Buoyancy adjusting device and method for underwater vehicle

Abstract

The invention discloses an underwater vehicle buoyancy adjusting device. The lower end of the outer wall of a main piston of a main buoyancy adjusting unit is mounted on a base, and the upper end of the outer wall of the main piston is connected with a main inner piston through a main corrugated pipe; the lower end of the push rod is connected with the servo push rod motor, the upper end of the push rod is connected with the main inner piston, and the servo push rod motor controls the push rod to stretch out and draw back to drive the main inner piston to move relative to the outer wall of the main piston so as to adjust the size of the main piston device. The main oil bag is installed between the servo push rod motor and the main inner piston, and oil is injected into the main oil bag to assist the main inner piston to move. The right side buoyancy adjusting unit and the left side buoyancy adjusting unit are symmetrically arranged on the two sides of the main buoyancy adjusting unit, and oil is injected into the side oil bags to push the side inner pistons to move so as to adjust the volume of the pistons. The buoyancy can be quickly and accurately adjusted by using the push rod in a shallow water environment, and the buoyancy can be changed by switching to an oil bag auxiliary push rod mode when entering a deep water environment, so that the application range is further expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to a buoyancy regulating device and method for underwater vehicles. Background Art

[0002] When existing underwater vehicles are conducting deep-sea operations, they usually need to be equipped with buoyancy adjustment devices, which can be divided into two categories: adjustable ballast type and variable volume type. The adjustable ballast type is to change its own weight by discarding ballast blocks, or to change its own weight by absorbing and discharging seawater. The former is generally suitable for deep-sea exploration, and the motion state of the vehicle is difficult to change during diving and surfacing. The latter is generally used in large military facilities such as submarines. Due to the equipment volume and power limitations, it is generally difficult to apply to small AUVs and ROVs. The variable volume buoyancy adjustment system is mainly adjusted by changing its own volume. Usually, a deformable container such as a bladder is hung externally. The volume is changed by inflating or filling it with oil. The amount of inflation or oil can be obtained more accurately by calculating the flow rate. It has certain applications in small underwater equipment, but this buoyancy adjustment device also has the contradiction of complex equipment integration and high price. In addition, in shallow water environments (water depth less than 20 meters), due to the influence of surface waves, water flow, etc., its buoyancy adjustment efficiency is low, and it is difficult to meet the control scenarios with high requirements such as hovering positioning and tracking control in shallow water environments. Summary of the invention

[0003] The main purpose of the present invention is to provide a buoyancy regulating device for underwater vehicles. The device is a variable volume buoyancy regulating device that uses a combination of an electric push rod and an oil bag. The device is particularly suitable for installation on underwater vehicles with shallow water depths such as lakes and reservoirs and offshore areas. The electric push rod can be used in shallow water environments to quickly and accurately adjust the buoyancy. When entering a deep water environment, the buoyancy can be changed by switching to an oil bag-assisted push rod mode, thereby further expanding its scope of use and providing new design ideas for the design and development of existing underwater vehicles.

[0004] The technical solution adopted by the present invention is:

[0005] A buoyancy adjustment device for an underwater vehicle, comprising a main buoyancy adjustment unit, a right buoyancy adjustment unit and a left buoyancy adjustment unit; the main buoyancy adjustment unit comprises a base, a main piston device, a push rod device and a main oil bag; the main piston device comprises a main piston outer wall, a main inner piston and a main bellows, the lower end of the main piston outer wall is mounted on the base, and the upper end is connected to the main inner piston through the main bellows; the push rod device comprises a servo push rod motor and a push rod, the servo push rod motor is mounted on the base and is located inside the main piston outer wall, the lower end of the push rod is connected to the servo push rod motor, and the upper end is connected to the main inner piston, the servo push rod motor controls the push rod to retract and retract, thereby driving the main inner piston to move relative to the main piston outer wall, so as to Adjust the volume of the main piston device; the main oil bag is installed between the servo push rod motor and the main inner piston, and a hole is provided in the middle of the main oil bag for the push rod to pass through, and the main inner piston is assisted to move by injecting oil into the main oil bag; the right buoyancy adjustment unit and the left buoyancy adjustment unit are symmetrically arranged on both sides of the main buoyancy adjustment unit, and have the same structure, both including a side piston outer wall, a side inner piston, a side bellows and a side oil bag, the side piston outer wall is connected to the side inner piston by a side bellows, the side oil bag is arranged between the inner end of the side piston outer wall and the side inner piston, and the side inner piston is pushed to move by injecting oil into the side oil bag to adjust the piston volume.

