Pressure energy power cylinder and action control method thereof

Abstract

The invention relates to the technical field of deep sea equipment engineering, and discloses a pressure energy power cylinder and an action control method thereof.The pressure energy power cylinder comprises a sealing cylinder body, a piston rod and an underwater control piece; the piston rod comprises a push rod and a piston connected to the bottom end of the push rod, the top end of the push rod slidably and hermetically penetrates through the top end of the sealed cylinder body, and the piston divides a cavity of the sealed cylinder body into a rod cavity and a rodless cavity; the underwater control piece is installed at the bottom of the sealing cylinder body and can be driven to be switched on and switched off under the action of external pressure, so that the rodless cavity is communicated with or disconnected from the outside. The pressure energy power cylinder passes through the deep sea underwater control part. By the adoption of the technical scheme, the rodless cavity is communicated with the outside by controlling on-off of the underwater control piece under the external action, so that the power cylinder can stably output power, energy does not need to be additionally provided, and the device is simple in structure, free of a motor, a pumping system and a complex control system, easy to implement, safe and reliable.

Description

Technical Field

[0001] The present application belongs to the field of deep-sea equipment engineering technology, and specifically relates to a pressure energy cylinder and a motion control method thereof. Background Art

[0002] In the field of deep-sea equipment engineering technology, power units mainly include motor power and hydraulic power. Due to the complex deep-sea high-pressure environment, in order to ensure the normal operation of the power unit and output sufficient power, the power unit is often complex in structure and consumes a lot of energy. In terms of large thrust output, for drive systems with motors as the power source, pressure compensation is often required, the structure is also relatively complex, the strength requirements are high, the volume and weight are large, and generally medium and high pressure can meet the thrust requirements, so the battery needs to have a large output power capacity; for drive systems with hydraulic power as the power source, its advantage is that it is easy to achieve large thrust, but the composition of the hydraulic system is more complex, requiring a pumping system, complex oil circuits and electronic control systems, etc., which takes up a lot of space and weight, so the reliability is also poor. Summary of the invention

[0003] The purpose of the present application is to provide a pressure energy cylinder and a method for controlling its motion, so as to simplify the structure of the pressure energy cylinder and improve its reliability.

[0004] In order to achieve the above objectives, the present application provides a pressure energy cylinder, including: Sealing cylinder; The piston rod comprises a push rod and a piston connected to the bottom end of the push rod, the top end sliding seal of the push rod passes through the top end of the sealing cylinder body, and the piston divides the cavity of the sealing cylinder body into a rod cavity and a rodless cavity; An underwater control component is installed at the bottom of the sealed cylinder body, and the underwater control component can be opened and closed to connect or block the rodless cavity with the outside world.

[0005] In some embodiments, a through hole for the push rod to pass through is formed at the top end of the sealing cylinder body, and a sealing member is provided on the inner peripheral wall of the through hole, and the sealing member is in sealing cooperation with the outer peripheral wall of the push rod.

[0006] In some embodiments, the underwater control component is a control switch, a connecting hole is opened at the bottom of the sealed cylinder body, the control switch is arranged corresponding to the connecting hole, and the pressure energy cylinder also includes a control unit electrically connected to the control switch, and the control unit is used to control the on and off of the control switch to open or block the connecting hole.

[0007] In some embodiments, the underwater control component is a control switch, a connecting hole is opened at the bottom of the sealed cylinder body, and the pressure energy cylinder also includes a pressure balance component and a control unit electrically connected to the control switch. The pressure balance component is connected to the connecting hole through a pressure-resistant pipeline, and the control unit is used to control the on and off of the control switch to connect or block the pressure-resistant pipeline.

[0008] In some embodiments, the pressure balance member is an open piston cylinder; or, The pressure balancing component is an oil bag, and the oil bag contains incompressible liquid.

[0009] In some embodiments, the underwater control member is a pressure opening device, and when the pressure energy cylinder reaches a preset depth, the external seawater applies pressure to the pressure opening device to drive the pressure opening device to open, so that the rodless chamber is connected to the external seawater; or, The underwater control component is a timed opening device. After a preset time period after the pressure energy cylinder is launched into the water, the timed opening device opens to allow the rodless chamber to communicate with the external seawater.

