Underwater vehicle
By installing a main propulsion assembly and an auxiliary propulsion assembly on the submersible and utilizing the force decomposition mechanism of the auxiliary propulsion assembly, the pitch problem caused by cable resistance during tunnel cruising was solved, achieving full-degree-of-freedom attitude adjustment and energy consumption optimization.
Patent Information
- Application Number
- CN202423301131.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2034-12-27
AI Technical Summary
When an unmanned underwater vehicle (UUV) cruises in a tunnel, the resistance of the cable is not parallel to the direction of the UUV's movement, resulting in a pitching moment that makes it difficult to maintain a centered cruise.
Design a submersible comprising a main propulsion assembly and an auxiliary propulsion assembly. The main propulsion assembly propels along the axis of the submersible, while the auxiliary propulsion assembly is set at a perpendicular angle to the hull. By adjusting the propulsion force of the auxiliary propulsion assembly, it is decomposed into horizontal and vertical forces to resist the pitch torque generated by cable dragging, ensuring that the submersible operates stably in a centered position.
It achieves full-degree-of-freedom attitude adjustment of the submersible, ensuring stable operation while centered under cable towing, reducing energy consumption, and improving cruise stability.
Smart Images
Figure CN223865088U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of underwater detection equipment technology, and more particularly to a submersible. Background Technology
[0002] Unmanned underwater vehicles (UUVs) mainly refer to those devices that replace divers or manned small submarines in high-risk underwater operations such as deep-sea exploration, rescue, mine clearance, and tunnel navigation. Therefore, UUVs are also known as "diving robots" or "underwater robots".
[0003] In related technologies, when the submersible is conducting tunnel cruise, because it tows cables for communication, the resistance direction of the cables is not parallel to the direction of the submersible's movement. This resistance causes the submersible to generate a pitching moment, making it difficult for the submersible to maintain a centered cruise position and affecting its cruise performance. Utility Model Content
[0004] This application provides a submersible that has anti-pitch capability to ensure that the submersible cruises in a centered position.
[0005] This application provides a submersible, comprising:
[0006] Submarine hull;
[0007] A main propulsion assembly is disposed on the hull of the submersible, and the propulsion direction of the main propulsion assembly is arranged along a first direction; wherein, the first direction is the direction of the axis of the submersible hull;
[0008] The auxiliary propulsion assembly includes a first auxiliary thruster and a second auxiliary thruster, which are disposed at intervals on the hull of the submersible along a first direction. The propulsion direction of the auxiliary thruster is perpendicular to the first direction and forms an angle with the vertical direction of the hull of the submersible.
[0009] Furthermore, the angle between the propulsion direction of the first auxiliary thruster and the vertical direction of the submarine hull is θ1, and 0° < θ1 < 90°;
[0010] And / or, the angle between the propulsion direction of the second auxiliary thruster and the vertical direction of the submarine hull is θ2, and 0° < θ2 < 90°.
[0011] Furthermore, the plurality of auxiliary thrusters include a first auxiliary thruster and a second auxiliary thruster, wherein the first auxiliary thruster is disposed near the front end of the submersible hull; the second auxiliary thruster is disposed near the rear end of the submersible hull; wherein the first auxiliary thruster and the second auxiliary thruster are centrally symmetrically arranged with the center of the submersible hull as the symmetry point.
[0012] Furthermore, the number of the first auxiliary thrusters is multiple; the number of the second auxiliary thrusters is multiple;
[0013] Multiple first auxiliary thrusters are located on both sides of the vertical direction of the submersible hull; multiple second auxiliary thrusters are located on both sides of the vertical direction of the submersible hull.
[0014] Furthermore, the number of the first auxiliary thrusters is two, and the number of the second auxiliary thrusters is two;
[0015] The two first auxiliary thrusters are respectively disposed on the left and right side walls of the submersible hull; and the first auxiliary thrusters are disposed near the front end of the submersible hull and near the upper side of the submersible hull; the two first auxiliary thrusters are tilted in opposite directions;
[0016] The two second auxiliary thrusters are respectively disposed on the left and right side walls of the submersible hull; and the second auxiliary thrusters are disposed near the rear end of the submersible hull and near the lower side of the submersible hull; the two second auxiliary thrusters are tilted in opposite directions.
[0017] Furthermore, the main propulsion assembly includes multiple main thrusters, which are respectively disposed on the hull of the submersible and distributed on both sides of the axis of the hull; and the propulsion direction of each main thruster is parallel to the first direction.