[0006] In the above scheme, the buoyancy adjustment device also includes a buoyancy adjustment unit, which includes a central cavity, a transverse driving device, a cross bar and an electromagnet; the central cavity is installed under the base, and the outer walls of the side pistons of the right buoyancy adjustment unit and the left buoyancy adjustment unit are symmetrically installed on the left and right sides of the central cavity; the cross bar transversely penetrates the central cavity and the right buoyancy adjustment unit and the left buoyancy adjustment unit; the two electromagnets are respectively installed on the left and right ends of the cross bar, and when powered on, the two electromagnets are respectively adsorbed on the outer end walls of the left and right side inner pistons; the transverse driving device is used to drive the cross bar to move left and right, thereby realizing the adjustment of the buoyancy.

[0007] In the above scheme, the middle of the central cavity, the side oil bag, and the side inner piston are all provided with through holes for the cross rod to pass through. The cross rod passes through the inner end walls of the central cavity, the side oil bag, and the side inner piston in sequence, and the cross rod is perpendicular to the push rod.

[0008] In the above scheme, the transverse driving device includes a servo motor and a reduction box, the reduction box is provided with a worm output shaft, and the cross bar is provided with a rack adapted to the worm output shaft. The servo motor drives the worm output shaft to rotate, thereby driving the cross bar to translate left and right.

[0009] In the above scheme, a guide rail is fixedly installed on the cross bar, a guide rail slider is fixedly installed on the middle cavity, the guide rail and the guide rail slider are slidably matched, and a displacement sensor is provided on the guide rail slider to detect the sliding distance of the cross bar.

[0010] In the above solution, limit baffles are provided at both ends of the guide rail to limit the displacement of the cross bar and prevent the lateral inner piston from separating from the lateral piston outer wall.

[0011] In the above solution, a depth gauge is also installed on the buoyancy adjusting device.

[0012] In the above scheme, the buoyancy regulating device also includes an oil storage tank, in which an oil pump is arranged, and one end of the oil pump is provided with an oil inlet and an oil outlet for connecting to an external oil tank; the other end of the oil pump is provided with three oil pipe openings, the main oil bag is connected to one oil pipe opening through the main oil bag oil pipe, and the side oil bags on the left and right sides are respectively connected to the other two oil pipe openings through the side oil bag oil pipes.

[0013] Correspondingly, the present invention also proposes a method for adjusting the buoyancy of an underwater vehicle, which adopts the above-mentioned buoyancy adjusting device. When working in shallow water, the volume of the main piston device is changed by the push rod to drive the main bellows to expand and contract, thereby adjusting the buoyancy; when working in deep water, due to the increase in water pressure, the working environment of the electric push rod is not good, and the robot is controlled to float by injecting oil into the main oil bag to assist the extension of the push rod; in an emergency floating state, the side oil bags on the left and right sides are injected with oil to push open the side inner pistons to provide additional buoyancy, or the main oil bag is injected with oil at the same time to assist the push rod to extend quickly, thereby achieving rapid floating.

[0014] In the above method, the suspension posture of the underwater vehicle is adjusted by the buoyancy adjustment unit. When the underwater vehicle needs to tilt to the left underwater, the servo motor drives the worm output shaft to translate to the right, so that the piston volume of the left buoyancy adjustment unit is reduced and the piston volume of the right buoyancy adjustment unit is increased, thereby causing the center of buoyancy to shift to the right, and the device is higher on the right and lower on the left, completing the left-tilt buoyancy adjustment; when the underwater vehicle needs to tilt to the right underwater, the servo motor drives the worm output shaft to translate to the left.

[0015] The beneficial effects produced by the present invention are:

[0016] 1. The buoyancy adjustment device of the present invention can be applied to both shallow water and deep water working environments. For shallow water working environments, the volume of the main piston device can be adjusted by the built-in electric push rod, and the buoyancy can be adjusted quickly to adapt to shallow water working environments. For deep water working environments, due to the increase in water pressure, the working environment of the electric push rod is not good, so the deep water mode is used instead, and the robot is controlled to float up by injecting oil into the main oil bag to assist the extension of the push rod. Therefore, for different navigation depths, the device can switch the working mode automatically, which increases the working range of the underwater vehicle. At the same time, the oil bag plus electric push rod mode can be used to more accurately control the buoyancy parameters.

