A buoyancy system for a miniature autonomous underwater vehicle

Abstract

A buoyancy system for a micro autonomous underwater vehicle includes a support frame and a buoyancy chamber connected to the support frame and containing a buoyancy cavity. The buoyancy chamber has a flow guide hole at its front end, and a piston is located within the buoyancy cavity. An adjustment assembly includes a motor, two drive wheels, and two unidirectional bending chains. The two drive wheels are mounted on the support frame, and the motor drives them to rotate in opposite directions. The bendable sides of the two unidirectional bending chains engage with the two drive wheels, and the non-bending sides of the sections of the two unidirectional bending chains located in front of the two drive wheels abut against each other. The front ends of the two unidirectional bending chains are connected to the piston. This design is compact, effectively improving space utilization. Furthermore, the movement distance of the unidirectional bending chains can be precisely controlled by adjusting the rotation angle of the motor, thereby adjusting the position of the piston within the buoyancy cavity. The structure is simple and the operation is stable. This invention also provides a method for adjusting the buoyancy system of a micro autonomous underwater vehicle.

Description

Technical Field

[0001] This utility model relates to the technical field of underwater vehicles, and more specifically to a buoyancy system for a micro autonomous underwater vehicle. Background Technology

[0002] With the rapid advancement of electronic technology and the miniaturization trend of sensors required for underwater vehicles, the research and development of micro underwater vehicles is flourishing. Micro underwater vehicles, with their advantages of being lightweight, economical, and easy to operate, have become one of the most widely used underwater equipment in both military and civilian fields. They have wide applications in marine environmental monitoring, underwater archaeology, and covert military reconnaissance. However, after miniaturization, underwater vehicles are more susceptible to uncertain hydrological parameters (salinity, depth, etc.), leading to fluctuations in their underwater buoyancy. One effective solution to this problem is the use of a buoyancy adjustment system. This system borrows from the buoyancy adjustment mechanism of fish, enabling the underwater vehicle to achieve long-term, low-energy, constant-depth suspension in various water conditions. Furthermore, this system also endows the underwater vehicle with high maneuverability, allowing for rapid ascent and descent.

[0003] Most existing buoyancy adjustment systems for underwater vehicles are too large to be suitable for micro underwater vehicles. For example, patent CN112896476A, a buoyancy adjustment device for a deep-sea glider, includes a hydraulic control module, an oil bladder, a piston-type oil tank, and a pressure-resistant shell. It controls the flow of hydraulic oil from the tank to the oil bladder or vice versa, changing the volume of the oil bladder to adjust buoyancy. This patented solution is bulky, occupying a significant amount of internal space and is unsuitable for micro underwater vehicles. Furthermore, the irregular shape of the oil bladder makes it difficult to accurately and in real-time feed back changes in its volume to the control system, hindering precise buoyancy control. Utility Model Content

[0004] The purpose of this invention is to solve the problem that most existing buoyancy adjustment systems for underwater vehicles are too large to be used on micro underwater vehicles.

[0005] To address the aforementioned problems, this utility model provides a buoyancy system for a miniature autonomous underwater vehicle, including a support frame, and...

[0006] A buoyancy chamber is connected to a support frame and has a buoyancy cavity running from front to back inside. The front end of the buoyancy chamber has a guide hole that connects to the buoyancy cavity, and a piston that can move in the front-back direction is provided inside the buoyancy cavity.

[0007] The adjustment assembly includes a motor, two drive wheels, and two unidirectional bending chains. The two drive wheels are rotatably mounted on a support, spaced apart to the left and right and located behind the buoyancy chamber. The motor is mounted on the support and drives the two drive wheels to rotate in opposite directions. The two unidirectional bending chains are located between the two drive wheels. The bendable sides of the two unidirectional bending chains mesh with the two drive wheels respectively, and the non-bending sides of the two unidirectional bending chains located in front of the two drive wheels abut against each other. The front ends of the two unidirectional bending chains pass through the buoyancy chamber from back to front and are connected to the piston.

