Rock profiling underwater vehicle

Abstract

The rock profiling underwater vehicle comprises a shell, a sealing assembly and a power assembly. A plurality of windows are formed in the outer side wall of the shell. The sealing assembly comprises a sealing driving member and a shutter. The sealing driving member is used to drive the shutter to rotate so as to close or open the windows. The power assembly comprises a support plate, a pitch adjusting driving member, a pitch adjusting block, a paddle shaft, a power driving member and a rotating shaft. The support plate is arranged in the shell. The pitch adjusting driving member is arranged on the support plate. The pitch adjusting block is connected with the output shaft of the pitch adjusting driving member. The paddle shaft is arranged through and rotatably connected with the shell, and the paddle shaft is rotatably connected with the pitch adjusting block. The power driving member is arranged on the support plate. One end of the rotating shaft is arranged on the output shaft of the power driving member, and the other end of the rotating shaft is coaxially arranged through and circumferentially clamped with the paddle shaft. In this way, the paddle shaft used for driving is arranged as a telescopic structure, so that the whole appearance of the shell is in a rock profiling structure, and the concealment is effectively improved.

Description

Technical Field

[0001] This invention relates to the technical field of underwater vehicles, and in particular to a rock-following underwater vehicle. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) are unmanned intelligent equipment that operate without physical cables, relying on internal power and autonomous control systems to complete underwater tasks. Their core advantages include a wide operating range, high maneuverability, and the ability to operate without real-time human intervention, making them essential equipment for marine exploration, resource development, and national defense.

[0003] Existing AUVs prioritize power performance, thus their propellers are typically designed with an exposed structure to ensure rapid maneuverability. However, as ocean exploration missions become increasingly complex, AUVs often need to remain in one location for extended periods for recording and monitoring. The existing exposed propeller structure has several drawbacks: First, the exposed propeller reduces concealment, particularly when monitoring specific marine life, as it struggles to integrate effectively into the complex seabed environment, leading to suboptimal monitoring results. Second, prolonged immersion in seawater causes corrosion and damage to the sealing rings, resulting in a short lifespan and requiring frequent recovery and replacement. Therefore, to address these issues, this application proposes a rock-following underwater vehicle. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a rock-following underwater vehicle that can house the propeller to improve the overall concealment of the device and extend its service life.

[0005] The technical solution adopted in this invention is: A rock-mimicking underwater vehicle, comprising: The casing has several windows on its outer side wall; A sealing assembly, comprising a sealing drive and a cover plate, wherein the sealing drive is disposed inside the housing, and the cover plate is disposed on the output shaft of the sealing drive; the sealing drive is used to drive the cover plate to rotate so that the cover plate closes or opens the window. The power assembly includes a support plate, a pitch control drive, a pitch control block, a propeller shaft, a power drive, and a rotating shaft. The support plate is disposed within the housing. The pitch control drive is disposed on the support plate. The pitch control block is slidably disposed on the support plate and connected to the output shaft of the pitch control drive. The propeller shaft is rotatably connected to the housing and the pitch control block. The power drive is disposed on the support plate. One end of the rotating shaft is disposed on the output shaft of the power drive, and the other end of the rotating shaft is coaxially inserted and circumferentially engaged with the propeller shaft. The pitch control drive drives the pitch control block to slide relative to the support plate, thereby causing the pitch control block to extend or retract the propeller shaft into the window. The power drive drives the rotating shaft to rotate the propeller shaft.

[0006] Optionally, the housing includes an inner shell, an outer shell, and a partition. The inner shell is disposed inside the outer shell, and the partition is disposed between the inner shell and the outer shell. Each window is located on the outer shell. The partition has several storage cavities, each of which communicates with each of the windows. The sealing component is located on the inner wall of the storage cavity. The power component is disposed inside the inner shell, and the end of the propeller shaft away from the rotation axis passes through the inner shell and extends into the storage cavity.

[0007] Optionally, the propeller shaft is provided with blades at the end located in the receiving cavity.

[0008] Optionally, the inner shell also has a storage cavity, and the bottom wall of the storage cavity has a feeding hole, which passes through the partition and the outer shell in sequence.

[0009] Optionally, the rock-following underwater vehicle further includes a sealing plate, a discharge drive, and a sealing ring. The sealing ring is disposed on the inner bottom wall of the storage cavity. A transverse guide groove is respectively formed on the two opposing inner sidewalls of the storage cavity. One end of the sealing plate is slidably connected to the two transverse guide grooves on both sides. The discharge drive is disposed on the inner shell, and the output shaft of the discharge drive is connected to the other end of the sealing plate. The discharge drive is used to drive the sealing plate to slide along the transverse guide grooves to abut against the sealing ring, thereby sealing the storage cavity.

[0010] Optionally, the unloading drive includes a guide post, a screw, an unloading motor, and a lifting block. The guide post is disposed on one side of the storage cavity. The screw is rotatably disposed in the storage cavity adjacent to the guide post. The unloading motor is disposed on the inner shell, and the output shaft of the unloading motor is connected to the screw. The lifting block is slidably disposed on the guide post and screwed to the screw. The lifting block is rotatably connected to the sealing plate.

