Compact variable buoyancy system device

Abstract

The invention discloses a compact type variable buoyancy system device, and relates to the technical field of underwater navigation equipment. The system specifically comprises a gas circulation control cabin; the at least four linked piston cylinders are symmetrically arranged on the two opposite sides of the gas circulation control cabin, and the drainage volume can be changed through movement of pistons; the positive pressure gas tank is connected to the gas circulation control cabin and used for storing compressed gas and providing power for a piston in a piston cylinder to move outwards; and the negative pressure gas tank is connected to the gas circulation control cabin, the interior of the negative pressure gas tank is a negative pressure environment, and the negative pressure gas tank is used for providing adsorption force for a piston in a piston cylinder to move inwards. The invention aims to adjust the buoyancy of an underwater vehicle in a more efficient and simple manner without increasing excessive mass and cost.

Description

Technical Field

[0001] The invention relates to the technical field of underwater navigation equipment, and in particular to a compact variable buoyancy system device. Background Art

[0002] As a key device for underwater detection and operation, the ability of underwater vehicles to move in water is affected by many factors. In addition to the propulsion system of underwater vehicles that can provide the ability to move, the ability of the equipment to float up and down is also one of its important performance indicators. The realization of depth change involves controlling the balance between the buoyancy and gravity of the equipment, and changing the buoyancy or gravity is the key to achieving depth change.

[0003] In the past, large underwater vehicles such as submarines adjusted their depth by injecting or discharging water into the water tank to change their mass and center of gravity. However, this method has significant drawbacks. When a large amount of water is injected into the water tank inside the device, the overall mass becomes extremely large, which not only increases the inertia of the device, but also significantly reduces its flexibility and control performance.

[0004] In order to overcome the above problems, another idea is to change the depth by changing the displacement volume of the underwater vehicle. According to Archimedes' principle, the buoyancy of an object in a liquid is equal to the volume of the liquid it displaces. The magnitude of the buoyancy is proportional to the density of the liquid, the acceleration of gravity, and the volume of the liquid displaced by the object. Under the same environmental conditions, the density and gravity of the liquid are fixed, so changing the buoyancy of the underwater vehicle can only rely on changing its displacement volume.

[0005] At present, the mainstream technical solution for changing the displacement volume to adjust buoyancy is achieved through an external bladder and hydraulic system. Specifically, this method uses an elastic material with high pressure resistance to manufacture an oil bladder, and places the oil bladder on the outside of the underwater vehicle. The outside of the oil bladder is in contact with the water, while the inside of the oil bladder is filled with hydraulic oil. The hydraulic oil is connected to the hydraulic circuit through a pipeline. The pump in the hydraulic system can transport the hydraulic oil from the internal oil tank to the oil bladder, or draw it back, thereby adjusting the volume of the oil bladder. When the displacement volume needs to be increased, the hydraulic oil flows to the oil bladder to expand it; when the displacement volume needs to be reduced, the hydraulic oil flows from the oil bladder back to the internal oil tank to shrink the oil bladder.

[0006] Through this method, the underwater vehicle can achieve depth control by adjusting the buoyancy without significantly increasing its own mass. However, the mass of hydraulic oil as a medium is relatively large, resulting in a significant increase in the volume and weight of the overall system. In addition, the high cost of hydraulic oil has significantly increased the construction and maintenance costs of the device, which will bring a large economic burden.

[0007] Therefore, how to adjust the buoyancy of underwater vehicles in a more efficient and simple way without increasing too much mass and cost has become a technical problem that needs to be solved urgently. Summary of the invention

[0008] The main object of the present invention is to provide a compact variable buoyancy system device, which is intended to adjust the buoyancy of an underwater vehicle in a more efficient and simple manner without increasing excessive mass and cost.

[0009] In order to achieve the above object, the present invention provides a compact variable buoyancy system device, comprising: Gas circulation control cabin; At least four linked piston cylinders are symmetrically arranged on opposite sides of the gas circulation control cabin, and the displacement volume can be changed by the movement of the pistons; A positive pressure gas tank connected to the gas circulation control cabin, used to store compressed gas and provide power for the piston in the piston cylinder to move outward; and A negative pressure gas tank is connected to the gas circulation control cabin. The negative pressure gas tank has a negative pressure environment and is used to provide an adsorption force for the piston in the piston cylinder to move inward.