[0008] The above scheme uses a buoyancy chamber in conjunction with a piston to achieve buoyancy adjustment. Specifically, when the piston moves closer to the guide hole, the liquid in the buoyancy chamber is discharged from the guide hole, which reduces the weight of the buoyancy system of the micro autonomous underwater vehicle and increases the buoyancy. When the piston moves away from the guide hole, external liquid enters the buoyancy chamber from the guide hole, which increases the weight of the buoyancy system of the micro autonomous underwater vehicle and decreases the buoyancy.

[0009] Compared with existing technologies, the beneficial effects of the above solution include:

[0010] 1. By designing the adjustment components, a unidirectional bending chain is adopted. Since the unidirectional bending chain can only bend to one side, the non-bending sides of the two unidirectional bending chains located in front of the two drive wheels abut against each other, thus maintaining a straight state without additional support structures and realizing the reciprocating driving effect on the piston. The meshing parts of the two unidirectional bending chains with the drive wheels and the rear parts can bend along the bendable side, thereby effectively reducing the overall volume occupied, making the structure more compact, and effectively improving the space utilization rate inside the underwater vehicle.

[0011] 2. An electric motor drives the drive wheel, which in turn drives the unidirectional bending chain. By controlling the rotation angle of the motor, the movement distance of the unidirectional bending chain can be precisely controlled, thereby adjusting the position of the piston in the buoyancy chamber. The structure is simple, the operation is stable, and the processing cost is low while being easy to maintain.

[0012] In an improved embodiment, the support frame is provided with two storage compartments, each with a storage opening corresponding to one of the two drive wheels. The rear ends of the two unidirectional curved chains pass through the storage openings into the two storage compartments, thereby enabling the two unidirectional curved chains to be stored in the two storage compartments respectively, thus preventing the random swaying of the rear ends of the unidirectional curved chains from affecting the underwater vehicle.

[0013] In an improved embodiment, the storage compartment includes a base plate and a partition disposed on the base plate. The base plate supports the lower side of a corresponding unidirectional bending chain. The partition is helical and the helical direction corresponds to the bendable side of the unidirectional bending chain. The base plate supports the lower side of the unidirectional bending chain, while the helical partition guides the rear section of the unidirectional bending chain to bend towards the bendable side, effectively reducing the storage volume and allowing the storage compartment to be made smaller.

[0014] In an improved embodiment, a tray is provided between the two storage compartments, with both sides of the tray connected to the bottom plates of the two storage compartments respectively. The drive wheel has a coaxial shaft that is rotatably connected to the tray. The tray is used to allow the shafts of the two drive wheels to rotate and connect, and the tray can also support the underside of the unidirectional bending chain between the two drive wheels.

[0015] In an improved embodiment, the motor is a single unit, and the adjustment assembly further includes a transmission gear set. The motor drives two drive wheels to rotate in opposite directions through the transmission gear set, thereby achieving a transmission ratio conversion through the transmission gear set and ensuring the motor's driving function for the two drive wheels.

[0016] In an improved embodiment, the transmission gear set includes a first gear, a second gear, a first transmission wheel, and a second transmission wheel. The first gear is connected to the output shaft of the motor. The second gear, the first transmission wheel, and the second transmission wheel are all rotatably connected to a bracket with their axes parallel to the first gear. The first transmission wheel meshes with the first gear and is coaxially connected to a drive wheel. The second gear meshes with the first gear, the second transmission wheel meshes with the second gear, and the second transmission wheel is coaxially connected to another drive wheel. With this structure, the first transmission wheel and the second transmission wheel receive the rotational power output by the first gear and the second transmission wheel, respectively, thus enabling them to rotate in opposite directions, thereby achieving opposite rotation of the two drive wheels. Simultaneously, the first transmission wheel, the second transmission wheel, and the drive wheels are all independent of the motor, facilitating disassembly and adjustment and ensuring good meshing between the drive wheels and the unidirectional bending chain.