[0011] Optionally, the sealing plate includes a plate body, a holding block, and an elastic element. One end of the plate body is slidably connected to two of the two horizontal guide grooves. The holding block is slidably disposed on the other end of the plate body. The elastic element abuts against the plate body and the holding block respectively. The elastic element is used to push the holding block away from the plate body. The holding block is used to rotately connect with the lifting block.

[0012] Optionally, a vertical guide groove is formed on the two opposing inner sidewalls of the storage cavity near the screw, and the two ends of the pressing block are slidably connected to the two vertical guide grooves respectively.

[0013] Optionally, the end of the horizontal guide groove away from the vertical guide groove is provided with a downward bend towards the sealing ring, and when the plate slides into the downward bend, the plate presses against the sealing ring.

[0014] Optionally, the rock-following underwater vehicle further includes a water pump, which is disposed inside the inner shell. The water inlet of the water pump is connected to the storage cavity and the receiving cavity, and the water outlet of the water pump is connected to the outside.

[0015] The beneficial effects of this invention are: The rock-following underwater vehicle of the present invention includes a hull, a sealing assembly, and a power assembly. The outer wall of the hull has several windows. The sealing assembly includes a sealing drive and a shield. The sealing drive is disposed inside the hull, and the shield is disposed on the output shaft of the sealing drive. The sealing drive rotates the shield to close or open the windows. The power assembly includes a support plate, a pitch control drive, a pitch control block, a propeller shaft, a power drive, and a rotating shaft. The support plate is disposed inside the hull, and the pitch control drive is disposed on the support plate. The pitch block is slidably mounted on the support plate, and is connected to the output shaft of the pitch control drive. The propeller shaft is threaded through and rotatably connected to the fuselage, and is rotatably connected to the pitch block. The power drive is mounted on the support plate, with one end of the rotating shaft mounted on the output shaft of the power drive, and the other end of the rotating shaft coaxially threaded through and circumferentially engaged with the propeller shaft. The pitch control drive drives the pitch block to slide relative to the support plate, thereby causing the pitch block to extend or retract the propeller shaft into the window. The power drive drives the rotating shaft to rotate the propeller shaft. Thus, by making the propeller shaft a retractable structure, when the rock-following underwater vehicle needs to remain stationary underwater for extended periods for monitoring, the propeller shaft can be retracted into the window, and the sealing drive will then close the window with a shield, making the entire fuselage resemble a rock-following structure, effectively improving stealth. Attached Figure Description

[0016] Figure 1 This is a side view of a rock-following underwater vehicle according to an embodiment of the present invention; Figure 2 for Figure 1 A cross-sectional view of the rock-following underwater vehicle shown; Figure 3 for Figure 1 A cross-sectional view of another state of the rock-following underwater vehicle shown; Figure 4 for Figure 1 A partial structural schematic diagram of the rock-following underwater vehicle is shown. Figure 5 This is a partial structural schematic diagram of a power assembly according to an embodiment of the present invention; Figure 6 for Figure 5 A cross-sectional view of a partial structure of the power assembly shown; Figure 7 This is a schematic diagram of the structure of a sealing component according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the horizontal shape of the sealing plate according to one embodiment of the present invention; Figure 9 This is a schematic diagram of the inclined shape of the sealing plate according to one embodiment of the present invention; Figure 10 This is a schematic diagram of the assembly structure of the sealing plate and the unloading drive component according to one embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 10. Rock-following underwater vehicle; 100. Casing; 200. Sealing assembly; 300. Power assembly; 121. Window; 210. Sealing drive component; 220. Cover plate; 310. Support plate; 320. Pitch control drive component; 330. Pitch control block; 340. Propeller shaft; 350. Power drive component; 360. Rotating shaft; 110. Inner shell; 120. Outer shell; 130. Partition; 131. Storage cavity; 211. Bottom plate; 212. Sealed motor; 213. Worm gear section; 214. Sealed shaft; 215. Sealing cover; 370. Propeller blade; 331. Inner convex ring; 341. Ring groove; 332. Guide protrusion; 311. Slide groove; 333. Rack; 321. Adjustable pitch motor; 322. Gear; 111. Storage cavity; 112. Feeding hole; 410. Sealing plate; 420. Unloading drive component; 430. Sealing ring; 113. Horizontal guide groove; 421. Guide post; 422. Screw; 423. Unloading motor; 424. Lifting block; 411. Plate; 412. Holding block; 413. Elastic component; 4111. Slide hole; 114. Vertical guide groove; 1131. Lower bend; 500. Water pump. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more comprehensive description will be given below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of the invention.

