A compact variable buoyancy system arrangement

Abstract

The application discloses a compact variable buoyancy system device and relates to the technical field of underwater navigation equipment. Specifically, the device comprises a gas circulation control cabin, at least four linked piston cylinders which are symmetrically arranged on opposite sides of the gas circulation control cabin and can change the displacement volume by moving the pistons, a positive pressure gas tank which is connected to the gas circulation control cabin, is used for storing compressed gas and provides the power for the outward movement of the pistons in the piston cylinders, and a negative pressure gas tank which is connected to the gas circulation control cabin and has a negative pressure environment in the negative pressure gas tank and is used for providing the adsorption force for the inward movement of the pistons in the piston cylinders. The device aims to adjust the buoyancy of the underwater vehicle in a more efficient and simple way without increasing excessive mass and cost.

Description

Technical Field

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

[0002] Underwater vehicles, critical equipment for underwater exploration and operations, have their ability to maneuver through the water affected by a variety of factors. Besides the propulsion system providing propulsion, the vehicle's ability to float is also a crucial performance indicator. Achieving depth variation requires controlling the balance between the vehicle's buoyancy and gravity, and altering either buoyancy or gravity is crucial.

[0003] In the past, large underwater vehicles like submarines adjusted their depth by filling or draining water from their tanks, changing their mass and center of gravity. However, this method has significant drawbacks. When a large amount of water is added to the tank, the overall mass becomes extremely large, which not only increases the inertia of the vehicle but also significantly reduces its flexibility and maneuverability.

[0004] To overcome this problem, another approach is to change the underwater vehicle's displacement volume to achieve depth variation. According to Archimedes' principle, the buoyancy of an object in a liquid is equal to the volume of liquid it displaces. The magnitude of the buoyancy is proportional to the liquid's density, the acceleration due to gravity, and the volume of liquid displaced by the object. Under the same environmental conditions, the liquid's density and acceleration due to gravity are fixed. Therefore, changing the underwater vehicle's buoyancy can only be achieved by varying its displacement volume.

[0005] Currently, the mainstream technical solution for adjusting buoyancy by changing the displacement volume 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, which is placed on the outside of the underwater vehicle. The outside of the oil bladder is exposed to the water, while the inside is filled with hydraulic oil. The hydraulic oil is connected to the hydraulic circuit via a pipe. The pump in the hydraulic system can transfer hydraulic oil from the internal oil tank to the oil bladder, or withdraw it, thereby adjusting the volume of the oil bladder. When the displacement volume needs to be increased, the hydraulic oil flows into the oil bladder, causing it to expand; when the displacement volume needs to be reduced, the hydraulic oil flows from the oil bladder back to the internal oil tank, causing the oil bladder to shrink.

[0006] This method allows underwater vehicles to control their depth by adjusting their buoyancy without significantly increasing their own mass. However, the high mass of hydraulic oil as a medium leads to a significant increase in the volume and weight of the overall system. This, coupled with the high cost of hydraulic oil, significantly increases the construction and maintenance costs of the device, creating a significant 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 objectives, the present invention provides a compact variable buoyancy system device, comprising:

[0010] Gas circulation control cabin;

[0011] 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;

[0012] a positive pressure gas tank connected to the gas circulation control cabin, for storing compressed gas and providing power for the piston in the piston cylinder to move outward; and

[0013] 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.

[0014] In one embodiment of the present application, it further includes:

[0015] An atmospheric pressure gas tank connected to the gas circulation control cabin, wherein the pressure in the atmospheric pressure gas tank is balanced with the external environmental pressure;

[0016] A three-position five-way solenoid valve corresponds to each piston cylinder one-to-one, each piston cylinder is connected to the P port of its 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 duct 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 the first air duct is provided with a first valve;

[0017] 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.

[0018] 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.

[0019] In one embodiment of the present application, a third air duct is 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.

[0020] 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.

[0021] 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.

[0022] In one embodiment of the present application, the atmospheric pressure gas tank is further provided with an air inlet which can be connected to the outside to replenish gas.

[0023] In one embodiment of the present application, the second air duct is further provided with a first check valve for limiting the backflow of gas in the normal-pressure gas tank to the negative-pressure gas tank.

[0024] In one embodiment of the present application, the fourth air duct is further provided with a second check valve for limiting the backflow of gas in the positive-pressure gas tank to the normal-pressure gas tank.

[0025] In one embodiment of the present application, the open end of the piston cylinder is provided with a limiter for limiting the maximum stroke of the piston.