[0010] A second aspect of the present application provides a method for controlling the motion of a pressure energy cylinder, which is applied to the pressure energy cylinder as described above. The method for controlling the motion of the pressure energy cylinder comprises the following steps: Obtaining the working state of the pressure energy cylinder; When the pressure energy cylinder needs to work, the underwater control member is opened to connect the rodless chamber with the outside world, and the push rod moves upward and pushes the actuator to operate; When the pressure energy cylinder stops working, the underwater control member is closed to disconnect the rodless chamber from the outside, and the push rod stops moving.

[0011] In some embodiments, the underwater control member is a timed opening device, and when the pressure energy cylinder needs to work, the underwater control member is opened to connect the rodless chamber with the outside, and the push rod moves upward and pushes the actuator to perform an action, the steps comprising: During the launching process of the pressure energy cylinder, the launching time of the pressure energy cylinder is obtained in real time; When the immersion time of the pressure energy cylinder reaches a preset time, the timing opening device opens to allow the rodless chamber to communicate with the external seawater.

[0012] In some embodiments, the underwater control member is a pressure opening device. When the pressure energy cylinder needs to work, the underwater control member opens to connect the rodless chamber with the outside world, and the push rod moves upward and pushes the actuator to perform an action, including the following steps: During the process of the pressure energy cylinder being put into water, obtaining the current depth of the pressure energy cylinder under water in real time; When the current depth of the pressure energy cylinder reaches a preset depth, the pressure opening device opens under the pressure of the external seawater, so that the rodless chamber is in communication with the external seawater.

[0013] In some embodiments, the underwater control member is a control switch, and when the pressure energy cylinder needs to work, the underwater control member is opened to connect the rodless chamber with the outside, and the push rod moves upward and pushes the actuator to perform the action, the steps include: When the pressure energy cylinder needs to be actuated, an opening instruction is issued to the control switch; The control switch is opened according to the opening instruction, so that the rodless chamber is connected with the external seawater or the pressure balance member via the communicating hole.

[0014] Through the above technical solution, the pressure energy cylinder and the motion control method thereof provided by the embodiment of the present invention have the following beneficial effects: The pressure energy power cylinder of the present application includes a sealed cylinder body, a piston rod and an underwater control part; the piston rod includes a push rod and a piston connected to the bottom end of the push rod, the top end sliding seal of the push rod penetrates the top end of the sealed cylinder body, and the piston divides the cavity of the sealed cylinder body into a rod cavity and a rodless cavity; the underwater control part is installed at the bottom of the sealed cylinder body, and the underwater control part can be turned on and off to connect or block the rodless cavity with the outside world. By adopting the technical solution of the pressure energy power cylinder of the present application, the rodless cavity can be connected with the outside world by controlling the on and off of the underwater control part under external action, so that the power cylinder can output power stably without providing additional energy. The device has a simple structure, no motor, pumping and complex control system, is easy to implement, and is safe and reliable.

[0015] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings: Figure 1This is a schematic structural diagram of the pressure energy cylinder of the present application in the first embodiment; Figure 2 This is a schematic structural diagram of the pressure energy cylinder of the present application in the second embodiment; Figure 3 This is a schematic structural diagram of the pressure energy cylinder of the present application in the third embodiment; Figure 4 This is a flow chart of the motion control method of the pressure energy cylinder of the present application.

[0017] Description of Reference Numerals 10. Sealed cylinder body; 22. Piston; 11. Rod chamber; 30. Underwater control component; 12. Rodless chamber; 40. Pressure-resistant pipeline; 13. Connecting hole; 51. Oil bag; 14. Seal; 52. Open piston cylinder; 21. Push rod. DETAILED DESCRIPTION

[0018] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0019] The following describes the pressure energy cylinder and the motion control method thereof according to the present application with reference to the accompanying drawings.

[0020] like Figures 1 to 3 As shown, the present application provides a pressure energy cylinder, including a sealed cylinder body 10, a piston 22 rod and an underwater control component 30; the piston 22 rod includes a push rod 21 and a piston 22 connected to the bottom end of the push rod 21, the top end sliding seal of the push rod 21 passes through the top end of the sealed cylinder body 10, and the piston 22 divides the cavity of the sealed cylinder body 10 into a rod cavity 11 and a rodless cavity 12; the underwater control component 30 is installed at the bottom of the sealed cylinder body 10, and the underwater control component 30 can be turned on and off to connect or block the rodless cavity 12 with the outside world.

