Reconfigurable underwater vehicle capable of long-range cruise and underwater interaction operation

Abstract

A reconfigurable underwater vehicle capable of long-range cruise and underwater interaction operation, comprising: an operation cabin (2); two buoyancy cabins (1) connected to the operation cabin (2) by means of connecting rods (3); and a folding mechanism (4) located in the buoyancy cabin (1) and the connecting rods (3) and used for driving the connecting rods (3) to rotate so as to convert the working mode of the underwater vehicle. The working mode of the underwater vehicle comprises an unfolded mode and a folded mode. In the unfolded mode, the two buoyancy cabins (1) are unfolded in the axial direction of the operation cabin (2) to two sides of the operation cabin (2), the two buoyancy cabins (1) and the operation cabin (2) being in a series connection state. In the folded mode, the two buoyancy cabins (1) are folded above the operation cabin (2) at a certain included angle, the two buoyancy cabins (1) being in a parallel connection state.

Description

A reconfigurable underwater vehicle capable of long-distance cruising and underwater interactive operations Technical Field

[0001] The present invention relates to the technical field of underwater submersibles, and in particular to a reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations. Background Art

[0002] With the continuous advancement of marine development, the demand for underwater interactive operations is growing, such as underwater mineral sampling, underwater biological resource sampling, and underwater structure inspection and maintenance. Underwater interactive operations typically require underwater vehicles, which are mainly divided into autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs). Although traditional AUVs can autonomously navigate long distances and perform exploration missions based on their onboard sensors, they lack the ability for underwater interactive operations. While traditional ROVs are capable of underwater interactive operations, their non-streamlined design, required for high hydrodynamic stability during operations, limits their long-range cruising capability. Therefore, ROVs are typically deployed to designated sea areas by specialized surface vessels equipped with dynamic positioning capabilities, which provide power during operations and are costly to operate. Low-cost underwater interactive operations are a future trend in underwater vehicles. This requires underwater vehicles to have both long-range cruising capabilities, enabling them to travel from shore-based platforms to designated operating areas, and high hydrodynamic stability to maintain a reliable operating posture. In recent years, with the gradual increase in battery energy density and the growing autonomy of underwater vehicles, attempts have been made to use AUVs to autonomously perform short-range, lightweight underwater operations. In 2021, Kawasaki Heavy Industries of Japan successfully developed the SPICE AUV, the world's first AUV equipped with a robotic arm, capable of autonomously performing underwater pipeline inspections. However, because the SPICE robotic arm is simply attached to the underside of the AUV, the high cruising resistance makes long-distance cruising impossible. Furthermore, the close distance between the center of gravity and the center of buoyancy results in unstable attitude during interactive underwater operations.

[0003] Therefore, it is urgent to solve the above problems. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a reconfigurable underwater vehicle that can cruise over long distances and perform interactive underwater operations. By adopting a reconfigurable structure, the underwater vehicle can simultaneously adapt to the dual requirements of long-distance underwater cruising and underwater interactive operations, solving the problem that traditional autonomous underwater vehicles (AUVs) can only perform detection tasks but cannot perform underwater interactive operations, and traditional remotely operated vehicles (ROVs) rely on expensive dedicated surface support ships with dynamic positioning functions.

[0005] Technical solution: In order to achieve the above objectives, the present invention discloses a reconfigurable underwater submersible that can cruise over long distances and perform interactive underwater operations, including an operating cabin, two buoyancy cabins connected to the operating cabin by a connecting rod, and a folding mechanism located in the buoyancy cabin and the connecting rod and used to drive the connecting rod to rotate to achieve the conversion of the underwater submersible's working mode. The underwater submersible's working mode includes an unfolding mode and a folding mode. In the unfolding mode, the two buoyancy cabins are unfolded to both sides of the operating cabin along the axial direction of the operating cabin, and the two buoyancy cabins and the operating cabin are in series. In the folding mode, the two buoyancy cabins are folded above the operating cabin at a certain angle, and the two buoyancy cabins are in parallel.

[0006] Among them, the buoyancy tank includes a buoyancy tank shell, a buoyancy tank shell support structure located in the buoyancy tank shell, a propeller located on the bow side or stern side, a propeller drive motor located in the buoyancy tank shell and used to drive the propeller to rotate, and two slot thrusters symmetrically arranged on the buoyancy tank shell along the axial direction; the buoyancy tank shell support structure includes a bow side support ring, a midship side support ring and a stern side support ring arranged in sequence along the buoyancy tank.

[0007] Preferably, the working cabin includes a working cabin shell, a working cabin shell support structure located in the working cabin shell, a stern connecting rod locking mechanism located in the working cabin shell and used to lock the connecting rod, a robotic arm connected to the working cabin shell, a robotic arm fairing located at a notch below the working cabin shell, a robotic arm fairing opening and closing mechanism for driving the robotic arm fairing to open and close, and a power battery located in the working cabin shell and used to power the underwater submersible.

[0008] Furthermore, the work cabin shell support structure includes two work cabin support rings that are symmetrically distributed along the axis of the work cabin shell and in opposite directions. A bow side connecting rod mounting seat and a stern side connecting rod mounting seat are respectively provided on each work cabin support ring.

[0009] Furthermore, the stern connecting rod locking mechanism includes a locking electric push rod fixed on the stern connecting rod mounting seat and a locking hook. One end of the locking hook is in the shape of a hook. A sliding groove is provided at one end of the locking hook and is slidingly connected to the mounting shaft on the output shaft of the locking electric push rod. The middle of the locking hook is hinged to the stern connecting rod mounting seat.

[0010] Preferably, the robotic arm fairing opening and closing mechanism includes a mounting plate located at the cross section of the operating cabin, an opening and closing drive motor located on the mounting plate, a worm connected to the output shaft of the opening and closing drive motor, a turbine meshed with the worm, a connecting rod fixedly connected to the turbine, a slider sleeved on the connecting rod, a rack arranged on the connecting rod, a small gear passed through the slider and meshed with the rack, a large gear passed through the slider and meshed with the small gear, a cam coaxially arranged with the large gear, and a robotic arm fairing bracket connected to the slider and slidable in the slide groove of the cam, wherein protruding cylinders are provided on both sides of the slider, the inner cylinder is used to slide in the slide groove on the mounting plate, and the outer cylinder is used to serve as the rotating axis of the robotic arm fairing bracket and is connected to the robotic arm fairing bracket.

