A buoyancy adjusting and communication device for underwater AUV

Abstract

The application discloses a buoyancy adjusting and communication device for underwater AUV, which comprises a communication cabin body, an integrated antenna, an inner oil tank, an air bag, an air bag pressing ring, an air bag cabin body, a rear end cover, a pump valve gas path assembly, a pump valve oil path assembly, an outer oil tank assembly and the like. The communication cabin body is connected with an AUV pressure cabin body and is sealed through an O-shaped ring. The integrated antenna is installed on the communication cabin body and is sealed through an O-shaped ring, and is used for the communication function of the underwater AUV. The inner oil tank is fixed on the air bag cabin body, and the air bag is sleeved on the air bag cabin body and is tightly sealed through the air bag pressing ring. The pump valve gas path assembly is used for discharging the gas in the cabin to the air bag or sucking the gas in the air bag into the cabin, so as to change the buoyancy state of the AUV. The pump valve oil path assembly is used for discharging the hydraulic oil in the inner oil tank to the outer oil tank assembly or sucking the hydraulic oil in the outer oil tank assembly into the inner oil tank, so as to change the buoyancy state of the AUV.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of marine environment observation and seabed resource exploration, and particularly relates to a buoyancy adjusting and communication device for underwater AUV BACKGROUND

[0002] The underwater AUV is an underwater observation and detection platform, and has been widely used in the fields of marine scientific research and military detection. The buoyancy adjusting device is one of the core functional units of the underwater AUV, and the important ability of the underwater AUV is to dive to the target depth by adjusting the buoyancy. The buoyancy adjusting ability directly affects the zero attack angle navigation ability and the endurance of the underwater AUV. At present, the buoyancy adjusting device of the underwater AUV has many problems, for example, most of the underwater AUVs only adjust the buoyancy by sucking and discharging hydraulic oil, the adjusting form is single, the efficiency is low, the power consumption is large, and the AUV cannot discharge oil in deep water and cannot return oil, so the AUV cannot reduce the buoyancy in deep water, cannot form an approximate zero buoyancy state at a specified depth, and cannot navigate at zero attack angle, thereby increasing the power consumption. The structure size of the buoyancy system of some AUVs is too large, and occupies a large part of the cabin space, so that the load capacity and energy carrying capacity of the AUV are reduced, thereby reducing the whole machine. The communication antenna and the buoyancy system of some AUVs are designed separately, so that when the AUV communicates by floating up, the antenna height is not at the optimal position when the buoyancy is adjusted to the maximum, and the energy consumption is increased by secondary adjustment through attitude adjustment. In summary, from the existing technology, the underwater AUV buoyancy adjusting device has the defects of single adjusting form, large energy consumption, insufficient precision, inability to return oil in deep water, and no integrated design of the buoyancy adjusting device and the communication device, and it is urgent to solve the problems by new technical means or invented devices. SUMMARY

[0003] In order to solve the above-mentioned defects of the buoyancy adjusting device, such as single adjusting form, large energy consumption, insufficient precision, inability to return oil in deep water, and no integrated design of the buoyancy adjusting device and the communication device, the application provides a buoyancy adjusting and communication device for underwater AUV, which has compact structure, various adjusting forms, and can effectively reduce the power consumption. The device can not only adjust the buoyancy by gas for communication, but also adjust the buoyancy by hydraulic oil in deep water, and can normally discharge and discharge oil in deep water, has the function of bidirectional buoyancy adjustment in deep water, and the communication antenna and the buoyancy adjusting device are integratedly designed. The compact structure can ensure the optimal communication state of the AUV under the minimum energy consumption, and effectively reduce the energy consumption of the AUV.

[0004] The purpose of the application is achieved by the following technical scheme:

[0005] The application discloses a buoyancy adjusting and communication device for underwater AUV, which comprises a communication cabin body, an integrated antenna, an inner oil tank, an air bag, an air valve assembly, an air bag cabin body, a pump valve gas path assembly, a pump valve oil path assembly, a rear end cover, an outer oil tank assembly, an antenna cabin connecting piece, an air bag pressing ring, a water-tight cabin penetrating piece and an outer oil tank connecting piece.

