Pressure energy reciprocating power device and action control method thereof

Abstract

The invention relates to the technical field of deep sea power equipment, and discloses a pressure energy reciprocating power device and an action control method thereof.The pressure energy reciprocating power device comprises a sealing piston cylinder, a pressure-resistant pipe and an underwater control part; the sealing piston cylinder comprises a cylinder body and a piston rod arranged in the cylinder body, the piston rod comprises a piston and a push rod, one end of the push rod is connected with the piston, the other end of the push rod penetrates through the cylinder body in a sealing and sliding mode, and the piston divides the cylinder body into a rod cavity and a rodless cavity. The pressure-resistant pipe comprises a main pipeline, a first branch pipeline and a second branch pipeline, one end of the main pipeline is communicated with the rodless cavity, the other end of the main pipeline is communicated with the first branch pipeline and the second branch pipeline, and the first branch pipeline and the second branch pipeline are communicated with the outside and the pressure-resistant storage cylinder respectively; the underwater control piece is arranged on the pressure-resistant pipe and used for controlling the two branch pipelines to be alternately connected and disconnected so as to drive the push rod to stretch out or retract back and forth. Stable power output is obtained through energy conversion, and the device is simple in structure, easy to implement, safe and reliable.

Description

Technical Field

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

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

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

[0004] In order to achieve the above-mentioned object, the present application provides a pressure energy reciprocating power device on one hand, and the pressure energy reciprocating power device comprises: A sealed piston cylinder comprises a cylinder body and a piston rod disposed in the cylinder body, wherein the piston rod comprises a piston and a push rod, one end of the push rod is connected to the piston, and the other end of the push rod seals and slides through the cylinder body, and the piston divides the cylinder body into a rod chamber and a rodless chamber; A pressure-resistant pipe, comprising a main pipeline, a first branch pipeline and a second branch pipeline, wherein one end of the main pipeline is connected to the rodless cavity, and the other end is connected to both the first branch pipeline and the second branch pipeline, and the first branch pipeline and the second branch pipeline are connected to the outside and the pressure-resistant storage cylinder respectively; An underwater control component is provided on the pressure-resistant pipe, and is used to control the first branch pipeline and the second branch pipeline to be alternately opened and closed so as to drive the push rod to extend or retract a reciprocating motion; The underwater control component is a two-position three-way reversing solenoid valve, the first side oil port of the two-position three-way reversing solenoid valve is connected to the main pipeline, the second side oil port is respectively connected to the first branch pipeline and the second branch pipeline, the end of the first branch pipeline away from the main pipeline is directly located in the external seawater or is connected to a pressure balancing component for balancing the internal and external pressures, and the end of the second branch pipeline away from the main pipeline is connected to the pressure-resistant storage cylinder; Alternatively, the underwater control component includes two one-way solenoid valves, and the two one-way solenoid valves are respectively arranged on the first branch pipeline and the second branch pipeline.

[0005] In some embodiments, the pressure energy reciprocating power device further includes a control unit electrically connected to the underwater control element, and the control unit is used to control the action of the underwater control element.

[0006] In some embodiments, when the underwater control element includes two one-way solenoid valves, one end of the first branch pipeline away from the main pipeline is inserted into external seawater, and one end of the second branch pipeline away from the main pipeline is connected to the pressure-resistant storage cylinder.

[0007] In some embodiments, when the underwater control component is a two-position three-way reversing solenoid valve, a one-way valve is provided on the first branch pipeline, the liquid inlet of the one-way valve is connected to the pressure balance component, and the liquid outlet is connected to the second side oil port of the two-position three-way reversing solenoid valve.

[0008] In some embodiments, the pressure balancing member is an oil bag or an open piston cylinder, and an incompressible liquid is stored in the oil bag.

[0009] A second aspect of the present application provides a method for controlling the motion of a pressure energy reciprocating power device, which is applied to the pressure energy reciprocating power device as described above. The method comprises the following steps: Obtaining the required working state of the pressure energy reciprocating power device; Controlling the action of the underwater control element according to the required working state; When the pressure energy reciprocating power device needs to extend, the first branch pipeline is connected and the second branch pipeline is disconnected to drive the push rod to move upward; In the case where the pressure energy reciprocating power device needs to perform a recovery action, the first branch pipeline is disconnected and the second branch pipeline is connected to drive the push rod to move downward.