[0018] Furthermore, the outer wall of the submersible hull is provided with a plurality of first grooves, a protrusion is formed between two adjacent first grooves, the plurality of first grooves are arranged at intervals, and the extension direction of each first groove is parallel to the first direction;
[0019] The main thruster is located in the first groove; the first auxiliary thruster and the second auxiliary thruster are located on the protrusion.
[0020] Furthermore, the protrusion has a second groove corresponding to the auxiliary thruster, and the first auxiliary thruster and the second auxiliary thruster pass through the second groove.
[0021] Furthermore, the number of the first grooves is 6;
[0022] The upper sidewall of the submersible hull is provided with two of the first grooves, and the main thruster is located on the upper sidewall near the rear end of the submersible hull.
[0023] The lower sidewall of the submersible hull is provided with two of the first grooves, and the main thruster is located on the lower sidewall near the front end of the submersible hull.
[0024] The first groove is provided on the left side wall of the submersible hull; and the main thruster is located on the left side wall near the middle of the submersible hull.
[0025] The right side wall of the submersible hull is provided with the first groove; and the main thruster is located on the left side wall near the middle of the submersible hull.
[0026] Furthermore, it also includes an exoskeleton having a protective cavity, within which the submersible hull, the main propulsion assembly, and the auxiliary propulsion unit are located.
[0027] The technical solution provided in this application has the following advantages compared with the prior art:
[0028] In the technical solution of this application, the main propulsion assembly exerts a force in the first direction on the submersible, enabling it to move along its own axis. A first auxiliary thruster and a second auxiliary thruster are provided. The force exerted by the first auxiliary thruster on the submersible lies in a plane perpendicular to the axis of the submersible's hull and forms an angle with the vertical direction. Thus, this force can be decomposed into a horizontal force and a vertical force. Similarly, the force exerted by the second auxiliary thruster on the submersible's hull can also be decomposed into a horizontal force and a vertical force. Furthermore, since the first and second auxiliary thrusters are spaced apart along the first direction, by adjusting the magnitude of the thrust output from the first and second auxiliary thrusters, and thus adjusting the vertical force exerted by the first and second auxiliary thrusters on the submersible's hull, the submersible can obtain pitch torque to resist the pitch torque generated by cable dragging, ensuring that the submersible maintains a centered and stable operation during movement. Simultaneously, the horizontal forces exerted by the first and second auxiliary thrusters on the submersible hull can be adjusted, enabling the submersible to obtain roll torque and yaw torque, thus allowing adjustment of its roll and yaw attitude. Therefore, this application achieves full-degree-of-freedom attitude adjustment of the submersible by setting up a main propulsion assembly and auxiliary propulsion assemblies. Attached Figure Description
[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0031] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0032] Figure 1 This is a schematic diagram of the structure of a submarine according to an embodiment of this application;
[0033] Figure 2 for Figure 1 Another angle diagram;
[0034] Figure 3 for Figure 2 Another angle diagram;
[0035] Figure 4 This is a schematic diagram showing the thrust decomposition of the first auxiliary thruster and the second auxiliary thruster in one embodiment of this application.
[0036] Explanation of reference numerals in the attached figures:
[0037] Submarine hull 1, first groove 1a, protrusion 11, second groove 1b,
[0038] Main thruster 21,
[0039] First auxiliary thruster 31, second auxiliary thruster 32
[0040] 4 cables, 5 outer frame. Detailed Implementation
[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0042] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.
[0043] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.
[0044] Figures 1 to 3 An underwater vehicle provided in this application includes an underwater vehicle hull 1, a main propulsion assembly, and an auxiliary propulsion assembly. The main propulsion assembly is disposed on the underwater vehicle hull 1, and the propulsion direction of the main propulsion assembly is arranged along a first direction; wherein, the first direction is the direction of the axis of the underwater vehicle hull 1; the auxiliary propulsion assembly includes a first auxiliary thruster 31 and a second auxiliary thruster 32, the first auxiliary thruster 31 and the second auxiliary thruster 32 are disposed at intervals along the first direction on the underwater vehicle hull 1, and the propulsion direction of the auxiliary thruster is perpendicular to the first direction and forms an angle with the vertical direction of the underwater vehicle hull 1.