[0011] Furthermore, the connecting rod includes a bow connecting rod and a stern connecting rod, the bow connecting rod includes a bow connecting rod body, a bow connecting rod proximal axis and a bow connecting rod distal axis, and the stern connecting rod includes a stern connecting rod body and a stern connecting rod proximal axis; when in the expanded mode, the bow connecting rod and the stern connecting rod are both parallel to the axis of the underwater submersible, the bow connecting rod connects the operating cabin and the buoyancy cabins on both sides, and the bow connecting rod and the stern connecting rod are both stored in the buoyancy cabin; when in the folded mode, the bow connecting rod and the stern connecting rod are both perpendicular to the axis of the underwater submersible, and the bow connecting rod and the stern connecting rod connect the operating cabin and the buoyancy cabin.

[0012] Furthermore, the folding mechanism includes a folding drive motor, a rope drive mechanism and a gear drive mechanism, and the folding drive motor drives the bow connecting rod proximal shaft, the bow connecting rod distal shaft and the stern connecting rod proximal shaft to move through the rope drive mechanism and the gear drive mechanism.

[0013] Preferably, the rope drive mechanism includes a bow side gear shaft rope drive mechanism, a bow side connecting rod distal end shaft rope drive mechanism and a stern side gear shaft rope drive mechanism.

[0014] The bow gear shaft rope drive mechanism includes a folding total drive pulley, a bow transition pulley, a bow gear axis wheel and a bow gear shaft drive rope. The bow gear shaft drive rope is divided into two, and the starting ends of the bow gear shaft drive ropes are fixed to the folding total drive pulley and wound in opposite directions; the two bow gear shaft drive ropes pass around the bow transition pulley to achieve a change in direction from axial wiring to radial wiring. The two bow gear shaft drive ropes are respectively wound around the bow gear axis wheel in opposite directions and their ends are fixed to the bow gear axis wheel. When the folding total drive pulley rotates, the bow gear axis wheel rotates synchronously in opposite directions.

[0015] The bow side connecting rod distal end shaft rope driving mechanism includes a bow side gear shaft, a bow side connecting rod proximal end transition large line wheel, a bow side connecting rod proximal end transition small line wheel, a bow side connecting rod distal end transition small line wheel, a bow side connecting rod distal end axis wheel, and a bow side connecting rod distal end shaft driving rope. The bow side connecting rod distal end shaft driving rope is divided into two, and the starting ends of the bow side connecting rod distal end shaft driving ropes are fixed on the bow side gear shaft and wound in opposite directions; the two bow side connecting rod distal ends are connected to the bow side gear shaft. The end shaft drive ropes respectively cross over the large transition pulley at the proximal end of the bow connecting rod and the small transition pulley at the proximal end of the bow connecting rod, and then pass parallel to the small transition pulley at the distal end of the bow connecting rod; finally, the two bow connecting rod distal shaft drive ropes are wound around the bow connecting rod distal axis wheel in opposite directions and their ends are fixed to the bow connecting rod distal axis wheel; when the bow gear shaft rotates, the bow connecting rod distal axis wheel rotates synchronously in the opposite direction;

[0016] The stern gear shaft rope drive mechanism includes a folding total drive pulley, a stern transition pulley, a stern gear axis wheel, and a stern gear shaft drive rope. The stern gear shaft drive rope is divided into two. The starting ends of the stern gear shaft drive ropes are fixed on the folding total drive pulley and wound in opposite directions. Then the two stern gear shaft drive ropes pass around the stern transition pulley to achieve a change in direction from axial wiring to radial wiring; finally, the two stern gear shaft drive ropes are respectively wound around the stern gear axis wheels in opposite directions and their ends are fixed on the stern gear axis wheels; when the folding total drive pulley rotates, the stern gear axis wheels rotate synchronously in opposite directions.

[0017] Furthermore, the gear drive mechanism includes a bow connecting rod proximal shaft gear drive mechanism and a stern connecting rod proximal shaft gear drive mechanism.

[0018] The bow connecting rod proximal shaft gear drive mechanism includes a bow gear shaft coaxially arranged with the bow gear axis wheel and a bow sector gear coaxially arranged with the bow connecting rod proximal shaft and meshing with the bow gear shaft. When the bow gear axis wheel rotates, the bow connecting rod proximal shaft rotates synchronously in the opposite direction through the motion transmission of the bow gear shaft and the bow sector gear, thereby driving the bow connecting rod to rotate relative to the buoyancy tank.

[0019] The gear drive mechanism of the proximal shaft of the stern connecting rod includes a stern gear shaft coaxially arranged with the stern gear axis wheel and a stern sector gear coaxially arranged with the proximal shaft of the stern connecting rod and meshing with the stern gear shaft. When the stern gear axis wheel rotates, the motion of the stern gear shaft and the stern sector gear is transmitted, and the proximal shaft of the stern connecting rod rotates synchronously in the opposite direction, thereby driving the stern connecting rod to rotate relative to the buoyancy tank.

[0020] Beneficial effects: Compared with the existing technology, the present invention has the following significant advantages: By adopting a reconfigurable structural design method, the underwater submersible can simultaneously adapt to the dual structural requirements of long-distance underwater cruising and underwater interactive operations, solving the problem that the existing autonomous underwater vehicle (AUV) can only perform detection tasks but cannot perform underwater interactive operations, and the traditional remotely operated underwater vehicle (ROV) relies on expensive dedicated surface support ships with dynamic positioning functions, making it possible to use underwater submersibles to perform low-cost long-distance underwater interactive operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic diagram of the folding and unfolding process of the underwater vehicle of the present invention;

[0022] FIG2 is a cross-sectional view of the present invention in cruise mode;

[0023] FIG3 is a schematic diagram of an operation mode in the present invention;

[0024] FIG4 is a cross-sectional view of the working mode of the present invention;

[0025] FIG5 is a schematic diagram of the locking mechanism of the working cabin support ring and the stern connecting rod in the present invention;

[0026] FIG6 is a schematic diagram of the opening and closing process of the robot arm fairing in the present invention;

[0027] FIG7 is a schematic diagram of the opening and closing mechanism of the mechanical arm fairing in the present invention;

[0028] FIG8 is a schematic diagram of the structure of the slider in the present invention;

[0029] FIG9 is a three-dimensional schematic diagram of the rope drive mechanism of the present invention;

[0030] FIG10 is a two-dimensional schematic diagram of the rope drive mechanism of the present invention;

[0031] FIG11 is a schematic diagram of the folding and unfolding process of the rope drive mechanism of the present invention.