[0026] The above technical solution enables efficient operation of a compact variable buoyancy system. By precisely controlling gas flow, buoyancy can be rapidly adjusted within an underwater vehicle to meet the needs of diverse underwater missions. Furthermore, the system's compact structure makes it easy to integrate and maintain, reducing its overall size and weight and improving the vehicle's flexibility and ease of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0028] Figure 1This is a schematic structural diagram of a first embodiment of the present invention;

[0029] 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

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to 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 of the present invention.

[0031] like Figure 1 As shown, in order to achieve the above-mentioned purpose, the present invention proposes a compact variable buoyancy system device, comprising:

[0032] Gas circulation control cabin;

[0033] 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;

[0034] A positive pressure gas tank 40 connected to the gas circulation control cabin, used to store compressed gas and provide power for the piston in the piston cylinder 10 to move outward; and

[0035] The negative pressure gas tank 30 is connected to the gas circulation control cabin. The negative pressure gas tank 30 is in a negative pressure environment, which is used to provide an adsorption force for the piston in the piston cylinder 10 to move inward.

[0036] 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.

[0037] The piston cylinder 10 is a cylindrical structure typically made of a lightweight alloy, offering high rigidity to withstand the mechanical stresses of the entire device. Each piston cylinder 10 is open at the rear to facilitate piston installation and features threads on the outside for connection to the end cap. A piston is located within the cylinder 10, and its movement changes the volume of gas within the cylinder, thereby adjusting the volume of water discharged.

[0038] A piston is located within each piston cylinder 10 and is used to change the gas volume within the cylinder 10, thereby changing the displacement volume. The piston is typically made of pressure-resistant material and features a seal to prevent gas leakage from the inner wall of the cylinder 10. The piston's movement is controlled by gas pressure, either increased or decreased. Under the pressure of the positive-pressure cylinder 40, the piston moves outward, increasing the gas volume within the cylinder 10; under the negative pressure of the negative-pressure cylinder 30, the piston moves inward, decreasing the gas volume.

[0039] The positive-pressure gas tank 40 stores compressed gas and provides the power for the piston to move outward. Typically constructed from a high-pressure alloy, the positive-pressure gas tank 40 is capable of storing high-pressure gas. The positive-pressure gas tank 40 communicates with the sealed interior of the piston cylinder 10 via a gas line, pushing the piston outward, thereby increasing the displacement volume and changing the buoyancy.

[0040] The negative pressure gas tank 30 is used to provide a negative pressure environment, providing suction force for the piston to move inward. The negative pressure gas tank 30 is designed as a sealed container that can withstand negative pressure. The negative pressure gas tank 30 is connected to the piston cylinder 10 through a gas pipeline, attracting the piston to move inward, reducing the volume of gas in the piston cylinder 10, and thus reducing buoyancy.

[0041] The above technical solution enables efficient operation of a compact variable buoyancy system. By precisely controlling gas flow, buoyancy can be rapidly adjusted within an underwater vehicle to meet the needs of diverse underwater missions. Furthermore, the system's compact structure makes it easy to integrate and maintain, reducing its overall size and weight and improving the vehicle's flexibility and ease of operation.

[0042] In one embodiment of the present application, it further includes:

[0043] An atmospheric pressure gas tank 20 is connected to the gas circulation control cabin, and the pressure inside the atmospheric pressure gas tank 20 is balanced with the external environmental pressure;

[0044] 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 its 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. The R port and S port of each three-position five-way solenoid valve 70 are blocked. A first air duct is provided between the positive pressure gas tank 40 and the atmospheric pressure gas tank 20 to transport the gas in the positive pressure gas tank 40 to the atmospheric pressure gas tank 20. The first air duct is provided with a first valve.

[0045] 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.

[0046] Specifically, the atmospheric pressure tank 20 is used to store gas at a pressure balanced with the external environment. The atmospheric pressure tank 20 is designed to withstand pressure and is typically constructed of an alloy material to withstand the demands of gas storage. The atmospheric pressure tank 20 is located within the gas circulation control cabin, ensuring that the gas pressure within it is equal to the external seawater pressure, maintaining the gas at a constant pressure. The atmospheric pressure tank 20 is connected to port A of the three-position, five-way solenoid valve 70.