[0006] Further, the inner oil tank comprises an inner oil tank rear end cover, a pull wire fixing piece, a guide rod, a metal bellows, a pull wire sensor and an inner oil tank front end cover; the inner oil tank rear end cover is fixedly connected with one end of the metal bellows through welding, and the other end of the metal bellows is fixedly connected with the inner oil tank front end cover through welding; the inner oil tank front end cover is fixedly connected with the air bag cabin body; one end of the guide rod is fixedly connected with the inner oil tank front end cover; the inner oil tank rear end cover is provided with a guide hole, and the guide rod passes through the guide hole, so that the metal bellows will not bend downward due to gravity when being stretched; the pull wire fixing piece is connected with the inner oil tank rear end cover; the pull wire sensor is connected with the inner oil tank front end cover; and the pull wire of the pull wire sensor is connected with the pull wire fixing piece, so as to measure the length of the metal bellows being stretched, and to calculate the oil quantity in the inner oil tank.

[0007] Further, the gas valve assembly includes a gas valve upper cover, a valve core upper cover, a valve core, a spring, a gas valve nut, and a gas path joint. The gas valve upper cover and the gas valve nut are fastened on the airbag chamber body through threads, and both of them are provided with sealing grooves and sealed with O-rings. The valve core passes through the inner hole of the gas valve nut and is connected with the valve core upper cover through threads. The lower end of the valve core is in contact with the spring, and the lower end of the spring is in contact with the upper end surface of the gas path joint. The gas path joint is connected with the gas valve nut through threads. When exhaust is needed, open the gas pump, and the spring will push the valve core and the valve core upper cover apart. The gas flows into the airbag through the inner hole of the gas path joint, the gap between the valve core and the inner hole of the gas valve nut, and the gap between the valve core upper cover and the inner hole of the gas valve upper cover, so as to expand the airbag. When air is needed, open the gas electromagnetic valve. Under the action of external pressure, the gas in the airbag flows into the chamber through the gap between the valve core upper cover and the valve core, the inner hole of the gas valve nut, and the gap between the valve core and the inner hole of the gas path joint. When the gas in the airbag enters the chamber completely, the airbag will be pressed towards the valve core upper cover, and the valve core upper cover and the valve core will move downwards until the tapered surface of the valve core upper cover is in contact with the tapered surface of the gas valve upper cover. The two tapered surfaces can seal, and the airbag itself is pressed tightly on the valve core upper cover to seal.

[0008] Further, the pump valve oil path assembly includes a valve body, a plunger pump, a motor, a motor connecting piece, a low-pressure oil return electromagnetic valve, a high-pressure oil return throttle valve, and a check valve. The valve body is fixedly connected with the rear end cover, and the oil outlet of the valve body is in communication with the oil inlet of the rear end cover. The plunger pump is inserted into the valve body and fixedly connected through bolts. The check valve is fixedly connected with the valve body, the inlet of the check valve is in communication with the outlet of the plunger pump through a hole in the valve body, and the outlet of the check valve is in communication with the oil inlet of the rear end cover. The valve body is connected with one end of the motor connecting piece, and the other end of the motor connecting piece is connected with the motor. The output shaft of the motor and the input shaft of the plunger pump are connected through a coupling. The low-pressure oil return electromagnetic valve is connected with the valve body, and the outlet of the low-pressure oil return electromagnetic valve is connected with the front end cover of the inner oil tank. The inlet of the high-pressure oil return throttle valve is connected with the valve body, and the outlet of the high-pressure oil return throttle valve is connected with the front end cover of the inner oil tank.

[0009] The pump valve gas path assembly comprises a gas pump, a gas one-way valve, a gas path tee joint, and a gas electromagnetic valve; the gas pump is fixedly connected with the front end cover of the inner oil tank; the gas outlet of the gas pump is connected with the first port of the gas path tee joint; the second port of the gas path tee joint is connected with the gas joint; the third port of the gas path tee joint is connected with the inlet of the gas electromagnetic valve; when gas needs to be discharged, the gas pump is opened, the gas passes through the gas outlet of the gas pump, the gas path tee joint, the gas joint, the gas valve assembly, and the air bag; when gas needs to be returned, the gas pump is closed, the gas electromagnetic valve is opened, the gas passes through the gas valve assembly, the gas joint, the gas path tee joint, and the inlet of the gas electromagnetic valve, and then enters the cabin from the outlet of the electromagnetic valve.