[0045] The main propulsion assembly can also adjust the yaw attitude of the submersible. When the main propulsion assembly exerts a force on the submersible in the first direction, the submersible can move along its own axis. A first auxiliary thruster 31 and a second auxiliary thruster 32 are provided. The force exerted by the first auxiliary thruster 31 on the submersible is in a plane perpendicular to the axis of the submersible's hull and forms an angle with the vertical direction. Thus, this force can be decomposed into a horizontal force and a vertical force. Similarly, the force exerted by the second auxiliary thruster 32 on the submersible hull 1 can also be decomposed into a horizontal force and a vertical force. Furthermore, since the first auxiliary thruster 31 and the second auxiliary thruster 32 are spaced apart along the first direction, by adjusting the magnitude of the thrust output by the first auxiliary thruster 31 and the second auxiliary thruster 32, and adjusting the vertical force exerted by the first auxiliary thruster 31 and the second auxiliary thruster 32 on the submersible hull 1, the submersible can obtain pitch torque to resist the pitch torque generated by the cable 4 dragging, ensuring that the submersible always maintains a centered and stable operation during movement. Simultaneously, the horizontal forces exerted by the first auxiliary thruster 31 and the second auxiliary thruster 32 on the submersible hull 1 can be adjusted, enabling the submersible to obtain roll torque and yaw torque, thereby adjusting the submersible's roll attitude and yaw attitude. Therefore, this application can achieve full-degree-of-freedom attitude adjustment of the submersible by setting up a main propulsion assembly and auxiliary propulsion assemblies.
[0046] In the technical solution of this embodiment, the angle between the propulsion direction of the first auxiliary thruster 31 and the vertical direction of the submersible hull 1 is θ1, and 0° < θ1 < 90°; thus, it can be ensured that the force generated by the first auxiliary thruster 31 on the submersible hull 1 can be decomposed into a horizontal force and a vertical force.
[0047] The angle between the propulsion direction of the second auxiliary thruster 32 and the vertical direction of the submersible hull 1 is θ2, and 0° < θ2 < 90°. In this way, it can be ensured that the force generated by the second auxiliary thruster 32 on the submersible hull 1 can be decomposed into a horizontal force and a vertical force.
[0048] Preferably, θ1 = 30°, θ2 = 30°.
[0049] like Figure 2 As shown, in the technical solution of this embodiment, the first auxiliary thruster 31 is disposed near the front end of the submersible hull 1; the second auxiliary thruster 32 is disposed near the rear end of the submersible hull 1; a larger lever arm can be formed during the adjustment of pitch torque, which can reduce the power output requirements of the auxiliary thrust assembly and reduce energy consumption.
[0050] The first auxiliary thruster 31 and the second auxiliary thruster 32 are arranged symmetrically with respect to the center of the submersible hull 1. This arrangement ensures that the vertical thrust of the first auxiliary thruster 31 is opposite to that of the second auxiliary thruster 32, resulting in greater pitch torque. Furthermore, the symmetrical arrangement facilitates the control system's calculation of the output power of the first and second auxiliary thrusters 31 and ensures precise attitude control.
[0051] like Figures 1 to 3 As shown, in the technical solution of this embodiment, there are multiple first auxiliary thrusters 31 and multiple second auxiliary thrusters 32; the multiple first auxiliary thrusters 31 are respectively located on both sides of the vertical direction of the submersible hull 1; the multiple second auxiliary thrusters 32 are respectively located on both sides of the vertical direction of the submersible hull 1.
[0052] Understandably, the multiple first auxiliary thrusters 31 located on both sides of the vertical direction of the submersible hull 1 ensure that the vertical thrust generated by the first auxiliary thrusters 31 on both sides is in the same direction, but the horizontal thrust is in opposite directions. In this way, the horizontal force can be eliminated, and only the vertical force is adjusted, that is, only the pitch attitude is adjusted. The arrangement of the multiple second auxiliary thrusters 32 is similar.
[0053] Preferably, multiple first auxiliary thrusters 31 are evenly distributed on both sides of the vertical direction of the submersible hull 1. Multiple second auxiliary thrusters 32 are evenly distributed on both sides of the vertical direction of the submersible hull 1. This improves the stability of the submersible itself.