[0021] In this embodiment, the entire sealed cylinder body 10 is in a closed state, and a piston 22 is installed inside. The piston 22 divides the cavity inside the sealed cylinder body 10 into two rodless cavities 12 and a rod cavity 11 with variable volumes. One end of the push rod 21 is fixedly connected to the side of the piston 22 away from the rodless cavity 12, and the other end extends from the top of the sealed cylinder body 10, and the push rod 21 and the top of the sealed cylinder body 10 are in a sliding sealing relationship. Since the underwater control part 30 is arranged at the bottom of the sealed cylinder body 10, when the pressure energy cylinder is working, the underwater control part 30 is opened, and the rodless cavity 12 can be connected to the external seawater, so that the internal pressure of the sealed cylinder body 10 is the same as the external pressure. Since the cross-sectional area of ​​the piston 22 is larger than the cross-sectional area of ​​the push rod 21, the combined force on the push rod 21 is upward, so that the push rod 21 moves upward, and as a power source, pushes the push rod 21 to perform the action. In the present application, the pressure energy cylinder uses hydraulic pressure potential energy as the power source, and the output energy comes from the seawater pressure energy. Stable power output is obtained through energy conversion without the need for additional energy. The device has a simple structure, without motors, pumps and complex control systems, and is easy to implement, safe and reliable.

[0022] In some embodiments, a through hole is provided at the top of the sealing cylinder 10 for the push rod 21 to slide and pass through in a sealed manner, and a sealing member 14 is provided on the inner peripheral wall of the through hole, and the sealing member 14 is in sealing cooperation with the outer peripheral wall of the push rod 21. The sealing member 14 is preferably a sealing ring, which is sealed and attached to the inner peripheral wall of the through hole, and the inner side wall of the sealing ring is in sealing cooperation with the outer peripheral wall of the push rod 21, so as to ensure that the sealing cylinder 10 is always in a sealed state, and facilitate the push rod 21 to slide and shuttle freely at the top of the sealing cylinder 10.

[0023] In the first embodiment, if Figure 1 As shown, the underwater control member 30 is a control switch, a connecting hole 13 is provided at the bottom of the sealed cylinder body 10, and the control switch is arranged corresponding to the connecting hole 13. The pressure energy cylinder also includes a control unit electrically connected to the control switch, and the control unit is used to control the on and off of the control switch to open or block the connecting hole 13. Among them, the control switch is preferably a solenoid valve, and by electrically connecting the solenoid valve to the control unit, when the pressure energy cylinder is working, the control unit controls the solenoid valve to be connected so as to open the connecting hole 13, so that the rodless chamber 12 is connected to the external seawater, thereby realizing the extension action of the push rod 21; when the pressure energy cylinder stops working, the control solenoid valve is disconnected so as to block the connecting hole 13, so that the rodless chamber 12 is blocked from the external seawater.

[0024] In the second embodiment, the underwater control member 30 is a control switch, a connecting hole 13 is provided at the bottom of the sealed cylinder body 10, and the pressure energy cylinder further includes a pressure balance member and a control unit electrically connected to the control switch, the pressure balance member is connected to the connecting hole 13 through a pressure-resistant pipeline 40, and the control unit is used to control the on and off of the control switch to connect or block the pressure-resistant pipeline 40. Among them, the control switch is preferably a solenoid valve, by electrically connecting the solenoid valve to the control unit, when the pressure energy cylinder is working, the control unit controls the solenoid valve on the pressure-resistant pipeline 40 to close, so that the pressure-resistant pipeline 40 is connected, so that part of the pressure of the pressure balance member can be transferred to the rodless chamber 12 of the pressure energy cylinder through the pressure-resistant pipeline 40, thereby achieving pressure balance between the rodless chamber 12 and the rod chamber 11.

