Trim buoyancy adjustment device

Abstract

The application discloses a trim buoyancy adjusting device, and belongs to the technical field of underwater vehicle structure design. The device comprises an oil pump unit and a spring piston low-pressure compensator installed in a closed oil tank, an electrical controller, an oil cylinder control hydraulic valve group, a double-acting seawater piston cylinder and a seawater flow distribution valve group installed in an equipment pressure cabin, the trim buoyancy adjusting device is installed outside a cabin of the vehicle and is placed in seawater or a pressure cabin, when the vehicle is launched, the oil pump unit drives the double-acting seawater piston cylinder through the oil cylinder control hydraulic valve group, and then seawater is injected into the pressure water cabin or seawater in the pressure water cabin is discharged to the outside of the cabin through the seawater flow distribution valve group, so that the buoyancy of the vehicle is adjusted, when the trim buoyancy adjusting device is connected with a stern pressure water cabin and a bow pressure water cabin of the vehicle, the trim buoyancy adjusting device adjusts seawater between the stern pressure water cabin and the bow pressure water cabin or outside the cabin, so that the trim of the vehicle is adjusted.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle structural design technology, specifically to an underwater vehicle pitch and buoyancy adjustment device. Background Technology

[0002] The diving and surfacing of underwater vehicles and robots require systems or devices for buoyancy (weight) regulation. For underwater vehicles and robots with greater diving depths, using compressed air to change the vehicle's volume to regulate buoyancy becomes increasingly impractical with increasing diving depth. Therefore, most underwater vehicles use pressurized water tanks, adjusting buoyancy by changing the weight of the seawater within the tank to achieve diving and surfacing. Currently, larger underwater vehicles commonly use active seawater pump systems to change the weight of the seawater within the tank through suction and discharge, thus regulating buoyancy. However, because the electrical control components in these active seawater pump systems cannot be exposed to seawater, and ordinary seawater pumps must have drain ports in their casings, they cannot be centrally located inside or outside the tank. Existing buoyancy regulation systems all employ a decentralized structure, connected by pipes and cables, which is not conducive to modular design. Furthermore, their seawater systems lack load feedback, meaning the flow rate changes with the vehicle's diving depth, and the flow rate cannot be controlled as needed, hindering controllable and stable buoyancy regulation. Its buoyancy adjustment also does not take into account the diving depth set by the vehicle, as well as the emergency drainage function in case of water ingress and overpressure in the cabin, which reduces the safety of the vehicle or robot underwater. Summary of the Invention

[0003] In view of this, the present invention provides a pitch buoyancy adjustment device, which, with its modular design, can be centrally placed inside or outside the cabin of the vehicle. It can control the flow rate as needed, which is beneficial for the controllable and stable adjustment of buoyancy, while ensuring the safety of the vehicle operating at great depths.

[0004] A pitching buoyancy adjustment device includes a sealed oil tank, an oil pump unit, a spring piston low-pressure compensator, a through-tank fitting, an equipment electrical pressure chamber, an electrical controller, a cylinder control hydraulic valve group, a double-acting seawater piston cylinder, and a seawater distribution valve group.

[0005] The sealed oil tank and the equipment electrical pressure chamber are bolted together as a whole. The sealed oil tank houses an oil pump unit and a spring-piston low-pressure compensator. The equipment electrical pressure chamber houses an electrical controller, a hydraulic cylinder control valve assembly, a double-acting seawater piston cylinder, and a seawater distribution valve assembly. The electrical controller is connected to the vehicle's controller via watertight connectors for the power cable and communication cable. The pitch and buoyancy adjustment device is installed outside the vehicle, submerged in seawater, or within a pressurized compartment. When the vessel is launched, the oil pump unit automatically starts, and the hydraulic valve group controlled by the oil cylinder drives the double-acting seawater piston cylinder. Then, the seawater is injected into the pressurized water tank or discharged from the pressurized water tank to the outside through the seawater distribution valve group, thereby realizing the buoyancy adjustment of the vessel. When the pitch buoyancy adjustment device is connected to the stern pressurized water tank and the bow pressurized water tank of the vessel through the external seawater through-tank fittings, the pitch buoyancy adjustment device distributes the seawater between the stern pressurized water tank and the bow pressurized water tank or overboard, thereby realizing the pitch adjustment of the vessel.