[0019] like Figures 1 to 6 As shown, a rock-following underwater vehicle 10 includes a housing 100, a sealing assembly 200, and a power assembly 300. The outer wall of the housing 100 has several windows 121. The sealing assembly 200 includes a sealing drive 210 and a shield 220. The sealing drive 210 is disposed inside the housing 100, and the shield 220 is disposed on the output shaft of the sealing drive 210. The sealing drive 210 is used to rotate the shield 220 to close or open the windows 121. The power assembly 300 includes a support plate 310, a pitch control drive 320, a pitch control block 330, a propeller shaft 340, a power drive 350, and a rotating shaft 360. The support plate 310 is disposed inside the housing 100, and the pitch control drive 320 is disposed on the output shaft of the support plate 210. On plate 310, pitch block 330 is slidably disposed on support plate 310, and pitch block 330 is connected to the output shaft of pitch drive 320. Propeller shaft 340 is used to pass through and rotatably connect to housing 100, and propeller shaft 340 is rotatably connected to pitch block 330. Power drive 350 is disposed on support plate 310. One end of rotating shaft 360 is disposed on the output shaft of power drive 350, and the other end of rotating shaft 360 is coaxially passed through and circumferentially engaged with propeller shaft 340. Pitch drive 320 is used to drive pitch block 330 to slide relative to support plate 310, thereby causing pitch block 330 to drive propeller shaft 340 to extend or retract into window 121. Power drive 350 is used to drive rotating shaft 360 to drive propeller shaft 340 to rotate.

[0020] It should be noted that at least four windows 121 are provided, with at least one window 121 along the front, rear, left, and right sides. Furthermore, each window 121 is equipped with a corresponding sealing component 200, allowing the sealing component 200 to open or close the window 121 as needed. Further, a power component 300 is installed at the position corresponding to each window 121. The power component 300 is used to extend the propeller shaft 340 from the window 121 as needed for driving. When the propeller shaft 340 retracts into the window 121, the sealing component 200 closes the window 121. Thus, when the outer surface of the housing 100 is made of the same material as rock, and the rock-mimicking underwater vehicle 10 is stationary, the concealment is better than the exposed propeller structure in the prior art because the windows 121 are sealed by the sealing component 200. Specifically, the sealing drive component 210 is installed inside the housing 100, and the sealing drive component 210 is installed adjacent to the window 121. A shield 220 is mounted on the output shaft of a sealing drive 210. The sealing drive 210 moves the shield 220 closer to and blocks the window 121, or away from the window 121 to open it. Further, a support plate 310 is mounted inside the housing 100. A pitch block 330 is slidably mounted on the support plate 310 along its length. For example, a slide rail is provided on the support plate 310, and the pitch block 330 is slidably connected to the support plate 310 via the slide rail, allowing the pitch block 330 to slide back and forth. A pitch drive 320 is mounted on the support plate 310, and the pitch drive 320 moves the pitch block 330 along the support plate 310. A propeller shaft 340 is installed inside the housing 100, also facing the window 121. The end of the propeller shaft 340 away from the window 121 is rotatably connected to the pitch block 330, meaning the propeller shaft 340 can rotate relative to the pitch block 330. Thus, the pitch control drive 320 drives the pitch control block 330 to slide, causing the pitch control block 330 to drive the propeller shaft 340 through the housing 100, allowing one end of the propeller shaft 340 to protrude through the window 121. It should be noted that the propeller shaft 340 can rotate relative to the pitch control block 330 and also relative to the housing 100. In one embodiment, the sliding connection between the propeller shaft 340 and the pitch control block 330 / housing 100 is achieved by installing a bearing. Furthermore, since the propeller shaft 340 passes through the housing 100 to protrude through the window 121, to eliminate the gap between the propeller shaft 340 and the housing 100 and prevent seawater from entering the location of the support plate 310 through the installation gap where the propeller shaft 340 passes through the housing 100, a waterproof sealing ring is used between the propeller shaft 340 and the housing 100. Since the sealing structure of the underwater shaft is existing technology, existing solutions can be used directly, and will not be elaborated further here. Furthermore, the power drive 350 is mounted on the end of the support plate 310 away from the window 121, and one end of the rotating shaft 360 is fixedly mounted on the output shaft of the power drive 350. For example, the power drive 350 is a motor.The other end of the rotating shaft 360 is inserted into the propeller shaft 340 along the axial direction, and the rotating shaft 360 and the propeller shaft 340 are connected in a snap-fit ​​structure along the circumference. For example, a multi-faceted slot, such as a hexagonal slot, is coaxially formed on the end of the propeller shaft 340 away from the window 121. The rotating shaft 360 is correspondingly set as a polyhedral structure, such as a hexagonal prism. The hexagonal prism is fitted into the hexagonal slot, so that the propeller shaft 340 can slide relative to the rotating shaft 360 along the axial direction, but is connected in a snap-fit ​​structure along the circumference. Thus, the pitch control drive 320 drives the propeller shaft 340 to extend from or retract into the window 121. The power drive 350 then drives the rotating shaft 360 to rotate, thereby rotating the propeller shaft 340. Since the propeller shaft 340 and the pitch control block 330 are rotatably connected, the power drive 350 can smoothly drive the propeller shaft 340 to rotate continuously, providing power to the rock-following underwater vehicle 10. When the rock-following underwater vehicle 10 needs to remain stationary underwater for extended periods, the propeller shaft 340 can be retracted into the window 121, and the sealing drive 210 can drive the shield 220 to close the window 121, making the entire shape of the hull 100 resemble a rock, effectively improving concealment. In one embodiment, the propeller shaft 340 can be configured to be horizontal or tilted downwards.