[0017] 2. The present invention can provide additional buoyancy for the device through the left and right buoyancy adjustment units to achieve rapid floating in an emergency; at the same time, the integrated design of the left and right buoyancy adjustment units and the floating state adjustment unit can flexibly change the floating state of the robot without changing the size of the buoyancy.

[0018] 3. The main buoyancy adjustment unit of the present invention adjusts the volume of the main piston device by driving the piston to extend and retract through an electric push rod. Compared with the traditional method of changing the volume by inflating the airbag or filling it with oil, the buoyancy adjustment speed is fast and the accuracy is high, which is conducive to the rapid stabilization of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the underwater vehicle buoyancy regulating device of the present invention;

[0021] Figure 2 It is a structural schematic diagram of a main buoyancy regulating unit of an underwater vehicle buoyancy regulating device of the present invention;

[0022] Figure 3 yes Figure 2 A schematic diagram of the internal structure of the main buoyancy regulating unit is shown;

[0023] Figure 4 It is a structural schematic diagram of the right buoyancy regulating unit of the underwater vehicle buoyancy regulating device of the present invention;

[0024] Figure 5 It is a structural cross-sectional view of the right buoyancy regulating unit of the underwater vehicle buoyancy regulating device of the present invention;

[0025] Figure 6It is a structural schematic diagram of a buoyancy regulating unit of an underwater vehicle buoyancy regulating device of the present invention;

[0026] Figure 7 It is a structural schematic diagram of a lateral movement driving device of an underwater vehicle buoyancy regulating device of the present invention;

[0027] Figure 8 It is a structural schematic diagram of the oil storage tank of the underwater vehicle buoyancy regulating device of the present invention.

[0028] In the figure: 10, main buoyancy adjustment unit; 101, base; 102, main piston outer wall; 103, main inner piston; 104, main bellows; 105, servo push rod motor; 106, push rod; 107, top cover; 108, oil bag base; 109, main oil bag; 110, main oil bag oil pipe;

[0029] 20, right buoyancy adjustment unit; 201, side piston outer wall; 202, side inner piston; 203, side bellows; 204, side oil bag; 205, side oil bag oil pipe;

[0030] 30. Left buoyancy adjustment unit;

[0031] 40. floating adjustment unit; 401. middle cavity; 402. servo motor; 403. reduction box; 404. crossbar; 405. electromagnet; 406. rack; 407. guide rail; 408. guide rail slider; 409. displacement sensor; 410. worm; 411. depth gauge;

[0032] 50. Oil storage tank; 51. Oil pump. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] It should be noted that the illustrations provided in the embodiments of the present invention are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout type may also be more complicated.

[0035] In the present invention, it is also necessary to explain that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first" and "second" appear, they are only used for description and distinction purposes, and cannot be understood as indicating or implying relative importance.

[0036] like Figure 1 As shown, an underwater vehicle buoyancy adjustment device provided by an embodiment of the present invention is installed between the pressure-resistant cabin and the non-watertight shell of the underwater vehicle, and is used to adjust the buoyancy and suspension state of the underwater vehicle. The buoyancy adjustment device includes a main buoyancy adjustment unit 10, a right buoyancy adjustment unit 20, a left buoyancy adjustment unit 30, a floating state adjustment unit 40 and an oil storage tank 50.

[0037] like Figure 2 As shown, the main buoyancy regulating unit 10 includes a base 101, a main piston device, a push rod device and a main oil bag 109. The main piston device includes a main piston outer wall 102, a main inner piston 103 and a main bellows 104. The lower end of the main piston outer wall 102 is fixedly mounted on the base 101 by screws or bolts, and the upper end of the main piston outer wall 102 is connected to the main inner piston 103 through the main bellows 104; the main bellows 104 is retractable and prevents water from entering the main piston device. The push rod device includes a servo push rod motor 105 and a push rod 106; the servo push rod motor 105 is fixedly installed on the base 101 by screws or bolts, and the servo push rod motor 105 is located inside the outer wall 102 of the main piston; the lower end of the push rod 106 is connected to the servo push rod motor 105, and a top cover 107 is fixed to the upper end of the push rod 106, and the top cover 107 is fixedly connected to the main inner piston 103; the servo push rod motor 105 controls the extension and retraction of the push rod 106, thereby driving the main inner piston 103 to move relative to the outer wall 102 of the main piston, so as to adjust the volume of the main piston device, thereby achieving the purpose of adjusting the buoyancy. An oil bag base 108 is fixed to the upper end of the servo push rod motor 105, and a main oil bag 109 is fixedly installed on the oil bag base 108. The main oil bag 109 is located between the servo push rod motor 105 and the main inner piston 103. The main oil bag 109 has a corrugated folding structure, and a hole is provided in the middle for the push rod 106 to pass through. The main inner piston 103 can be assisted in moving by injecting oil into the main oil bag 109.