[0010] In some embodiments, the underwater control element includes two one-way solenoid valves, and the step of controlling the action of the underwater control element according to the required working state includes: When the pressure energy reciprocating power device needs to extend, the one-way solenoid valve on the first branch pipeline is controlled to be closed, and the one-way solenoid valve on the second branch pipeline is disconnected; When the pressure energy reciprocating power device needs to perform a recovery action, the one-way solenoid valve on the first branch pipeline is controlled to be disconnected, and the one-way solenoid valve on the second branch pipeline is controlled to be closed.

[0011] In some embodiments, the underwater control element is a two-position three-way reversing solenoid valve, and the step of controlling the action of the underwater control element according to the required working state includes: When the pressure energy reciprocating power device needs to extend, the two-position three-way reversing solenoid valve is controlled to switch to the first reversing position, so that the first branch pipeline is connected and the second branch pipeline is disconnected; When the pressure energy reciprocating power device needs to extend, the two-position three-way reversing solenoid valve is controlled to switch to the second reversing position, so that the first branch pipeline is disconnected and the second branch pipeline is connected.

[0012] Through the above technical solution, the pressure energy reciprocating power device and the motion control method thereof provided by the embodiment of the present invention have the following beneficial effects: The pressure energy reciprocating power device includes a sealed piston cylinder, a pressure-resistant pipe and an underwater control component; the sealed piston cylinder includes a cylinder body and a piston rod arranged in the cylinder body, and the piston of the piston rod divides the cylinder body into a rod chamber and a rodless chamber; the pressure-resistant pipe includes a main pipeline, a first branch pipeline and a second branch pipeline, one end of the main pipeline is connected to the rodless chamber, and the other end is connected to both the first branch pipeline and the second branch pipeline, the first branch pipeline and the second branch pipeline are respectively connected to the outside and the pressure-resistant storage cylinder; the underwater control component is arranged on the pressure-resistant pipe, and the first branch pipeline and the second branch pipeline are controlled by the underwater control component to be alternately opened and closed, so that the rodless chamber is connected to the outside, or the liquid in the rodless chamber is stored in the pressure-resistant storage cylinder, so as to drive the push rod to extend or retract reciprocating movements. The deep-sea power device of the present application uses water pressure potential energy as the power source, and the output energy all comes from underwater pressure energy, and a stable power output is obtained through energy conversion; and the reciprocating motion of the push rod is achieved by turning on and off the underwater control parts, so the energy consumption is very low, the device structure is simple, there is no motor, pumping and complex control system, it is easy to implement, safe and reliable.

[0013] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings: Figure 1 This is a schematic structural diagram of a pressure energy reciprocating power device in the first embodiment of the present application; Figure 2 This is a schematic structural diagram of a pressure energy reciprocating power device in the second embodiment of the present application; Figure 3 This is a schematic structural diagram of a pressure energy reciprocating power device in the third embodiment of the present application; Figure 4 This is a schematic structural diagram of a pressure energy reciprocating power device in the fourth embodiment of the present application; Figure 5 This is a flow chart of the motion control method of the pressure energy reciprocating power device of the present application.

[0015] Description of Reference Numerals 1. Sealed piston cylinder; 5. Piston; 21. Main pipeline; 6. Pressure-resistant storage cylinder; 22. First branch pipeline; 7. Check valve; 23. Second branch pipeline; 8. Oil bag; 3. Underwater control component; 9. Open piston cylinder; 4. Push rod. DETAILED DESCRIPTION

[0016] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0017] The following describes the pressure energy reciprocating power device and the motion control method thereof according to the present application with reference to the accompanying drawings.

[0018] like Figure 1 As shown, the present application provides a pressure energy reciprocating power device, which includes a sealed piston cylinder 1, a pressure-resistant pipe and an underwater control component 3; the sealed piston cylinder 1 includes a cylinder body and a piston rod arranged in the cylinder body, the piston rod includes a piston 5 and a push rod 4, one end of the push rod 4 is connected to the piston 5, and the other end is sealed and slidable through the cylinder body, and the piston 5 divides the cylinder body into a rod chamber and a rodless chamber; the pressure-resistant pipe includes a main pipeline 21, a first branch pipeline 22 and a second branch pipeline 23, one end of the main pipeline 21 is connected to the rodless chamber, and the other end is connected to both the first branch pipeline 22 and the second branch pipeline 23, the first branch pipeline 22 and the second branch pipeline 23 are respectively connected to the outside and the pressure-resistant storage cylinder 6; the underwater control component 3 is arranged on the pressure-resistant pipe, and the underwater control component 3 is used to control the first branch pipeline 22 and the second branch pipeline 23 to be alternately turned on and off to drive the push rod 4 to extend or retract a reciprocating action.

