are respectively provided at the front and rear ends of the submersible seat 101.

[0031] See also Figures 1 to 9The push plate 3 is an integrated structure with the front submersible body 5 and the rear submersible body 6, and the front submersible body 5 and the rear submersible body 6 are sleeved and connected with the submersible body seat 101, the sealing seat 103 is sleeved and connected with the synchronization rod 104, and the synchronization rod 104 is an integrated structure with the armature plate 105, the armature plate 105 is electromagnetically adsorbed and connected with the electromagnetic pressure plate 106, and the electromagnetic pressure plate 106 is elastically connected with the return spring 107, the compressed gas tank 110 is connected with the jet slot 112 through the jet port 111, and the jet slot 112 is connected with the jet port 111. The through slot 4 is connected with the front submersible body 5 and the rear submersible body 6. The tail end of the rear submersible body 6 is provided with a motor 7, and the output end of the motor 7 is provided with a power paddle 8. The rear end of the rear submersible body 6 is provided with a steering paddle 9. The submersible seat 101 and the outer end of the rear submersible body 6 are provided with a protective assembly 10. The protective assembly 10 includes a protective frame 1001, a bearing seat 1002, a driven rotating disk 1003, a driven paddle 1004, a sliding seat 1005, a movable block 1006, a placement seat 1007, a pressure detection spring 1008 and A tension detector 1009 is provided at the end of the protection frame 1001, and a bearing seat 1002 is arranged on the inner side of the bearing seat 1002, and a driven rotating disk 1003 is arranged on the inner side of the driven rotating disk 1003, and a driven paddle 1004 is arranged on the inner side of the driven rotating disk 1003, a sliding seat 1005 is arranged on the outer end of the protection frame 1001, and a placement seat 1007 is arranged on the outer end of the rear section submersible 6, and a movable block 1006 is arranged on the inner side of the placement seat 1007, and a pressure detection spring 1006 is arranged between the movable block 1006 and the placement seat 1007. 08 and tension detector 1009, the driven paddle 1004 and the power paddle 8 are fitted with each other, and the power paddle 8 drives the driven turntable 1003 to rotate through the driven paddle 1004, the sliding seat 1005 is sleeved and connected with the protective frame 1001, and the sliding seat 1005 and the movable block 1006 are integrated, the outer contour size of the movable block 1006 matches the inner contour size of the placement seat 1007, and the rear section submerged body 6 drives the sliding seat 1005 to move at the outer end of the protective frame 1001 through the placement seat 1007;