[0010] In one embodiment of the present application, it also includes: A normal pressure gas tank connected to the gas circulation control cabin, wherein the pressure in the normal pressure gas tank is balanced with the external environmental pressure; A three-position five-way solenoid valve corresponds to each piston cylinder one by one, each piston cylinder is connected to the P port of the corresponding three-position five-way solenoid valve, the A port of each three-position five-way solenoid valve is connected to the atmospheric pressure gas tank, the B port of each three-position five-way solenoid valve is connected to the negative pressure gas tank, and the R port and S port of each three-position five-way solenoid valve are blocked; a first air guide pipe is provided between the positive pressure gas tank and the atmospheric pressure gas tank, which can transport the gas in the positive pressure gas tank to the atmospheric pressure gas tank, and a first valve is provided on the first air guide pipe; When the first coil of the three-position five-way solenoid valve is energized, the A port and the P port of the three-position five-way solenoid valve are connected, and the first valve is opened, and the B port of the three-position five-way solenoid valve is closed, so that the compressed gas in the positive-pressure gas tank pushes the piston in the piston cylinder to move outward; when the second coil of the three-position five-way solenoid valve is energized, the B port and the P port of the three-position five-way solenoid valve are connected, and the A port of the three-position five-way solenoid valve is closed, so that the gas in the piston cylinder enters the negative-pressure gas tank.

[0011] In one embodiment of the present application, a first pressure sensor is provided on the negative pressure gas tank; a second air duct is provided between the negative pressure gas tank and the normal pressure gas tank, and a vacuum pump is provided on the second air duct. When the B port and the P port of the three-position five-way solenoid valve are connected and the pressure in the negative pressure gas tank exceeds the first pressure value, the vacuum pump can draw the gas in the negative pressure gas tank to the normal pressure gas tank.

[0012] In one embodiment of the present application, a third air duct is further provided between the negative pressure gas tank and the normal pressure gas tank, and a second valve is provided on the third air duct. When the pressure in the negative pressure gas tank is lower than the second pressure value, the second valve opens to replenish the gas in the normal pressure gas tank into the negative pressure gas tank.

[0013] In one embodiment of the present application, a second pressure sensor is provided on the atmospheric pressure gas tank; a fourth air duct is provided between the atmospheric pressure gas tank and the positive pressure gas tank, and a booster pump is connected to the fourth air duct. When the pressure in the atmospheric pressure gas tank exceeds the third pressure value, the booster pump can compress the gas in the atmospheric pressure gas tank into the positive pressure gas tank.

[0014] In one embodiment of the present application, a third pressure sensor is provided on the positive pressure gas tank. When the pressure in the positive pressure gas tank is greater than a fourth pressure value, the first valve opens to transport the gas in the positive pressure gas tank to the normal pressure gas tank.

[0015] In one embodiment of the present application, the atmospheric pressure gas tank is also provided with an air inlet which can be connected to the outside to replenish gas.

[0016] In one embodiment of the present application, the second air duct is further provided with a first check valve for limiting the gas in the normal pressure gas tank from flowing back to the negative pressure gas tank.

[0017] In one embodiment of the present application, the fourth air duct is further provided with a second check valve for limiting the gas in the positive pressure gas tank from flowing back to the normal pressure gas tank.

[0018] In one embodiment of the present application, a limiter for limiting the maximum stroke of the piston is provided at the open end of the piston cylinder.

[0019] The above technical solution can realize the efficient operation of the compact variable buoyancy system device. By precisely controlling the gas flow, the buoyancy can be quickly adjusted in the underwater vehicle to meet the needs of different underwater missions. In addition, the device has a compact structure, is easy to integrate and maintain, reduces the overall volume and weight of the device, and improves the flexibility and ease of operation of the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 It is a structural schematic diagram of a first embodiment of the present invention; 10. Piston cylinder; 20. Normal pressure gas tank; 21. Second pressure sensor; 30. Negative pressure gas tank; 31. First pressure sensor; 40. Positive pressure gas tank; 41. Third pressure sensor; 50. Booster pump; 60. Vacuum pump; 70. Three-position five-way solenoid valve. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the following specific embodiments are only used to explain the present invention and do not constitute a limitation to the present invention.

[0022] like Figure 1 As shown, in order to achieve the above-mentioned purpose, the present invention proposes a compact variable buoyancy system device, comprising: Gas circulation control cabin; At least four linked piston cylinders 10 are symmetrically arranged on opposite sides of the gas circulation control cabin, and the displacement volume can be changed by the movement of the pistons; A positive pressure gas tank 40, connected to the gas circulation control cabin, for storing compressed gas and providing power for the piston in the piston cylinder 10 to move outward; and The negative pressure gas tank 30 is connected to the gas circulation control cabin. The negative pressure gas tank 30 has a negative pressure environment, which is used to provide an adsorption force for the piston in the piston cylinder 10 to move inward.