[0025] In some embodiments, Figure 3 As shown, the pressure balancing part is an open piston cylinder 52, wherein the open piston cylinder 52 refers to the piston cylinder whose rodless chamber and rod chamber are both connected to the outside world, so that the cavity pressures in the rodless chamber and the rod chamber are equal; specifically, through holes connected to the outside seawater can be opened at both ends of the open piston cylinder 52, so that the rod chamber and rodless chamber of the open piston cylinder 52 are both connected to the outside seawater, so that the pressures of the rod chamber 11 and the rodless chamber 12 are the same and can be filled with seawater. In addition, when the pressure energy cylinder is working, the control unit controls the control switch to close, so that the pressure-resistant pipeline 40 between the open piston cylinder 52 and the pressure energy cylinder can be connected; because one end of the pressure-resistant pipeline 40 is connected to the rodless chamber of the open piston cylinder 52 through a through hole, and the other end is connected to the connecting hole 13 at the bottom of the sealed cylinder body 10, when the control switch on the pressure-resistant pipeline 40 is closed, the seawater in the rodless chamber 12 of the open piston cylinder 52 can flow along the pressure-resistant pipeline 40 to the rodless chamber 12 of the pressure energy cylinder, so that the rodless chamber 12 of the pressure energy cylinder is equal to the external pressure, so that the push rod 21 can be moved to perform the pushing action, thereby achieving the purpose of converting the external seawater pressure into the power of the pressure energy cylinder.

[0026] In other embodiments, Figure 2 As shown, the pressure balancing part is an oil bag 51, and the oil bag 51 contains an incompressible liquid, wherein the incompressible liquid can be hydraulic oil or deionized water, so as to prevent seawater from corroding the power cylinder. When one end of the pressure-resistant pipeline 40 is connected to the oil bag 51, when the pressure energy cylinder is working, the control unit controls the control switch to close, and the pressure-resistant pipeline 40 is connected, so that the incompressible liquid in the oil bag 51 enters the rodless chamber 12 of the pressure energy cylinder along the pressure-resistant pipeline 40 and the connecting hole 13, thereby achieving pressure balance between the rod chamber 11 and the rodless chamber 12 of the pressure energy cylinder, and then realizing the action of the push rod 21.

[0027] In the third embodiment, the underwater control member 30 is the following two structural forms other than the control switch. These two structural forms do not require the participation of a control unit and can be automatically opened or closed directly through their own structures.

[0028] In some embodiments, the underwater control member 30 may be a pressure opening device. When the pressure energy cylinder reaches a preset depth, the external seawater applies pressure to the pressure opening device to drive the pressure opening device to open, so that the rodless chamber 12 is connected to the external seawater. The pressure opening device may be a pressure switch that automatically opens at a preset pressure. When the pressure energy cylinder reaches a preset depth underwater, the pressure of the external seawater on the pressure switch has reached the opening pressure, so the pressure switch is opened, so that the connecting hole 13 is opened, so that the rodless chamber 12 is connected to the external seawater.

[0029] In other embodiments, the underwater control member 30 may be a timed opening device, which opens after a preset time period after the pressure energy cylinder is launched into the water, so that the rodless chamber 12 is connected to the external seawater.

[0030] The timing opening device may be a timing switch with a timer, which can be automatically opened when the set time is reached. When the pressure energy cylinder is put into the water for a preset time, the timing switch is opened, so that the connecting hole 13 is opened, so that the rodless chamber 12 is connected to the external seawater.

[0031] like Figure 4 As shown, the second aspect of the present application provides a method for controlling the motion of a pressure energy cylinder, which is applied to the pressure energy cylinder as described above. The method for controlling the motion of the pressure energy cylinder comprises the steps of: S10: Obtaining the working state of the pressure energy cylinder; S20: When the pressure energy cylinder needs to work, the underwater control member 30 is opened to connect the rodless chamber 12 with the outside, and the push rod 21 moves upward and pushes the actuator to operate; S30: When the pressure energy cylinder stops working, the underwater control member 30 is closed to disconnect the rodless chamber 12 from the outside, and the push rod 21 stops moving.

[0032] After the pressure energy cylinder is placed underwater, when the pressure energy cylinder needs to work, the underwater control part 30 is opened, thereby opening the connecting hole 13 at the bottom of the sealed cylinder body 10, so that the rodless chamber 12 can be connected with the external balancing liquid or external seawater to balance the pressure in the rodless chamber 12 and the rod chamber 11. In this way, due to the different cross-sectional areas of the push rod 21 and the piston 22, the combined force exerted on the push rod 21 is upward, thereby realizing the upward movement of the push rod 21. When the pressure energy cylinder does not need to work, the underwater control part 30 is closed, thereby blocking the connecting hole 13 at the bottom of the sealed cylinder body 10, so that the rodless chamber 12 and the external balancing liquid or external seawater can be disconnected, and the push rod 21 stops moving. In this embodiment, the pressure energy cylinder converts the seawater pressure into the power cylinder execution force by using the deep sea water pressure as the power source, and the power cylinder device has a simple structure, is reliable, and is easy to implement.