[0019] It should be noted that the inner wall of the cylinder body in the present application is in a sliding sealing relationship with the piston 5 and the push rod 4; the underwater control component 3 is a pressure-resistant packaged pipeline control switch to achieve normal operation in a deep-sea environment.

[0020] In this embodiment, when the underwater control component 3 controls the main line 21 to connect with the first branch line 22 connected to the external seawater and disconnects the second branch line 23 connected to the pressure-resistant storage cylinder 6, the pressure in the rodless chamber is equal to the pressure of the external seawater, so that the pressure in the cylinder is equal to the seawater pressure. Since the cross-sectional area of ​​the piston 5 is larger than the cross-sectional area of ​​the push rod 4, a pressure difference occurs in the cylinder, so that the push rod 4 extends out of the cylinder under the action of the pressure difference. When the underwater control component 3 controls the second branch line 23 connected to the pressure-resistant storage cylinder 6 to connect and disconnects the first branch line 22 connected to the main line 21 and the external seawater, the passage between the rodless chamber and the external seawater is disconnected, and the push rod 4 is retracted under the action of the seawater pressure in the chamber, and the liquid in the cylinder enters the pressure-resistant storage cylinder 6 under the action of pressure for storage. The deep-sea power device controls the extension and retraction reciprocating action of the push rod 4 by the on-off control of the underwater control component 3, providing power for the system. The deep-sea power device of the present application uses water pressure potential energy as a power source, and the output energy all comes from underwater pressure energy, and a stable power output is obtained through energy conversion; and the reciprocating motion of the push rod 4 is achieved by turning the underwater control member 3 on and off, and the energy consumption is very low. The device has a simple structure, without a motor, pumping, or complex control system, and is easy to implement, safe, and reliable.

[0021] In some embodiments, the pressure energy reciprocating power device further includes a control unit electrically connected to the underwater control member 3, and the control unit is used to control the action of the underwater control member 3 to achieve the connection or disconnection of the first branch pipeline 22 and the second branch pipeline 23 with the main pipeline 21. Among them, the control unit can preferably be a common controller in the prior art. By electrically connecting the controller to the underwater control member 3 to control the underwater control member 3, the entire control process is more controllable and the control process is more precise.

[0022] In the first embodiment of the present application, Figure 1 As shown, the underwater control component 3 includes two single-way solenoid valves, which are respectively arranged on the first branch pipeline 22 and the second branch pipeline 23. The end of the first branch pipeline 22 away from the main pipeline 21 is inserted into the external seawater, and the end of the second branch pipeline 23 away from the main pipeline 21 is connected to the pressure-resistant storage cylinder 6. One of the single-way solenoid valves is used to control the on-off of the first branch pipeline 22, and the other single-way solenoid valve is used to control the on-off of the second branch pipeline 23. The on-off of the two branch pipelines is controlled by the two single-way solenoid valves, so that the reciprocating motion of the deep-sea power device can be realized.

[0023] In the second to fourth embodiments of the present application, Figures 2 to 4As shown, the underwater control component 3 is a two-position three-way reversing solenoid valve, the first side oil port of the two-position three-way reversing solenoid valve is connected to the main pipeline 21, and the second side oil port is respectively connected to the first branch pipeline 22 and the second branch pipeline 23. Among them, the A port of the two-position three-way solenoid valve is connected to the rodless cavity through the main pipeline 21, the R port is connected to the pressure-resistant storage cylinder 6 through the second branch pipeline 23, and the P port is connected to the pressure balance component or external seawater through the first branch pipeline 22; when the two-position three-way solenoid valve is powered on, it switches to the first reversing position on the left, at which time the A port is connected to the P port, and the push rod 4 extends out. When the two-position three-way solenoid valve is powered off, it switches to the second reversing position on the right, the A port is connected to the R port, and the push rod 4 retracts, thereby realizing the reciprocating motion of the deep-sea power device. In the present application, the seawater pressure is converted into the output force of the power actuator through hydraulic devices and hydraulic pipelines. The device does not need to provide additional energy for driving, and the reciprocating motion is realized by controlling the on and off of the pipeline by the solenoid valve. The power device has a simple structure, is reliable, and is easy to implement.

[0024] In some embodiments, one end of the first branch pipeline 22 away from the main pipeline 21 is directly located in the external seawater or communicated with the pressure balance member, and one end of the second branch pipeline 23 away from the main pipeline 21 is communicated with the pressure-resistant storage cylinder 6 .