[0038] Function of the main buoyancy adjustment unit 10: In shallow water, the servo push rod motor 105 is used as the main power to push the push rod 106, which in turn pushes the main inner piston 103 to expand and contract, and adjusts the buoyancy through volume changes. In deep water, the electric push rod 106 is not strong enough, and the main oil bag 109 is used to assist in adjusting the buoyancy. The bottom oil tank 50 injects oil into the main oil bag 109 through the main oil bag oil pipe 110 to control the robot to float.

[0039] like Figure 3-4 As shown, the right buoyancy regulating unit 20 and the left buoyancy regulating unit 30 are symmetrically arranged on both sides of the main buoyancy regulating unit 10, and have the same structure, both including a side piston outer wall 201, a side inner piston 202, a side bellows 203 and a side oil bag 204. One end of the side piston outer wall 201 is fixedly mounted on the middle cavity 401, and the other end is connected to the side inner piston 202 through the side bellows 203. The side bellows 203 is retractable and prevents water from entering the inside of the piston. The side oil bag 204 is fixedly mounted on the middle cavity 401 and is located inside the side piston outer wall 201. By injecting oil into the side oil bag 204, the side inner piston 202 is pushed to move relative to the side piston outer wall 201 to adjust the piston volume, thereby achieving the purpose of adjusting buoyancy.

[0040] like Figure 5 As shown, the floating state regulating unit 40 includes a central cavity 401, a transverse driving device, a crossbar 404 and an electromagnet 405. The central cavity 401 is installed below the base 101, and the side piston outer walls 201 of the right buoyancy regulating unit 20 and the left buoyancy regulating unit 30 are symmetrically installed on the left and right sides of the central cavity 401. The central cavity 401, the side oil bag 204, and the middle of the side inner piston 202 are all provided with through holes for the crossbar 404 to pass through. The crossbar 404 is transversely arranged through the central cavity 401 and the right buoyancy regulating unit 20 and the left buoyancy regulating unit 30, and the crossbar 404 is perpendicular to the push rod 106. Two electromagnets 405 are fixedly installed at the left and right ends of the crossbar 404, respectively. When powered on, the two electromagnets 405 are respectively adsorbed on the outer end walls of the left and right side inner pistons 202. The transverse driving device is used to drive the crossbar 404 to move left and right, thereby realizing the adjustment of the floating state.

[0041] like Figure 6As shown, the transverse driving device includes a servo motor 402 and a reduction box 403. The reduction box 403 is provided with a worm 410 output shaft, which is used to push the crossbar 404 to translate left and right. Specifically, a rack 406 adapted to the output shaft of the worm 410 is fixedly installed on the crossbar 404, and the servo motor 402 drives the output shaft of the worm 410 to rotate, thereby driving the crossbar 404 to translate left and right. A guide rail 407 is fixedly installed on the crossbar 404 on the opposite side of the rack 406, and a guide rail slider 408 is fixedly installed on the middle cavity 401. The guide rail 407 and the guide rail slider 408 are slidably matched. Specifically, a groove in the shape of the guide rail 407 is provided on the guide rail slider 408, and a displacement sensor 409 is provided on the guide rail slider 408 to detect the sliding distance of the crossbar 404. Limit baffles are provided at both ends of the guide rail 407 to limit the displacement of the crossbar 404 and prevent the lateral inner piston 202 from being separated from the lateral piston outer wall 201.

[0042] Under normal circumstances, the left and right buoyancy adjustment units offset the water pressure through the crossbar 404. Under the adsorption of the electromagnet 405, the crossbar 404 and the left and right buoyancy adjustment units move synchronously under the drive of the servo reduction worm 410 to adjust the floating state. Under normal working conditions, it is mainly the oil bag of the main buoyancy adjustment unit 10 that works. In an emergency, the electromagnet 405 is powered off, and the left and right side oil bags 204 begin to fill with oil to push open the side inner piston 202 to provide additional buoyancy. At this time, the three oil bags are all full of oil, the piston is pushed out to the maximum length, and the buoyancy is maximum.