[0006] Furthermore, the pitch buoyancy adjustment device is directly installed inside the modular buoyancy adjustment tank, using a watertight connector for the tank's power cable and a watertight connector for the tank's communication cable to connect to the vehicle's controller. Buoyancy adjustment is achieved through the tank's external pipe fittings and seawater filters. A modular buoyancy adjustment tank is arranged at the bow and stern of the vehicle, enabling pitch adjustment of the vehicle while simultaneously adjusting buoyancy.

[0007] Furthermore, the spring-piston low-pressure compensator includes a body, a piston, a spring, and a proximity switch; the body is a cylindrical cavity structure, the piston is installed inside the body and divides the cavity into a spring cavity and an oil cavity, a spring is installed in the spring cavity, the body has openings at both ends, the opening at one end of the spring cavity is the spring cavity external access interface, the opening at one end of the oil cavity is the oil cavity access oil tank interface, and the proximity switch is installed on the body at the oil cavity access oil tank interface end.

[0008] Furthermore, the hydraulic cylinder control valve assembly is equipped with a threaded cartridge relief valve, a threaded cartridge check valve, a threaded cartridge three-way compensating valve, a threaded cartridge proportional throttle valve, a high-pressure pressure sensor, a three-position four-way solenoid directional valve, a threaded cartridge shuttle valve, a threaded cartridge balance valve, a low-pressure pressure sensor, and a temperature sensor. The pressure port on the hydraulic cylinder control valve assembly is connected to the pressure oil outlet of the oil pump unit via a pipeline to the pressure oil penetration fitting, and the return port is connected to the closed oil tank via a pipeline to the return oil penetration fitting. The threaded cartridge relief valve limits the hydraulic pump outlet pressure by setting an opening pressure to protect the system from overpressure. The spring chamber of the threaded cartridge three-way compensating valve is connected to the outlet of the threaded cartridge shuttle valve, and its spring pressure is low. Therefore, when the three-position four-way solenoid directional valve is in the neutral position, the hydraulic pump is in a low-pressure operating state.

[0009] Furthermore, the double-acting seawater piston cylinder includes a cylinder body, a hydraulic oil piston, a piston rod, and a seawater piston; the cylinder body is composed of two cylindrical cavities with different diameters, and the two ends of the piston rod are respectively connected to the hydraulic oil piston and the seawater piston. The hydraulic oil piston is fitted with the smaller diameter cylindrical cavity, and the seawater piston is fitted with the larger diameter cylindrical cavity. The rodless chamber and the rod chamber of the piston cylinder are respectively connected to the oil outlet on the hydraulic valve assembly for cylinder control.

[0010] Furthermore, the seawater distribution valve assembly is equipped with a seawater check valve, a two-position two-way solenoid directional valve, a seawater overflow valve, a seawater internally controlled external discharge overflow valve, a pressure sensor, and a clamp-type ultrasonic flow meter. The seawater inlets on the seawater distribution valve assembly are connected via pipelines to the rodless and rod chambers of the seawater cylinder of the hydraulically driven double-acting seawater piston cylinder, and via pipelines to the external seawater penetration fittings on the electrical pressure chamber of the equipment. The seawater inlets are externally connected to the seawater penetration fittings via pipelines. The seawater check valve completes the water intake and drainage of the two chambers of the seawater cylinder of the hydraulically driven double-acting seawater piston cylinder, thereby realizing the distribution function of the seawater piston cylinder. The seawater overflow valve is protected against overpressure by setting an opening pressure. The spring chamber of the seawater internally controlled external discharge overflow valve is connected to the water intake pipeline of the two chambers of the seawater cylinder of the hydraulically driven double-acting seawater piston cylinder.

[0011] Beneficial effects:

[0012] 1. The buoyancy adjustment device of the present invention adopts an integrated structure consisting of a closed oil tank and a pressurized equipment electrical pressure chamber. The oil pump unit is installed inside the closed oil tank; the hydraulic valve group for oil cylinder control, the double-acting seawater piston cylinder, the seawater distribution valve group, and the electrical controller are all arranged inside the pressurized equipment electrical pressure chamber. It is only connected to the outside through external seawater penetration fittings, watertight connectors for power cables, and watertight connectors for communication cables. The closed oil tank is connected to the outside through the spring cavity external interface of the spring piston low-pressure compensator. Therefore, the buoyancy adjustment device can be directly installed outside the vehicle cabin, so that the pressure of the oil in the closed oil tank changes with the diving depth of the vehicle. Furthermore, due to the preload of the spring, the pressure of the oil is always slightly greater than the seawater pressure, thereby ensuring that seawater will not leak into the oil and improving the safety of the hydraulic system.