[0021] like Figures 1 to 4 As shown, in one embodiment, the housing 100 includes an inner shell 110, an outer shell 120, and a partition 130. The inner shell 110 is disposed inside the outer shell 120, and the partition 130 is disposed between the inner shell 110 and the outer shell 120. Each window 121 is located on the outer shell 120. The partition 130 has a plurality of storage cavities 131, each storage cavity 131 communicating with each window 121. The sealing component 200 is located on the inner sidewall of the storage cavity 131. The power component 300 is disposed inside the inner shell 110, and the end of the propeller shaft 340 away from the rotation axis 360 passes through the inner shell 110 to extend into the storage cavity 131.

[0022] It should be noted that the housing 100 is formed by sequentially connecting the inner shell 110, the partition 130, and the outer shell 120 from the inside to the outside. The outer wall of the outer shell 120 is textured to resemble rock to enhance its concealment. Furthermore, windows 121 are located on the outer shell 120. Additionally, each partition 130 has a corresponding storage cavity 131, allowing communication between the storage cavity 131 and the window 121. Furthermore, a sealing component 200 is installed on the inner wall of the storage cavity 131. Specifically, a sealing drive 210 is fixedly installed on the inner wall of the storage cavity 131, driving the baffle 220 to either seal or open the window 121. Furthermore, a power component 300 is installed inside the inner shell 110, utilizing the airtightness of the inner shell 110 to provide airtight protection for the power component 300. One end of the propeller shaft 340 in the power assembly 300 passes through the inner shell 110 and extends into the storage cavity 131 for storage. Thus, when the cover 220 is opened, with the action of the pitch control drive 320, the propeller shaft 340 is driven to extend from the storage cavity 131 through the window 121 to the outside. Then, the power drive 350 drives the propeller shaft 340 to rotate continuously, driving the rock-following underwater vehicle 10 to operate underwater. In one embodiment, a waterproof sealing ring is fitted between the propeller shaft 340 and the inner shell 110 to achieve a waterproof seal. Furthermore, the partition 130 is made of waterproof foam. Thus, by using the partition 130 to completely cover the inner shell 110, and simultaneously installing a waterproof sealing ring between the propeller shaft 340 and the inner shell 110, the waterproof sealing performance of the inner shell 110 is effectively improved, and the noise of the internal equipment is isolated, effectively improving concealment.

[0023] like Figure 2 , Figure 3 and Figure 7 In one embodiment, the sealed drive component 210 includes a base plate 211, a sealed motor 212, a worm gear 213, a sealed shaft 214, and a sealing cover 215. The base plate 211 is disposed on the inner shell 110, the sealed motor 212 is disposed on the base plate 211, the sealed shaft 214 is rotatably disposed on the base plate 211, the worm gear 213 is connected to the output shafts of the sealed shaft 214 and the sealed motor 212 respectively, and the sealing cover 215 is fastened to the base plate 211 so that the sealed motor 212 and the worm gear 213 are both located inside the sealing cover 215, and the shield 220 is disposed on the sealed shaft 214.

[0024] It should be noted that the base plate 211 is fixedly installed on the outer wall of the inner shell 110 with screws, and the partition 130 covers the perimeter of the base plate 211. The sealing motor 212 is fixedly installed on the base plate 211 with screws, and the sealing shaft 214 and the worm gear part 213 are rotatably installed on the base plate 211 through waterproof bearings, wherein one end of the sealing shaft 214 is fixedly installed with the gear shaft part of the worm gear part 213. In this way, the sealing motor 212 drives the sealing shaft 214 to rotate through the worm gear part 213. Utilizing the unidirectional power transmission structure of the worm gear part 213, the sealing motor 212 can reliably and stably drive the cover plate 220 to rotate to seal the window 121. In one embodiment, a sealing ring is also fitted on the outer peripheral wall of the cover plate 220, so that the cover plate 220 can reliably seal the window 121 through the sealing ring. The worm gear section 213 is a worm gear structure, a common mechanical mechanism, and will not be described in detail here. Furthermore, the sealing cover 215 can be welded to the base plate 211 to ensure the sealing performance of the interior of the sealing cover 215. Furthermore, one end of the sealing shaft 214 needs to be inserted into the sealing cover 215 to ensure the waterproof sealing performance of the interior of the sealing cover 215. The rotating connection structure between the sealing shaft 214 and the base plate 211 is also equipped with a waterproof sealing ring. Since waterproof sealing rings used for cylindrical shafts are common waterproof sealing accessories and methods in existing underwater equipment, existing solutions can be directly used, and therefore will not be described in detail here.