[0010] Further, the integrated antenna comprises an antenna base, a wireless antenna, a sky king communication, an iridium star communication, a beacon, and an antenna shell; the antenna base is fixedly connected with the communication cabin body and is sealed by an O-ring; the wireless antenna, the sky king communication, the iridium star communication, and the beacon are connected with the antenna shell and are fixed by vulcanization of vulcanized rubber in the antenna shell.

[0011] Further, the outer oil bag assembly comprises an outer oil tank, an oil bag, and an oil bag protection shell; the outer oil tank is fixedly connected with the rear end cover through an outer oil tank connecting piece, and the oil inlet of the outer oil tank is in communication with the oil inlet of the rear end cover; the oil bag edge has an O-ring structure, the oil bag is tightly sealed with the outer oil tank through the oil bag protection shell, and the oil bag protection shell is connected with the outer oil tank through bolts.

[0012] Compared with the prior art, the technical scheme of the present application has the following beneficial effects:

[0013] 1. The present application can adjust the buoyancy in a low-pressure environment by gas and in a high-pressure environment by hydraulic oil, and has two adjustment modes, which can effectively reduce power consumption and save energy.

[0014] 2. The buoyancy adjusting device of the present application can adjust the oil return in deep sea and control the oil return speed under different pressures, has a bidirectional buoyancy adjusting function in deep water, and has high buoyancy adjusting precision, thereby providing better zero buoyancy adjusting capability for the AUV.

[0015] 3. The communication device of the present application has multiple communication and positioning functions such as wireless communication, iridium star communication, sky king communication, and beacon, and the integrated antenna and the buoyancy adjusting device are designed in an integrated manner, so that the structure is compact and simple, the buoyancy center of the AUV can be as close as possible to the antenna position after the buoyancy is increased, the communication posture adjusting process is reduced, the power consumption is reduced while the good communication state is ensured, and the communication posture is adjusted under the minimum energy consumption. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a general structure diagram of the present application.

[0017] Figure 2 This is a schematic diagram of the internal oil tank structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the gas valve port portion of the present invention.

[0019] Figure 4 This is a schematic diagram of the antenna structure of the present invention.

[0020] Figure 5 This is a schematic diagram of the hydraulic buoyancy adjustment principle of the present invention.

[0021] Figure 6 This is a cross-sectional view of the valve body plunger pump of the present invention.

[0022] Reference numerals: 1-Communication cabin; 2-Antenna cabin connecting piece; 3-Integrated antenna; 4-Airbag clamping ring; 5-Air valve nut; 6-Gas one-way valve; 7-Airbag cabin; 8-Air passage tee; 9-Rear end cover; 10-Gas solenoid valve; 11-Watertight penetration component; 12-Outer oil tank; 13-Oil bladder protective shell; 14-Oil bladder; 15-Outer oil tank connecting piece; 16-Valve body; 17-Motor connecting piece; 18-Motor; 19-Low-pressure return oil solenoid valve; 20-High-pressure return oil throttle valve ; 21-Airbag; 22-Wire sensor; 23-Front end cover of inner fuel tank; 24-Air pump; 25-Metal bellows; 26-Guide rod; 27-Antenna base; 28-Wireless antenna; 29-Tiantong communication; 30-Beacon; 31-Iridium communication; 32-Antenna housing; 33-Wire fastener; 34-Rear end cover of inner fuel tank; 35-Air valve cover; 36-Valve core cover; 37-Valve core; 38-Spring; 39-Air connection; 40-Plunger pump; 41-One-way valve. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0024] The buoyancy adjustment and communication device of the present invention is sealed to the pressure chamber of the AUV. For the present invention to work normally, the pressure chamber of the AUV needs to have a certain degree of vacuum, specifically 0.6 to 0.7 atmospheres.