[0013] 2. Since the buoyancy adjustment device of the present invention adopts an integrated structure consisting of a closed oil tank and a pressurized equipment electrical pressure chamber, it can be directly installed and used inside the chamber. In fact, one buoyancy adjustment device can be installed in each pressure tank, making each pressure tank an independent modular structure, which facilitates the modular design of the aircraft.

[0014] 3. The buoyancy adjustment device of the present invention uses a large-diameter seawater piston for suction and discharge, and the piston movement speed is relatively low. It is also sealed with a sealing ring, so it has strong anti-pollution ability, which is beneficial for the vehicle to navigate in heavily polluted waters. It can also transport gas and liquid two-phase media, and even gas for a short time, which is beneficial for the vehicle to navigate in harsh sea conditions. Even when the liquid level in its pressurized tank sloshes or even drops below its inlet and outlet, there will be no problem of equipment damage.

[0015] 4. The buoyancy adjustment device of the present invention, by employing a threaded cartridge shuttle valve and a threaded cartridge three-way compensating valve, ensures that the pressure difference in the pressure oil circuits of the threaded cartridge proportional throttle valve and the three-position four-way solenoid directional valve is equal to the spring force of the threaded cartridge three-way compensating valve, and remains at a constant value. Therefore, the flow rate of the pressure oil is only related to the opening size of the threaded cartridge proportional throttle valve and is independent of the load pressure. This ensures that the operating speed of the hydraulic cylinder driving the double-acting seawater piston cylinder is independent of the diving depth of the vehicle, and can automatically adjust the opening size of the threaded cartridge proportional throttle valve as needed to control the inlet and outlet flow rates of the buoyancy adjustment chamber.

[0016] 5. The buoyancy adjustment device of this invention uses a seawater internal control and external discharge overflow valve in the seawater distribution valve group. Its spring chamber is connected to the suction pipes of the two chambers of the double-acting seawater piston cylinder driven by the hydraulic cylinder. This ensures that the discharge pressure of the double-acting seawater piston cylinder is always higher than the suction pressure, thus guaranteeing reliable pump operation and preventing uncontrolled or even dangerous pumping when draining water from deep sea to the low-pressure regulating tank. The negative load generated by the area difference between the rodless and rod chambers of the double-acting seawater piston cylinder is overcome by a threaded cartridge balance valve, which is also installed on the hydraulic cylinder control valve group. This ensures reliable operation of the double-acting seawater piston cylinder at great depths, preventing negative loads from seawater pressure that could cause uncontrolled or even dangerous situations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the buoyancy adjustment device in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram illustrating the principle of external tilt buoyancy adjustment in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram illustrating the buoyancy adjustment principle installed inside the cabin in an embodiment of the present invention.

[0020] Among them, 1-buoyancy adjustment device, 12-sealed oil tank, 13-equipment electrical pressure chamber, 2-modular buoyancy adjustment water tank, 21-oil pump unit, 23-suction filter, 24-pressure oil through-tank fittings, 25-return oil through-tank fittings, 26-spring piston low-pressure compensator, 3-bow pressure water tank, 31-cylinder control hydraulic valve group, 311-threaded cartridge relief valve, 312-threaded cartridge check valve, 313-threaded cartridge three-way compensating valve, 314-threaded cartridge proportional throttle valve, 315-high pressure sensor, 316-three-position four-way electromagnetic switch 317-Threaded cartridge shuttle valve, 318-Threaded cartridge check valve, 319-Threaded cartridge check valve, 321-Threaded cartridge check valve, 322-Threaded cartridge balance valve, 324-Low pressure sensor, 325-Temperature sensor, 33-Double-acting seawater piston cylinder driven by hydraulic cylinder, 330-Cylinder body, 331-Hydraulic piston, 332-Piston rod, 333-Seawater piston, 35-Seawater flow distribution valve assembly, 351-Seawater check valve, 352-Seawater check valve, 353-Seawater check valve, 354-Seawater check valve 355-Two-position two-way solenoid directional valve, 356-Two-position two-way solenoid directional valve, 357-Two-position two-way solenoid directional valve, 358-Two-position two-way solenoid directional valve, 359-Two-position two-way solenoid directional valve, 360-Two-position two-way solenoid directional valve, 363-Pressure sensor, 364-Pressure sensor, 365-Pressure sensor, 37-Clamp-type ultrasonic flow meter, 38-Electrical controller, 381-Watertight connector for power cable, 382-Watertight connector for communication cable, 4-Stern ballast tank, 40-Seawater filter, 41-External seawater connection Pipeline fittings for tank penetrations, 42-external seawater penetration fittings for tank penetrations, 43-external seawater penetration fittings for tank penetrations, 61-piston, 62-spring, 63-external spring cavity interface, 64-oil cavity interface to oil tank, 65-proximity switch, 601-pressure oil port, 602-return oil port, 603-oil outlet, 604-oil outlet, 701-seawater port, 702-seawater port, 703-seawater port, 704-seawater port, 705-seawater port, 801-watertight connector for tank power cable, 802-watertight connector for tank communication cable, 803-external penetration fittings for tank penetrations. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] This invention provides a pitch buoyancy adjustment device, as shown in the attached figure. Figure 1 As shown, the enclosed oil tank 12 and the electrical pressure chamber 13 of the device are connected as a whole by bolts.