[0025] like Figures 2 to 4 In one embodiment, a blade 370 is provided on the end of the propeller shaft 340 located in the receiving cavity 131. Thus, the blade 370 is fixedly mounted on the end of the propeller shaft 340 located in the receiving cavity 131. The propeller shaft 340 drives the blade 370 through the window 121 to the outside.

[0026] like Figure 2 , Figure 3 , Figure 5 As shown, in one embodiment, an inner protruding ring 331 is provided on one end of the pitch block 330, and an annular groove 341 is provided on the outer wall of the end of the propeller shaft 340 away from the blade 370. The inner protruding ring 331 is rotatably connected to the annular groove 341.

[0027] It should be noted that both the inner convex ring 331 and the annular groove 341 have circular cross-sections, allowing the inner convex ring 331 to rotate circumferentially relative to the annular groove 341. For example, to improve the wear resistance between the inner convex ring 331 and the annular groove 341, a wear-resistant layer, such as wear-resistant ceramic, is provided between the outer wall of the inner convex ring 331 and the inner wall of the annular groove 341. Furthermore, lubricating oil is applied between the inner convex ring 331 and the annular groove 341. This increases lubrication when the propeller shaft 340 continuously rotates relative to the pitch block 330, further reducing wear and extending service life.

[0028] like Figure 5 , Figure 6 As shown, in one embodiment, the adjusting block 330 is provided with a guide protrusion 332, and the support plate 310 is provided with a sliding groove 311, and the guide protrusion 332 is adapted to slide within the sliding groove 311.

[0029] It should be noted that, in order to enable the adjusting block 330 to slide stably back and forth on the support plate 310, a guide protrusion 332 is provided on each of the opposing sides of the adjusting block 330, and two opposing sliding grooves 311 are formed on the support plate 310, so that the two guide protrusions 332 can be slidably connected within the sliding grooves 311. In one embodiment, the inner sidewall of the sliding groove 311 is also coated with lubricating oil, so that the guide protrusions 332 can slide stably within the sliding groove 311.

[0030] like Figures 4 to 6 As shown, in one embodiment, the pitch block 330 is provided with a rack 333, and the pitch drive 320 includes a pitch motor 321 and a gear 322. The pitch motor 321 is provided on the support plate 310, and the gear 322 is provided on the output shaft of the pitch motor 321, and the gear 322 meshes with the rack 333.

[0031] It should be noted that the rack 333 is arranged along the length of the adjusting block 330. The adjusting motor 321 is fixedly mounted on the support plate 310, and the gear 322 is mounted on the output shaft of the adjusting motor 321. The gear 322 meshes with the rack 333, so that the adjusting motor 321 drives the gear 322 to rotate, which in turn drives the adjusting block 330 to reciprocate relative to the support plate 310.

[0032] like Figure 2 , Figure 3 , Figures 8 to 10 As shown, in one embodiment, a storage cavity 111 is also provided inside the inner shell 110, and a feeding hole 112 is provided on the bottom wall of the storage cavity 111. The feeding hole 112 passes through the partition 130 and the outer shell 120 in sequence.

[0033] It should be noted that, in order to enable the rock-following underwater vehicle 10 to deploy items underwater, a storage cavity 111 is provided inside the inner shell 110. A feeding hole 112 is provided on the inner bottom wall of the storage cavity 111. This allows items to be placed into or deployed from the storage cavity 111 through the feeding hole 112. It should be noted that the items to be deployed include, but are not limited to, various sensors, such as turbidimeters and seabed seismometers, as well as various underwater buoys and seabed beacons.

[0034] like Figure 2 , Figure 3 , Figures 8 to 10As shown, in one embodiment, the rock-following underwater vehicle 10 further includes a sealing plate 410, an unloading drive 420, and a sealing ring 430. The sealing ring 430 is disposed on the inner bottom wall of the storage cavity 111. A transverse guide groove 113 is respectively opened on the two opposing inner sidewalls of the storage cavity 111. The two sides of one end of the sealing plate 410 are slidably connected to the two transverse guide grooves 113 respectively. The unloading drive 420 is disposed on the inner shell 110, and the output shaft of the unloading drive 420 is connected to the other end of the sealing plate 410. The unloading drive 420 is used to drive the sealing plate 410 along the transverse guide grooves 113 to abut against the sealing ring 430, thereby sealing the storage cavity 111.

