An equalization adaptive water load fast recovery apparatus and operating method

Abstract

An equalization adaptive water load rapid recovery equipment and operation method, including frame, the inside of the frame is fixed with vertical equipment mounting plate, the inner side is installed by buoyancy chamber support buoyancy chamber, the upper position in buoyancy chamber is installed sliding plate through dynamic sealing ring, the lower position in buoyancy chamber is installed electric push rod, electric push rod is clamped through a pair of clamps, the outside of electric push rod is also covered with spring, the push rod end of electric push rod extends the bottom of buoyancy chamber and is connected with load connector, the bottom of load connector is installed load module, the bottom of buoyancy chamber is installed limit ring, limit ring realizes the limit of load module;Pressure balance valve and electromagnetic valve are installed on the top surface of buoyancy chamber;High-pressure gas cylinder is installed on the equipment mounting plate above buoyancy chamber through gas cylinder support, high-pressure gas cylinder is communicated with electromagnetic valve through No.1 air pipeline, electromagnetic valve is communicated with buoyancy chamber through No.2 air pipeline, recovery is convenient and rapid.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater vehicles, and in particular to a balanced adaptive underwater load rapid recovery equipment and operation method. BACKGROUND

[0002] The ocean contains rich biological resources and mineral resources, and is a valuable treasure and space for the sustainable development of human society. At present, the pace of entering the ocean, exploring the ocean and developing the ocean is accelerating, and the demand for long-term underwater observation and long-term underwater experimental research is rapidly growing. One of the common methods for long-term observation and experimental tasks is to carry out long-term observation and experiments based on observation devices and experimental devices, etc. The load module of the independent system. For known load modules, when a fault occurs, the load module needs to be quickly recovered to quickly separate the load module from the dangerous environment to carry out device maintenance and maintenance operations. For unknown load modules, the recovery speed of the load module needs to be improved to ensure the concealment of the recovery. Due to the strong underwater mobility, good concealment, and high intelligence of underwater unmanned vehicles, they have become one of the main equipment for recovering load modules. Due to the complexity of the underwater flow field, in order to ensure the stability of the position of the load module on the seabed, the underwater state of the load module is usually in a state of underwater negative buoyancy (i.e. the weight is greater than the buoyancy), and the recovery of the load module has a great impact on the floating state of the underwater vehicle. The underwater vehicle changes from a zero buoyancy state to a negative buoyancy state, and if the negative buoyancy is large, the underwater vehicle will sink to the seabed and cannot return to the water surface, resulting in a failed recovery and a great threat to the safety of the underwater vehicle. Therefore, the rapid recovery of the load module puts very high requirements on the balanced adaptive ability and rapidity of the underwater vehicle.

[0003] In the prior art, the balanced adjustment method of the underwater vehicle is mainly achieved by adjusting the water volume or emptying the volume in the ballast water tank through seawater pump injection and drainage, high-pressure air blowing, changing the oil bladder volume through an oil pump, and the like. The above method needs to take the underwater state of the load module as input for operation, but the underwater state of the load module is often unknown, and during the recovery process, the underwater state of the load module will change accordingly due to the change of the seawater environment pressure, resulting in poor adaptability of the above method. At the same time, due to the flow limitation of the pump and high-pressure air, the balanced adjustment speed is relatively slow, which affects the recovery speed. SUMMARY

[0004] In view of the above-mentioned shortcomings in the prior art, the present application provides a balanced adaptive underwater load rapid recovery equipment and operation method, so that the underwater rapid recovery of the load module can be realized when the underwater state of the load module is unknown or changes.

[0005] The technical solutions adopted by the present application are as follows:

[0006] The application discloses a kind of balanced adaptive water load quick recovery equipment, including frame, vertical equipment mounting plate is fixed in the inside of the frame, the inner side of the equipment mounting plate is installed buoyancy chamber by buoyancy chamber support, the upper position in buoyancy chamber is installed sliding plate by dynamic seal ring, the lower position in buoyancy chamber is installed electric push rod, electric push rod is clamped by a pair of clamping device, the outside of electric push rod is also covered with spring, the push rod end of electric push rod extends buoyancy chamber bottom and connects load connector, load connector bottom installs load module, the bottom of the buoyancy chamber is installed limit ring, limit ring realizes the limit of load module;Pressure balance valve and solenoid valve are installed on the top surface of buoyancy chamber;High-pressure gas cylinder is installed on the equipment mounting plate above buoyancy chamber by gas cylinder support, high-pressure gas cylinder is communicated with solenoid valve by No.