[0032] In the figure: buoyancy tank 1, buoyancy tank shell 11, buoyancy tank shell support structure, bow support ring 121, midship support ring 122, stern support ring 123, propeller 13, propeller drive motor 14, channel thruster 15, operation cabin 2, operation cabin shell 21, operation cabin shell support structure 22, operation cabin support ring 221, Bow connecting rod mounting seat 2211, stern connecting rod mounting seat 2212, stern connecting rod locking mechanism 23, locking hook 231, locking electric push rod 232, mechanical arm 24, mechanical arm fairing 25, mechanical arm fairing opening and closing mechanism 26, opening and closing drive motor 261, worm gear mechanism 262, worm 2621, turbine 2622, crank slider mechanism 263, connecting rod 2631, slider 2632, rack 264, gear reduction mechanism 265, pinion 2651, large gear 2652, cam 266, mechanical arm fairing bracket 267, power battery 27, connecting rod 3, bow connecting rod 31, bow connecting rod body 311, bow connecting rod proximal shaft 312, Bow connecting rod distal shaft 313, stern connecting rod 32, stern connecting rod body 321, stern connecting rod proximal shaft 322, folding mechanism 4, folding drive motor 41, rope drive mechanism 42, bow gear shaft rope drive mechanism 421, folding total drive pulley 4211, bow transition line wheel 4212, bow gear axis wheel 4213, bow gear shaft drive rope 4214, bow connecting rod distal shaft rope drive mechanism 422, bow connecting rod proximal end transition large line wheel 4221, bow connecting rod proximal end transition small line wheel 4222, bow connecting rod distal end transition small line wheel 4223, bow connecting rod distal axis wheel 4224, bow connecting rod distal shaft drive rope 4225, stern side gear shaft rope drive mechanism 423, stern side transition line wheel 4232, stern side gear axis wheel 4233, stern side gear shaft drive rope 4234, gear drive mechanism 43, bow side connecting rod proximal shaft gear drive mechanism 431, bow side gear shaft 4311, bow side fan gear 4312, stern side connecting rod proximal shaft gear drive mechanism 432, stern side gear shaft 4321, stern side fan gear 4322. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0034] The present invention discloses a reconfigurable underwater vehicle capable of long-distance cruising and underwater interactive operations. The vehicle comprises two buoyancy chambers, an operating chamber, connecting rods, and a folding mechanism. The two buoyancy chambers are connected to the operating chamber via connecting rods. The vehicle has two operating modes: cruising mode and operating mode, as shown in Figure 1. In the cruising mode, also known as the deployed mode, as shown in Figure 2, the two buoyancy chambers deploy along the axis of the operating chamber to either side of the chamber in a series configuration. This creates a smooth, streamlined, and elongated overall profile for the vehicle, resulting in low cruising resistance and providing the structural conditions for long-range cruising. In the operating mode, also known as the folded mode, as shown in Figures 3 and 4, the two buoyancy chambers fold at an angle above the operating chamber in a parallel configuration. Because the operating chamber accommodates a heavy load and the buoyancy chambers primarily provide buoyancy, the vehicle's center of buoyancy is significantly separated from its center of gravity, providing a stable support platform for underwater interactive operations of the robotic arms within the operating chamber. The conversion between the two modes of the underwater submersible is achieved by a folding mechanism located in the buoyancy tank and the connecting rod.

[0035] The UUV's operating process is as follows: Initially, the UUV is deployed from a shore-based platform in cruise mode. It then cruises to a designated location according to a pre-set program, using its sensors to locate its operational position. Upon reaching the operational location, the UUV switches to operational mode, with the robotic arm fairing opening and extending to perform interactive underwater operations. Once the operation is complete, the robotic arm bends and retracts into the UUV, the fairing closing, and the UUV returns to cruise mode. Following the pre-set program, the UUV cruises to the shore-based platform for recovery.

[0036] The present invention includes two buoyancy chambers, each of which 1 includes a buoyancy chamber shell 11, a buoyancy chamber shell support structure, a propeller 13, a propeller drive motor 14 and a channel propeller 15. The only difference between the two buoyancy chambers is that the propellers are installed in opposite positions: one is located on the bow side and the other is located on the stern side. The purpose of this arrangement is: (1) when the underwater submersible is in the deployed mode, the propeller of one of the buoyancy chambers is retracted into the inner contour of the underwater submersible shell, while only the propeller of the other buoyancy chamber is retained outside the underwater submersible, so as to ensure that the propeller thrust is along the axial direction of the underwater submersible; (2) when the underwater submersible is in the folded mode, the propellers are located on the same side of the underwater submersible, ensuring the symmetry of the thrust of the underwater submersible in the horizontal plane, thereby avoiding yaw moment.

[0037] The buoyancy pod hull 11 has a streamlined exterior profile, which helps reduce cruising resistance. The buoyancy pod hull 11 is also equipped with notches accommodating the connecting rods, allowing them to be retracted into the hull's profile when the submersible is in deployed mode, thus preventing protrusions on the hull that would increase cruising resistance. Furthermore, the buoyancy pod hull is equipped with notches accommodating the channel thrusters. The buoyancy pod hull is securely connected to a high-strength and high-rigidity buoyancy pod support structure, resulting in a high-strength and high-rigidity buoyancy pod exterior profile.

[0038] The buoyancy tank shell support structure includes a bow support ring 121, a midship support ring 122, and a stern support ring 123. The buoyancy tank shell support structure is fixedly connected to the buoyancy tank shell, which improves the strength and rigidity of the outer contour of the buoyancy tank. At the same time, the buoyancy tank shell support structure also serves as an installation platform for the internal structural components of the buoyancy tank. The bow side connecting rod proximal shaft gear drive mechanism 431 and the bow side transition line wheel 4212 are installed on the bow side support ring 121. The midship side support ring 122 is provided with a folding total drive line wheel mounting hole. The stern side support ring 123 is installed with the stern side connecting rod proximal shaft gear drive mechanism 431 and the stern side transition line wheel 4232.

[0039] Propeller 13 is a conventional propeller used in underwater vehicles. It is rigidly coupled to the output shaft of propeller drive motor 14 and rotates to provide the propulsion required by the underwater vehicle. Propeller drive motor 14 is a brushless DC motor. Its output shaft is rigidly coupled to the shaft of propeller 13, and its housing is rigidly coupled to buoyancy chamber hull 11.