[0054] like Figures 1 to 3 As shown, in the technical solution of this embodiment, there are two first auxiliary thrusters 31 and two second auxiliary thrusters 32;
[0055] Two first auxiliary thrusters 31 are respectively located on the left and right side walls of the submersible hull 1; and the first auxiliary thrusters 31 are located near the front end of the submersible hull 1 and near the upper side of the submersible hull 1; the two first auxiliary thrusters 31 are tilted in opposite directions;
[0056] Two second auxiliary thrusters 32 are respectively located on the left and right sides of the submersible hull 1; and the second auxiliary thrusters 32 are located near the rear end of the submersible hull 1 and near the lower side of the submersible hull 1; the two second auxiliary thrusters 32 are tilted in opposite directions.
[0057] Understandably, the vertical height difference between the first auxiliary thruster 31 and the second auxiliary thruster 32 ensures the generation of pitch torque, which facilitates the adjustment of pitch attitude.
[0058] like Figure 4The thrust analysis of the two first auxiliary thrusters 31 and the two second auxiliary thrusters 32 is shown. F1 and F2 are the thrust analysis of the two first auxiliary thrusters 31, and F3 and F4 are the thrust analysis of the two second auxiliary thrusters 32.
[0059] like Figure 1 As shown, in the technical solution of this embodiment, the main propulsion assembly includes multiple main thrusters 21, which are respectively disposed on the submarine hull 1 and distributed on both sides of the axis of the submarine hull 1; and the propulsion direction of each main thruster 21 is parallel to a first direction. It can be understood that by setting multiple main thrusters 21, a greater forward thrust can be obtained.
[0060] like Figure 2 As shown, in the technical solution of this embodiment, the outer wall of the submersible hull 1 is provided with a plurality of first grooves 1a, a protrusion 11 is formed between two adjacent first grooves 1a, the plurality of first grooves 1a are arranged at intervals, and the extension direction of each first groove 1a is parallel to the first direction.
[0061] The main thruster 21 is located in the first groove 1a; the auxiliary thruster is located on the protrusion 11.
[0062] Understandably, by setting the first groove 1a, on the one hand, it provides an installation position for the main thruster 21, preventing the main thruster 21 from protruding and becoming easily collided with during the operation of the submersible. On the other hand, the design of the first groove 1a forms a flow guiding channel, which allows the main thruster 21 to stir the water flow and obtain a more stable and concentrated thrust, thereby improving the propulsion effect of the main thruster 21.
[0063] The first auxiliary thruster 31 and the second auxiliary thruster 32 are located on the protrusion 11, which can reduce the impact of the water flow on the propulsion of the main thruster 21.
[0064] like Figures 1 to 3 As shown, in the technical solution of this embodiment, the protrusion 11 is provided with a second groove 1b corresponding to the auxiliary thruster, and the first auxiliary thruster 31 and the second auxiliary thruster 32 pass through the second groove 1b.
[0065] Understandably, by setting the second groove 1b, on the one hand, it provides an installation position for the auxiliary propulsion component, preventing it from protruding and becoming susceptible to collisions during the operation of the submersible. On the other hand, the design of the second groove 1b forms a flow guiding channel, allowing the auxiliary propulsion component to stir the water flow and obtain a more stable and concentrated thrust, thereby improving the propulsion effect of the auxiliary propulsion component.
[0066] like Figures 1 to 3As shown, in the technical solution of this embodiment, there are 6 first grooves 1a; the upper sidewall of the submersible hull 1 is provided with two first grooves 1a, and the main thruster 21 is located near the rear end of the submersible hull 1 on the upper sidewall; the lower sidewall of the submersible hull 1 is provided with two first grooves 1a, and the main thruster 21 is located near the front end of the submersible hull 1 on the lower sidewall; the left sidewall of the submersible hull 1 is provided with one first groove 1a; and the main thruster 21 is located near the middle of the submersible hull 1 on the left sidewall; the right sidewall of the submersible hull 1 is provided with one first groove 1a; and the main thruster 21 is located near the middle of the submersible hull 1 on the left sidewall.
[0067] This results in a more balanced distribution of the main propulsion components and auxiliary propulsion components, improving the submarine's stability.
[0068] like Figure 1 As shown, the technical solution of this embodiment also includes an outer frame 5, which has a protective cavity, and the submarine hull 1, the main propulsion assembly and the auxiliary propulsion unit are located inside the protective cavity.
[0069] It is understandable that by setting up protective cavities, the hull 1, main propulsion assembly, and auxiliary propulsion system of the submersible can be protected.
[0070] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0071] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0073] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0074] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.
[0076] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.