[0007] Further technical solutions thereof are as follows:

[0008] The buoyancy chamber adopts a cylindrical structure.

[0009] The structure of the buoyancy chamber is as follows: the buoyancy chamber includes a chamber body, a first pressure sensor is arranged on an upper plane in the chamber body, a second pressure sensor is arranged on a lower plane in the chamber body, a push rod passage boss is arranged at the center of the lower plane in the chamber body and coaxial with the chamber body, a first annular boss is arranged on the upper plane in the chamber body, so that a space is left between the sliding plate and the upper plane of the chamber body and the first pressure sensor is provided with a layout space, a second annular boss is arranged on the lower plane in the chamber body, so that a space is left between the sliding plate and the lower plane of the chamber body and the second pressure sensor, the push rod passage boss and the clamping device are provided with a layout space, the first annular boss, the second annular boss and the side surface of the chamber body jointly limit the spring, a water-permeable hole is arranged on the lower plane of the chamber body to ensure that the ambient pressure acts on the sliding plate, and a limit ring support passage is arranged on the lower plane of the chamber body to ensure that the limit ring moves with the sliding plate.

[0010] The bottom of the limit ring is annular, one side of the annular structure is provided with two connecting rods, the connecting rods are inserted into the limit ring support passage and abut against the sliding plate, and the other side of the annular structure is a smooth surface corresponding to the load module.

[0011] The outer side of the sliding plate is provided with a sealing groove, and the dynamic seal ring is arranged in the sealing groove.

[0012] The sliding plate, the dynamic seal ring and the inner wall of the chamber body constitute a dynamic seal.

[0013] The relationship between the spring and the load module is as follows:

[0014] (1)

[0015] Wherein, for the stroke of the sliding plate, for the density of the water body, for the radius of the buoyancy chamber body, for the gravity acceleration, for the underwater mass of the load module, for the underwater weight of the load module, for the buoyancy provided by the device of the present application; the stiffness coefficient of the spring can be obtained from formula (1) satisfy the following relationship:

[0016] (2).

[0017] The clamps are two in total and are arranged on the lower plane of the buoyancy chamber and symmetrically about the longitudinal section of the buoyancy chamber.

[0018] The structure of the clamp comprises a clamp motor, a clamp push rod is installed at the output end of the clamp motor, and an arc-shaped clamp is arranged at the head of the clamp push rod.

[0019] An operation method of an equalized adaptive underwater load fast recovery equipment, comprising the following operation steps:

[0020] First step: the underwater vehicle is placed into water and dived to the position of the load module, in the diving process, the control module reads the pressure values of the first pressure sensor and the second pressure sensor, and controls the electromagnetic valve to supplement high-pressure air into the buoyancy chamber in real time according to the pressure difference of the two pressure sensors, so as to keep the data of the two pressure sensors consistent, that is, the pressure in the buoyancy chamber and the ambient pressure are kept in balance;

[0021] Second step: continue to dive, after diving to the upper side of the load module, the electric push rod works to connect the load connector with the load module;

[0022] Third step: the underwater vehicle drives the load module to separate from the seabed, in the separation process, the sliding plate moves downward along the axis of the buoyancy chamber under the action of the underwater weight of the load module, the spring is compressed, and when the load module completely separates from the seabed, the sliding plate reaches balance under the joint action of the underwater weight of the load module and the elastic force of the spring, the buoyancy provided by the closed space formed by the sliding plate and the chamber body balances with the underwater weight of the load module, and the equalized state of the underwater vehicle in this process remains unchanged;

[0023] Fourth step: the clamp clamps the electric push rod to fix the sliding plate, that is, the size of the closed space formed by the sliding plate and the chamber body remains unchanged, at the same time, the electric push rod is retracted to lift the load module to contact with the limiting ring, so as to realize the limiting of the load module.