[0035] It should be noted that, in order to ensure that the items to be placed can be stably placed in the storage cavity 111 and stably dispensed from the storage cavity 111 during dispensing, a feeding hole 112 is provided on the inner bottom wall of the storage cavity 111, and a sealing plate 410 is provided to controllably close the feeding hole 112. Specifically, transverse guide grooves 113 are provided laterally on the two opposing inner sidewalls of the storage cavity 111, near the feeding hole 112. A corrosion-resistant plastic roller is rotatably mounted on both sides of one end of the sealing plate 410, and the two plastic rollers slide and roll in the two transverse guide grooves 113 respectively. A sealing ring 430 is embedded in the inner bottom wall of the storage cavity 111, with the feeding hole 112 located within the sealing ring 430. Furthermore, a discharge drive 420 is mounted on the inner shell 110, and the output shaft of the discharge drive 420 is connected to the other end of the sealing plate 410. Thus, the unloading drive 420 drives one end of the sealing plate 410 to slide along the transverse guide groove 113, allowing the sealing plate 410 to cover or open the feeding hole 112. When the feeding hole 112 is covered, the sealing plate 410 abuts against the sealing ring 430, sealing the storage cavity 111. When the sealing plate 410 opens the feeding hole 112, the item to be placed can be put into the storage cavity 111, or, when working underwater, the item to be placed can be thrown out of the storage cavity 111. It should be noted that the feeding hole 112 is located on the inner bottom wall of the storage cavity 111. When the sealing plate 410 opens the feeding hole 112, it ensures that the item to be placed is thrown out through the feeding hole 112, avoiding problems such as jamming.

[0036] like Figure 2 , Figure 3 , Figure 10As shown, in one embodiment, the unloading drive component 420 includes a guide post 421, a screw 422, an unloading motor 423, and a lifting block 424. The guide post 421 is disposed on one side of the storage cavity 111. The screw 422 is rotatably disposed in the storage cavity 111 adjacent to the guide post 421. The unloading motor 423 is disposed on the inner shell 110, and the output shaft of the unloading motor 423 is connected to the screw 422. The lifting block 424 is slidably disposed on the guide post 421, and the lifting block 424 is screwed to the screw 422. The lifting block 424 is rotatably connected to the sealing plate 410.

[0037] It should be noted that the guide post 421 is fixedly installed vertically on one side of the storage cavity 111, and the screw 422 is rotatably installed on one side of the storage cavity 111 adjacent to the guide post 421 via a bearing. The guide post 421 passes through the lifting block 424, which is also screwed to the screw 422. The unloading motor 423 is fixedly installed inside the inner shell 110. The output shaft of the unloading motor 423 is connected to the screw 422. The lifting block 424 is rotatably connected to the sealing plate 410. Thus, the unloading motor 423 drives the screw 422 to rotate, causing the lifting block 424 to move up and down along the axial direction of the guide post 421, thereby causing the lifting block 424 to drive the second end of the sealing plate 410 to move up and down (for ease of description, the end of the sealing plate 410 that slides along the transverse guide groove 113 is defined as the first end, and the other end is defined as the second end). This allows the sealing plate 410 to be in a horizontal or inclined position. When horizontal, the sealing plate 410 abuts against the sealing ring 430 to seal the feeding hole 112. When inclined, the sealing plate 410 is located inclined on the side of the storage cavity 111 closer to the screw 422, so that the item to be fed supported by the sealing plate 410 is fed out from the feeding hole 112. It should be noted that the screw 422 is rotatably mounted on the inner shell 110 via a waterproof bearing, and the end of the screw 422 connected to the output shaft of the unloading motor 423 is sealed with a waterproof sealing ring. Furthermore, when the sealing plate 410 opens the feeding hole 112, seawater will rush into the storage cavity 111. Therefore, in order to improve the corrosion resistance of the guide post 421, screw 422, lifting block 424, and sealing plate 410, a wear-resistant layer, such as wear-resistant ceramic, is provided on the surface of the guide post 421, screw 422, lifting block 424, and sealing plate 410.

[0038] like Figure 2 , Figure 3 , Figures 8 to 10As shown, in one embodiment, the sealing plate 410 includes a plate body 411, a pressing block 412, and an elastic member 413. One end of the plate body 411 is slidably connected to two horizontal guide grooves 113 on both sides. The pressing block 412 is slidably disposed on the other end of the plate body 411. The elastic member 413 abuts against the plate body 411 and the pressing block 412 respectively. The elastic member 413 is used to push the pressing block 412 away from the plate body 411. The pressing block 412 is used to be rotatably connected to the lifting block 424.

[0039] It should be noted that the end of the plate 411 that is slidably connected to the two transverse guide grooves 113 is defined as the first end, and the other end of the plate 411 is defined as the second end. A sliding hole 4111 is provided on the end face of the second end of the plate 411. A pressing block 412 is slidably installed in the sliding hole 4111, and an elastic element 413 is installed in the sliding hole 4111, such that the elastic element 413 abuts against the inner sidewall of the sliding hole 4111 and the pressing block 412 respectively. The elastic element 413 pushes against the pressing block 412, causing the pressing block 412 to tend to slide away from the plate 411. A pin-like portion is provided on the pressing block 412, and a lifting block 424 is sleeved on the pin-like portion, so that the lifting block 424 and the pressing block 412 are rotatably connected. Thus, when the lifting block 424 descends, the first end of the plate 411 reaches the limit position of the horizontal guide groove 113, and the first end of the plate 411 is held. As the lifting block 424 continues to descend, the holding block 412 compresses the elastic element 413 to slide relative to the plate 411, and finally the plate 411 abuts against the sealing ring 430 to be in a horizontal position. In this way, the installation gap when the plate 411 is in a horizontal state can be eliminated, and the elastic force of the elastic element 413 applies continuous pressure to the plate 411, so that the plate 411 stably abuts against the sealing ring 430, ensuring that the plate 411 reliably seals the feeding hole 112. In one embodiment, the elastic element 413 is a helical spring.