[0023] Specifically, the gas circulation control cabin is a sealed cabin body with a waterproof structure. The piston cylinder 10 is connected to the positive pressure gas tank 40 and the negative pressure gas tank 30 in the cabin body through a gas pipeline and a sealing joint.

[0024] The piston cylinder 10 is a cylindrical structure, usually made of a light alloy material, with high rigidity to support the mechanical pressure of the entire device. The tail of each piston cylinder 10 is open for easy installation of the piston, and the outer side of the tail has a threaded structure for connecting the tail end cap. A piston is arranged in the piston cylinder 10, and the movement of the piston changes the gas volume in the cylinder, thereby adjusting the displacement volume.

[0025] The piston is located in each piston cylinder 10 and is used to change the gas volume in the piston cylinder 10, thereby changing the displacement volume. The piston is usually made of a pressure-resistant material and has a sealing structure to ensure that there is no gas leakage between the piston cylinder 10 and the inner wall. The movement of the piston is controlled by the pressurization or negative pressure of the gas. Under the gas pressure provided by the positive pressure gas tank 40, the piston moves outward to increase the gas volume in the piston cylinder 10; under the negative pressure provided by the negative pressure gas tank 30, the piston moves inward to reduce the gas volume.

[0026] The positive pressure gas tank 40 is used to store compressed gas and provide power for the piston to move outward. The positive pressure gas tank 40 is usually made of high-pressure alloy material and can withstand the storage requirements of high-pressure gas. The positive pressure gas tank 40 is connected to the internal sealed side space of the piston cylinder 10 through a gas pipeline, pushing the piston to move outward, thereby increasing the displacement volume and changing the buoyancy.

[0027] The negative pressure gas tank 30 is used to provide a negative pressure environment and provide an adsorption force for the piston to move inward. The negative pressure gas tank 30 is designed as a sealed container resistant to negative pressure. The negative pressure gas tank 30 is connected to the piston cylinder 10 through a gas pipeline to attract the piston to move inward, reduce the gas volume in the piston cylinder 10, and thus reduce the buoyancy.

[0028] The above technical solution can realize the efficient operation of the compact variable buoyancy system device. By precisely controlling the gas flow, the buoyancy can be quickly adjusted in the underwater vehicle to meet the needs of different underwater missions. In addition, the device has a compact structure, is easy to integrate and maintain, reduces the overall volume and weight of the device, and improves the flexibility and ease of operation of the underwater vehicle.

[0029] In one embodiment of the present application, it also includes: A normal pressure gas tank 20 is connected to the gas circulation control cabin, and the pressure in the normal pressure gas tank 20 is balanced with the external environmental pressure; The three-position five-way solenoid valve 70 corresponds to each piston cylinder 10 one by one, each piston cylinder 10 is connected to the P port of the corresponding three-position five-way solenoid valve 70, the A port of each three-position five-way solenoid valve 70 is connected to the atmospheric pressure gas tank 20, the B port of each three-position five-way solenoid valve is connected to the negative pressure gas tank 30, and the R port and S port of each three-position five-way solenoid valve 70 are blocked; a first air guide pipe is provided between the positive pressure gas tank 40 and the atmospheric pressure gas tank 20, which can transport the gas in the positive pressure gas tank 40 to the atmospheric pressure gas tank 20, and a first valve is provided on the first air guide pipe; When the first coil of the three-position five-way solenoid valve 70 is energized, the A port and the P port of the three-position five-way solenoid valve 70 are connected, and the first valve is opened, and the B port of the three-position five-way solenoid valve 70 is closed, so that the compressed gas in the positive-pressure gas tank 40 pushes the piston in the piston cylinder 10 to move outward; when the second coil of the three-position five-way solenoid valve 70 is energized, the B port and the P port of the three-position five-way solenoid valve 70 are connected, and the A port of the three-position five-way solenoid valve 70 is closed, so that the gas in the piston cylinder 10 enters the negative-pressure gas tank 30.

[0030] Specifically, the atmospheric pressure gas tank 20 is used to store gas that is balanced with the external environmental pressure. The design of the atmospheric pressure gas tank 20 requires a pressure-resistant function and is usually made of alloy materials to withstand the demand for gas storage. The atmospheric pressure gas tank 20 is arranged in the gas circulation control cabin to ensure that the gas therein is equal to the pressure of the external seawater environment and maintain the gas at a normal pressure state. The atmospheric pressure gas tank 20 is connected to the A port of the three-position five-way solenoid valve 70.