[0024] Fifth step: the underwater vehicle floats up, during the floating process, the environmental pressure gradually decreases, the pressure balance valve is used to keep the pressure in the buoyancy chamber balanced with the environmental pressure, and the clamping device is used to ensure that the position of the sliding plate does not change;

[0025] Sixth step: the underwater vehicle floats to the water surface, and the underwater vehicle is recovered to the water surface platform.

[0026] The beneficial effects of the present application are as follows:

[0027] 1) The device of the present application does not need to know the state of the load module in water, can adapt to the water weight of the load module and its change, ensures that the balanced state of the underwater vehicle does not change after the load module is recovered, greatly improves the load recovery capacity of the underwater vehicle;

[0028] 2) The device of the present application can quickly complete the balance of the underwater vehicle while recovering the load module, realizes the instantaneous adjustment of the balance, greatly improves the balance adjustment response speed of the underwater vehicle, and greatly improves the recovery speed of the load module;

[0029] 3) The device of the present application can be repeatedly operated, does not produce any pollutants, and will not pollute the water body environment such as the sea and lake;

[0030] 4) The device of the present application has simple structure, convenient operation and is easy to maintain;

[0031] 5) The device of the present application has compact structure, high integration, self-contained module, and is convenient for miniaturization and modularization of the underwater vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present application.

[0033] Figure 2 It is an exploded view of the present application.

[0034] Figure 3 It is a side view of the present application.

[0035] Figure 4 It is a schematic diagram of the internal structure of the present application.

[0036] Figure 5 It is a structural schematic diagram of the buoyancy chamber of the present application.

[0037] Figure 6 It is a structural schematic diagram of the buoyancy chamber of the present application from another perspective.

[0038] Figure 7 It is a sectional view of the buoyancy chamber of the present application.

[0039] Figure 8 It is a structural schematic diagram of the clamping device of the present application.

[0040] The components include: 1. Frame; 2. Buoyancy chamber; 3. Solenoid valve; 4. No. 1 air pipeline; 5. High-pressure air cylinder; 6. Control module; 7. Gas cylinder bracket; 8. Buoyancy chamber bracket; 9. No. 2 air pipeline; 10. Pressure balance valve; 11. Sliding plate; 12. Spring; 13. Clamping device; 14. Load connector; 15. Equipment mounting plate; 16. Load module; 17. Limit ring; 18. Electric push rod; 19. Dynamic sealing ring.

[0041] 201. Cabin; 202. Annular boss No. 1; 203. Water permeable hole; 204. Pressure sensor No. 1; 205. Pressure sensor No. 2; 206. Push rod channel boss; 207. Limiting ring bracket channel; 208. Annular boss No. 2.

[0042] 1301. Clamping motor; 1302. Clamping push rod; 1303. Arc clamp. Detailed Implementation

[0043] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0044] like Figures 1-8 As shown, the balanced adaptive underwater load rapid recovery equipment of this embodiment includes a frame 1. A vertical equipment mounting plate 15 is fixed inside the frame 1. A buoyancy chamber 2 is mounted on the inner side of the equipment mounting plate 15 via a buoyancy chamber bracket 8. A sliding plate 11 is mounted on the upper part of the buoyancy chamber 2 via a dynamic sealing ring 19. An electric push rod 18 is fitted on the lower part of the buoyancy chamber 2. The electric push rod 18 is clamped by a pair of clamps 13. A spring 12 is also sleeved on the outside of the electric push rod 18. The push rod end of the electric push rod 18 extends out of the buoyancy chamber. The bottom of the buoyancy chamber 2 is connected to the load connector 14, and the load module 16 is installed at the bottom of the load connector 14. The bottom of the buoyancy chamber 2 is fitted with a limit ring 17, which limits the load module 16. A pressure balance valve 10 and a solenoid valve 3 are installed on the top surface of the buoyancy chamber 2. A high-pressure gas cylinder 5 is installed on the equipment mounting plate 15 above the buoyancy chamber 2 via a gas cylinder bracket 7. The high-pressure gas cylinder 5 is connected to the solenoid valve 3 through the first air pipe 4, and the solenoid valve 3 is connected to the buoyancy chamber 2 through the second air pipe 9.