[0040] The channel thrusters 15 are jet pumps. Each buoyancy chamber 1 is symmetrically provided with two channel thrusters 15 along the axial direction. The axes of the two channel thrusters are parallel to each other, and their angles in a plane perpendicular to the axis of the buoyancy chamber are appropriately set so that when the underwater vehicle is in folded and unfolded modes, the angle between the channel thrusters in the two buoyancy chambers is close to 90 degrees. This effectively provides propulsion perpendicular to the axial direction of the underwater vehicle, enabling the underwater vehicle to achieve maneuverability and ensure navigation stability.

[0041] The work chamber 2 includes a work chamber shell 21, a work chamber shell support structure 22, a stern connecting rod locking mechanism 23, a robotic arm 24, a robotic arm fairing 25, a robotic arm fairing opening and closing mechanism 26, and a power battery 27. The work chamber shell 21 has a cylindrical outer profile. When the underwater submersible is in deployment mode, the work chamber is located in the middle of the underwater submersible. The two ends of the work chamber shell are connected to the two buoyancy chamber shells, giving the underwater submersible a smooth, streamlined, and elongated outer profile to reduce the cruising resistance of the underwater submersible. The ends of the work chamber shell are tailored to the shape of the bow side of the buoyancy chamber shell and sufficient space is reserved. This allows the buoyancy chamber and the work chamber shell to seamlessly connect when the underwater submersible is in deployment mode and can accommodate the propeller installed on the bow side of the buoyancy chamber. The work chamber shell 21 is also equipped with notches accommodating the connecting rods. This allows the connecting rods to be retracted into the shell when the underwater vehicle is in deployment mode, eliminating any protrusions that would increase cruising resistance. Furthermore, a corresponding notch is provided below the robotic arm mounting area to allow the robotic arm to extend from the work chamber for underwater interactive operations. The work chamber shell is securely connected to a high-strength and high-rigidity support structure, forming a high-strength and high-rigidity exterior shell.

[0042] The work compartment hull support structure 22 includes two work compartment support rings 221, symmetrically distributed along the work compartment hull axis and in opposite directions. Each work compartment support ring 221 is provided with a bow connecting rod mounting seat 2211 and a stern connecting rod mounting seat 2212. The bow connecting rod mounting seat 2211 has mounting holes that fit over and securely connect to the bow connecting rod distal shaft 313. When the bow connecting rod distal shaft 313 rotates, the work compartment 2 rotates relative to the bow connecting rod 31. The stern connecting rod mounting seat 2212 is used to position and lock the distal end of the stern connecting rod 32. The stern connecting rod locking mechanism 23 is provided on the stern connecting rod mounting seat 2212 to achieve locking of the stern connecting rod 32. The bow connecting rod mounting seat 2211 and the stern connecting rod mounting seat 2212 are arranged at a specific angle along the circumference, and this angle determines the angle between the two buoyancy compartments and the work compartment when the underwater vehicle is in the folded mode. The spacing angle between the bow connecting rod mounting seat 2211 and the stern connecting rod mounting seat 2212 should be reasonably set so that the underwater submersible has good stability when in the folded mode.

[0043] The stern connecting rod locking mechanism 23 comprises a locking hook 231 and a locking electric push rod 232. The locking hook 231 is hingedly connected to a mounting shaft within the stern connecting rod mounting seat 2212 on the work chamber support ring 221. One end of the locking hook is shaped like a hook, and the other end is provided with a sliding groove that slides into contact with the mounting shaft on the output shaft of the locking electric push rod 232. When the underwater vehicle begins folding, the output shaft of the locking electric push rod 232 is set to its shortest position. The hook portion of the locking hook 231 then rotates and disengages the motion space of the distal end of the stern connecting rod, allowing the distal end of the stern connecting rod to smoothly enter its mounting position. When the underwater submersible completes the folding operation, the output shaft of the locking electric push rod is set to the longest state. At this time, the hook part of the locking hook 231 rotates in the opposite direction and wedges into the wedge-shaped groove at the far end of the stern connecting rod, thereby locking the far end of the stern connecting rod 32, ensuring the structural firmness of the underwater submersible when it is in the folding mode.

[0044] The robotic arm 24 is a waterproof, multi-degree-of-freedom tandem robotic arm. Its base is securely connected to the work chamber housing 21 and is offset to one side of the vertical axis of symmetry. This not only fully utilizes the space within the work chamber housing but also aligns the robotic arm's center of mass within the vertical axis of symmetry, thereby ensuring the stability of the underwater vehicle. When the underwater vehicle is in cruise mode, the robotic arm's joint angles are adjusted to bend and contract, allowing the arm to be stored within the underwater vehicle. When the underwater vehicle is in operational mode, the robotic arm's joint angles are adjusted to extend the arm, positioning its end effector outside the underwater vehicle for grasping objects.

[0045] The manipulator arm fairing 25 is installed in the notch below the manipulator arm mounting position on the work chamber shell. It can be switched between closed and open states, coordinated with the manipulator arm fairing opening and closing mechanism 26. When the underwater vehicle is in cruise mode, the manipulator arm fairing is closed, forming a smooth contour with the work chamber shell, thereby reducing cruising resistance. When the underwater vehicle is in operational mode, the manipulator arm fairing is open, covering the upper part of the work chamber shell, allowing the manipulator arm to extend from the underwater vehicle to perform underwater interactive operations.

[0046] As shown in Figures 5, 6, and 7, the manipulator fairing opening and closing mechanism 26 includes an opening and closing drive motor 261, a worm gear mechanism 262, a crank slider mechanism 263, a rack 264, a gear reduction mechanism 265, a cam 266, and a manipulator fairing bracket 267. The opening and closing drive motor 261 provides driving power for the manipulator fairing opening and closing mechanism, and its output shaft is fixedly coupled to the input shaft of the worm 2621 of the worm gear mechanism 262. The worm gear mechanism 262 converts the high-speed rotational motion of the opening and closing drive motor 261 into the low-speed rotational motion of the turbine 2622, achieving self-locking motion. The connecting rod 2631 in the crank slider mechanism 263 is fixedly coupled to the turbine 2622 in the worm gear mechanism 262 and rotates with the turbine 2622. Connecting rod 2631 is fitted with a slider 2632, which is flanked by protruding cylinders. The inner cylinder slides within a groove on the mounting plate, while the outer protruding cylinder serves as the rotation axis for the manipulator fairing bracket, as shown in Figure 8. As connecting rod 2631 rotates with turbine 2622, slider 2632 on connecting rod 2631 slides simultaneously along the groove on the mounting plate and along connecting rod 2631. Because connecting rod 2631 is provided with a rack, the small gear 2651 in the gear reduction mechanism 265 mounted on slider 2632 rotates under the drive of the rack, driving the rotation of cam 266, which is coaxial with large gear 2652. Since one end of the manipulator fairing bracket 267 slides within cam 266, the trajectory of the cam curve can be used to control the bracket's rotation angle, thereby controlling the posture of the manipulator fairing and preventing physical interference between the manipulator fairing and the operating chamber shell during opening.