[0025] like Figure 1As shown, the application includes a communication cabin 1, an integrated antenna 3, an inner oil tank, an airbag 21, an air valve assembly, an airbag cabin body 7, a pump valve gas path assembly, a pump valve oil path assembly, a rear end cover 9, an outer oil tank assembly, an antenna cabin connecting piece 2, an airbag compression ring 4, a watertight cabin penetrating piece 11, and an outer oil tank connecting piece 15. The front end of the communication cabin 1 is connected with the pressure cabin of the AUV and is sealed by an O-ring. The integrated antenna 3 is fixedly connected to the upper portion of the communication cabin 1 and is sealed by an O-ring. The rear end of the communication cabin 1 is connected with the airbag cabin body 7 through the antenna cabin connecting piece 2. The inner oil tank is fixed to the airbag cabin body 7. The airbag 21 is sleeved on the outer wall of the airbag cabin body 7 and is tightly sealed by the airbag compression ring 4. The airbag compression ring 4 is fixed to the airbag cabin body 7 by bolts. The air valve assembly is connected to the airbag cabin body 7 and is fixedly connected with the pump valve gas path assembly. The pump valve oil path assembly is connected to the inner portion of the rear end cover 9. The rear end cover 9 is connected with the rear portion of the airbag cabin body 7. The outer oil tank assembly is connected with the rear end cover 9 through the outer oil tank connecting piece 15 and is sealed by an O-ring.

[0026] As shown in the figure, Figure 2 The inner oil tank includes an inner oil tank rear end cover 34, a pull wire fixing piece 33, a guide rod 26, a metal bellows 25, a pull wire sensor 22, and an inner oil tank front end cover 23. The inner oil tank rear end cover 34 is fixedly connected with the metal bellows 25 by welding. The other end of the metal bellows 25 is fixedly connected with the inner oil tank front end cover 23 by welding. The inner oil tank front end cover 23 is fixedly connected with the airbag cabin body 7. One end of the guide rod 26 is fixedly connected with the inner oil tank front end cover 23. The inner oil tank rear end cover 34 is provided with a guide hole. The guide rod 26 passes through the guide hole. The guide hole prevents the metal bellows 25 from bending downward due to gravity when the metal bellows 25 is stretched. The pull wire fixing piece 33 is connected with the inner oil tank rear end cover 34. The pull wire sensor 22 is connected with the inner oil tank front end cover 23. The pull wire of the pull wire sensor 22 is connected with the pull wire fixing piece 33. The pull wire sensor 22 is used to measure the length of the metal bellows 25 that is stretched out, so as to calculate the amount of oil in the inner oil tank.

[0027] As shown in the figure, Figure 4 The integrated antenna includes an antenna base 27, a wireless antenna 28, a Tian Tong communication device 29, a Yidixing communication device 31, a beacon 30, and an antenna shell 32. The antenna base 27 is fixedly connected with the communication cabin 1 and is sealed by an O-ring. The wireless antenna 28, the Tian Tong communication device 29, the Yidixing communication device 31, and the beacon 30 are connected with the antenna shell 32 and are fixed by vulcanization of the vulcanized rubber inside the antenna shell 32.

[0028] As shown in the figure, Figure 3As shown, the air valve assembly includes an air valve cover 35, a valve core cover 36, a valve core 37, a spring 38, an air valve nut 5, and an air passage connector 39. The air valve cover 35 and the air valve nut 5 are threadedly fastened to the airbag chamber 7. Both the air valve cover 35 and the air valve nut 5 have sealing grooves and are sealed to the airbag chamber 7 by O-rings. The valve core 37 passes through the inner hole of the air valve nut 5 and is threadedly connected to the valve core cover 36. The lower end of the valve core 37 contacts the spring 38, and the lower end of the spring 38 contacts the upper end face of the air passage connector 39. The air passage connector 39 is threadedly connected to the air valve nut 5. When air needs to be released, the air pump 24 is turned on, and the spring 38 pushes open the valve core 37 together with the valve core cover 36. Gas flows through the inner hole of the air passage connector 39 and the air valve nut 5. The gas flows into the airbag through the gap between the inner hole and the valve core 37, and the gap between the inner hole of the valve cover 35 and the valve core cover 36, causing the airbag 21 to inflate. When gas return is required, the gas solenoid valve 10 is opened. Under external pressure, the gas in the airbag 21 flows into the cabin through the gap between the inner hole of the valve cover 35 and the valve core cover 36, the gap between the inner hole of the valve nut 5 and the valve core 37, and the inner hole of the gas connector 39. When all the gas in the airbag 21 enters the cabin, the airbag 21 will press against the valve core cover 36. The valve core cover 36, together with the valve core 37, moves downward until the conical surface of the valve core cover 36 fits against the conical surface of the valve cover 35. The two conical surfaces can play a sealing role. At the same time, the airbag 21 itself pressing against the valve core cover 36 can also play a sealing role.