[0045] Buoyancy chamber 2 adopts a cylindrical structure.

[0046] The structure of the buoyancy tank 2 comprises a tank body 201, a first pressure sensor 204 arranged on the upper plane inside the tank body 201, a second pressure sensor 205 arranged on the lower plane inside the tank body 201, a push rod passage boss 206 arranged at the center of the lower plane inside the tank body 201 coaxially with the tank body 201, a first annular boss 202 arranged on the upper plane inside the tank body 201, leaving a space between the sliding plate 11 and the upper plane of the tank body 201, and providing arrangement space for the first pressure sensor 204, a second annular boss 208 arranged on the lower plane inside the tank body 201, leaving a space between the sliding plate 11 and the lower plane of the tank body 201, and providing arrangement space for the second pressure sensor 205, the push rod passage boss 206 and the clamp 13, the first annular boss 202, the second annular boss 208 and the side surface of the tank body 201 jointly forming a limiting action on the spring 12, a water-permeable hole 203 arranged on the lower plane of the tank body 201, ensuring the action of the ambient pressure on the sliding plate 11, and a limiting ring support passage 207 arranged on the lower plane of the tank body 201, ensuring the movement of the limiting ring 17 along with the sliding plate 11.

[0047] The bottom of the limiting ring 17 is annular, one side of the annular structure is provided with two connecting rods, the connecting rods are inserted into the limiting ring support passage 207 and abut against the sliding plate 11, and the other side of the annular structure is a smooth surface corresponding to the load module 16.

[0048] The outer side of the sliding plate 11 is provided with a sealing groove, and a dynamic sealing ring 19 is arranged in the sealing groove.

[0049] The sliding plate 11, the dynamic sealing ring 19 and the inner wall of the tank body 201 constitute a dynamic seal.

[0050] The relationship between the spring 12 and the load module 16 is as follows:

[0051] (1)

[0052] wherein, is the stroke of the sliding plate, is the density of water, is the inner radius of the buoyancy tank, is the acceleration of gravity, is the water mass of the load module, is the water weight of the load module, is the buoyancy provided by the device, and the stiffness coefficient of the spring can be obtained from formula (1) satisfies the following relationship:

[0053] (2).

[0054] The clamp 13 is two in total and is arranged symmetrically about the longitudinal section in the buoyancy tank 1 on the lower plane of the buoyancy tank 2.

[0055] The structure of the clamp 13 comprises a clamp motor 1301, a clamp push rod 1302 is installed at the output end of the clamp motor 1301, and an arc-shaped clamp 1303 is arranged at the head of the clamp push rod 1302.

[0056] The specific structure and functions of the equalization adaptive water load rapid recovery equipment are as follows:

[0057] The main components include a buoyancy tank 2, an environmental pressure balancing mechanism, an equalization adaptive adjusting mechanism, a locking mechanism, a control module 6 and a load connector 14.

[0058] The buoyancy tank 2 comprises a tank body 201, a first pressure sensor 204, a second pressure sensor 205, a push rod passage boss 206, a first annular boss 202, a second annular boss 208, a water permeable hole 203 and a limiting ring support passage 207.

[0059] The tank body 201 is a cylinder, and the tank body 201 is fixedly connected with a device mounting plate 15 through a buoyancy tank support 8. The first pressure sensor 204 is arranged on an upper plane inside the tank body 201, the second pressure sensor 205 is arranged on a lower plane inside the tank body 201, the push rod passage boss 206 is arranged at the center of the lower plane inside the tank body 201 and is coaxial with the tank body 201, the first annular boss 202 is arranged on the upper plane inside the tank body 201, so that a space is left between the sliding plate 11 and the upper plane of the tank body 201, the acting area of the gas pressure is kept unchanged, and the first pressure sensor 204 is provided with a layout space. The second annular boss 208 is arranged on the lower plane inside the tank body 201, so that a space is left between the sliding plate 11 and the lower plane of the tank body 201, the acting area of the environmental pressure is kept unchanged, and the second pressure sensor 205, the push rod passage boss 206 and the clamp 13 are provided with a layout space. The first annular boss 202, the second annular boss 208 and the side surface of the tank body 201 jointly form a limiting action on the spring 12. The water permeable hole 203 is arranged on the lower plane of the tank body 201, so as to ensure the action of the environmental pressure on the sliding plate 11. The limiting ring support passage 207 is arranged on the lower plane of the tank body 201, so as to ensure that the limiting ring 17 moves with the sliding plate 11.