[0023] Inside the sealed oil tank 12, there is an oil pump unit 21, an oil suction filter 23, a pressure oil through-tank pipe 24, a return oil through-tank pipe 25, and a spring piston low-pressure compensator 26. The spring low-pressure compensator 26 includes a body, a piston 61, a spring 62, and a proximity switch 65. The body has a cylindrical cavity structure. The piston 61 is installed inside the body and divides the cavity into a spring cavity and an oil cavity. The spring 62 is installed in the spring cavity. The body has openings at both ends. The opening at one end of the spring cavity is the spring cavity external access interface 63, and the opening at one end of the oil cavity is the oil cavity through-tank interface 64. The proximity switch 65 is installed on the body at the oil cavity through-tank interface end.

[0024] The electrical pressure chamber 13 is equipped with a hydraulic valve group 31 controlled by a cylinder, a double-acting seawater piston cylinder 33, a seawater distribution valve group 35, a caliper-type ultrasonic flow meter 37, an electrical controller 38, external seawater penetration fittings 41, 42, and 43, a watertight connector for power cables 381, and a watertight connector for communication cables 382. External seawater penetration fittings 41 and 42 are connected to the stern pressure tank 4 and the bow pressure tank 3 respectively via pipelines, while external seawater penetration fitting 43 is connected to the seawater filter 40 to the outside of the aircraft via pipelines.

[0025] The hydraulic valve assembly 31 controlled by the cylinder is equipped with a threaded cartridge relief valve 311, a threaded cartridge check valve 312, a threaded cartridge three-way compensating valve 313, a threaded cartridge proportional throttle valve 314, a high-pressure sensor 315, a three-position four-way solenoid directional valve 316, a threaded cartridge shuttle valve 317, a threaded cartridge check valve 318, a threaded cartridge check valve 319, a threaded cartridge check valve 321, a threaded cartridge balance valve 322, a low-pressure sensor 324, and a temperature sensor 325; the hydraulic cylinder control hydraulic valve assembly 31 contains pressurized oil. Port 601 is connected to the pressure oil outlet of the oil pump unit 21 via a pipeline to the pressure oil penetration fitting 24, and return oil port 602 is connected to the closed oil tank 12 via a pipeline to the return oil penetration fitting 25; the threaded cartridge relief valve 311 can be set to open pressure, thereby limiting the hydraulic pump outlet pressure and protecting the system from overpressure; the spring chamber of its threaded cartridge three-way compensating valve 313 is connected to the outlet of the threaded cartridge shuttle valve 317, and its spring pressure is low, so when the three-position four-way solenoid directional valve 316 is in the neutral position, the hydraulic pump is in a low-pressure working state.

[0026] The double-acting seawater piston cylinder 33 includes a cylinder body 330, a hydraulic piston 331, a piston rod 332, and a seawater piston 333; the rodless chamber and the rod chamber of the cylinder are respectively connected to the oil outlets 604 and 603 on the hydraulic control valve group 31.