[0033] In some embodiments, the underwater control member 30 is a timed opening device. When the pressure energy cylinder needs to work, the underwater control member 30 opens to connect the rodless chamber 12 with the outside, and the push rod 21 moves upward and pushes the actuator to perform the action. The steps include: During the launching process of the pressure energy cylinder, the launching time of the pressure energy cylinder is obtained in real time; When the immersion time of the pressure energy cylinder reaches a preset time, the timing opening device opens to allow the rodless chamber 12 to communicate with the external seawater.

[0034] In this embodiment, since the pressure energy cylinder works underwater, it is necessary to place the pressure energy cylinder in the deep sea before working. During the process of the pressure energy cylinder entering the water, the time of the pressure energy cylinder being underwater is obtained in real time. The specific acquisition method can be through signal transmission, such as setting a signal transmission component on the pressure energy cylinder. During the process of entering the water, the signal transmission component sends a signal to the external receiving device in real time, and the receiving device performs timing after receiving the signal. When the time of the pressure energy cylinder entering the water reaches the preset time, the timing opening device is turned on at this time, thereby realizing the connection between the rodless chamber 12 and the external seawater. As for the setting of the preset time, it can be obtained based on multiple experiments. Through multiple experiments, the pressure of the pressure energy cylinder under water in different time periods is obtained, and the time period within the appropriate pressure range is selected as the preset time to ensure that the external seawater can give the rodless chamber 12 enough pressure to convert it into the power of the push rod 21; this method of controlling whether the timing switch is turned on by the time of entering the water is simple and convenient, easy to implement, safe and reliable.

[0035] In some embodiments, the underwater control member 30 is a pressure opening device. When the pressure energy cylinder needs to work, the underwater control member 30 opens to connect the rodless chamber 12 with the outside, and the push rod 21 moves upward and pushes the actuator to perform the action. The steps include: During the process of the pressure energy cylinder being put into water, the current depth of the pressure energy cylinder under water is obtained in real time; When the current depth of the pressure energy cylinder reaches the preset depth, the pressure opening device opens under the pressure of the external seawater, so that the rodless chamber 12 is communicated with the external seawater.

[0036] Since the preset depth is related to the selection of the pressure opening device, for example, a 40MPa pressure switch is selected, and when the depth reaches 4000 meters, the pressure switch is turned on, so the depth of 4000 meters can be selected as the preset depth. In this embodiment, a signal transmission component can be set on the pressure energy cylinder. During the launching process, the signal transmission component sends a depth signal to the external receiving device in real time. When the receiving device receives the depth signal, it is displayed so that the external operator can understand the working condition of the internal pressure energy cylinder in time. When the pressure energy cylinder reaches the preset depth, the pressure of the seawater can drive the pressure switch to open, so that the connecting hole 13 is opened to connect the rodless chamber 12 with the external seawater. In this embodiment, this method of driving the pressure switch to open or not by the preset depth is simple and convenient, easy to implement, safe and reliable.

[0037] In some embodiments, the underwater control member 30 is a control switch. When the pressure energy cylinder needs to work, the underwater control member 30 is opened to connect the rodless chamber 12 with the outside, and the push rod 21 moves upward and pushes the actuator to perform the action. The steps include: When the pressure energy cylinder needs to move, an opening command is issued to the control switch; The control switch is opened according to the opening instruction, so that the rodless chamber 12 is communicated with the external seawater or the pressure balance member via the communication hole 13 . In this embodiment, the entire pressure energy cylinder also includes a control unit electrically connected to the control switch. When the pressure energy cylinder needs to work after being launched into the water, the control unit can send an opening command to the control switch. When the control switch receives the opening command, it opens, so that the rodless chamber 12 can be connected with the external seawater or the pressure balance member, thereby achieving pressure balance between the rodless chamber 12 and the rod chamber 11, and then realizing the action of the push rod 21. In this embodiment, this method of controlling the action of the control switch by setting a control unit, although the control unit is added, the control process is more accurate, can be automated, and has high reliability.

[0038] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0041] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A pressure energy cylinder, characterized in that: include: Sealing cylinder (10); A piston (22) rod, comprising a push rod (21) and a piston (22) connected to the bottom end of the push rod (21), wherein the top end sliding seal of the push rod (21) penetrates the top end of the sealing cylinder (10), and the piston (22) divides the cavity of the sealing cylinder (10) into a rod cavity (11) and a rodless cavity (12); An underwater control component (30) is installed at the bottom of the sealed cylinder body (10), and the underwater control component (30) can be opened or closed to allow the rodless chamber (12) to communicate with or be blocked from the outside.