[0060] The environmental pressure balancing mechanism comprises a high-pressure air bottle 5, an electromagnetic valve 3, a pressure balancing valve 10, a first air pipeline 4 and a second air pipeline 9. The high-pressure air bottle 5 is fixedly connected with the device mounting plate 15 arranged on the carrier frame 1 through an air bottle support 7. The electromagnetic valve 3 is arranged on the upper plane of the tank body 201, is connected with the high-pressure air bottle 5 through the first air pipeline 4, is connected with the buoyancy tank 2 through the second air pipeline 9 and is connected with the control module 6 through a cable. The pressure balancing valve 10 is fixedly connected with a mounting interface arranged on the upper plane of the tank body 201.

[0061] The equalizing self-adapting mechanism comprises a sliding plate 11, a dynamic sealing ring 19, an electric push rod 18 and a spring 12. The sliding plate 11 is a cylinder and is arranged inside the cabin 201. Two sealing grooves are arranged on the side of the sliding plate 11, and the dynamic sealing ring 19 is arranged in the sealing grooves. The sliding plate 11, the dynamic sealing ring 10 and the inner wall of the cabin 201 constitute a dynamic seal, so as to ensure the sealing performance of the sliding plate 11 when moving axially along the cabin 201. One end of the electric push rod 18 is connected with the sliding plate 11, and the electric push rod 18 and the sliding plate 11 constitute a piston. The piston is connected with the push rod passage boss 206 to constitute a piston moving guide cooperation. The electric push rod 12 is connected with the control module 6 through a cable. The spring 12 is arranged between the first annular boss 202 and the second annular boss 208, and is sleeved on the electric push rod 11. The stiffness coefficient of the spring 12 is satisfies the relationship is the density of water, is the inner radius of the cabin 201, is the water mass of the load module 16.

[0062] The locking mechanism comprises a clamp 13 and a limiting ring 17. The clamp 13 is arranged on the lower plane inside the cabin 201 and is symmetrically arranged with respect to the longitudinal section of the buoyancy chamber 2. The clamp 13 is connected with the control module 6 through a cable. The limiting ring 17 is connected with the lower plane of the sliding plate 11 through a support and moves along the limiting ring support passage 207 on the buoyancy chamber 2 with the sliding plate 11. The locking mechanism is connected with the electric push rod 11 to realize the rigid fixation of the load module 16 in the recovery process.

[0063] The load connector 14 is arranged at the push rod end of the electric push rod 18 and is connected with the control module 6 through a cable.

[0064] The control module 6 is arranged on the equipment mounting plate 15 to control the electric equipment.

[0065] The operation method of the equalizing self-adapting underwater load rapid recovery equipment is as follows:

[0066] Firstly, the underwater vehicle is arranged into water and is dived to the position of the load module 16. During the diving process, the control module 6 reads the pressure values of the first pressure sensor 204 and the second pressure sensor 205. The electromagnetic valve 3 is controlled according to the pressure difference of the two pressure sensors to supplement high-pressure air into the buoyancy chamber 2 in real time, so as to keep the pressure values of the two pressure sensors consistent, that is, the pressure in the buoyancy chamber 2 is balanced with the ambient pressure.

[0067] Secondly, after diving to the position above the load module 16, the control module 6 controls the load connector 14 to be connected with the load module 16.