[0040] like Figure 2 , Figure 3 and 8 As shown, in one embodiment, a vertical guide groove 114 is respectively opened on the two opposing inner sidewalls of the storage cavity 111 near the screw 422 along the vertical direction, and the two ends of the pressing block 412 are slidably connected to the two vertical guide grooves 114 respectively.

[0041] It should be noted that one of the horizontal guide grooves 113 and one of the vertical guide grooves 114 are located on the same inner wall side, while the other horizontal guide groove 113 and the other vertical guide groove 114 are located on another inner wall side facing each other. Furthermore, the extending direction of the vertical guide groove 114 is perpendicular to the extending direction of the horizontal guide groove 113. The two ends of the holding block 412 are slidably connected to the two vertical guide grooves 114. For example, a corrosion-resistant plastic roller can be rotatably mounted on both ends of the holding block 412, allowing the plastic roller to slide and roll along the vertical guide groove 114. This improves the vertical sliding stability of the holding block 412.

[0042] like Figure 9 As shown, in one embodiment, the end of the horizontal guide groove 113 away from the vertical guide groove 114 is provided with a downward bend 1131 in the direction close to the sealing ring 430. When the plate 411 slides into the downward bend 1131, the plate 411 presses against the sealing ring 430.

[0043] It should be noted that when the plate 411 needs to close the feeding hole 112, during the process of the sealing plate 410 changing from an inclined state to a horizontal state, the first end of the plate 411 slides along the horizontal guide groove 113. When the plate 411 slides into the lower bend 1131, since the lower bend 1131 is a structure that bends towards the sealing ring 430, the plate 411 will be closer to the sealing ring 430 to initially press against the sealing ring 430. As the lifting block 424 continues to descend, the holding block 412 slides relative to the plate 411, and the elastic element 413 is compressed. When the plate 411 finally changes to a horizontal state, it can ensure that the plate 411 presses the sealing ring 430 tightly, causing the sealing ring 430 to deform, and ensuring that the plate 411 reliably seals the feeding hole 112 through the sealing ring 430. It is important to note that the plate 411 is a movable structure, and its sealing strength over the feeding hole 112 depends on the clamping force applied by the plate 411 to the sealing ring 430. A greater clamping force applied by the plate 411 to the sealing ring 430 results in a higher degree of deformation, leading to a better seal over the feeding hole 112, and vice versa. Therefore, to achieve a better sealing effect, the plate 411 is designed to apply as much clamping force as possible to the sealing ring 430. However, the transverse guide groove 113 extends horizontally. If the lower bend 1131 is not provided, and instead the transverse guide groove 113 is positioned close to the sealing ring 430 to achieve a better clamping force, the plate 411 will exert continuous friction on the sealing ring 430 during the transition between horizontal and inclined positions, which can easily lead to wear on the sealing ring 430. Therefore, the solution in this embodiment effectively solves the above problems. Specifically, when the plate 411 slides along the horizontally distributed portion of the sealing ring 430, the plate 411 will not contact the sealing ring 430. Only when the plate 411 slides into the lower bend 1131 at the very end will the plate 411 press against the sealing ring 430. At this time, the plate 411 has already slid to the very end and will no longer slide. As the lifting block 424 continues to descend, the holding block 412 slides relative to the plate 411, and the elastic element 413 is compressed. Finally, the lifting block 424 drives the plate 411 to change to a horizontal state, and the plate 411 presses the sealing ring 430 as a whole, ensuring that the plate 411 seals the feeding hole 112.

[0044] like Figure 2 , Figure 3As shown, in one embodiment, the rock-following underwater vehicle 10 also includes a water pump 500, which is disposed inside the inner shell 110. The water inlet of the water pump 500 is connected to the storage cavity 111 and the receiving cavity 131, and the water outlet of the water pump 500 is connected to the outside.

[0045] It should be noted that when the sealing drive 210 drives the cover 220 to open the window 121, water will rush into the storage cavity 131. Similarly, when the rock-following underwater vehicle 10 sails to a designated position and opens the sealing plate 410 to release items, water will also rush into the storage cavity 111. However, when the rock-following underwater vehicle 10 needs to remain stationary in a specific position for an extended period for monitoring, as the cover 220 seals the window 121 and the sealing plate 410 seals the feeding hole 112, the water pump 500 can be activated to pump out the water from the storage cavity 111 and the storage cavity 131, preventing prolonged immersion of these cavities. This avoids prolonged corrosion of the components within the storage cavity 111 and the storage cavity 131 by water accumulation, thus extending the service life of the rock-following underwater vehicle 10. The storage cavity 111 and each storage cavity 131 are connected to the water pump 500 via pipes.