[0029] like Figure 1 As shown, the pump-valve-air circuit assembly includes an air pump 24, a gas check valve 6, an air circuit tee 8, and a gas solenoid valve 10. The air pump 24 is fixedly connected to the front cover 23 of the inner oil tank. The air outlet of the air pump 24 is connected to the first port of the air circuit tee 8. The second port of the air circuit tee 8 is connected to the air circuit connector 39. The third port of the air circuit tee 8 is connected to the inlet of the gas solenoid valve 10. When exhaust is required, the air pump 24 is turned on, and the gas flows through the air outlet of the air pump 24, through the air circuit tee 8 and the air circuit connector 39 to the air valve assembly, and then enters the airbag 21 through the air valve assembly. When return is required, the air pump 24 is turned off, the gas solenoid valve 10 is turned on, and the gas passes through the air valve assembly, enters the air circuit connector 39, passes through the air circuit tee 8, and then enters the inlet of the gas solenoid valve 10, and enters the cabin from the outlet of the solenoid valve 10.

[0030] like Figure 1 , Figure 6As shown in the figure, the pump valve oil circuit assembly comprises a valve body 16, a plunger pump 40, a motor 18, a motor connecting piece 17, a low-pressure oil return electromagnetic valve 19, a high-pressure oil return throttle valve 20, and a one-way valve 41. The valve body 16 is fixedly connected with the rear end cover 9, and the oil outlet of the valve body 16 is in communication with the oil inlet of the rear end cover 9. The plunger pump 40 is inserted into the valve body 16 and fixedly connected by bolts. The one-way valve 41 is fixedly connected with the valve body 16, the inlet of the one-way valve 41 is in communication with the outlet of the plunger pump 40 through a hole in the valve body 16, and the outlet of the one-way valve 41 is in communication with the oil inlet of the rear end cover 9. The valve body 16 is connected with one end of the motor connecting piece 17, and the other end of the motor connecting piece 17 is connected with the motor 18. The output shaft of the motor 18 and the input shaft of the plunger pump 40 are connected through a shaft coupling. The oil inlet of the low-pressure oil return electromagnetic valve 19 is connected with the valve body 16, and is in communication with the oil inlet of the rear end cover 9 through a hole in the valve body 16. The outlet of the low-pressure oil return electromagnetic valve 19 is connected with the front end cover 23 of the inner oil tank. The inlet of the high-pressure oil return throttle valve 20 is connected with the valve body 16, and is in communication with the oil inlet of the rear end cover 9 through a hole in the valve body 16. The outlet of the high-pressure oil return throttle valve 20 is connected with the front end cover 23 of the inner oil tank.

[0031] The working principle of the pump valve oil circuit assembly is as shown in the figure Figure 5 When oil needs to be discharged, the hydraulic pump is opened, the hydraulic oil enters the inlet of the hydraulic pump after passing through the filter, enters the oil bladder 14 through the one-way valve 41, and the oil bladder 14 expands to increase the buoyancy. When oil needs to be returned in a low-pressure environment, the low-pressure oil return electromagnetic valve 19 is opened, and the hydraulic oil flows from the oil bladder 14 to the inner oil tank under the action of external pressure. When oil needs to be returned in a high-pressure environment, the high-pressure oil return throttle valve 20 is opened, and the hydraulic oil enters the inner oil tank through the high-pressure oil return throttle valve 20 under the action of external pressure. Since the high-pressure oil return throttle valve 20 has a throttling effect, it can convert the external high-pressure liquid into low-pressure and low-flow-rate liquid, avoiding the impact damage of high-pressure liquid to the inner oil tank.