[0025] The pressure balance part is a structure with equal pressure inside and outside, and an incompressible liquid is filled inside the pressure balance part to ensure the pressure balance of the incompressible liquid filled inside. When the pressure energy reciprocating power device is working, the first branch pipeline 22 is connected, and the second branch pipeline 23 is disconnected, and the incompressible liquid is pressed by the pressure balance part to the rodless cavity of the cylinder body, thereby realizing the extension of the push rod 4; when the first branch pipeline 22 is disconnected and the second branch pipeline 23 is connected, the liquid in the rodless cavity enters the pressure storage cylinder for storage, thereby driving the retraction of the push rod 4. In this embodiment, the incompressible liquid can be selected as a corrosion-resistant liquid to improve the corrosion resistance of the system.

[0026] In some embodiments, a one-way valve 7 is provided on the first branch pipeline 22, the liquid inlet of the one-way valve 7 is connected to the pressure balance member, and the liquid outlet is connected to the second side oil port of the two-position three-way reversing solenoid valve. In this embodiment, by connecting the liquid inlet of the one-way valve 7 to the pressure balance member, when the first branch pipeline 22 is connected, it can be ensured that the incompressible liquid in the pressure balance member can only flow from the liquid outlet to the rodless cavity through the liquid inlet of the one-way valve 7, avoiding backflow under normal pressure environment, causing the push rod 4 to be retracted by gravity.

[0027] In the third embodiment, if Figure 3As shown, the pressure balancing part is an oil bag 8, in which incompressible liquid is stored, wherein the incompressible liquid can be hydraulic oil or deionized water, so as to prevent seawater from corroding the cylinder body. Since one end of the pressure-resistant pipe is connected to the oil bag 8, when the pressure energy reciprocating power device is working, the two-position three-way reversing solenoid valve is switched to the first reversing position on the left, and the first branch pipeline 22 and the main pipeline 21 are connected in liquid path, so that the incompressible liquid in the oil bag 8 flows along the first branch pipeline 22 into the main pipeline 21 and enters the rodless cavity of the cylinder body, thereby achieving pressure balance between the rod cavity and the rodless cavity of the pressure energy reciprocating power device, and then achieving the upward extension action of the push rod 4.

[0028] In the fourth embodiment, if Figure 4 As shown, the pressure balancing part is an open piston cylinder 9, wherein the open piston cylinder 9 refers to the piston cylinder 5, wherein the rodless cavity and the rod cavity are both connected to the external seawater, so that the cavity pressures in the rodless cavity and the rod cavity are equal; specifically, through holes connected to the external seawater can be opened at both ends of the open piston cylinder 9, so that the rod cavity and the rodless cavity of the open piston cylinder 9 are both connected to the external seawater, so that the pressures of the rod cavity and the rodless cavity are the same and can be filled with seawater. In addition, when the pressure energy reciprocating power device is working, the two-position three-way reversing solenoid valve switches to the first reversing position on the left, and the first branch pipeline 22 and the main pipeline 21 are connected in liquid circuit; since one end of the first branch pipeline 22 is connected to the rodless cavity of the open piston cylinder 9 through a through hole, and the other end is connected to the main pipeline 21 through the two-position three-way reversing solenoid valve, the seawater in the rodless cavity of the open piston cylinder 9 can flow along the first branch pipeline 22 into the main pipeline 21 and enter the rodless cavity of the cylinder body, thereby making the rodless cavity of the pressure energy reciprocating power device equal to the external pressure, driving the push rod 4 to move upward to perform a pushing action, thereby achieving the purpose of converting the external seawater pressure into the power of the pressure energy reciprocating power device.

[0029] like Figure 5 As shown, the second aspect of the present application provides a motion control method of a pressure energy reciprocating power device, which is applied to the pressure energy reciprocating power device as described above, and the motion control method comprises the steps of: S10: Obtaining the working state required by the pressure energy reciprocating power device; S20: controlling the underwater control element 3 to move according to the required working state; S30: When the pressure energy reciprocating power device needs to extend, the first branch pipeline 22 is connected and the second branch pipeline 23 is disconnected to drive the push rod 4 to move upward; S40: When the pressure energy reciprocating power device needs to perform a recovery action, the first branch pipeline 22 is disconnected and the second branch pipeline 23 is connected to drive the push rod 4 to move downward.