[0027] The seawater distribution valve assembly 35 is equipped with seawater check valves 351, 352, 353, and 354; two-position two-way solenoid directional valves 355, 356, 357, 358, 359, and 360; a seawater overflow valve 361; a seawater internal control external discharge overflow valve 362; pressure sensors 363 and 364; and a pressure sensor... 365, and a clamp-type ultrasonic flow meter 37 installed through an external pipeline on the valve assembly 35; the seawater outlets 704 and 705 on the seawater distribution valve assembly 35 are connected to the rodless chamber and rod chamber of the seawater cylinder of the hydraulic cylinder driven double-acting seawater piston cylinder 33 through pipelines respectively; the seawater outlets 701 and 702 are connected to the external seawater penetration fittings 41 and 42 on the electrical pressure chamber 13 of the equipment through pipelines respectively; the seawater outlet 703 is externally connected to the seawater penetration fitting 43 through a pipeline.

[0028] The seawater check valves 351 and 353 in the seawater distribution valve group 35 complete the water intake of the two chambers of the double-acting seawater piston cylinder 33, while the seawater check valves 352 and 354 complete the water drainage of the two chambers of the double-acting seawater piston cylinder 33, thereby realizing the distribution function of the seawater piston cylinder. The seawater overflow valve 361 can be set to open the pressure to protect the system from overpressure. The seawater internal control external discharge overflow valve 362, because its spring chamber is connected to the water intake pipe of the two chambers of the double-acting seawater piston cylinder 33 driven by the oil cylinder, ensures that the drainage pressure of the double-acting seawater piston cylinder 33 driven by the oil cylinder is always higher than the water intake pressure, thereby ensuring the reliable operation of the pump and preventing the pump from becoming uncontrollable or even dangerous when draining water from the deep sea to the low-pressure regulating tank.

[0029] When the device is put into operation, the oil pump unit 21 automatically starts, the three-position four-way solenoid directional valve 316 is in the neutral position, and the oil pump operates at low pressure. When the buoyancy adjustment device receives the water tank inlet / outlet command through the watertight connector 382 of the communication cable, the two electromagnets of the three-position four-way solenoid directional valve 316 automatically and alternately energize after a delay. The pressure oil output from the oil pump unit 21 enters the hydraulic cylinder control valve group 31 through the pressure oil throughlet pipe 24 and pressure oil port 601. The oil is then discharged through the threaded cartridge check valve 312, the threaded cartridge proportional throttle valve 314, and the three-position four-way solenoid directional valve 316. The hydraulic cylinder drives the double-acting seawater piston cylinder 33 through port 603 or outlet 604, causing the hydraulic piston 331 to reciprocate. Through the piston rod 332, the hydraulic piston 333 reciprocates. The return oil from the double-acting seawater piston cylinder 33 is returned to the closed oil tank 12 through outlet 604 and threaded cartridge balance valve 322, or outlet 603, three-position four-way solenoid directional valve 316, threaded cartridge check valve 321, return oil port 602, and return oil through tank pipe 25, forming a circuit and completing the automatic reciprocating cycle drive of the double-acting seawater piston cylinder 33.

[0030] When the bow ballast tank 3 needs to be filled with water, the two-position two-way solenoid directional valve 357 or 359 is activated. Seawater from outside the hull enters the seawater cylinder of the double-acting seawater piston cylinder 33 through the seawater filter 40, the external seawater penetration pipe 43, the seawater inlet 703, the two-position two-way solenoid directional valve 357, and the seawater check valve 351 or 353. Seawater in the other chamber of the seawater cylinder enters through the seawater check valve 354 or 352, the seawater internal control external discharge overflow valve 362, and the two-position two-way solenoid directional valve 359. 59. Seawater enters the bow ballast tank 3 through seawater inlet 702 and external seawater penetration pipe fitting 42; continuous water intake of the bow ballast tank 3 is achieved by the reciprocating motion of the piston 333; when the bow ballast tank 3 needs to be drained, the two-position two-way solenoid directional valve 356 or 360 is activated, and seawater from the bow ballast tank 3 enters the hydraulic cylinder through the pipeline, external seawater penetration pipe fitting 42, seawater inlet 702, two-position two-way solenoid directional valve 356, and seawater check valve 351 or 353 to drive the double-acting seawater piston. Seawater from the other chamber of the seawater tank in cylinder 33 is discharged to the outside of the ship via a seawater one-way valve 354 or 352, a seawater internal control external discharge overflow valve 362, a two-position two-way solenoid directional valve 360, a seawater inlet 703, an external seawater through-tank pipe fitting 43, and a seawater filter 40. This allows the ship's weight to be changed without altering its displacement volume, thus achieving buoyancy adjustment. Similarly, the stern pressurized water tank 4 can also be connected via a two-position two-way solenoid directional valve 357 or 358. Water intake is achieved by opening the 2-position 2-way solenoid valve 355 or 360, and drainage is achieved by opening the 2-position 2-way solenoid valve 356 or 358. Similarly, water can be transferred from the bow ballast tank 3 to the stern ballast tank 4 by opening the 2-position 2-way solenoid valve 355 or 359, and water can be transferred from the stern ballast tank 4 to the bow ballast tank 3 by opening the 2-position 2-way solenoid valve 355 or 359. This allows the weight of the two ballast tanks to be changed without altering the overall weight of the aircraft, thus achieving pitch adjustment. (See attached...) Figure 2 As shown.