[0031] Each three-position five-way solenoid valve 70 corresponds to its corresponding piston cylinder 10. Each three-position five-way solenoid valve 70 has five gas outlets, namely, port A, port B, port P, port R and port S. Among them: The P port is connected to the corresponding piston cylinder 10 and is responsible for controlling the gas flow into or out of the piston cylinder 10; Port A is connected to the atmospheric pressure gas tank 20 and is used to transport the gas in the atmospheric pressure gas tank 20 to the piston cylinder 10; Port B is connected to the negative pressure gas tank 30 and is used to suck the gas in the piston cylinder 10 into the negative pressure gas tank 30; The R and S ports are blocked ports and are not connected to any gas circuit.

[0032] The three-position five-way solenoid valve 70 has two coils. The first coil controls the A port and the P port to be connected, and the second coil controls the B port and the P port to be connected.

[0033] The first air duct connects the positive pressure gas tank 40 and the normal pressure gas tank 20, and its function is to transport the compressed gas in the positive pressure gas tank 40 to the normal pressure gas tank 20 to maintain the gas storage in the normal pressure gas tank 20. The first air duct is provided with a first valve, which is used to control whether the gas flows from the positive pressure gas tank 40 to the normal pressure gas tank 20. When the first valve is opened, the gas can enter the normal pressure gas tank 20 through the air duct.

[0034] The positive pressure gas tank 40 is used to store high pressure gas, mainly to provide driving force for the piston in the piston cylinder 10. The positive pressure gas tank 40 is connected to the normal pressure gas tank 20 through the first air guide pipe, and the flow of gas is controlled by the first valve. After the gas flows from the positive pressure gas tank 40 into the normal pressure gas tank 20, the gas in the normal pressure gas tank 20 is introduced into the piston cylinder 10 through the A port of the three-position five-way solenoid valve 70, pushing the piston to move outward.

[0035] The negative pressure gas tank 30 is used to store negative pressure gas. When the piston needs to move inward, the gas enters the negative pressure gas tank 30 from the piston cylinder 10 through the B port of the three-position five-way solenoid valve 70, causing suction to draw the piston inward, thereby reducing the gas volume in the piston cylinder 10.

[0036] The port A of the atmospheric pressure gas tank 20 is connected to the port A of the three-position five-way solenoid valve 70 through a pipeline, and the gas in the atmospheric pressure gas tank 20 can enter the piston cylinder 10 through the port A of the three-position five-way solenoid valve 70 to push the piston to move outward.

[0037] The positive pressure gas tank 40 is connected to the normal pressure gas tank 20 through the first gas conduit, and the gas is transported to the normal pressure gas tank 20 through the control of the first valve. When the first valve is opened, the gas flows from the positive pressure gas tank 40 into the normal pressure gas tank 20.

[0038] The P port of each three-position five-way solenoid valve 70 is connected to the corresponding piston cylinder 10 to control the flow direction of the gas. The A port of the three-position five-way solenoid valve 70 is connected to the normal pressure gas tank 20, the B port is connected to the negative pressure gas tank 30, and the R port and the S port are blocked and not connected to any gas path.

[0039] When the first coil of the three-position five-way solenoid valve 70 is energized, the A port and the P port are connected, the first valve is opened, and the gas flows from the positive pressure gas tank 40 into the normal pressure gas tank 20, and then flows from the normal pressure gas tank 20 into the piston cylinder 10, pushing the piston to move outward. When the second coil of the three-position five-way solenoid valve 70 is energized, the B port and the P port are connected, and the gas flows from the piston cylinder 10 into the negative pressure gas tank 30, attracting the piston to move inward.

[0040] By adopting the above technical solution, the movement of the piston in the piston cylinder 10 can be effectively adjusted by accurately controlling the direction and flow rate of the gas flow, thereby achieving buoyancy adjustment. This solution makes the buoyancy adjustment process more efficient, and the gas flow path is simple, reducing unnecessary complexity. At the same time, the close cooperation between the gas circuit and the air pressure control system ensures the stability and reliability of the entire system, effectively improving the operability and flexibility of the underwater equipment.

[0041] In one embodiment of the present application, a first pressure sensor 31 is provided on the negative pressure gas tank 30; a second air duct is provided between the negative pressure gas tank 30 and the normal pressure gas tank 20, and a vacuum pump 60 is provided on the second air duct. When the B port and the P port of the three-position five-way solenoid valve 70 are connected and the pressure in the negative pressure gas tank 30 exceeds the first pressure value, the vacuum pump 60 can draw the gas in the negative pressure gas tank 30 to the normal pressure tank 20.