[0030] In this embodiment, when performing motion control, the required working state of the pressure energy reciprocating power device is first obtained, and then the underwater control component 3 is controlled to perform motion according to the required working state. When the pressure energy reciprocating power device needs to perform an extension action, the first branch pipe 22 is controlled to be connected, and the second branch pipe 23 is disconnected, so that the external seawater or external liquid enters the rodless cavity along the first branch pipe 22, so that a pressure difference occurs between the rodless cavity and the rod cavity and drives the push rod 4 to move upward; when the pressure energy reciprocating power device needs to perform a recovery action, the first branch pipe 22 is controlled to be disconnected, and the second branch pipe 23 is connected, so that the liquid in the rodless cavity enters the pressure storage cylinder along the second branch pipe 23 under the action of pressure for storage, and then drives the push rod 4 to move downward. The pressure energy reciprocating power device of the present application has a simple structure, without a motor, pumping and complex control system, is easy to implement, and is safe and reliable.

[0031] In some embodiments, the underwater control element 3 includes two one-way solenoid valves, and the step of controlling the action of the underwater control element 3 according to the required working state includes: When the pressure energy reciprocating power device needs to extend, the one-way solenoid valve on the first branch pipeline 22 is controlled to be closed, and the one-way solenoid valve on the second branch pipeline 23 is disconnected; When the pressure energy reciprocating power device needs to perform a recovery action, the one-way solenoid valve on the first branch pipeline 22 is controlled to be disconnected, and the one-way solenoid valve on the second branch pipeline 23 is controlled to be closed.

[0032] In this embodiment, when the deep-sea power reciprocating device wants to extend, the single-way solenoid valve on the first branch pipeline 22 is controlled to be closed, so that the first branch pipeline 22 is connected, and the single-way solenoid valve on the second branch pipeline 23 is disconnected, so that the second branch pipeline 23 is disconnected; when the pressure energy reciprocating power device needs to recover, the single-way solenoid valve on the first branch pipeline 22 is controlled to be disconnected, so that the first branch pipeline 22 is disconnected, and the single-way solenoid valve on the second branch pipeline 23 is closed, so that the second branch pipeline 23 is connected. In this embodiment, for the on-off control of the first branch pipeline 22 and the second branch pipeline 23, it is only necessary to control the opening or closing of the two single-way solenoid valves, so that the energy consumption is very low, the control process is simple, and the safety and reliability are high.

[0033] In some embodiments, the underwater control element 3 is a two-position three-way reversing solenoid valve, and the step of controlling the action of the underwater control element 3 according to the required working state includes: When the pressure energy reciprocating power device needs to extend, the two-position three-way reversing solenoid valve is controlled to switch to the first reversing position on the left side, so that the first branch pipeline 22 is connected and the second branch pipeline 23 is disconnected; When the pressure energy reciprocating power device needs to extend, the two-position three-way reversing solenoid valve is controlled to switch to the second reversing position on the right side, so that the first branch pipeline 22 is disconnected and the second branch pipeline 23 is connected.

[0034] In this embodiment, when the pressure energy reciprocating power device needs to extend, the two-position three-way reversing valve is switched to the first reversing position on the left, so that the A port and the P port are connected, that is, the liquid path of the first branch pipeline 22 between the rodless chamber and the pressure balance member is connected; at this time, the R port is in a liquid path disconnected state, so that the second branch pipeline 23 is disconnected, thereby driving the push rod 4 to move upward. When the pressure energy reciprocating power device needs to extend, the two-position three-way reversing solenoid valve is switched to the second reversing position on the right, at this time the P port is in a disconnected state, then the first branch pipeline 22 is disconnected, and the liquid in the pressure balance member or the external seawater cannot flow to the rodless chamber; and the A port and the R port are connected, so that the second branch pipeline 23 is connected in liquid path, and under the action of pressure, the liquid in the rodless chamber enters the pressure storage cylinder along the second branch pipeline 23, thereby driving the push rod 4 to move downward. In the present application, the reciprocating motion of the power device is achieved by controlling the reversing action of the electromagnetic reversing valve, so that the overall energy consumption is lower and the safety and reliability are improved.