[0032] The specific operation is as follows. After the staff puts the equipment into the water, the power paddle 8 is driven to rotate by the motor 7, so that the equipment can move underwater, and the steering paddle 9 in a specific direction is rotated to realize the turning of the equipment underwater. In addition, a sonar device and a camera are installed inside the front submersible 5, so that the equipment can clearly grasp the underwater environment, thereby facilitating the equipment to perform detection and rescue tasks. When the equipment is working underwater, if it is in narrow waters or waters with many obstacles, the electric control push rod 2 is used to retreat, which can drive the front submersible 5 and the rear submersible 6 to retract into the submersible seat 101, which reduces the overall size of the equipment. Through this design, the probability of the equipment colliding with foreign objects in narrow waters can be greatly reduced, and during rescue tasks, During the service, the volume of the equipment can be increased by pushing the electric push rod 2 outward. By increasing the volume, it is convenient to carry materials and personnel. Through this design, the volume of the equipment can be adjusted to adapt to various usage scenarios. In addition, the volume of the internal cavity of the equipment will be reduced in the process of the front submersible 5 and the rear submersible 6 shrinking into the submersible seat 101, and vice versa. The buoyancy of the equipment can be adjusted by adjusting the volume of the internal cavity of the equipment, which enables the equipment to quickly adjust its height in the water to cope with emergencies. During the rotation of the power paddle 8, the driven paddle 1004 and the driven turntable 1003 can be driven to rotate. The driven turntable 1003 and the bearing seat 1002 can be wrapped around the outer ends of the power paddle 8 and the driven paddle 1004 to protect both. The driven turntable 1003 is in a rotating state due to external factors. When an external object approaches the driven turntable 1003, it will be bounced away by the driven turntable 1003, which can improve the protection performance of the equipment. In addition, during the adjustment of the rear section of the submersible 6, the protective frame 1001 can drive the bearing seat 1002 to move. The displacement of the bearing seat 1002 can make the power propeller 8 and the driven propeller 1004 misaligned. When algae or debris are entangled at the outer ends of the power propeller 8 and the driven propeller 1004, the algae or debris can be effectively removed through the misalignment of the power propeller 8 and the driven propeller 1004, and the protective frame 1001 can cooperate with the driven turntable 1003 and the bearing seat 1002 to protect the rear section of the submersible 6 body, which can reduce the damage of the rear section of the submersible 6 and cause the instability of the equipment. The submersible section 6 can drive the sliding seat 1005 to slide on the surface of the protective frame 1001 during the displacement process. If the protective frame 1001 is twisted due to the impact, the sliding seat 1005 will transfer the twisting force to the pressure detection spring 1008 and the tension detector 1009 in the mounting seat 1007 through the movable block 1006. Through this design, when the equipment collides with an external object, the equipment can detect its own state through the displacement of the rear submersible section 6. When the equipment is performing a rescue mission, the protective frame 1001 can be used as a supporting carrier to carry the rescue object, and the staff can fix the cable on the lifting ring seat 102 to facilitate the lifting of the rescue object after the rescue object is loaded. After the rescue object is loaded on the equipment, the electric control push rod 2 pushes the push plate 3.The front submersible body 5 and the rear submersible body 6 can be moved out from the interior of the submersible seat 101. In this process, the device can make the electromagnetic pressure plate 106 adsorbed with the armature plate 105 by energizing the electromagnetic pressure plate 106. At this time, when the synchronization rod 104 is driven by the front submersible body 5 and the rear submersible body 6 to move synchronously, it can drive the electromagnetic pressure plate 106 to stretch the reset spring 107 to move. After the electromagnetic pressure plate 106 moves, the squeezing of the squeezing button 109 on the conduction seat 108 is released. When the squeezing button 109 is in an unsqueezed state, the compressed gas tank 110 will work, which enables the compressed gas tank 110 to eject the internal compressed nitrogen through the jet port 111. The jet slot 112 can be connected to the interior of the front submersible body 5 and the rear submersible body 6 through the through slot 4. Through this design, the device can expand the internal volume while injecting nitrogen into it, which greatly improves the buoyancy of the equipment, thereby improving the convenience of hoisting.

[0033] In summary, when using the unmanned submersible with a protective structure, the staff first puts the device into the water, and then drives the power paddle 8 to rotate through the motor 7, so that the device can move underwater, and by rotating the steering paddle 9 in a specific direction, the device can be turned underwater. In addition, a sonar device and a camera are installed inside the front submersible 5, so that the device can clearly grasp the underwater environment, thereby facilitating the device to perform detection and rescue tasks;

[0034] Then, when the equipment is working underwater, if it is in a narrow water area or a water area with many obstacles, the electric control push rod 2 can be used to retreat, which can drive the front submersible 5 and the rear submersible 6 to retract into the submersible seat 101, which reduces the overall volume of the equipment. Through this design, the probability of the equipment colliding with foreign objects in narrow water areas can be greatly reduced. In the process of performing rescue missions, the volume of the equipment can be increased by pushing the electric control push rod 2 outward. By increasing the volume, it is convenient to carry materials and personnel. Through this design, the volume of the equipment can be adjusted to adapt to various different usage scenarios. In addition, the front submersible 5 and the rear submersible 6 will reduce the volume of the internal cavity of the equipment when they retract into the submersible seat 101, and vice versa. The buoyancy of the equipment can be adjusted by adjusting the volume of the internal cavity of the equipment, which enables the equipment to quickly adjust its height in the water to cope with emergencies.