2. The pressure energy cylinder according to claim 1, characterized in that: A through hole for the push rod (21) to pass through is formed at the top end of the sealing cylinder body (10), and a sealing member (14) is provided on the inner peripheral wall of the through hole. The sealing member (14) is in sealing cooperation with the outer peripheral wall of the push rod (21).

3. The pressure energy cylinder according to claim 1, characterized in that: The underwater control component (30) is a control switch. A connecting hole (13) is provided at the bottom of the sealed cylinder body (10). The control switch is arranged corresponding to the connecting hole (13). The pressure energy cylinder also includes a control unit electrically connected to the control switch. The control unit is used to control the on and off of the control switch to open or block the connecting hole (13).

4. The pressure energy cylinder according to claim 1, characterized in that: The underwater control component (30) is a control switch. A connecting hole (13) is provided at the bottom of the sealed cylinder body (10). The pressure energy cylinder further comprises a pressure balancing component and a control unit electrically connected to the control switch. The pressure balancing component is connected to the connecting hole (13) via a pressure-resistant pipeline (40). The control unit is used to control the on / off of the control switch to connect or block the pressure-resistant pipeline (40).

5. The pressure energy cylinder according to claim 4, characterized in that: The pressure balance member is an open piston cylinder (52); or, The pressure balancing component is an oil bag (51), and the oil bag (51) contains incompressible liquid.

6. The pressure energy cylinder according to claim 1, characterized in that: The underwater control member (30) is a pressure opening device. When the pressure energy cylinder reaches a preset depth, the external seawater applies pressure to the pressure opening device to drive the pressure opening device to open, so that the rodless chamber (12) is connected to the external seawater. or, The underwater control component (30) is a timed opening device, which opens after a preset time period after the pressure energy cylinder is launched into the water, so that the rodless chamber (12) is connected to the external seawater.

7. A method for controlling the motion of a pressure energy cylinder, characterized in that: Applied to the pressure energy cylinder according to any one of claims 1 to 6, the motion control method of the pressure energy cylinder comprises the steps of: Obtaining the working state of the pressure energy cylinder; When the pressure energy cylinder needs to work, the underwater control member (30) opens to connect the rodless chamber (12) with the outside world, and the push rod (21) moves upward and pushes the actuator to operate; When the pressure energy cylinder stops working, the underwater control member (30) is closed to disconnect the rodless chamber (12) from the outside world, and the push rod (21) stops moving.

8. The method for controlling the motion of a pressure energy cylinder according to claim 7, characterized in that: The underwater control member (30) is a timed opening device. When the pressure energy cylinder needs to work, the underwater control member (30) opens to connect the rodless chamber (12) with the outside world. The push rod (21) moves upward and pushes the actuator to perform an action. The steps include: During the launching process of the pressure energy cylinder, the launching time of the pressure energy cylinder is obtained in real time; When the submerged time of the pressure energy cylinder reaches a preset time, the timing opening device opens, so that the rodless chamber (12) is connected to the external seawater.

9. The method for controlling the motion of a pressure energy cylinder according to claim 7, characterized in that: The underwater control member (30) is a pressure opening device. When the pressure energy cylinder needs to work, the underwater control member (30) opens to connect the rodless chamber (12) with the outside world. The push rod (21) moves upward and pushes the actuator to perform an action. The steps include: During the process of the pressure energy cylinder being put into water, obtaining the current depth of the pressure energy cylinder under water in real time; When the current depth of the pressure energy cylinder reaches a preset depth, the pressure opening device opens under the pressure of external seawater, so that the rodless chamber (12) is connected to the external seawater.

10. The method for controlling the motion of a pressure energy cylinder according to claim 7, characterized in that: The underwater control component (30) is a control switch. When the pressure energy cylinder needs to work, the underwater control component (30) is opened to connect the rodless chamber (12) with the outside world, and the push rod (21) moves upward and pushes the actuator to perform an action. The steps include: When the pressure energy cylinder needs to be actuated, an opening instruction is issued to the control switch; The control switch is opened according to the opening instruction, so that the rodless chamber (12) is connected to the external seawater or the pressure balance member via the communication hole (13).

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