[0042] Specifically, the negative pressure gas tank 30 is made of negative pressure resistant material and forms a completely sealed cavity. A first pressure sensor 31 is installed on the outer wall of the negative pressure gas tank 30. The first pressure sensor 31 can monitor the gas pressure in the negative pressure gas tank 30 in real time. The first pressure sensor 31 is connected to the controller in the gas circulation control cabin through a signal cable. The negative pressure gas tank 30 is connected to the normal pressure gas tank 20 through a second air duct. The second air duct is made of a high-strength flexible air pipe or a hard metal pipe. A vacuum pump 60 is installed on the second air duct. The vacuum pump 60 is a one-way vacuum pump 60. The air inlet end is connected to the negative pressure gas tank 30, and the air outlet end is connected to the normal pressure gas tank 20. The vacuum pump 60 is connected to the controller in the gas circulation control cabin through a signal cable. When the B port and the P port of the three-position five-way solenoid valve 70 are connected, the gas in the piston cylinder 10 enters the negative pressure gas tank 30 through the three-position five-way solenoid valve 70, and the pressure in the negative pressure gas tank 30 gradually increases; when the pressure in the negative pressure gas tank 30 exceeds the first pressure value set by the controller, the first pressure sensor 31 sends a pressure excess signal to the controller, and the controller starts the vacuum pump 60 to pump the excess gas in the negative pressure gas tank 30 into the normal pressure gas tank 20 through the second air duct, thereby reducing the pressure in the negative pressure gas tank 30 and ensuring that the negative pressure tank 30 always maintains the set negative pressure state.

[0043] By adopting the above technical solution, the pressure changes in the negative pressure gas tank 30 can be monitored in real time and the vacuum pump 60 can be automatically started, so as to achieve precise control of the gas pressure in the negative pressure gas tank 30, ensuring that the piston always has stable negative pressure adsorption power when moving inward, thereby improving the stability, reliability and control accuracy of the entire buoyancy system.

[0044] In one embodiment of the present application, a third air duct is further provided between the negative pressure gas tank 30 and the normal pressure gas tank 20, and a second valve is provided on the third air duct. When the pressure in the negative pressure gas tank 30 is lower than the second pressure value, the second valve opens to replenish the gas in the normal pressure gas tank 20 into the negative pressure gas tank 30.

[0045] Specifically, the negative pressure gas tank 30 is connected to the normal pressure gas tank 20 through a third gas pipe, and the third gas pipe is made of metal or flexible high-strength material with good pressure resistance and sealing performance; a second valve is installed on the third gas pipe, and the second valve adopts an electrically controlled two-position two-way solenoid valve structure, and the opening and closing of the second valve is controlled by a controller in the gas circulation control cabin; a first pressure sensor 31 is installed on the tank body of the negative pressure gas tank 30, and the first pressure sensor 31 is used to detect the gas pressure in the negative pressure gas tank 30 in real time, and transmit the pressure signal to the controller in the gas circulation control cabin When the pressure in the negative pressure gas tank 30 is lower than the second pressure value preset by the controller, the second pressure sensor 21 sends a low pressure signal to the controller. After receiving the signal, the controller controls the second valve to open. At this time, the gas in the normal pressure gas tank 20 flows into the negative pressure gas tank 30 through the third air duct to replenish the gas in the negative pressure gas tank 30 and restore the pressure in the negative pressure gas tank 30 to the preset range, ensuring that the negative pressure gas tank 30 is maintained in a normal working negative pressure environment; when the pressure in the negative pressure gas tank 30 is restored to the preset range, the controller closes the second valve to complete the gas replenishment process.

[0046] By adopting the above technical solution, the pressure in the negative pressure gas tank 30 is always in a stable and controllable state, which can effectively avoid the problem of the system not being able to work normally due to excessive reduction of the negative pressure environment, improve the reliability and stability of the entire buoyancy control system, and ensure that the buoyancy adjustment process is accurate, stable and effective.

[0047] In one embodiment of the present application, a second pressure sensor 21 is provided on the atmospheric pressure gas tank 20; a fourth air duct is provided between the atmospheric pressure gas tank 20 and the positive pressure gas tank 40, and a booster pump 50 is connected to the fourth air duct. When the pressure in the atmospheric pressure gas tank 20 exceeds the third pressure value, the booster pump 50 can compress the gas in the atmospheric pressure gas tank 20 into the positive pressure gas tank 40.