[0043] For further optimization, a depth gauge 411 is also installed on the buoyancy regulating device to monitor the working status of the device.

[0044] Further optimization, such as Figure 7 As shown, the buoyancy regulating device also includes an oil storage tank 50, in which an oil pump 51 is arranged. One end of the oil pump 51 is provided with an oil inlet and an oil outlet for connecting to an external oil tank; the other end of the oil pump 51 is provided with three oil pipe ports, the main oil bag 109 is connected to one oil pipe port through the main oil bag oil pipe 110, and the left and right side oil bags 204 are respectively connected to the other two oil pipe ports through the side oil bag oil pipes 205, and the three oil pipe ports can independently inlet and outlet oil. The five oil inlet and outlet ports of the oil pump 51 are all equipped with independent solenoid valves, which can flexibly control the switch of the oil circuit.

[0045] For further optimization, in this embodiment, the main bellows 104 and the side bellows 203 are made of silicone bellows.

[0046] Correspondingly, the present invention also proposes a method for adjusting the buoyancy of an underwater vehicle using the above-mentioned buoyancy adjustment device. When adjusting the buoyancy, it is divided into two working states: shallow water and deep water. When working in the shallow water area, the push rod 106 drives the main bellows 104 to expand and contract to change the volume of the main piston device, thereby adjusting the buoyancy. When working in the deep water area, due to the increase in water pressure, the working environment of the electric push rod 106 is not good, and the deep water mode is used instead. The robot is controlled to float by injecting oil into the main oil bag 109 to assist the push rod 106 to extend. In the emergency floating state, the side oil bags 204 on the left and right sides are injected with oil to push open the side inner piston 202 to provide additional buoyancy, and the main oil bag 109 can also be injected with oil to assist the push rod 106 to extend quickly, so as to achieve rapid floating.

[0047] Furthermore, the present invention can also adjust the buoyancy distribution state of the underwater vehicle through the floating state adjustment unit 40, and then adjust the suspension posture. When the underwater vehicle needs to tilt to the left underwater, the servo motor 402 drives the output shaft of the worm 410 to translate to the right, so that the piston volume of the left buoyancy adjustment unit 30 is reduced and the piston volume of the right buoyancy adjustment unit 20 is increased, so that the buoyancy center is offset to the right, the device is high on the right and low on the left, and the left-tilted floating state adjustment is completed. When the underwater vehicle needs to tilt to the right underwater, the servo motor 402 drives the output shaft of the worm 410 to translate to the left. Since the left and right side bellows 203 are connected to the left and right side inner pistons 202, and the left and right side inner pistons 202 are fixed to the left and right ends of the cross bar 404, the total volume of the device is not changed during the translation movement, and the overall buoyancy remains unchanged. When the position of the cross bar 404 is slowly changed, the floating state adjustment during underwater hovering can be completed.

[0048] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0049] The order of execution of each step in the above embodiment does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0050] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A buoyancy regulating device for an underwater vehicle, characterized in that: It includes a main buoyancy adjustment unit, a right buoyancy adjustment unit and a left buoyancy adjustment unit; The main buoyancy adjustment unit comprises a base, a main piston device, a push rod device and a main oil bag; the main piston device comprises a main piston outer wall, a main inner piston and a main bellows, the lower end of the main piston outer wall is mounted on the base, and the upper end is connected to the main inner piston through the main bellows; the push rod device comprises a servo push rod motor and a push rod, the servo push rod motor is mounted on the base and located inside the main piston outer wall, the lower end of the push rod is connected to the servo push rod motor, and the upper end is connected to the main inner piston, the push rod is controlled to extend and retract by the servo push rod motor, thereby driving the main inner piston to move relative to the main piston outer wall to adjust the volume of the main piston device; the main oil bag is mounted between the servo push rod motor and the main inner piston, a hole for the push rod to pass through is provided in the middle of the main oil bag, and the movement of the main inner piston is assisted by injecting oil into the main oil bag; The right buoyancy regulating unit and the left buoyancy regulating unit are symmetrically arranged on both sides of the main buoyancy regulating unit and have the same structure. They both include a side piston outer wall, a side inner piston, a side bellows and a side oil bag. The side piston outer wall and the side inner piston are connected by a side bellows. The side oil bag is arranged between the inner end of the side piston outer wall and the side inner piston. Oil is injected into the side oil bag to push the side inner piston to move to adjust the piston volume.