[0031] When the vehicle exceeds its set diving depth, the device can automatically enter emergency drainage mode by sending a signal through the pressure sensor 363, which monitors the diving depth in real time. This allows the seawater in the pressurized water tanks to be drained, enabling the vehicle to surface urgently. Furthermore, when any pressurized water tank leaks and becomes overpressured, the pressure sensor 365 sends a signal, and the device can also automatically enter emergency drainage mode, improving the safety of the vehicle's underwater navigation.

[0032] When the device is adjusting the pitch and buoyancy, the instantaneous flow rate and cumulative flow rate of seawater can be monitored in real time by the clamp-type ultrasonic flow meter 37, so that the amount of seawater in each pressurized water tank can be known in real time.

[0033] Because the spring piston low-pressure compensator 26 of the sealed oil tank 12 has an external spring cavity port 63 that connects to the outside, the buoyancy adjustment device can be directly installed outside the vehicle cabin. This allows the oil pressure inside the sealed oil tank 12 to change with the diving depth of the vehicle. Furthermore, due to the preload of the spring 62, the oil pressure is always slightly higher than the seawater pressure, thus ensuring that seawater does not leak into the oil and improving the safety of the hydraulic system. When the sealed oil tank 12 leaks oil, when the piston 61 moves to the bottom under the action of the spring 62, the proximity switch 65 is activated, stopping the oil pump and preventing damage to the equipment.

[0034] Due to its integrated structure of enclosed oil tank 12 and equipment electrical pressure chamber 13, this device can be directly installed inside the modular buoyancy regulating water tank 2, as shown in the attached diagram. Figure 3 As shown, only the watertight connector 801 for the power cable and the watertight connector 802 for the communication cable of the water tank are used to connect to the controller of the aircraft. The buoyancy can be adjusted through the water tank external penetration pipe 803 and the seawater filter 40. A modular buoyancy adjustment water tank 2 is arranged at the bow and stern of the aircraft, which can adjust the aircraft's pitch while adjusting the buoyancy, making the modular design of the aircraft possible.

[0035] Because it uses a large-diameter seawater piston 333 for suction and discharge, the piston movement speed is relatively low, and it is sealed with a sealing ring, thus it has strong anti-pollution ability, which is beneficial for the vehicle to navigate in heavily polluted waters. It can also transport gas and liquid two-phase media, and even gas for short periods of time, which is beneficial for the vehicle to navigate in harsh sea conditions. Even if the liquid level in its pressurized water tank sloshes or even drops below its inlet and outlet, it will not cause equipment damage.

[0036] Because of the use of threaded cartridge shuttle valve 317 and threaded cartridge three-way compensating valve 313, the pressure difference in the pressure oil circuit of the threaded cartridge proportional throttle valve 314 and the three-position four-way solenoid directional valve 316 is maintained at a constant value due to the spring force of the threaded cartridge three-way compensating valve 313. Therefore, the flow rate through the throttle valve is only related to the opening size of the threaded cartridge proportional throttle valve 314 and is independent of the load pressure. This ensures that the operating speed of the hydraulic cylinder driving the double-acting seawater piston cylinder 33 is independent of the diving depth of the vehicle, and the opening size of the threaded cartridge proportional throttle valve 314 can be automatically adjusted as needed to control the inlet and outlet flow of the buoyancy regulating chamber. Since the system uses existing mature industrial-grade products, it is convenient to use and maintain, and has high interchangeability and reliability.