[0047] The power battery 27 is installed within the operating compartment hull 21 and is used to provide power for the underwater vehicle. This battery not only powers the electronic components in the operating compartment but also, through the bow connecting rod 31, provides power to the electronic components in the buoyancy compartment. Furthermore, because batteries typically have a high density and mass, installing them in the operating compartment increases the height difference between the underwater vehicle's center of buoyancy and center of gravity when in operating mode, thereby improving the vehicle's stability.

[0048] The connecting rods 3 include a bow connecting rod 31 and a stern connecting rod 32. When the underwater vehicle is in cruise mode, both the bow connecting rod 31 and the stern connecting rod 32 are parallel to the underwater vehicle's axis. The bow connecting rod 31 connects the work chamber 2 to the buoyancy chambers 1 on either side, while the stern connecting rod 32 is stored and idle, ultimately forming a series structure of buoyancy chamber-work chamber-buoyancy chamber. Furthermore, both the bow connecting rod 31 and the stern connecting rod 32 are retracted within the contours of the underwater vehicle's hull, avoiding any protrusions on the hull that would increase cruising resistance. When the underwater submersible is in the operating mode, the bow connecting rod 31 and the stern connecting rod 32 are both perpendicular to the axis of the underwater submersible. Since the stern connecting rod 32 is firmly connected to the stern connecting rod mounting seat 2212 in the working cabin support ring 221 at this time, the bow connecting rod 31 and the stern connecting rod 32 both have the function of connecting the buoyancy cabin 1 and the working cabin 2, and finally form a parallel structure of the buoyancy cabin and the working cabin.

[0049] The bow connecting rod 31 includes a bow connecting rod body 311, a bow connecting rod proximal shaft 312, and a bow connecting rod distal shaft 313. The bow connecting rod body 311 is composed of two symmetrical parts that are fixedly connected. A groove is provided inside the bow connecting rod to facilitate the installation of the rope drive mechanism inside the bow connecting rod and to allow wires to pass through to achieve electrical connection between the buoyancy tank and the operating cabin. At the same time, the bow connecting rod 31 retains enough physical volume to improve the strength and rigidity of the bow connecting rod. The bow connecting rod proximal shaft 312 is fitted and fixedly connected to the proximal mounting hole of the bow connecting rod body 311. Its own rotation will drive the bow connecting rod 31 and the buoyancy tank 1 to rotate relative to each other synchronously. The bow connecting rod distal shaft 313 fits within the distal mounting hole of the bow connecting rod body 311 and is freely rotatable relative to the distal mounting hole. It is securely fastened to the mounting hole within the bow connecting rod mounting seat 2211 on the work cabin support ring 221. When the bow connecting rod distal shaft 313 rotates, the bow connecting rod 31 and the work cabin 2 rotate synchronously relative to each other.

[0050] The stern connecting rod 32 includes a stern connecting rod body 321 and a stern connecting rod proximal shaft 322. The stern connecting rod body 321 is a solid structure with strong supporting capacity, which realizes a firm connection between the buoyancy chamber 1 and the working chamber 2. A wedge-shaped groove is provided at the distal end of the stern connecting rod body 321. When the underwater submersible is in the working mode, the distal end of the stern connecting rod is inserted into the stern connecting rod mounting seat of the working chamber support ring to achieve positioning, and is simultaneously wedged into the locking hook in the stern connecting rod locking mechanism to achieve locking. The stern connecting rod proximal shaft 322 is set and fixedly connected to the proximal mounting hole of the stern connecting rod body. Its own rotation will drive the relative synchronous rotation of the stern connecting rod and the buoyancy chamber.

[0051] The folding mechanism 4 comprises a folding drive motor 41, a rope drive mechanism 42, and a gear drive mechanism 43. This transmission mechanism is designed to use a single folding drive motor to drive three rotating shafts: the proximal shaft of the bow connecting rod, the distal shaft of the bow connecting rod, and the proximal shaft of the stern connecting rod. This effectively reduces the number of drive motors and improves system reliability. The housing of the folding drive motor 41 is fixedly attached to the midship support ring 122 of the buoyancy tank hull support structure. Its output shaft is sleeved and fixedly attached to the main folding drive pulley 4211 in the rope drive mechanism 42, serving as the power input for the folding mechanism.

[0052] The rope drive mechanism 42 of the folding mechanism 4 includes a bow side gear shaft rope drive mechanism 421, a bow side connecting rod distal shaft rope drive mechanism 422, and a stern side gear shaft rope drive mechanism 423, as shown in Figures 9, 10 and 11.

[0053] The bow gear shaft rope drive mechanism 421 includes a folding main drive pulley 4211, a bow transition pulley 4212, a bow gear axis pulley 4213, and a bow gear shaft drive rope 4214. The bow gear shaft drive rope 4214 is divided into two ropes, each secured at its initial end to the folding main drive pulley 4211 and wound in opposite directions. The two bow gear shaft drive ropes 4214 then pass around the bow transition pulley 4212, transitioning from axial to radial routing. Finally, the two bow gear shaft drive ropes 4214 are respectively wound in opposite directions around the bow gear axis pulley 4213, with their distal ends secured to the bow gear axis pulley 4213. When the folding main drive pulley 4211 rotates, the bow gear axis pulley 4213 rotates synchronously in the opposite direction. The central axis of the folding main drive pulley 4211 is mounted within the mounting hole on the midship support ring 121 of the buoyancy hull support structure and can freely rotate along the centerline of the mounting hole. One end of the pulley is mounted and fixedly connected to the output shaft of the folding drive motor 41, and rotates under the drive of the folding drive motor 41. The central hole of the bow transition pulley 4212 is mounted on the mounting shaft on the bow support ring 121 of the buoyancy hull support structure and can freely rotate along the centerline of the mounting shaft. The central hole of the bow gear axis pulley 4213 is mounted and fixedly connected to the bow gear shaft 4311 of the bow connecting rod proximal shaft gear drive mechanism 431, and can drive the bow gear shaft 4311 and the bow gear axis pulley 4213 to rotate synchronously. The bow gear axis pulley 4213 includes two wire grooves, which are fixed to two bow gear shaft drive ropes 4214 and wound in opposite directions.