[0068] ​Then, the underwater vehicle drives the load module 16 to separate from the seabed, in the process of separation, the sliding plate 11 moves downward along the axis of the buoyancy chamber 2 under the action of the water weight of the load module 16, the spring 12 is compressed, when the load module 16 completely separates from the seabed, the sliding plate 11 reaches balance under the joint action of the water weight of the load module 16 and the elastic force of the spring 12, the buoyancy provided by the closed space formed by the sliding plate 11 and the cabin body 201 balances with the water weight of the load module 16, the balance state of the underwater vehicle in the process is always unchanged;

[0069] Subsequently, the control module 6 controls the clamping device motor 1301 to drive the push rod 1302 to move to the axis of the buoyancy chamber 2, until the arc-shaped clamp 1303 clamps the electric push rod 18, fixes the sliding plate 11, that is, the size of the closed space formed by the sliding plate 11 and the cabin body 201 is unchanged, at the same time, the electric push rod 18 is retracted, the load module 16 is similarly lifted to contact the limiting ring 17, the limiting of the load module 16 is realized, and the rigid fixation of the load module 16 in the recovery process is ensured;

[0070] Subsequently, the underwater vehicle floats up, in the process of floating up, the environmental pressure gradually decreases, the pressure balance valve 10 keeps the pressure in the buoyancy chamber 2 balanced with the environmental pressure, and the position of the sliding plate 11 is unchanged through the clamping cooperation of the clamping device 13, further ensuring the matching of the buoyancy provided by the closed space and the water weight of the load module 16;

[0071] Finally, the underwater vehicle floats up to the water surface, and the underwater vehicle is recovered to the water surface platform.

[0072] The above process is automatically controlled by the control module 6 of the underwater vehicle.

[0073] That is, the above operation mode can be used to conveniently complete the underwater rapid recovery of the load module in the case that the water state of the load module is unknown or changes.

[0074] The above description is an explanation of the application, not a limitation of the application, the scope of the application is defined in the claims, within the protection scope of the application, any form of modification can be made.

Claims

1. An equalization adaptive water loading quick recovery apparatus, characterized by: The utility model provides a kind of load module, including frame (1), the inside of the frame (1) is fixed with vertical equipment mounting plate (15), the inner side of the equipment mounting plate (15) is installed buoyancy chamber (2) by buoyancy chamber support (8), the upper position in buoyancy chamber (2) is installed sliding plate (11) by dynamic seal ring (19), and the lower position in buoyancy chamber (2) is installed electric push rod (18) in cooperation, electric push rod (18) is clamped by a pair of clamping device (13), the outside of the electric push rod (18) is also covered with spring (12), and the push rod end of electric push rod (18) extends buoyancy chamber (2) bottom and connects load connector (14), and load connector (14) bottom installs load module (16), the bottom of the buoyancy chamber (2) is installed limit ring (17) in cooperation, and limit ring (17) realizes the limiting of load module (16);Pressure balance valve (10) and solenoid valve (3) are installed on the top surface of buoyancy chamber (2);High-pressure gas cylinder (5) is installed on the equipment mounting plate (15) above buoyancy chamber (2) by gas cylinder support (7), and high-pressure gas cylinder (5) is communicated with solenoid valve (3) by air pipeline (4), and solenoid valve (3) is communicated with buoyancy chamber (2) by air pipeline (9) No.

2. An equalization adaptive water loading fast recovery apparatus as claimed in claim 1, characterized by: The buoyancy chamber (2) adopts a cylindrical structure.

3. An equalization adaptive water loading fast recovery apparatus as claimed in claim 1, wherein: The structure of the buoyancy chamber (2) is as follows: a cabin body (201), a first pressure sensor (204) is arranged on the upper plane inside the cabin body (201), a second pressure sensor (205) is arranged on the lower plane inside the cabin body (201), a push rod passage boss (206) is arranged at the center of the lower plane inside the cabin body (201) coaxially with the cabin body (201), a first annular boss (202) is arranged on the upper plane inside the cabin body (201), leaving a space between the sliding plate (11) and the upper plane of the cabin body (201), and providing a layout space for the first pressure sensor (204); a second annular boss (208) is arranged on the lower plane inside the cabin body (201), leaving a space between the sliding plate (11) and the lower plane of the cabin body (201), and providing a layout space for the second pressure sensor (205), the push rod passage boss (206), and the clamping device (13); the first annular boss (202), the second annular boss (208), and the side surface of the cabin body (201) jointly limit the spring (12); a water-permeable hole (203) is arranged on the lower plane of the cabin body (201) to ensure the effect of the environmental pressure on the sliding plate (11); and a limit ring support passage (207) is arranged on the lower plane of the cabin body (201) to ensure the movement of the limit ring (17) with the sliding plate (11).