[0032] As shown in the figure Figure 1 The outer oil bladder assembly comprises an outer oil tank 12, an oil bladder 14, and an oil bladder protection shell 13. The outer oil tank 12 is fixedly connected with the rear end cover 9 through an outer oil tank connecting piece 15, and the oil inlet of the outer oil tank 12 is in communication with the oil inlet of the rear end cover 9. The oil bladder 14 has an O-ring structure at the edge, and is tightly sealed with the outer oil tank 12 through the oil bladder protection shell 13. The oil bladder protection shell 13 is connected with the outer oil tank 12 by bolts.

[0033] The present application is not limited to the above-described embodiments. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present application, and the specific embodiments described above are merely illustrative and are not restrictive. Without departing from the purpose of the present application and the scope protected by the claims, those of ordinary skill in the art can make many forms of specific changes under the inspiration of the present application, and these all belong to the protection scope of the present application.

Claims

1. A buoyancy adjustment and communication device for an underwater AUV, characterized by, The utility model relates to a kind of integrated antenna and airbag system, including communication cabin (1), integrated antenna (3), inner oil tank, airbag (21), air valve assembly, airbag cabin body (7), pump valve gas path assembly, pump valve oil path assembly, rear end cover (9), outer oil tank assembly, antenna cabin connecting piece (2), airbag compression ring (4), water-tight through cabin piece (11), outer oil tank connecting piece (15);The communication cabin (1) front end is connected with the pressure cabin of AUV and is sealed by O-ring;Integrated antenna (3) is fixedly connected on the upper of communication cabin (1) and is sealed by O-ring;The communication cabin (1) rear end is connected with airbag cabin body (7) by antenna cabin connecting piece (2);The inner oil tank is fixed in airbag cabin body (7);Airbag (21) is sleeved on the outer wall of airbag cabin body (7), is tightly sealed by airbag compression ring (4), and airbag compression ring (4) is fixed on airbag cabin body (7) by bolt;Air valve assembly is connected on airbag cabin body (7), and is fixedly connected with pump valve gas path assembly;Pump valve oil path assembly is connected on the inner side of rear end cover (9), and rear end cover (9) is connected with the rear section of airbag cabin body (7);Outer oil tank assembly is connected with rear end cover (9) by outer oil tank connecting piece (15) and is sealed by O-ring;Air valve upper cover (35) and air valve nut (5) are fastened on airbag cabin body (7) by thread, and air valve upper cover (35) and air valve nut (5) are both provided with sealing groove and are sealed with airbag cabin body (7) by O-ring;Valve core (37) passes through the inner hole of air valve nut (5) and is connected with valve core upper cover (36) by thread;Valve core (37) lower end is in contact with spring (38), and the lower end of spring (38) is in contact with the upper end surface of gas path connector (39);Gas path connector (39) is connected with air valve nut (5) by thread; Valve body (16) is fixedly connected with rear end cover (9), and the oil outlet of valve body (16) is communicated with the oil inlet of rear end cover (9);Plunger pump (40) is inserted in valve body (16) and is fixedly connected by bolt;Check valve (41) is fixedly connected with valve body (16), the inlet of check valve (41) is communicated with the outlet of plunger pump (40) by hole in valve body (16), and the outlet of check valve (41) is communicated with the oil inlet of rear end cover (9);Valve body (16) is connected with one end of motor connecting piece (17), and the other end of motor connecting piece (17) is connected with motor (18);The output shaft of motor (18) and the input shaft of plunger pump (40) are connected by shaft coupling;The oil inlet of low-pressure oil return solenoid valve (19) is connected with valve body (16), is communicated with the oil inlet of rear end cover (9) by hole in valve body (16), and the outlet of low-pressure oil return solenoid valve (19) is connected with inner oil tank front end cover (23);The inlet of high-pressure oil return throttle valve (20) is connected with valve body (16), is communicated with the oil inlet of rear end cover (9) by hole in valve body (16), and the outlet of high-pressure oil return throttle valve (20) is connected with inner oil tank front end cover (23).