[0077] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A submersible vehicle characterized by, The utility model relates to a kind of underwater vehicle, including: Underwater vehicle shell (1); Main propulsion assembly, it is located in the underwater vehicle shell (1), and the propulsion direction of the main propulsion assembly is arranged along the first direction;Wherein, the first direction is the direction of the axis of the underwater vehicle shell (1); Auxiliary propulsion assembly includes first auxiliary propeller (31) and second auxiliary propeller (32), and the first auxiliary propeller (31) and the second auxiliary propeller (32) are spaced apart in the underwater vehicle shell (1) along the first direction, and the propulsion direction of the auxiliary propeller is perpendicular to the first direction and forms an angle with the vertical direction of the underwater vehicle shell (1);The first auxiliary propeller (31) is close to the front end of the underwater vehicle shell (1) and is arranged;The second auxiliary propeller (32) is close to the rear end of the underwater vehicle shell (1) and is arranged;Wherein, the first auxiliary propeller (31) and the second auxiliary propeller (32) are symmetrically arranged with the center of the underwater vehicle shell (1) as the symmetric point; Wherein, the number of the first auxiliary propeller (31) is multiple;The number of the second auxiliary propeller (32) is multiple; Multiple first auxiliary propeller (31) is respectively located on both sides of the vertical direction of the underwater vehicle shell (1);Multiple second auxiliary propeller (32) is respectively located on both sides of the vertical direction of the underwater vehicle shell (1).
2. The submersible of claim 1, wherein, The angle between the propulsion direction of the first auxiliary propeller (31) and the vertical direction of the underwater vehicle shell (1) is θ 1, and 0 ° < θ 1 < 90 °; And / or, the angle between the propulsion direction of the second auxiliary propeller (32) and the vertical direction of the underwater vehicle shell (1) is θ 2, and 0 ° < θ 2 < 90 °.
3. The submersible of claim 1, wherein, The number of the first auxiliary propeller (31) is two, and the number of the second auxiliary propeller (32) is two; Two first auxiliary propellers (31) are respectively arranged on the left side wall and the right side wall of the underwater vehicle shell (1);And the first auxiliary propeller (31) is close to the front end position of the underwater vehicle shell (1) and is close to the upper side position of the underwater vehicle shell (1) and is arranged;The inclination direction of two first auxiliary propellers (31) is opposite; Two second auxiliary propellers (32) are respectively arranged on the left side wall and the right side wall of the underwater vehicle shell (1);And the second auxiliary propeller (32) is close to the rear end position of the underwater vehicle shell (1) and is close to the lower side position of the underwater vehicle shell (1) and is arranged;The inclination direction of two second auxiliary propellers (32) is opposite.
4. The submersible of claim 1, wherein, The main propulsion assembly includes a plurality of main propellers (21), and the plurality of main propellers (21) are respectively arranged on the underwater vehicle shell (1) and are distributed on both sides of the axis of the underwater vehicle shell (1);And the propulsion direction of each main propeller (21) is parallel to the first direction.
5. The submersible of claim 4, wherein, The outer wall of the underwater vehicle shell (1) is provided with a plurality of first grooves (1a), and a protrusion (11) is formed between adjacent two first grooves (1a), a plurality of first grooves (1a) are spaced apart, and the extension direction of each first groove (1a) is parallel to the first direction. The main thruster (21) is located in the first groove (1a); the first auxiliary thruster (31) and the second auxiliary thruster (32) are located on the protrusion (11).
6. The submersible of claim 5, wherein, The protrusion (11) has a second groove (1b) corresponding to the auxiliary thruster, and the first auxiliary thruster (31) and the second auxiliary thruster (32) pass through the second groove (1b).
7. The submersible of claim 6, wherein, The number of the first grooves (1a) is 6; The upper sidewall of the submersible hull (1) is provided with two first grooves (1a), and the main thruster (21) located on the upper sidewall is positioned near the rear end of the submersible hull (1). The lower sidewall of the submersible hull (1) is provided with two first grooves (1a), and the main thruster (21) located on the lower sidewall is positioned near the front end of the submersible hull (1). The left side wall of the submersible hull (1) is provided with the first groove (1a); and the main thruster (21) is located on the left side wall near the middle of the submersible hull (1); The right side wall of the submersible hull (1) is provided with the first groove (1a); and the main thruster (21) provided on the left side wall is located near the middle of the submersible hull (1).
8. The submersible of any one of claims 1 to 7, wherein, It also includes an exoskeleton (5) having a protective cavity, in which the submersible hull (1), the main propulsion assembly and the auxiliary propulsion assembly are located.