2. The underwater vehicle buoyancy regulating device according to claim 1, characterized in that: The buoyancy adjustment device also includes a buoyancy adjustment unit, which includes a central cavity, a transverse driving device, a cross bar and an electromagnet; the central cavity is installed below the base, and the outer walls of the side pistons of the right buoyancy adjustment unit and the left buoyancy adjustment unit are symmetrically installed on the left and right sides of the central cavity; the cross bar transversely penetrates the central cavity and the right buoyancy adjustment unit and the left buoyancy adjustment unit; the two electromagnets are respectively installed on the left and right ends of the cross bar, and when powered on, the two electromagnets are respectively adsorbed on the outer end walls of the left and right side inner pistons; the transverse driving device is used to drive the cross bar to move left and right, thereby realizing the adjustment of the buoyancy.

3. The underwater vehicle buoyancy regulating device according to claim 2, characterized in that: The middle parts of the central cavity, the side oil bag and the side inner piston are all provided with through holes for the cross rod to pass through. The cross rod passes through the inner end walls of the central cavity, the side oil bag and the side inner piston in sequence, and the cross rod is perpendicular to the push rod.

4. The underwater vehicle buoyancy regulating device according to claim 2, characterized in that: The transverse driving device includes a servo motor and a reduction box. The reduction box is provided with a worm output shaft. The crossbar is provided with a rack adapted to the worm output shaft. The servo motor drives the worm output shaft to rotate, thereby driving the crossbar to translate left and right.

5. The underwater vehicle buoyancy regulating device according to claim 2, characterized in that: A guide rail is fixedly installed on the cross bar, a guide rail slider is fixedly installed on the middle cavity, the guide rail and the guide rail slider are slidably matched, and a displacement sensor is arranged on the guide rail slider to detect the sliding distance of the cross bar.

6. The underwater vehicle buoyancy regulating device according to claim 5, characterized in that: Limit baffles are arranged at both ends of the guide rail to limit the displacement of the cross bar and prevent the lateral inner piston from being separated from the lateral piston outer wall.

7. The underwater vehicle buoyancy regulating device according to claim 1, characterized in that: A depth gauge is also installed on the buoyancy regulating device.

8. The underwater vehicle buoyancy regulating device according to claim 1, characterized in that: The buoyancy regulating device also includes an oil storage tank, in which an oil pump is arranged. One end of the oil pump is provided with an oil inlet and an oil outlet for connecting to an external oil tank; the other end of the oil pump is provided with three oil pipe openings, the main oil bag is connected to one oil pipe opening through the main oil bag oil pipe, and the side oil bags on the left and right sides are respectively connected to the other two oil pipe openings through the side oil bag oil pipes.

9. A method for adjusting the buoyancy of an underwater vehicle, characterized in that: The buoyancy regulating device according to any one of claims 1 to 8 is adopted. When working in shallow water, the volume of the main piston device is changed by the push rod driving the main bellows to expand and contract, thereby adjusting the buoyancy; when working in deep water, due to the increase in water pressure, the working environment of the electric push rod is not good, and the robot is controlled to float by injecting oil into the main oil bag to assist the extension of the push rod; in an emergency floating state, the side inner pistons are pushed open by injecting oil into the side oil bags on the left and right sides to provide additional buoyancy, or the main oil bag is simultaneously injected with oil to assist the rapid extension of the push rod, thereby achieving rapid floating.

10. The underwater vehicle buoyancy adjustment method according to claim 9, characterized in that: The suspension posture of the underwater vehicle is adjusted by the buoyancy adjustment unit. When the underwater vehicle needs to tilt to the left underwater, the servo motor drives the worm output shaft to translate to the right, so that the piston volume of the left buoyancy adjustment unit decreases and the piston volume of the right buoyancy adjustment unit increases, thereby causing the center of buoyancy to shift to the right, and the device is higher on the right and lower on the left, completing the left-tilt buoyancy adjustment; when the underwater vehicle needs to tilt to the right underwater, the servo motor drives the worm output shaft to translate to the left.

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