2. The buoyancy adjusting and communication device for underwater AUV according to claim 1, characterized in that, The inner oil tank comprises an inner oil tank rear end cover (34), a pull wire fixing part (33), a guide rod (26), a metal bellows (25), a pull wire sensor (22) and an inner oil tank front end cover (23); the inner oil tank rear end cover (34) is fixedly connected with one end of the metal bellows (25) through welding, and the other end of the metal bellows (25) is fixedly connected with the inner oil tank front end cover (23) through welding; the inner oil tank front end cover (23) is fixedly connected with the air bag cabin body (7); one end of the guide rod (26) is fixedly connected with the inner oil tank front end cover (23); the inner oil tank rear end cover (34) is provided with a guide hole, and the guide rod (26) passes through the guide hole, so that the metal bellows (25) will not bend downward due to gravity when being stretched; the pull wire fixing part (33) is connected with the inner oil tank rear end cover (34); the pull wire sensor (22) is connected with the inner oil tank front end cover (23), and a pull wire of the pull wire sensor (22) is connected with the pull wire fixing part (33), so as to measure the length of the metal bellows (25) stretched out, and calculate the oil quantity in the inner oil tank.

3. The buoyancy adjusting and communication device for underwater AUV according to claim 1, characterized in that, When exhaust is needed, the air pump (24) is opened, the spring (38) pushes the valve core (37) and the valve core upper cover (36) apart, the gas flows into the air bag (21) through the inner hole of the gas path joint (39), the gap between the inner hole of the air valve nut (5) and the valve core (37), the gap between the inner hole of the air valve upper cover (35) and the valve core upper cover (36), so that the air bag (21) is inflated; when the air is needed, the air electromagnetic valve (10) is opened, under the action of external pressure, the gas in the air bag (21) flows into the cabin through the inner hole of the air valve upper cover (35) and the gap between the valve core upper cover (36), the inner hole of the air valve nut (5) and the valve core (37), and the inner hole of the gas path joint (39); when the gas in the air bag (21) enters the cabin, the air bag (21) is pressed against the valve core upper cover (36), the valve core upper cover (36) and the valve core (37) move downward until the taper surface of the valve core upper cover (36) is attached to the taper surface of the air valve upper cover (35), the two taper surfaces can play a sealing role, and the air bag (21) itself is pressed against the valve core upper cover (36) to play a sealing role.

4. The buoyancy adjusting and communication device for underwater AUV according to claim 1, characterized in that, The pump valve gas circuit assembly comprises a gas pump (24), a gas one-way valve (6), a gas circuit tee (8), and a gas solenoid valve (10). The gas pump (24) is fixedly connected with the front end cover (23) of the inner oil tank. The gas outlet of the gas pump (24) is connected with the first port of the gas circuit tee (8). The second port of the gas circuit tee (8) is connected with the gas joint (39). The third port of the gas circuit tee (8) is connected with the inlet of the gas solenoid valve (10). When the gas needs to be discharged, the gas pump (24) is opened, and the gas flows through the gas outlet of the gas pump (24), the gas circuit tee (8), and the gas joint (39) to the gas valve assembly, and then enters the air bag (21) through the gas valve assembly. When the gas needs to be returned, the gas pump (24) is closed, and the gas solenoid valve (10) is opened. The gas flows through the gas valve assembly, enters the gas joint (39), and then enters the inlet of the gas solenoid valve (10) through the gas circuit tee (8), and then enters the cabin through the outlet of the solenoid valve (10).

5. The buoyancy adjusting and communication device for underwater AUV according to claim 1, characterized in that, The integrated antenna comprises an antenna base (27), a wireless antenna (28), a Tian Tong communication (29), a Iridium communication (31), a beacon (30), and an antenna shell (32). The antenna base (27) is fixedly connected with the communication cabin body (1) and is sealed by an O-ring. The wireless antenna (28), the Tian Tong communication (29), the Iridium communication (31), and the beacon (30) are connected with the antenna shell (32) and are fixed by vulcanized rubber inside the antenna shell (32).

6. The buoyancy adjusting and communication device for underwater AUV according to claim 1, characterized in that, The outer oil bag assembly comprises an outer oil tank (12), an oil bag (14), and an oil bag protection shell (13). The outer oil tank (12) is fixedly connected with the rear end cover (9) through an outer oil tank connecting plate (15), and the oil inlet of the outer oil tank (12) is in communication with the oil inlet of the rear end cover (9). The oil bag (14) has an O-ring structure at the edge, and the oil bag (14) is tightly sealed with the outer oil tank (12) through the oil bag protection shell (13). The oil bag protection shell (13) is connected with the outer oil tank (12) by bolts.

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