[0048] Specifically, the atmospheric pressure gas tank 20 is made of a pressure-resistant metal material and forms a sealed tank structure. A second pressure sensor 21 is installed on the surface of the atmospheric pressure gas tank 20. The second pressure sensor 21 is connected to the controller in the gas circulation control cabin through a signal line to detect the gas pressure in the atmospheric pressure gas tank 20 in real time and transmit the detected pressure value to the controller; the atmospheric pressure gas tank 20 and the positive pressure gas tank 40 are connected through a fourth air duct. The fourth air duct is made of a high-pressure resistant material. A booster pump 50 is installed on the fourth air duct. The air inlet end of the booster pump 50 is connected to the atmospheric pressure gas tank 20, and the air outlet end of the booster pump 50 is connected to the positive pressure gas tank 40. The booster pump 50 is a one-way gas compression pump that only allows gas to flow from the atmospheric pressure gas tank 20 to the positive pressure gas tank 40. Positive-pressure gas tank 40; the booster pump 50 is connected to a controller in the gas circulation control cabin through a cable. When the second pressure sensor 21 detects that the gas pressure in the atmospheric-pressure gas tank 20 exceeds the third pressure value preset by the controller, the second pressure sensor 21 sends a pressure-exceeding signal to the controller. After receiving the signal, the controller starts the booster pump 50. The booster pump 50 extracts and compresses the excess gas in the atmospheric-pressure gas tank 20 through the fourth air duct and then transports it to the positive-pressure gas tank 40 for storage, so that the gas pressure in the atmospheric-pressure gas tank 20 is reduced and returns to the set range; when the second pressure sensor 21 detects that the gas pressure in the atmospheric-pressure gas tank 20 returns to below the third pressure value, the controller turns off the booster pump 50 to stop gas compression and transportation.

[0049] The above technical solution can effectively prevent the pressure in the normal pressure gas tank 20 from exceeding the safe range, ensuring that the pressure in the gas tank is always in a stable and safe state. At the same time, the excess gas is recovered and compressed into the positive pressure gas tank 40 for storage, thereby achieving efficient recycling of the gas in the system, significantly improving the safety and work efficiency of the entire buoyancy control system, and reducing maintenance costs.

[0050] In one embodiment of the present application, a third pressure sensor 41 is provided on the positive pressure gas tank 40. When the pressure in the positive pressure gas tank 40 is greater than a fourth pressure value, the first valve opens to transport the gas in the positive pressure gas tank 40 to the normal pressure gas tank 20.

[0051] Specifically, the positive pressure gas tank 40 is made of a high pressure resistant alloy material and forms a sealed high pressure gas storage cavity structure. A third pressure sensor 41 is installed on the outer side of the tank body of the positive pressure gas tank 40. The third pressure sensor 41 is connected to the controller in the gas circulation control cabin through a signal line; the third pressure sensor 41 is used to monitor the pressure value of the gas in the positive pressure gas tank 40 in real time. When the third pressure sensor 41 detects that the pressure in the positive pressure gas tank 40 exceeds the fourth pressure value preset by the controller, the third pressure sensor 41 sends a pressure exceeding standard signal to the controller. After the controller receives the pressure exceeding standard signal, The signal line controls the opening of the first valve installed on the first air duct; the first valve adopts an electrically controlled two-position two-way solenoid valve structure, one end of the first air duct is connected to the positive-pressure gas tank 40, and the other end is connected to the normal-pressure gas tank 20; when the first valve is opened, the high-pressure gas in the positive-pressure gas tank 40 flows into the normal-pressure gas tank 20 through the first air duct, causing the gas pressure in the positive-pressure gas tank 40 to drop; when the third pressure sensor 41 detects that the gas pressure in the positive-pressure gas tank 40 drops below the fourth pressure value, the controller closes the first valve through the signal line to stop the positive-pressure gas tank 40 from delivering gas to the normal-pressure gas tank 20.

[0052] By adopting the above technical solution, the gas pressure in the positive-pressure gas tank 40 can be automatically monitored and controlled to ensure that the pressure in the positive-pressure gas tank 40 is maintained within the safe setting range, thereby avoiding safety hazards caused by excessive gas pressure in the positive-pressure gas tank 40. At the same time, efficient and automatic allocation of gas resources can be achieved, thereby improving the safety, reliability and efficiency of the entire system operation.

[0053] In one embodiment of the present application, the atmospheric pressure gas tank 20 is also provided with an air inlet which can be connected to the outside to replenish gas.

[0054] Specifically, the atmospheric pressure gas tank 20 adopts a sealed cabin structure made of pressure-resistant alloy material, and an air inlet for connecting to the external environment is provided on the outer wall of the tank body of the atmospheric pressure gas tank 20. The air inlet adopts a sealable connection structure, and the specific structure can be a threaded interface or a flange connection interface with a sealing cover; a two-position two-way solenoid valve is provided on the air inlet, and the solenoid valve is connected to the controller in the gas circulation control cabin through an electrical connection cable, which is used to control the connection or sealing between the atmospheric pressure gas tank 20 and the external environment; when the amount of gas in the system is insufficient due to leakage or other reasons, the controller controls the two-position two-way solenoid valve to open after receiving the insufficient gas signal, so that the atmospheric pressure gas tank 20 is connected with the external environment, and air is sucked from the external environment to replenish the atmospheric pressure gas tank 20; when the gas in the atmospheric pressure gas tank 20 reaches the set value, the controller closes the two-position two-way solenoid valve, seals the air inlet and completes the gas replenishment process.