[0054] The bow connecting rod distal shaft rope drive mechanism 422 includes a bow gear shaft 4311, a large bow connecting rod proximal transition pulley 4221, a small bow connecting rod proximal transition pulley 4222, a small bow connecting rod distal shaft rope 4223, a bow connecting rod distal shaft pulley 4224, and a bow connecting rod distal shaft drive rope 4225. The bow connecting rod distal shaft drive rope 4225 consists of two ropes, each secured to the bow gear shaft 4311 and wound in opposite directions. The two ropes then cross over, passing around the large bow connecting rod proximal transition pulley 4221 and the small bow connecting rod proximal transition pulley 4222, and then passing parallel to the small bow connecting rod distal shaft rope 4223. Finally, the two bow connecting rod distal axis drive ropes 4225 are wound around the bow connecting rod distal axis wheel 4224 in opposite directions and their ends are fixed to the bow connecting rod distal axis wheel 4224. When the bow side gear shaft 4311 rotates, the bow side connecting rod distal axis wheel 4224 rotates synchronously in the opposite direction. The center hole of the bow side connecting rod proximal transition large line wheel 4222 is fitted on the bow side connecting rod proximal shaft 312 and can rotate freely along the center line of the bow side connecting rod proximal shaft 312. The bow side connecting rod proximal transition small line wheel 4222 is close to the bow side connecting rod proximal transition large line wheel 4221, and its mounting hole is fitted on the mounting shaft in the bow side connecting rod body 311 and can rotate freely along the center line of the mounting shaft. The bow connecting rod proximal transition small reel 4222 and the bow connecting rod proximal transition large reel 4221 should have an appropriate relative position so that when the bow connecting rod 31 is parallel and perpendicular to the buoyancy tank axis, the two bow connecting rod distal axis drive ropes 4225 are both tightly attached to the bow connecting rod proximal transition small reel 4222 and the bow connecting rod proximal transition large reel 4221. The bow connecting rod distal transition small reel 4223 is close to the bow connecting rod distal axis wheel 4224, and its mounting hole is fitted onto the mounting shaft in the bow connecting rod body 311 and can rotate freely along the centerline of the mounting shaft. The bow connecting rod proximal transition small reel 4222 and the bow connecting rod distal transition small reel 4223 are arranged parallel to the axis along one side of the bow connecting rod main shaft. The center hole of the bow side connecting rod distal end axis wheel 4224 is sleeved and fixedly connected to the bow side connecting rod distal end shaft 313.

[0055] The stern gear shaft rope drive mechanism 423 includes a folding main drive pulley 4211, a stern transition pulley 4232, a stern gear axis pulley 4233, and a stern gear shaft drive rope 4234. The stern gear shaft drive rope 4234 is divided into two, each of which is fixed at its initial end to the folding main drive pulley 4211 and winds in opposite directions. The two stern gear shaft drive ropes 4234 then pass around the stern transition pulley 4232, transitioning from axial to radial routing. Finally, the two stern gear shaft drive ropes 4234 are respectively wound around the stern gear axis pulley 4233 in opposite directions, with their distal ends fixed to the stern gear axis pulley 4233. When the folding main drive pulley 4211 rotates, the stern gear axis pulley 4233 rotates synchronously in opposite directions. The center hole of the stern transition line pulley 4232 fits over the mounting shaft on the stern support ring 123 of the buoyancy hull support structure and can rotate freely along the centerline of the mounting shaft. The center hole of the stern gear axis pulley 4233 fits over the stern gear shaft 4321 of the stern connecting rod proximal shaft gear drive mechanism 432, driving the stern gear shaft 4321 and the stern gear axis pulley 4233 to rotate synchronously. The stern gear axis pulley 4233 includes two cable grooves, each of which is fixed to and wound around two stern gear shaft drive ropes 4234 in opposite directions.

[0056] Each transition wheel in the rope drive mechanism 42 of the folding mechanism 4 includes: a bow side transition wheel 4212, a large transition wheel 4221 at the proximal end of the bow side connecting rod, a small transition wheel 4222 at the proximal end of the bow side connecting rod, a small transition wheel 4223 at the distal end of the bow side connecting rod and a stern side transition wheel 4232, each of which includes two independently and freely rotatable wheels, and the rotation directions of the two wheels are always opposite.

[0057] The gear driving mechanism 43 includes a bow connecting rod proximal shaft gear driving mechanism 431 and a stern connecting rod proximal shaft gear driving mechanism 432 .

[0058] The bow connecting rod proximal shaft gear drive mechanism 431 includes a bow gear shaft 4311, a bow sector gear 4312, and the bow connecting rod proximal shaft 312. Both the bow gear shaft 4311 and the bow connecting rod proximal shaft 312 are mounted within the mounting holes of the bow support ring 121 in the buoyancy chamber hull support structure and can rotate freely along the centerline of the mounting holes. Furthermore, the bow gear shaft 4311 is mounted and fixedly connected to the bow gear axis wheel 4213 in the bow gear shaft rope drive mechanism 421. The bow sector gear 4312 meshes with the gear teeth on the bow gear shaft 4311, and its mounting hole is mounted and fixedly connected to the bow connecting rod proximal shaft 312. Therefore, when the bow gear axis wheel 4213 rotates, through the motion transmission process of the bow gear shaft 4311 and the bow sector gear 4312, the bow connecting rod proximal shaft 312 rotates synchronously in the opposite direction, thereby driving the bow connecting rod 31 to rotate relative to the buoyancy tank 1.

[0059] The stern connecting rod proximal shaft gear drive mechanism 432 comprises a stern gear shaft 4321, a stern sector gear 4322, and the stern connecting rod proximal shaft 322. Both the stern gear shaft 4321 and the stern connecting rod proximal shaft 322 are mounted within the mounting holes of the stern support ring 123 in the buoyancy hull support structure and are freely rotatable along the centerline of the mounting holes. Furthermore, the stern gear shaft 4321 is mounted and fixedly coupled to the stern gear axis pulley 4233 in the stern gear shaft rope drive mechanism 423. The stern sector gear 4322 meshes with the gear teeth on the stern gear shaft 4321, and its mounting hole is mounted and fixedly coupled to the stern connecting rod proximal shaft 322. Therefore, when the stern gear axis wheel 4233 rotates, the stern connecting rod proximal shaft 322 rotates synchronously in the opposite direction through the motion transmission process of the stern gear shaft 4321 and the stern sector gear 4322, thereby driving the stern connecting rod 32 to rotate relative to the buoyancy chamber 1.