[0035] Then, during the rotation of the power paddle 8, the driven paddle 1004 and the driven turntable 1003 can be driven to rotate. The driven turntable 1003 and the bearing seat 1002 can be wrapped around the outer ends of the power paddle 8 and the driven paddle 1004 to protect both. In addition, because the driven turntable 1003 is in a rotating state, when an external object approaches the driven turntable 1003, it will be bounced off by the driven turntable 1003, which can improve the protection performance of the equipment. In addition, during the adjustment of the rear section of the submersible 6, the protective frame 1001 can drive the bearing seat 1002 to move. The displacement of the bearing seat 1002 can make the power paddle 8 and the driven paddle 1004 misaligned. When algae or debris are entangled around the outer ends of the power paddle 8 and the driven paddle 1004, the power paddle 8 The misalignment with the driven paddle 1004 can effectively remove algae or debris, and the protective frame 1001 can cooperate with the driven turntable 1003 and the bearing seat 1002 to protect the rear submersible body 6, which can reduce the damage of the rear submersible body 6 and cause the instability of the equipment. In addition, the rear submersible body 6 can drive the sliding seat 1005 to slide on the surface of the protective frame 1001 during the displacement process. If the protective frame 1001 is twisted due to the impact, the sliding seat 1005 will transmit the twisting force to the pressure detection spring 1008 and the tension detector 1009 in the placement seat 1007 through the movable block 1006. Through this design, when the equipment collides with foreign objects, the equipment can detect its own state through the displacement of the rear submersible body 6.

[0036] Finally, when the equipment is performing a rescue mission, the protective frame 1001 can be used as a supporting carrier to carry the rescue object, and the staff can fix the cable on the lifting ring seat 102 to facilitate the lifting of the rescue object after loading. After the rescue object is loaded on the equipment, the electric push rod 2 pushes the push plate 3 to move the front submersible 5 and the rear submersible 6 out of the interior of the submersible seat 101. In this process, the equipment energizes the electromagnetic pressure plate 106 to make the electromagnetic pressure plate 106 and the armature plate 105 adsorbed. At this time, when the synchronization rod 104 is driven by the front submersible 5 and the rear submersible 6 to move synchronously, it can drive the electric push rod 2 to push the push plate 3 to move the front submersible 5 and the rear submersible 6 out of the interior of the submersible seat 101. The magnetic pressure plate 106 stretches the reset spring 107 to move. After the displacement, the electromagnetic pressure plate 106 releases the squeezing of the squeezing button 109 on the conduction seat 108. When the squeezing button 109 is in an un-squeezed state, the compressed gas tank 110 works, which enables the compressed gas tank 110 to eject the internal compressed nitrogen through the jet port 111. The jet slot 112 can be connected to the interior of the front submersible 5 and the rear submersible 6 through the through slot 4. Through this design, the equipment can be injected with nitrogen while expanding its internal volume, which greatly enhances the buoyancy of the equipment, thereby improving the convenience of lifting.

[0037] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An unmanned underwater vehicle provided with a protective structure, characterized in that: The invention comprises a middle submersible body (1), a front submersible body (5) and a protective assembly (10); the middle submersible body (1) comprises a submersible body seat (101), a lifting ring seat (102), a sealing seat (103), a synchronization rod (104), an armature plate (105), an electromagnetic pressure plate (106), a return spring (107), a conduction seat (108), a squeeze button (109), a compressed gas tank (110), an air jet port (111) and an air jet slot (112); a lifting ring seat (102) is arranged on the outer side of the top of the submersible body seat (101); a sealing seat (103) is arranged on the outer side of the bottom of the submersible body seat (101); a synchronization rod (104) is arranged inside the sealing seat (103); an armature plate (105) is arranged on the top of the synchronization rod (104); an electromagnetic pressure plate (106) is arranged inside the sealing seat (103); and a sealing seat (103) is arranged on the outer side of the bottom of the submersible body seat (101). 06), and a return spring (107) is arranged between the electromagnetic pressure plate (106) and the sealing seat (103), a conduction seat (108) is arranged at the middle end of the inner part of the sealing seat (103), and squeeze buttons (109) are arranged on both sides of the outer part of the conduction seat (108), a compressed gas tank (110) is arranged at the top of the conduction seat (108), and jet ports (111) are arranged on both sides of the outer part of the compressed gas tank (110), a jet groove (112) is arranged inside the submersible seat (101), electric control push rods (2) are arranged at both ends of the outer part of the submersible seat (101), and a push plate (3) is arranged at the output end of the electric control push rod (2), a through groove (4) is arranged inside the push plate (3), and a front submersible (5) and a rear submersible (6) are arranged at the front and rear ends of the submersible seat (101), respectively.