[0037] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pitching buoyancy adjustment device, characterized in that, This includes enclosed oil tanks, oil pump units, spring piston low-pressure compensators, through-tank fittings, equipment electrical pressure chambers, electrical controllers, hydraulic cylinder control valve groups, double-acting seawater piston cylinders, and seawater distribution valve groups. The sealed oil tank and the equipment electrical pressure chamber are bolted together as a whole. The sealed oil tank houses an oil pump unit and a spring-piston low-pressure compensator. The equipment electrical pressure chamber houses an electrical controller, a hydraulic cylinder control valve assembly, a double-acting seawater piston cylinder, and a seawater distribution valve assembly. The electrical controller is connected to the vehicle's controller via watertight connectors for the power cable and communication cable. The pitch and buoyancy adjustment device is installed outside the vehicle, submerged in seawater, or within a pressurized compartment. When the vessel is launched, the oil pump unit automatically starts, and the hydraulic valve group controlled by the oil cylinder drives the double-acting seawater piston cylinder. Then, the seawater is injected into the pressurized water tank or discharged from the pressurized water tank to the outside through the seawater distribution valve group, thereby realizing the buoyancy adjustment of the vessel. When the pitch buoyancy adjustment device is connected to the stern pressurized water tank and the bow pressurized water tank of the vessel through the external seawater through-tank fittings, the pitch buoyancy adjustment device distributes the seawater between the stern pressurized water tank and the bow pressurized water tank or overboard, thereby realizing the pitch adjustment of the vessel. The hydraulic valve group controlled by the cylinder is equipped with a threaded cartridge relief valve (311), a first threaded cartridge check valve (312), a second threaded cartridge check valve (321), a threaded cartridge three-way compensating valve (313), a threaded cartridge proportional throttle valve (314), a high-pressure sensor (315), a three-position four-way solenoid directional valve (316), a threaded cartridge shuttle valve (317), a threaded cartridge balance valve (322), a first low-pressure sensor (323), a second low-pressure sensor (324), and a temperature sensor (325); the threaded cartridge relief valve (311) 1) The two ends are respectively connected to the outlet of the normally open threaded cartridge check valve (312) and the inlet of the second threaded cartridge check valve (321). The threaded cartridge relief valve (311) cooperates with the threaded cartridge three-way compensating valve (313) and the threaded cartridge shuttle valve (317). When the three-position four-way solenoid directional valve (316) is in the neutral position, the auxiliary system maintains a low-pressure state. The threaded cartridge check valve (312) is connected in series between the pressure port and the threaded cartridge proportional throttle valve (314). The spring chamber of the threaded cartridge three-way compensating valve (313) is connected to the outlet of the threaded cartridge shuttle valve (317). The P port of the three-position four-way solenoid directional valve (316) is connected to the outlet of the proportional throttle valve, and the T port is connected to the return oil port. The threaded cartridge balance valve (322) is connected between the first oil outlet (603), the second oil outlet (604), and the return oil line. The high-pressure sensor (315) is set at the pressure oil port (601) to monitor the system pressure. The first low-pressure sensor (323) is set at the return oil port (602) to monitor the return oil pressure. The second low-pressure sensor (324) is connected to both the threaded cartridge three-way compensating valve (313) and the threaded cartridge shuttle valve (317) to monitor the load pressure. Force is detected, and a temperature sensor (325) is installed in the return oil line to monitor the oil temperature. The pressure oil port (601) on the hydraulic valve group of the cylinder control is connected to the pressure oil outlet of the oil pump unit (21) through the pipeline and the pressure oil penetration fitting (24). The return oil port (602) is connected to the closed oil tank (12) through the pipeline and the return oil penetration fitting (25). The threaded cartridge relief valve (311) limits the hydraulic pump outlet pressure by setting the opening pressure to protect the system from overpressure. When the three-position four-way solenoid directional valve (316) is in the neutral position, the hydraulic pump is in a low-pressure working state.

2. The tilting buoyancy adjustment device as described in claim 1, characterized in that, The pitch and buoyancy adjustment device is directly installed inside the modular buoyancy adjustment tank. It uses a watertight connector for the tank's power cable and a watertight connector for the tank's communication cable to connect to the vehicle's controller. Buoyancy adjustment is achieved through the tank's external pipe fittings and seawater filters. A modular buoyancy adjustment tank is arranged at the bow and stern of the vehicle, which can adjust the vehicle's pitch and buoyancy at the same time.