[0017] This utility model also provides a method for adjusting the buoyancy system of a micro autonomous underwater vehicle, applied to the buoyancy system of the micro autonomous underwater vehicle as described above. The buoyancy system of the micro autonomous underwater vehicle has a controller that is communicatively connected to a host computer, and the motor has an encoder that is electrically connected to the controller. The specific steps are as follows:

[0018] The buoyancy system of the miniature autonomous underwater vehicle receives commands from the host computer via the controller and selects to execute the following actions:

[0019] When the command is to float, the controller combines the floating parameters in the command with the current value in the encoder to calculate the adjustment parameters for the motor. The motor drives the two drive wheels to rotate in opposite directions by a corresponding angle according to the received adjustment parameters, causing the two unidirectional bending chains to move forward, which in turn pushes the piston forward, causing the liquid in the buoyancy chamber to be discharged from the guide hole. When the encoder reaches the target value, the controller controls the motor to stop, realizing the floating of the micro autonomous underwater vehicle.

[0020] When the command is to dive, the controller combines the dive parameters in the command with the current value in the encoder to calculate the adjustment parameters for the motor. The motor drives the two drive wheels to rotate in opposite directions by a corresponding angle according to the received adjustment parameters, causing the two unidirectional bending chains to move backward, which in turn pulls the piston backward, allowing external liquid to enter the buoyancy chamber through the guide hole. Once the encoder reaches the target value, the controller stops the motor, thus realizing the dive of the micro autonomous underwater vehicle.

[0021] When the command is to hover, the controller combines the hovering parameters in the command with the values ​​in the current encoder to calculate the adjustment parameters for the motor. The motor drives the two drive wheels to rotate in opposite directions by a corresponding angle according to the received adjustment parameters, so that the two unidirectional bending chains drive the piston to move to the middle of the buoyancy chamber. Then the controller controls the motor to stop, realizing the hovering of the micro autonomous underwater vehicle.

[0022] Compared with existing technologies, the above solution receives instructions from the host computer through the controller and combines them with the encoder values ​​to calculate the adjustment parameters for the motor. This allows the motor to adjust the piston position through the drive wheel and the single-sided bending chain, thereby achieving drainage or suction of the buoyancy chamber and precise adjustment of the buoyancy. Attached Figure Description

[0023] Figure 1 A schematic diagram of the buoyancy system of a miniature autonomous underwater vehicle;

[0024] Figure 2 A top view schematic diagram of the buoyancy system of a miniature autonomous underwater vehicle;

[0025] Figure 3 For along Figure 2 Cross-sectional view of section AA in the middle;

[0026] Figure 4 A side view schematic diagram of the buoyancy system of a miniature autonomous underwater vehicle;

[0027] Figure 5 For along Figure 4 sectional view of the BB section line;

[0028] Figure 6For along Figure 4 A cross-sectional view of the CC section line;

[0029] Figure 7 This is a schematic diagram of a unidirectional bending chain for a miniature autonomous underwater vehicle.

[0030] Explanation of reference numerals in the attached figures.

[0031] 1. Support frame; 11. Storage compartment; 11a. Storage opening; 11b. Base plate; 11c. Partition plate; 11d. Tray plate; 2. Buoyancy chamber; 21. Buoyancy cavity; 22. Flow guide hole; 3. Piston; 4. Motor; 5. Drive wheel; 51. Shaft; 6. One-way bending chain; 7. Transmission gear set; 71. First gear; 72. Second gear; 73. First transmission wheel; 74. Second transmission wheel. Detailed Implementation

[0032] It should be understood by those skilled in the art that the following embodiments are merely illustrative of the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0033] In the following description of the embodiments, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0034] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0036] Please see Figures 1-7 The present invention provides a buoyancy system for a miniature autonomous underwater vehicle, comprising a support 1, and...

[0037] The buoyancy chamber 2 is connected to the support 1 and has a buoyancy cavity 21 inside that runs from front to back. The front end of the buoyancy chamber 2 has a guide hole 22 that connects to the buoyancy cavity 21. The buoyancy cavity 21 has a piston 3 that can move in the front-back direction.