4. An equalizing adaptive water loading quick recovery apparatus as claimed in claim 3, wherein: The bottom of the limit ring (17) is annular, one side of the annular structure is provided with two connecting rods, the connecting rods are inserted into the limit ring support passage (207) and abut against the sliding plate (11), and the other side of the annular structure is a smooth surface corresponding to the load module (16).

5. An equalizing adaptive water loading quick recovery apparatus as claimed in claim 4, wherein: The outer side of the sliding plate (11) is provided with a sealing groove, and a dynamic seal ring (19) is arranged in the sealing groove.

6. An equalizing adaptive water loading quick recovery apparatus as claimed in claim 5, wherein: The sliding plate (11), the dynamic sealing ring (19) and the inner wall of the cabin (201) constitute a dynamic seal.

7. An equalizing adaptive water loading quick recovery apparatus as claimed in claim 6, wherein: The relationship between the spring (12) and the load module (16) is as follows: （1） wherein, is the stroke of the sliding plate, is the density of water, is the inner radius of the buoyancy chamber, is the acceleration of gravity, is the underwater mass of the load module, is the underwater weight of the load module, is the buoyancy provided by the device of the invention; the stiffness coefficient of the spring can be obtained from equation (1) satisfies the following relationship: （2）。 8. An equalizing adaptive water loading quick recovery apparatus as claimed in claim 7, wherein: The clamping device (13) is arranged on the lower plane of the buoyancy cabin (2) and is symmetrically arranged about the longitudinal section of the buoyancy cabin (2).

9. An equalizing adaptive water loading quick recovery apparatus as claimed in claim 8, wherein: The structure of the clamping device (13) is as follows: the clamping device motor (1301) is installed at the output end of the clamping device (1302), and the clamping device push rod (1302) is provided with an arc-shaped clamp (1303) at the head.

10. A method of operating an equalizing self-adapting water load quick recovery apparatus as claimed in claim 9, characterized in that: The operation steps include the following steps: First step: the underwater vehicle is placed into water and is dived to the position of the load module (16), during the diving process, the control module (6) reads the pressure values of the first pressure sensor (204) and the second pressure sensor (205), and controls the electromagnetic valve (3) to supplement high-pressure air into the buoyancy cabin (2) in real time according to the pressure difference of the two pressure sensors, so that the data of the two pressure sensors are always consistent, that is, the pressure in the buoyancy cabin (2) is balanced with the environmental pressure; Second step: continue to dive, after diving above the load module (16), the electric push rod (18) works to connect the load connector (14) and the load module (16); Third step: the underwater vehicle drives the load module (16) to separate from the seabed, during the separation process, the sliding plate (11) moves downward along the axis of the buoyancy cabin (2) under the action of the water weight of the load module (16), the spring (12) is compressed, and when the load module (16) completely separates from the seabed, the sliding plate (11) reaches balance under the joint action of the water weight of the load module (16) and the elastic force of the spring (12), the buoyancy provided by the closed space formed by the sliding plate (11) and the cabin (201) is balanced with the water weight of the load module (16), and the balance state of the underwater vehicle in this process is always kept unchanged; Fourth step: the clamping device (13) clamps the electric push rod (18) to fix the sliding plate (11), that is, the size of the closed space formed by the sliding plate (11) and the cabin (201) is unchanged, at the same time, the electric push rod (18) is retracted to lift the load module (16) to contact with the limiting ring (17), so that the load module (16) is limited; Fifth step: the underwater vehicle is floated up, during the floating process, the environmental pressure gradually decreases, the pressure in the buoyancy cabin (2) is balanced with the environmental pressure through the pressure balance valve (10), and the position of the sliding plate (11) is kept unchanged through the clamping cooperation of the clamping device (13); Sixth step: the underwater vehicle is floated up to the water surface, and the underwater vehicle is recovered to the water surface platform.

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