3. The tilting buoyancy adjustment device as described in claim 2, characterized in that, The spring-piston low-pressure compensator includes a body, a piston, a spring, and a proximity switch. The body is a cylindrical cavity structure. The piston is installed inside the body and divides the cavity into a spring cavity and an oil cavity. A spring is installed inside the spring cavity. The body has openings at both ends. The opening at one end of the spring cavity is the external interface of the spring cavity, and the opening at one end of the oil cavity is the interface between the oil cavity and the oil tank. The proximity switch is installed on the body at the end of the body with the interface between the oil cavity and the oil tank.

4. The tilting buoyancy adjustment device as described in claim 3, characterized in that, The double-acting seawater piston cylinder includes a cylinder body, a hydraulic piston, a piston rod, and a seawater piston. The cylinder body consists of two cylindrical cavities with different diameters. The two ends of the piston rod are connected to the hydraulic piston and the seawater piston, respectively. The hydraulic piston is fitted with the smaller diameter cylindrical cavity, and the seawater piston is fitted with the larger diameter cylindrical cavity. The rodless chamber and the rod chamber of the piston cylinder are connected to the oil outlet on the hydraulic valve assembly controlled by the cylinder.

5. The tilting buoyancy adjustment device as described in claim 3 or 4, characterized in that, The seawater distribution valve assembly is equipped with a first seawater check valve (351), a second seawater check valve (352), a third seawater check valve (353), a fourth seawater check valve (354), a first two-position two-way solenoid directional valve (355), a second two-position two-way solenoid directional valve (356), a third two-position two-way solenoid directional valve (357), a fourth two-position two-way solenoid directional valve (358), a fifth two-position two-way solenoid directional valve (359), a sixth two-position two-way solenoid directional valve (360), a seawater overflow valve (361), a seawater internal control external discharge overflow valve (362), a first pressure sensor (363), a second pressure sensor (364), a third pressure sensor (365), and a caliper-type super... A sonic flow meter (37); a first seawater check valve (351) and a third seawater check valve (353) are respectively connected to the suction ports of the rod chamber and rodless chamber of the double-acting seawater piston cylinder (33); a second seawater check valve (352) and a fourth seawater check valve (354) are respectively connected to the discharge ports of the rod chamber and rodless chamber of the double-acting seawater piston cylinder (33); a first two-position two-way solenoid directional valve (355), a second two-position two-way solenoid directional valve (356), a third two-position two-way solenoid directional valve (357), a fourth two-position two-way solenoid directional valve (358), a fifth two-position two-way solenoid directional valve (359), and a sixth two-position two-way solenoid directional valve (360) control the opening and closing of each seawater passage; seawater An overflow valve (361) is connected to the main seawater drainage pipeline; the spring chamber of the seawater internal control external discharge overflow valve (362) is connected to the seawater suction pipeline; the first pressure sensor (363), the second pressure sensor (364), and the third pressure sensor (365) monitor the seawater pressure at different locations respectively; a clamp-type ultrasonic flow meter (37) is installed on the main seawater pipeline; the seawater distribution valve group (35) is provided with a first seawater inlet (704), a second seawater inlet (705), a third seawater inlet (701), a fourth seawater inlet (702), and a fifth seawater inlet (703); the first seawater inlet (704) and the second seawater inlet (705) are respectively connected to the rodless chamber and the rod chamber of the double-acting seawater piston cylinder (33); The third sea inlet (701) and the fourth sea inlet (702) are connected to the stern ballast tank (4) and the bow ballast tank (3) respectively through the first external seawater penetration fitting (41) and the second external seawater penetration fitting (42); the fifth sea inlet (703) is connected to the outside through the third external seawater penetration fitting (43); the first seawater check valve (351), the second seawater check valve (352), the third seawater check valve (353), and the fourth seawater check valve (354) complete the water intake of the two chambers of the double-acting seawater piston cylinder driven by the hydraulic cylinder and the water discharge of the two chambers of the double-acting seawater piston cylinder, thereby realizing the flow distribution function of the seawater piston cylinder; the seawater overflow valve (361) is set to open the pressure protection system to prevent overpressure;The spring chamber of the seawater internal control external discharge overflow valve (362) is connected to the water intake pipe of the two chambers of the seawater cylinder of the hydraulic cylinder driven double-acting seawater piston cylinder.

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