[0038] The adjustment assembly includes a motor 4, two drive wheels 5, and two one-way bending chains 6. The two drive wheels 5 are rotatably mounted on the bracket 1 with a gap between them. The two drive wheels 5 are spaced apart from each other and located behind the buoyancy chamber 2. The motor 4 is mounted on the bracket 1 and is used to drive the two drive wheels 5 to rotate in opposite directions. The two one-way bending chains 6 are located between the two drive wheels 5. The bendable sides of the two one-way bending chains 6 are respectively engaged with the two drive wheels 5, and the non-bending sides of the two one-way bending chains 6 located in front of the two drive wheels 5 abut against each other. The front ends of the two one-way bending chains 6 pass through the buoyancy chamber 21 from back to front and are connected to the piston 3.

[0039] The above scheme uses a buoyancy chamber 2 in conjunction with a piston 3 to achieve buoyancy adjustment. Specifically, when the piston 3 moves closer to the guide hole 22, the liquid in the buoyancy chamber 21 is discharged from the guide hole 22, which reduces the weight of the buoyancy system of the micro autonomous underwater vehicle and increases the buoyancy. When the piston 3 moves away from the guide hole 22, the external liquid enters the buoyancy chamber 21 from the guide hole 22, which increases the weight of the buoyancy system of the micro autonomous underwater vehicle and decreases the buoyancy.

[0040] Compared with existing technologies, the beneficial effects of the above solution include:

[0041] 1. By designing the adjustment component, a one-way bending chain 6 is adopted. Since the one-way bending chain 6 can only bend to one side, the non-bending sides of the two one-way bending chains 6 located in front of the two drive wheels 5 abut against each other, thus maintaining a straight state without additional support structure, and realizing the reciprocating driving effect on the piston 3; while the meshing parts of the two one-way bending chains 6 with the drive wheels 5 and the rear part can bend along the bendable side, thereby effectively reducing the overall volume occupied, making the structure more compact, and effectively improving the space utilization rate inside the underwater vehicle;

[0042] 2. The motor 4 drives the drive wheel 5, which in turn drives the unidirectional bending chain 6. By controlling the rotation angle of the motor 4, the movement distance of the unidirectional bending chain 6 can be precisely controlled, thereby adjusting the position of the piston 3 in the buoyancy chamber 21. The structure is simple, the operation is stable, and the processing cost is low while being easy to maintain.

[0043] Ordinary chains can be bent freely on both sides, while... Figure 7 As shown, the unidirectional bending chain 6 of this application can only bend freely in the bendable side (i.e., Figure 7The left side of the chain, and the non-bending side, cannot be bent due to the special design of the links (i.e., Figure 7 (Right side of the image). Since the one-way bending chain 6 is existing technology, it will not be described in detail here. In this embodiment, the front ends of the two one-way bending chains 6 are both connected to the piston 3, and the non-bending sides of the two one-way bending chains 6 located in front of the two drive wheels 5 abut against each other. Therefore, the parts of the two one-way bending chains 6 located in front of the two drive wheels 5 can maintain a straight state, thereby driving the piston 3.

[0044] In this embodiment, the support 1 has two storage compartments 11, each with a storage opening 11a corresponding to one of the two drive wheels 5. The rear ends of the two unidirectional curved chains 6 pass through the storage openings 11a into the two storage compartments 11, thereby storing the two unidirectional curved chains 6 and preventing random swaying of the rear ends of the unidirectional curved chains 6 from affecting the underwater vehicle. Preferably, the two storage compartments 11 are located on the left and right sides of the two drive wheels 5, respectively, that is, the two drive wheels 5 are located between the two storage compartments 11, making the overall layout more compact.

[0045] More specifically, the storage compartment 11 includes a base plate 11b and a partition 11c disposed on the base plate 11b. The base plate 11b is used to support the lower side of the corresponding one-way bending chain 6. The partition 11c is spiral in shape and the spiral direction corresponds to the bendable side of the one-way bending chain 6. The base plate 11b can support the lower side of the one-way bending chain 6, while the spiral partition 11c can guide the rear section of the one-way bending chain 6 to bend towards the bendable side, effectively reducing the storage volume and making the storage compartment 11 smaller.