[0047] 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:

[0048] The P port is connected to the corresponding piston cylinder 10 and is responsible for controlling the flow of gas into or out of the piston cylinder 10;

[0049] Port A is connected to the atmospheric pressure gas tank 20 and is used to deliver the gas in the atmospheric pressure gas tank 20 to the piston cylinder 10;

[0050] Port B is connected to the negative pressure gas tank 30 and is used to draw the gas in the piston cylinder 10 into the negative pressure gas tank 30;

[0051] Port R and port S are blocked ports and are not connected to any gas circuit.

[0052] The three-position five-way solenoid valve 70 has two coils. The first coil controls the conduction between port A and port P, and the second coil controls the conduction between port B and port P.

[0053] The first air duct connects the positive-pressure gas tank 40 and the normal-pressure gas tank 20. Its function is to transfer the compressed gas in the positive-pressure gas tank 40 to the normal-pressure gas tank 20, thereby maintaining the gas reserve in the normal-pressure gas tank 20. A first valve is provided on the first air duct to control the flow of gas from the positive-pressure gas tank 40 to the normal-pressure gas tank 20. When the first valve is open, gas can enter the normal-pressure gas tank 20 through the air duct.

[0054] The positive-pressure gas tank 40 stores high-pressure gas, primarily providing propulsion for the piston within the piston cylinder 10. The positive-pressure gas tank 40 is connected to the atmospheric-pressure gas tank 20 via a first air conduit, with the flow of gas controlled by a first valve. After gas flows from the positive-pressure gas tank 40 into the atmospheric-pressure gas tank 20, it is directed into the piston cylinder 10 through port A of the three-position, five-way solenoid valve 70, pushing the piston outward.

[0055] 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.

[0056] 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. 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.

[0057] 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 under 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.

[0058] The P port of each 5-way, 3-position solenoid valve 70 is connected to the corresponding piston cylinder 10 to control the flow direction of the gas. The A port of the 5-way, 3-position solenoid valve 70 is connected to the atmospheric pressure gas tank 20, and the B port is connected to the negative pressure gas tank 30. The R and S ports are blocked and not connected to any gas circuit.

[0059] When the first coil of the 5 / 3-way solenoid valve 70 is energized, ports A and P are connected, the first valve opens, and gas flows from the positive-pressure gas tank 40 into the normal-pressure gas tank 20, and then from the normal-pressure gas tank 20 into the piston cylinder 10, pushing the piston outward. When the second coil of the 5 / 3-way solenoid valve 70 is energized, ports B and P are connected, and gas flows from the piston cylinder 10 into the negative-pressure gas tank 30, attracting the piston inward.

[0060] The above technical solution effectively regulates the movement of the piston within the piston cylinder 10, thereby adjusting buoyancy, by precisely controlling the direction and flow rate of gas flow. This solution makes the buoyancy adjustment process more efficient, simplifies the gas flow path, and reduces unnecessary complexity. Furthermore, the close coordination 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.

[0061] 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.

[0062] Specifically, the negative pressure gas tank 30 is made of a 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 via a signal cable. The negative pressure gas tank 30 is connected to the normal pressure gas tank 20 via 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 via 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.

[0063] 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, thereby achieving 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, and improving the stability, reliability and control accuracy of the entire buoyancy system.

[0064] 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.

[0065] Specifically, the negative pressure gas tank 30 is connected to the normal pressure gas tank 20 through a third gas duct, which 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 duct, and the second valve adopts an electrically controlled two-position two-way solenoid valve structure. The opening and closing of the second valve is controlled by the 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 maintains a normal working negative pressure environment; when the pressure in the negative pressure gas tank 30 returns to the preset range, the controller closes the second valve to complete the gas replenishment process.

[0066] 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 decrease in 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.

[0067] 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.

[0068] Specifically, the atmospheric pressure tank 20 is made of pressure-resistant metal material and forms a sealed tank body structure, a second pressure sensor 21 is installed on the surface of the atmospheric pressure tank 20, the second pressure sensor 21 is connected with the controller in the gas circulation control cabin through a signal line, the gas pressure in the atmospheric pressure tank 20 is detected in real time, and the detected pressure value is transmitted to the controller; the atmospheric pressure tank 20 is connected with the positive pressure tank 40 through a fourth gas guide pipe, the fourth gas guide pipe is made of high-pressure-resistant material, a booster pump 50 is installed on the fourth gas guide pipe, the gas inlet end of the booster pump 50 is connected to the atmospheric pressure tank 20, the gas outlet end of the booster pump 50 is connected to the positive pressure tank 40, the booster pump 50 is a one-way gas compression pump, and only allows gas to flow from the atmospheric pressure tank 20 to the positive pressure tank 40; the booster pump 50 is connected to the 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 tank 20 exceeds the third pressure value preset by the controller, the second pressure sensor 21 sends a pressure exceeding signal to the controller, the controller starts the booster pump 50 to work after receiving the signal, the booster pump 50 extracts and compresses the excess gas in the atmospheric pressure tank 20 through the fourth gas guide pipe and then sends it to the positive pressure tank 40 for storage, so that the gas pressure in the atmospheric pressure 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 tank 20 returns to below the third pressure value, the controller closes the booster pump 50 to stop gas compression and delivery.