[0046] Furthermore, in one embodiment, a lithium battery pack and a control circuit board (not shown in the figure) are installed inside the inner shell 110. The control circuit board is electrically connected to the sealed drive component 210, the pitch control component 320, and the power drive component 350. The lithium battery pack is electrically connected to the control circuit board. Furthermore, a navigation module and a communication module (not shown in the figure) are also installed inside the inner shell 110. Both the navigation module and the communication module are electrically connected to the control circuit board. This enables the rock-following underwater vehicle 10 of this application to achieve underwater communication and automatic navigation. Since the lithium battery pack, control circuit board, navigation module, and communication module are all prior art, they are not shown in the figure, and existing technical solutions can be directly adopted; therefore, they will not be described in detail here.

[0047] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A rock-mimicking underwater vehicle, characterized in that, include: The casing has several windows on its outer side wall; A sealing assembly, comprising a sealing drive and a cover plate, wherein the sealing drive is disposed inside the housing, and the cover plate is disposed on the output shaft of the sealing drive; the sealing drive is used to drive the cover plate to rotate so that the cover plate closes or opens the window. The power assembly includes a support plate, a pitch control drive, a pitch control block, a propeller shaft, a power drive, and a rotating shaft. The support plate is disposed within the housing. The pitch control drive is disposed on the support plate. The pitch control block is slidably disposed on the support plate and connected to the output shaft of the pitch control drive. The propeller shaft is rotatably connected to the housing and the pitch control block. The power drive is disposed on the support plate. One end of the rotating shaft is disposed on the output shaft of the power drive, and the other end of the rotating shaft is coaxially inserted and circumferentially engaged with the propeller shaft. The pitch control drive drives the pitch control block to slide relative to the support plate, thereby causing the pitch control block to extend or retract the propeller shaft into the window. The power drive drives the rotating shaft to rotate the propeller shaft.

2. The rock-following underwater vehicle according to claim 1, characterized in that, The housing includes an inner shell, an outer shell, and a partition. The inner shell is disposed inside the outer shell, and the partition is disposed between the inner shell and the outer shell. Each window is located on the outer shell. The partition has several storage cavities, each of which communicates with each of the windows. The sealing component is located on the inner wall of the storage cavity. The power component is disposed inside the inner shell, and the end of the propeller shaft away from the rotation axis passes through the inner shell and extends into the storage cavity.

3. The rock-following underwater vehicle according to claim 2, characterized in that, The propeller shaft is equipped with blades at the end located in the receiving cavity.

4. The rock-following underwater vehicle according to claim 2, characterized in that, The inner shell also has a storage cavity, and the bottom wall of the storage cavity has a feeding hole that passes through the partition and the outer shell in sequence.

5. The rock-following underwater vehicle according to claim 4, characterized in that, The rock-following underwater vehicle also includes a sealing plate, a discharge drive, and a sealing ring. The sealing ring is disposed on the inner bottom wall of the storage cavity. A transverse guide groove is respectively formed on the two opposing inner side walls of the storage cavity. One end of the sealing plate is slidably connected to the two transverse guide grooves on both sides. The discharge drive is disposed on the inner shell, and the output shaft of the discharge drive is connected to the other end of the sealing plate. The discharge drive is used to drive the sealing plate to slide along the transverse guide grooves to abut against the sealing ring, thereby sealing the storage cavity.

6. The rock-following underwater vehicle according to claim 5, characterized in that, The unloading drive includes a guide post, a screw, an unloading motor, and a lifting block. The guide post is disposed on one side of the storage cavity. The screw is rotatably disposed inside the storage cavity adjacent to the guide post. The unloading motor is disposed on the inner shell, and the output shaft of the unloading motor is connected to the screw. The lifting block is slidably disposed on the guide post and screwed to the screw. The lifting block is rotatably connected to the sealing plate.

7. The rock-following underwater vehicle according to claim 6, characterized in that, The sealing plate includes a plate body, a holding block, and an elastic element. One end of the plate body is slidably connected to two horizontal guide grooves on both sides. The holding block is slidably disposed on the other end of the plate body. The elastic element abuts against the plate body and the holding block respectively. The elastic element is used to push the holding block away from the plate body. The holding block is used to rotately connect with the lifting block.

8. The rock-following underwater vehicle according to claim 7, characterized in that, On the two opposing inner sidewalls of the storage cavity near the screw, a vertical guide groove is formed along the vertical direction, and the two ends of the pressure block are slidably connected to the two vertical guide grooves respectively.

9. The rock-following underwater vehicle according to claim 8, characterized in that, The end of the horizontal guide groove away from the vertical guide groove is provided with a downward bend towards the sealing ring. When the plate slides into the downward bend, the plate presses against the sealing ring.

10. The rock-following underwater vehicle according to any one of claims 4 to 9, characterized in that, The rock-following underwater vehicle also includes a water pump, which is located inside the inner shell. The water inlet of the water pump is connected to the storage cavity and the receiving cavity, and the water outlet of the water pump is connected to the outside.

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