[0060] Since the proximal shaft 312 of the bow connecting rod and the proximal shaft 322 of the stern connecting rod are both close to the buoyancy tank shell 11 and the rotation angle is within 90 degrees, the bow fan gear 4312 and the stern fan gear 4322 that are respectively engaged with the gear teeth on the bow gear shaft 4311 and the stern gear shaft 4321 both adopt a fan-shaped structure rather than a full-circle structure, the purpose of which is to avoid physical interference.

[0061] Working principle of the folding mechanism:

[0062] For example, when the folding drive motor 41 rotates clockwise (as viewed from the back of the folding drive motor toward the output shaft end), the bow gear axis pulley 4213 rotates counterclockwise, driving the bow gear shaft 4311 counterclockwise. After passing through the bow sector gear 4312, the rotation direction reverses, causing the bow connecting rod proximal shaft 313 to rotate clockwise. Simultaneously, due to the counterclockwise rotation of the bow gear shaft 4311, the bow connecting rod distal shaft drive rope 4225 drives the bow connecting rod distal shaft 313 clockwise, passing through multiple intermediate transition pulleys. Furthermore, due to the clockwise rotation of the folding drive motor 41, the stern gear axis pulley 4213 rotates counterclockwise, driving the stern gear shaft 4321 counterclockwise. After passing through the stern sector gear 4322, the rotation direction reverses, causing the stern connecting rod proximal shaft 322 to rotate clockwise. Therefore, under the combined action of the rope drive mechanism 42 and the gear drive mechanism 43 in the folding mechanism 4, the bow connecting rod proximal shaft 312, the bow connecting rod distal shaft 313, and the stern connecting rod proximal shaft 322 all rotate in the same direction as the folding drive motor 41. By properly designing the gear transmission ratio and the line wheel transmission ratio, the rotation speed and rotation angle of the bow connecting rod proximal shaft 312, the bow connecting rod distal shaft 313, and the stern connecting rod proximal shaft 322 can be kept consistent.

[0063] The underwater vehicle proposed in the present invention continuously changes its center of mass and center of buoyancy during folding and deployment. To maintain a stable posture during folding and deployment, control of the folding and deployment process is necessary. During folding, the operating compartment accommodates a heavy load, while the buoyancy compartment primarily provides buoyancy. This causes the operating compartment to spontaneously move downward while the buoyancy compartment spontaneously moves upward, resulting in a tendency for the folding process to complete spontaneously. This can result in excessive movement speed, causing the underwater vehicle to lose its stability. Therefore, a resistance torque must be applied by the folding drive motor during folding to prevent excessive folding speed. During deployment, the buoyancy compartment, whose buoyancy is greater than its gravity, must be further lowered, while the operating compartment, whose gravity is greater than its buoyancy, must be further raised, consuming a certain amount of energy. The power unit driving the deployment process includes a folding drive motor and a channel thruster. The output force and torque of these motors must be properly controlled to minimize energy consumption during deployment. At the same time, during the folding and unfolding process of the underwater vehicle, the uncertain water flow force may affect the stability of the underwater vehicle. The influence of the water force disturbance term should be considered in the controller design process.

Claims

1. A reconfigurable underwater vehicle capable of long-distance cruising and underwater interactive operations, characterized by: The invention comprises an operation cabin (2), two buoyancy cabins (1) connected to the operation cabin (2) via a connecting rod (3), and a folding mechanism (4) located in the buoyancy cabin and the connecting rod and used for driving the connecting rod to rotate to realize the conversion of the underwater submersible working mode. The underwater submersible working mode comprises an unfolding mode and a folding mode. In the unfolding mode, the two buoyancy cabins are unfolded to both sides of the operation cabin along the axial direction of the operation cabin, and the two buoyancy cabins and the operation cabin are in a series state. In the folding mode, the two buoyancy cabins are folded above the operation cabin at a certain angle, and the two buoyancy cabins are in a parallel state.

2. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 1, characterized in that: The buoyancy tank (1) comprises a buoyancy tank shell (11), a buoyancy tank shell support structure located in the buoyancy tank shell, a propeller (13) located at the bow side or the stern side, a propeller drive motor (14) located in the buoyancy tank shell and used to drive the propeller to rotate, and two channel thrusters (15) symmetrically arranged on the buoyancy tank shell along the axial direction; the buoyancy tank shell support structure comprises a bow support ring (121), a midship support ring (122), and a stern support ring (123) arranged in sequence along the buoyancy tank.

3. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 1, characterized in that: The operation cabin (2) comprises an operation cabin shell (21), an operation cabin shell support structure (22) located in the operation cabin shell, a stern connecting rod locking mechanism (23) located in the operation cabin shell and used for locking the connecting rod, a mechanical arm (24) connected to the operation cabin shell, a mechanical arm fairing (25) located at a notch below the operation cabin shell, a mechanical arm fairing opening and closing mechanism (26) for driving the mechanical arm fairing to open and close, and a power battery (27) located in the operation cabin shell and used for powering the underwater vehicle.

4. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 3, characterized in that: The work cabin shell support structure (22) comprises two work cabin support rings (221) symmetrically distributed along the axis of the work cabin shell and in opposite directions, and each work cabin support ring (221) is respectively provided with a bow side connecting rod mounting seat (2211) and a stern side connecting rod mounting seat (2212).

5. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 4, characterized in that: The stern connecting rod locking mechanism (23) comprises a locking electric push rod (232) fixed on the stern connecting rod mounting seat and a locking hook (231), one end of the locking hook (231) is in a hook shape, one end of the locking hook (231) is provided with a sliding groove and is slidably connected to the mounting shaft on the locking electric push rod output shaft, and the middle of the locking hook (231) is hinged to the stern connecting rod mounting seat (2212).

6. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 3, characterized in that: The mechanical arm fairing opening and closing mechanism (26) comprises a mounting plate located at a cross section of an operation cabin, an opening and closing drive motor (261) located on the mounting plate, a worm (2621) connected to an output shaft of the opening and closing drive motor, a turbine (2622) meshed with the worm, a connecting rod (2631) fixedly connected to the turbine, a slider (2632) sleeved on the connecting rod, a rack (264) arranged on the connecting rod, a pinion (2651) passing through the slider and meshing with the rack, a large gear (2652) passing through the slider and meshing with the pinion, a cam (266) coaxially arranged with the large gear, and a mechanical arm fairing bracket (267) connected to the slider and slidable in a sliding groove of the cam, wherein protruding cylinders are provided on both sides of the slider (2632), the inner cylinder being used to slide in the sliding groove on the mounting plate, and the outer cylinder being used as a rotation axis of the mechanical arm fairing bracket and connected to the mechanical arm fairing bracket.

7. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 1, characterized in that: The connecting rod (3) comprises a bow connecting rod (31) and a stern connecting rod (32); the bow connecting rod (31) comprises a bow connecting rod body (311), a bow connecting rod proximal shaft (312) and a bow connecting rod distal shaft (313); the stern connecting rod (32) comprises a stern connecting rod body (321) and a stern connecting rod proximal shaft (322); when in the deployed mode, the bow connecting rod (31) and the stern connecting rod (32) are in a closed position. The rods (32) are all parallel to the axis of the underwater submersible, the bow connecting rod (31) connects the operation cabin and the buoyancy cabins on both sides, and the bow connecting rod (31) and the stern connecting rod (32) are both stored in the buoyancy cabin; when in the folding mode, the bow connecting rod (31) and the stern connecting rod (32) are both perpendicular to the axis of the underwater submersible, and the bow connecting rod (31) and the stern connecting rod (32) connect the operation cabin (2) and the buoyancy cabin (1).

8. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 7, characterized in that: The folding mechanism (4) comprises a folding drive motor (41), a rope drive mechanism (42) and a gear drive mechanism (43); the folding drive motor (41) drives the bow connecting rod proximal end shaft (312), the bow connecting rod distal end shaft (313) and the stern connecting rod proximal end shaft (322) to move via the rope drive mechanism (42) and the gear drive mechanism (43).

9. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 8, characterized in that: The rope drive mechanism (42) includes a bow side gear shaft rope drive mechanism (421), a bow side connecting rod distal end shaft rope drive mechanism (422), and a stern side gear shaft rope drive mechanism (423). The bow gear shaft rope driving mechanism (421) comprises a folding total driving wheel (4211), a bow transition wheel (4212), a bow gear axis wheel (4213) and a bow gear shaft driving rope (4214). The bow gear shaft driving rope (4214) is divided into two, and the starting ends of the bow gear shaft driving ropes (4214) are both fixed on the folding total driving wheel (4211) and are wound in opposite directions. The dynamic rope (4214) passes around the bow side transition line wheel (4212) to realize the transformation from axial wiring to radial wiring. The two bow side gear shaft driving ropes (4214) are respectively wound around the bow side gear axis wheel (4213) in opposite directions and their ends are fixed on the bow side gear axis wheel (4213). When the folding total driving line wheel (4211) rotates, the bow side gear axis wheel (4213) rotates synchronously in the opposite direction. The bow connecting rod distal end shaft rope driving mechanism (422) comprises a bow side gear shaft (4311), a bow side connecting rod proximal end transition large line wheel (4221), a bow side connecting rod proximal end transition small line wheel (4222), a bow side connecting rod distal end transition small line wheel (4223), a bow side connecting rod distal end axis wheel (4224) and a bow side connecting rod distal end shaft driving rope (4225). The bow side connecting rod distal end shaft driving rope (4225) is divided into two, and the starting ends of the bow side connecting rod distal end shaft driving ropes (4225) are both fixed on the bow side gear shaft (4311) and are wound in opposite directions; the two bow side connecting rods are connected to the bow side gear shaft (4311). The connecting rod distal end shaft drive rope (4225) respectively crosses around the bow side connecting rod proximal end transition large line wheel (4221) and the bow side connecting rod proximal end transition small line wheel (4222), and then parallelly passes around the bow side connecting rod distal end transition small line wheel (4223); finally, the two bow side connecting rod distal end shaft drive ropes (4225) are wound around the bow side connecting rod distal end axis wheel (4224) in opposite directions and their ends are fixed to the bow side connecting rod distal end axis wheel (4224); when the bow side gear shaft (4311) rotates, the bow side connecting rod distal end axis wheel (4224) rotates synchronously in the opposite direction; The stern gear shaft rope driving mechanism comprises a folding total driving line wheel (4211), a stern transition line wheel (4232), a stern gear axis wheel (4233) and a stern gear shaft driving rope (4234). The stern gear shaft driving rope (4234) is divided into two. The starting ends of the stern gear shaft driving ropes (4234) are both fixed on the folding total driving line wheel (4211) and are wound in opposite directions. Then, the two stern gear shaft driving ropes (4234) are connected to each other. 4234) passes around the stern transition line wheel (4232) to achieve the change from axial wiring to radial wiring; finally, the two stern gear shaft drive ropes (4234) are respectively wound around the stern gear axis wheel (4233) in opposite directions and their ends are fixed on the stern gear axis wheel (4233); when the folding total drive line wheel (4211) rotates, the stern gear axis wheel (4233) rotates synchronously in the opposite direction.

10. The reconfigurable underwater submersible capable of long-distance cruising and underwater interactive operations according to claim 9, characterized in that: The gear drive mechanism comprises a bow connecting rod proximal shaft gear drive mechanism (431) and a stern connecting rod proximal shaft gear drive mechanism (432), The bow connecting rod proximal shaft gear drive mechanism (431) comprises a bow gear shaft (4311) coaxially arranged with the bow gear axis wheel (4213) and a bow sector gear (4312) coaxially arranged with the bow connecting rod proximal shaft (312) and meshing with the bow gear shaft (4311). When the bow gear axis wheel (4213) rotates, the bow connecting rod proximal shaft (312) rotates synchronously in the opposite direction through the motion transmission of the bow gear shaft (4311) and the bow sector gear (4312), thereby driving the bow connecting rod (31) to rotate relative to the buoyancy chamber (1). The stern connecting rod proximal shaft gear driving mechanism (432) comprises a stern gear shaft (4321) coaxially arranged with the stern gear axis wheel (4233) and a stern sector gear (4322) coaxially arranged with the stern connecting rod proximal shaft (322) and meshing with the stern gear shaft (4321). When the stern gear axis wheel (4233) rotates, the stern connecting rod proximal shaft (322) rotates synchronously in the opposite direction through the motion transmission of the stern gear shaft (4321) and the stern sector gear (4322), thereby driving the stern connecting rod (32) to rotate relative to the buoyancy chamber (1).

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