[0055] The above technical solution can effectively realize the rapid replenishment of system gas, ensure sufficient gas reserves in the atmospheric pressure gas tank 20, maintain the normal working state of the system, and effectively improve the service life, stability and operation reliability of the device.

[0056] In one embodiment of the present application, a first check valve for limiting the backflow of gas in the normal-pressure gas tank 20 to the negative-pressure gas tank 30 is further provided on the second air duct.

[0057] Specifically, the second air duct is made of pressure-resistant material, and the second air duct connects the gas passage between the negative-pressure gas tank 30 and the normal-pressure gas tank 20; a first check valve is provided on the second air duct, and the first check valve is specifically a one-way check valve, and the installation direction of the first check valve is set to only allow gas to flow from the negative-pressure gas tank 30 to the normal-pressure gas tank 20 in one direction, while prohibiting the gas in the normal-pressure gas tank 20 from flowing back into the negative-pressure gas tank 30; the specific structure of the first check valve is a spring-type or diaphragm-type one-way valve, which has the characteristics of rapid response, ensures that the gas flow direction is accurate, and has high sealing reliability, effectively preventing the high-pressure gas in the normal-pressure gas tank 20 from flowing back into the negative-pressure gas tank 30; the first check valve is installed on the second air duct by means of a threaded or flange connection, to ensure that the gas flow direction control is accurate and stable.

[0058] The above-mentioned technical scheme can effectively prevent the gas in the normal-pressure gas tank 20 from reversely entering the negative-pressure gas tank 30, thereby protecting the negative-pressure environment in the negative-pressure gas tank 30 from being destroyed, thereby improving the stability and reliability of the operation of the negative-pressure gas tank 30 and the overall system, and significantly improving the operating safety and control accuracy of the system.

[0059] In one embodiment of the present application, the fourth air duct is further provided with a second check valve for limiting the gas in the positive-pressure gas tank 40 from flowing back to the normal-pressure gas tank 20 .

[0060] Specifically, the fourth air duct is connected between the atmospheric pressure gas tank 20 and the positive pressure gas tank 40. The fourth air duct is made of high-pressure resistant material. A second check valve is installed on the fourth air duct. The second check valve is a one-way check valve. The installation direction of the second check valve is to only allow gas to flow from the atmospheric pressure gas tank 20 to the positive pressure gas tank 40, while prohibiting the high-pressure gas in the positive pressure gas tank 40 from flowing back to the atmospheric pressure gas tank 20; the specific structure of the second check valve adopts a spring-type check valve or a diaphragm-type check valve, and a spring or an elastic diaphragm structure is arranged between the valve core and the valve body to achieve one-way opening under the action of gas flow pressure. When the pressure in the positive pressure gas tank 40 is higher than that in the atmospheric pressure gas tank 20, the valve core or the diaphragm is automatically closed by the reverse pressure to ensure that the gas cannot flow back; the second check valve is installed and fixed on the pipeline of the fourth air duct by a threaded connection method or a flange connection method to ensure reliable sealing and easy disassembly and maintenance.

[0061] The adoption of the above technical solution can effectively prevent the high-pressure gas in the positive-pressure gas tank 40 from flowing back to the normal-pressure gas tank 20, avoid the abnormal increase of the pressure in the normal-pressure gas tank 20, thereby ensuring the safety and stability of the pressure environment in the system, and improving the reliability of the operation of the entire buoyancy control device and the accuracy of gas circulation control.

[0062] In one embodiment of the present application, the open end of the piston cylinder 10 is provided with a limiter for limiting the maximum stroke of the piston.

[0063] Specifically, the piston cylinder 10 adopts a cylindrical structure, and a limit piece is provided at the open end of the piston cylinder 10. The limit piece is specifically a limit end cover threadedly connected to the end of the piston cylinder 10, and the limit end cover is made of high-strength metal or alloy material that is pressure-resistant and corrosion-resistant; the inner diameter of the limit end cover is smaller than the inner diameter of the piston cylinder 10, and a through hole is provided in the center of the limit end cover, and the diameter of the through hole is smaller than the diameter of the piston, so that when the piston moves outward to reach a preset maximum stroke position, a mechanical barrier and limit effect can be formed on the piston to prevent the piston from escaping from the open end of the piston cylinder 10; an elastic buffer gasket can be provided at the inner contact portion of the piston and the limit end cover to relieve the mechanical stress during piston impact and increase the system service life; the limit end cover is fixed to the end of the piston cylinder 10 by a threaded structure, so that it can be installed stably and reliably, and can be disassembled for maintenance or replacement when necessary.