[0035] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A pressure energy reciprocating power device, characterized in that: The pressure energy reciprocating power device comprises: A sealed piston cylinder (1) comprises a cylinder body and a piston rod arranged in the cylinder body, the piston rod comprising a piston (5) and a push rod (4), one end of the push rod (4) being connected to the piston (5) and the other end of the push rod (4) slidingly passing through the cylinder body in a sealed manner, the piston (5) dividing the cylinder body into a rod chamber and a rodless chamber; A pressure-resistant pipe, comprising a main pipe (21), a first branch pipe (22) and a second branch pipe (23), wherein one end of the main pipe (21) is in communication with the rodless cavity, and the other end is in communication with both the first branch pipe (22) and the second branch pipe (23), and the first branch pipe (22) and the second branch pipe (23) are in communication with the outside and the pressure-resistant storage cylinder respectively; An underwater control component (3) is disposed on the pressure-resistant pipe, and is used to control the first branch pipeline (22) and the second branch pipeline (23) to be alternately switched on and off so as to drive the push rod (4) to extend or retract a reciprocating motion; The underwater control component (3) is a two-position three-way reversing solenoid valve, wherein a first side oil port of the two-position three-way reversing solenoid valve is connected to the main pipeline (21), and a second side oil port is respectively connected to the first branch pipeline (22) and the second branch pipeline (23); an end of the first branch pipeline (22) that is away from the main pipeline (21) is directly located in the external seawater or is connected to a pressure balancing component for balancing internal and external pressures; an end of the second branch pipeline (23) that is away from the main pipeline (21) is connected to the pressure-resistant storage cylinder; Alternatively, the underwater control component (3) comprises two one-way solenoid valves, and the two one-way solenoid valves are respectively arranged on the first branch pipeline (22) and the second branch pipeline (23).

2. The pressure energy reciprocating power device according to claim 1, characterized in that: The pressure energy reciprocating power device further comprises a control unit electrically connected to the underwater control element (3), wherein the control unit is used to control the action of the underwater control element (3).

3. The pressure energy reciprocating power device according to claim 1, characterized in that: When the underwater control component (3) includes two one-way solenoid valves, one end of the first branch pipeline (22) facing away from the main pipeline (21) is inserted into the external seawater, and one end of the second branch pipeline (23) facing away from the main pipeline (21) is connected to the pressure-resistant storage cylinder.

4. The pressure energy reciprocating power device according to claim 1, characterized in that: When the underwater control component (3) is a two-position three-way reversing solenoid valve, a one-way valve (7) is provided on the first branch pipeline (22), the liquid inlet of the one-way valve (7) is connected to the pressure balance component, and the liquid outlet is connected to the second side oil port of the two-position three-way reversing solenoid valve.

5. The pressure energy reciprocating power device according to claim 1, characterized in that: The pressure balancing element is an oil bag (8) or an open piston cylinder, and incompressible liquid is stored in the oil bag (8).

6. A method for controlling the motion of a pressure energy reciprocating power device, characterized in that: Applied to the pressure energy reciprocating power device according to any one of claims 1 to 5, the motion control method comprises the steps of: Obtaining the required working state of the pressure energy reciprocating power device; Controlling the underwater control element (3) to move according to the required working state; When the pressure energy reciprocating power device needs to perform an extension action, the first branch pipeline (22) is connected and the second branch pipeline (23) is disconnected, so as to drive the push rod (4) to move upward; When the pressure energy reciprocating power device needs to perform a recovery action, the first branch pipeline (22) is disconnected and the second branch pipeline (23) is connected to drive the push rod (4) to move downward.

7. The motion control method of the pressure energy reciprocating power device according to claim 6, characterized in that: The underwater control component (3) comprises two one-way solenoid valves, and the step of controlling the action of the underwater control component (3) according to the required working state comprises: When the pressure energy reciprocating power device needs to perform an extension action, the one-way solenoid valve on the first branch pipeline (22) is controlled to be closed, and the one-way solenoid valve on the second branch pipeline (23) is disconnected; When the pressure energy reciprocating power device needs to perform a recovery action, the one-way solenoid valve on the first branch pipeline (22) is controlled to be disconnected, and the one-way solenoid valve on the second branch pipeline (23) is controlled to be closed.

8. The motion control method of the pressure energy reciprocating power device according to claim 6, characterized in that: The underwater control component (3) is a two-position three-way reversing solenoid valve, and the step of controlling the action of the underwater control component (3) according to the required working state comprises: When the pressure energy reciprocating power device needs to perform an extension action, the two-position three-way reversing solenoid valve is controlled to switch to a first reversing position, so that the first branch pipeline (22) is fluidly connected and the second branch pipeline (23) is disconnected; When the pressure energy reciprocating power device needs to perform an extension action, the two-position three-way reversing solenoid valve is controlled to switch to the second reversing position, so that the first branch pipeline (22) is disconnected and the second branch pipeline (23) is connected to the fluid path.

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