2. The unmanned underwater vehicle with a protective structure according to claim 1, characterized in that: The push plate (3) and the front submersible body (5) and the rear submersible body (6) are an integrated structure, and the front submersible body (5), the rear submersible body (6) and the submersible body seat (101) are sleeve-connected.

3. The unmanned underwater vehicle with a protective structure according to claim 1, characterized in that: The sealing seat (103) is sleeve-connected with the synchronization rod (104), and the synchronization rod (104) and the armature plate (105) are an integrated structure.

4. The unmanned underwater vehicle with a protective structure according to claim 1, characterized in that: The armature plate (105) is connected to the electromagnetic pressure plate (106) by electromagnetic attraction, and the electromagnetic pressure plate (106) is elastically connected to the return spring (107).

5. The unmanned underwater vehicle with a protective structure according to claim 1, characterized in that: The compressed gas tank (110) is connected to the jet groove (112) through the jet port (111), and the jet groove (112) is connected to the front submersible body (5) and the rear submersible body (6) through the through groove (4).

6. The unmanned underwater vehicle with a protective structure according to claim 1, characterized in that: A motor (7) is arranged at the tail end of the rear submersible body (6), and a power propeller (8) is arranged at the output end of the motor (7). A steering propeller (9) is arranged at the rear end of the rear submersible body (6). A protective component (10) is arranged at the outer end of the submersible seat (101) and the rear submersible body (6).

7. The unmanned underwater vehicle with a protective structure according to claim 5, characterized in that: The protection assembly (10) comprises a protection frame (1001), a bearing seat (1002), a driven rotating disk (1003), a driven paddle (1004), a sliding seat (1005), a movable block (1006), a placement seat (1007), a pressure detection spring (1008) and a tension detector (1009). The end of the protection frame (1001) is provided with a bearing seat (1002), and the driven rotating disk (1003) is placed inside the bearing seat (1002). 3), a driven paddle (1004) is arranged on the inner side of the driven rotating disk (1003), a sliding seat (1005) is arranged on the outer end of the protective frame (1001), a seating seat (1007) is arranged on the outer end of the rear submersible body (6), and a movable block (1006) is arranged on the inner side of the seating seat (1007), and a pressure detection spring (1008) and a tension detector (1009) are arranged between the movable block (1006) and the seating seat (1007).

8. The unmanned underwater vehicle with a protective structure according to claim 7, characterized in that: The driven paddle (1004) and the power paddle (8) are in contact with each other, and the power paddle (8) drives the driven rotating disk (1003) to rotate through the driven paddle (1004).

9. The unmanned underwater vehicle with a protective structure according to claim 7, characterized in that: The sliding seat (1005) is sleeve-connected with the protection frame (1001), and the sliding seat (1005) and the movable block (1006) are integrated.

10. The unmanned underwater vehicle with a protective structure according to claim 7, characterized in that: The outer contour size of the movable block (1006) matches the inner contour size of the placement seat (1007), and the rear section submersible body (6) drives the sliding seat (1005) to move at the outer end of the protective frame (1001) through the placement seat (1007).

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