[0064] By adopting the above technical solution, the maximum stroke position of the piston can be accurately controlled to prevent the piston from detaching from the cylinder due to excessive movement, thereby ensuring the safety and reliability of the system operation, while extending the overall service life of the device and enhancing the stability and practicality of the entire variable buoyancy device.

[0065] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A compact variable buoyancy system device, characterized in that: include: Gas circulation control cabin; At least four linked piston cylinders are symmetrically arranged on opposite sides of the gas circulation control cabin, and the displacement volume can be changed by the movement of the pistons; A positive pressure gas tank connected to the gas circulation control cabin, used to store compressed gas and provide power for the piston in the piston cylinder to move outward; and A negative pressure gas tank is connected to the gas circulation control cabin. The negative pressure gas tank has a negative pressure environment and is used to provide an adsorption force for the piston in the piston cylinder to move inward.

2. The compact variable buoyancy system device according to claim 1, characterized in that: Also includes: A normal pressure gas tank connected to the gas circulation control cabin, wherein the pressure in the normal pressure gas tank is balanced with the external environmental pressure; A three-position five-way solenoid valve corresponds to each piston cylinder one by one, each piston cylinder is connected to the P port of the corresponding three-position five-way solenoid valve, the A port of each three-position five-way solenoid valve is connected to the atmospheric pressure gas tank, the B port of each three-position five-way solenoid valve is connected to the negative pressure gas tank, and the R port and S port of each three-position five-way solenoid valve are blocked; a first air guide pipe is provided between the positive pressure gas tank and the atmospheric pressure gas tank, which can transport the gas in the positive pressure gas tank to the atmospheric pressure gas tank, and a first valve is provided on the first air guide pipe; When the first coil of the three-position five-way solenoid valve is energized, the A port and the P port of the three-position five-way solenoid valve are connected, and the first valve is opened, and the B port of the three-position five-way solenoid valve is closed, so that the compressed gas in the positive-pressure gas tank pushes the piston in the piston cylinder to move outward; when the second coil of the three-position five-way solenoid valve is energized, the B port and the P port of the three-position five-way solenoid valve are connected, and the A port of the three-position five-way solenoid valve is closed, so that the gas in the piston cylinder enters the negative-pressure gas tank.

3. The compact variable buoyancy system device according to claim 2, characterized in that: A first pressure sensor is provided on the negative pressure gas tank; a second air duct is provided between the negative pressure gas tank and the normal pressure gas tank, and a vacuum pump is provided on the second air duct. When the B port and the P port of the three-position five-way solenoid valve are connected and the pressure in the negative pressure gas tank exceeds the first pressure value, the vacuum pump can draw the gas in the negative pressure gas tank to the normal pressure gas tank.

4. The compact variable buoyancy system device according to claim 3, characterized in that: A third air duct is also provided between the negative pressure gas tank and the normal pressure gas tank. A second valve is provided on the third air duct. When the pressure in the negative pressure gas tank is lower than the second pressure value, the second valve opens to replenish the gas in the normal pressure gas tank into the negative pressure gas tank.

5. The compact variable buoyancy system device according to claim 4, characterized in that: A second pressure sensor is provided on the normal-pressure gas tank; a fourth air duct is provided between the normal-pressure gas tank and the positive-pressure gas tank, and a booster pump is connected to the fourth air duct. When the pressure in the normal-pressure gas tank exceeds the third pressure value, the booster pump can compress the gas in the normal-pressure gas tank into the positive-pressure gas tank.

6. The compact variable buoyancy system device according to claim 2, characterized in that: The positive pressure gas tank is provided with a third pressure sensor. When the pressure in the positive pressure gas tank is greater than a fourth pressure value, the first valve opens to transport the gas in the positive pressure gas tank to the normal pressure gas tank.

7. The compact variable buoyancy system device according to claim 2, characterized in that: The atmospheric pressure gas tank is also provided with an air inlet which can be communicated with the outside to replenish gas.

8. The compact variable buoyancy system device according to claim 3, characterized in that: The second air guide pipe is also provided with a first check valve for limiting the gas in the normal pressure gas tank from flowing back to the negative pressure gas tank.

9. The compact variable buoyancy system device according to claim 5, characterized in that: The fourth air guide pipe is also provided with a second check valve for limiting the gas in the positive pressure gas tank from flowing back to the normal pressure gas tank.

10. The compact variable buoyancy system device according to claim 1, characterized in that: The open end of the piston cylinder is provided with a limit piece for limiting the maximum stroke of the piston.

Images