[0046] Furthermore, a tray 11d is provided between the two storage compartments 11. The two sides of the tray 11d are connected to the bottom plates 11b of the two storage compartments 11, respectively. The drive wheel 5 has a coaxial shaft 51, and the lower end of the shaft 51 is rotatably connected to the tray 11d via a bearing. The tray 11d is used for the rotatable connection of the shafts 51 of the two drive wheels 5, and also supports the underside of the unidirectional bending chain 6 between the two drive wheels 5. The two drive wheels 5 are of equal height and their axes are both vertical.

[0047] In this embodiment, there is one motor 4, and the adjustment component also includes a transmission gear set 7. The motor 4 drives the two drive wheels 5 to rotate in opposite directions through the transmission gear set 7, thereby realizing the conversion of the transmission ratio through the transmission gear set 7 and ensuring the driving function of the motor 4 on the two drive wheels 5.

[0048] More specifically, the transmission gear set 7 includes a first gear 71, a second gear 72, a first transmission wheel 73, and a second transmission wheel 74. The first gear 71 is connected to the output shaft of the motor 4. The second gear 72, the first transmission wheel 73, and the second transmission wheel 74 are all rotatably connected to the bracket 1 with their axes parallel to the first gear 71. The first transmission wheel 73 meshes with the first gear 71 and is coaxially connected to the shaft 51 of a drive wheel 5. The second gear 72 is rotatably connected to the bracket 1 via a shaft. The second gear 72 meshes with the first gear 71. The second transmission wheel 74 meshes with the second gear 72 and is coaxially connected to the shaft 51 of another drive wheel 5. With the above structure, the first transmission wheel 73 and the second transmission wheel 74 receive the rotational power output by the first gear 71 and the second gear 72 respectively, so that they can rotate in opposite directions, thereby realizing the opposite rotation of the two drive wheels 5. At the same time, the first transmission wheel 73, the second transmission wheel 74 and the drive wheel 5 are all independent of the motor 4, so they are easy to disassemble and adjust, ensuring that the drive wheel 5 and the unidirectional bending chain 6 can have a good meshing effect.

[0049] Example 2

[0050] Embodiment 2 of this utility model also provides a method for adjusting the buoyancy system of a micro autonomous underwater vehicle, applied to the buoyancy system of the micro autonomous underwater vehicle as described above. The buoyancy system of the micro autonomous underwater vehicle has a controller that is communicatively connected to a host computer, and the motor 4 has an encoder that is electrically connected to the controller. The specific steps are as follows:

[0051] The buoyancy system of the miniature autonomous underwater vehicle receives commands from the host computer via the controller and selects to execute the following actions:

[0052] When the command is to float, the controller combines the floating parameters in the command with the current value in the encoder to calculate the adjustment parameters for motor 4. According to the received adjustment parameters, motor 4 drives the two drive wheels 5 to rotate in opposite directions by a corresponding angle, causing the two unidirectional bending chains 6 to move forward, which in turn pushes piston 3 forward, causing the liquid in buoyancy chamber 21 to be discharged from guide hole 22. Until the encoder reaches the target value, the controller controls motor 4 to stop, realizing the floating of the micro autonomous underwater vehicle.

[0053] When the command is to dive, the controller combines the dive parameters in the command with the values ​​in the current encoder to calculate the adjustment parameters for motor 4. According to the received adjustment parameters, motor 4 drives the two drive wheels 5 to rotate in opposite directions by a corresponding angle, causing the two unidirectional bending chains 6 to move backward, which in turn pulls piston 3 backward, allowing external liquid to enter buoyancy chamber 21 from guide hole 22. After the encoder reaches the target value, the controller controls motor 4 to stop, realizing the dive of the micro autonomous underwater vehicle.

[0054] When the command is to hover, the controller combines the hovering parameters in the command with the values ​​in the current encoder to calculate the adjustment parameters for motor 4. Motor 4 drives the two drive wheels 5 to rotate in opposite directions by the corresponding angle according to the received adjustment parameters, so that the two unidirectional bending chains 6 drive the piston 3 to move to the middle of the buoyancy chamber 21. Then the controller controls motor 4 to stop, realizing the hovering of the micro autonomous underwater vehicle.

[0055] Compared with the existing technology, the above solution receives instructions from the host computer through the controller and calculates the adjustment parameters of the motor 4 by combining the values ​​of the encoder. This enables the motor 4 to adjust the position of the piston 3 through the drive wheel 5 and the single-sided bending chain, thereby realizing the drainage or suction of the buoyancy chamber 21 and achieving precise adjustment of the buoyancy.

[0056] It should be noted that in the description of this application, the terms "inner" and "outer," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application. All directional indications (such as up, down, left, right, front, back, inner, and outer) are only used to explain the relative positional relationships and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0057] In the description of this application, the references to terms such as "an embodiment," "some embodiments," "in this embodiment," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included 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 buoyancy system for a micro autonomous underwater vehicle, characterized by, Including a support (1), and: A buoyancy chamber (2) is connected to a support (1) and has a buoyancy cavity (21) inside from front to back. The front end of the buoyancy chamber (2) is provided with a guide hole (22) that connects to the buoyancy cavity (21). The buoyancy cavity (21) is provided with a piston (3) that can move in the front-back direction. The adjustment assembly includes a motor (4), two drive wheels (5) and two one-way bending chains (6). The two drive wheels (5) are rotatably mounted on the bracket (1) with a gap between them. The two drive wheels (5) are spaced apart to the left and right and are both located behind the buoyancy chamber (2). The motor (4) is mounted on the bracket (1) and is used to drive the two drive wheels (5) to rotate in opposite directions. The two one-way bending chains (6) are located between the two drive wheels (5). The bendable sides of the two one-way bending chains (6) are respectively engaged with the two drive wheels (5), and the non-bending sides of the two one-way bending chains (6) located in front of the two drive wheels (5) abut against each other. The front ends of the two one-way bending chains (6) pass through the buoyancy chamber (21) from back to front and are connected to the piston (3).

2. The buoyancy system of a micro autonomous underwater vehicle according to claim 1, wherein, The bracket (1) is provided with two storage compartments (11), and the two storage compartments (11) are respectively provided with storage openings (11a) corresponding to the two drive wheels (5). The rear ends of the two unidirectional curved chains (6) are respectively inserted into the two storage compartments (11) through the storage openings (11a).

3. The buoyancy system of a micro autonomous underwater vehicle according to claim 2, wherein, The storage compartment (11) includes a base plate (11b) and a partition (11c) disposed on the base plate (11b). The base plate (11b) is used to support the lower side of the corresponding unidirectional bending chain (6). The partition (11c) is spiral and the spiral direction corresponds to the bendable side of the unidirectional bending chain (6).

4. The buoyancy system of a micro autonomous underwater vehicle according to claim 3, wherein, A tray (11d) is provided between the two storage compartments (11). The two sides of the tray (11d) are respectively connected to the bottom plate (11b) of the two storage compartments (11). The drive wheel (5) is provided with a coaxial shaft (51) and the shaft (51) is rotatably connected to the tray (11d).

5. The buoyancy system of a micro autonomous underwater vehicle according to any one of claims 1-4, wherein, The motor (4) is one unit, and the adjustment assembly also includes a transmission gear set (7). The motor (4) drives the two drive wheels (5) to rotate in opposite directions through the transmission gear set (7).

6. The buoyancy system of a micro autonomous underwater vehicle according to claim 5, wherein, The transmission gear set (7) includes a first gear (71), a second gear (72), a first transmission wheel (73), and a second transmission wheel (74). The first gear (71) is connected to the output shaft of the motor (4). The second gear (72), the first transmission wheel (73), and the second transmission wheel (74) are all rotatably connected to the bracket (1) and their axes are parallel to the first gear (71). The first transmission wheel (73) meshes with the first gear (71) and is coaxially connected to a drive wheel (5). The second gear (72) meshes with the first gear (71), the second transmission wheel (74) meshes with the second gear (72), and is coaxially connected to another drive wheel (5).

Images