[0069] The above technical scheme can effectively prevent the pressure in the atmospheric pressure tank 20 from exceeding the safe range, ensure that the pressure in the tank is always stable and safe, recycle and compress the excess gas to the positive pressure tank 40 for storage, realize efficient circulation and utilization of the gas in the system, significantly improve the safety and working efficiency of the entire buoyancy control system, and reduce the maintenance cost.

[0070] In an embodiment of the present application, the positive pressure tank 40 is provided with a third pressure sensor 41, and when the pressure in the positive pressure tank 40 is greater than a fourth pressure value, the first valve is opened to deliver the gas in the positive pressure tank 40 to the atmospheric pressure tank 20.

[0071] Specifically, the positive pressure gas tank 40 is made of high-pressure resistant alloy material and forms a sealed high-pressure gas storage cavity structure. The third pressure sensor 41 is installed on the outer side 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 signal to the controller. After the controller receives the pressure exceeding signal, the first valve installed on the first gas guide pipe is opened through the signal line. The first valve is an electrically controlled two-position two-way electromagnetic valve structure. One end of the first gas guide pipe is connected to the positive pressure gas tank 40, and the other end is connected to the normal pressure gas tank 20. After 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 gas guide pipe, so that the gas pressure in the positive pressure gas tank 40 decreases. When the third pressure sensor 41 detects that the gas pressure in the positive pressure gas tank 40 decreases to 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.

[0072] The above technical scheme can automatically monitor and control the gas pressure in the positive pressure gas tank 40, ensure that the pressure in the positive pressure gas tank 40 is maintained within a safe set range, avoid safety hazards caused by excessively high gas pressure in the positive pressure gas tank 40, and realize efficient and automatic allocation of gas resources, thereby improving the safety, reliability and operation efficiency of the entire system.

[0073] In an embodiment of the present application, the normal pressure gas tank 20 is further provided with an air inlet that can communicate with the outside to supplement gas.

[0074] Specifically, the normal pressure gas tank 20 is made of a sealed cabin structure of pressure-resistant alloy material. An air inlet for connecting to the outside environment is arranged on the outer wall of the tank body of the normal 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 electromagnetic valve is arranged on the air inlet. The electromagnetic valve is connected to the controller in the gas circulation control cabin through an electrical connection cable, and is used to control the communication or sealing between the normal pressure gas tank 20 and the outside environment. When the amount of gas in the system is insufficient due to leakage or other reasons, the controller receives a gas shortage signal and controls the two-position two-way electromagnetic valve to open, so that the normal pressure gas tank 20 communicates with the outside environment and inhales air from the outside environment to supplement the normal pressure gas tank 20. When the gas in the normal pressure gas tank 20 reaches a set value, the controller closes the two-position two-way electromagnetic valve to seal the air inlet and complete the gas supplementing process.

[0075] The above technical solution can effectively achieve 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 operational reliability of the device.

[0076] In one embodiment of the present application, the second air duct is further provided with a first check valve for limiting the backflow of gas in the normal pressure gas tank 20 to the negative pressure gas tank 30 .

[0077] 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. 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, and prohibit 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, ensuring that the gas flow direction control is precise and stable.

[0078] The above-mentioned technical solution 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 negative-pressure gas tank 30 and the overall system, and significantly improving the system's operating safety and control accuracy.

[0079] In one embodiment of the present application, the fourth air duct is further provided with a second check valve for limiting the backflow of gas in the positive-pressure gas tank 40 to the normal-pressure gas tank 20 .

[0080] 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, and prohibit 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 or a flange connection to ensure reliable sealing and easy disassembly and maintenance.

[0081] 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.

[0082] 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.

[0083] Specifically, the piston cylinder 10 adopts a cylindrical structure, and the open end of the piston cylinder 10 is provided with a limit member, which 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 a preset maximum stroke position, a mechanical barrier and limit effect is formed on the piston to prevent the piston from falling out of the open end of the piston cylinder 10; an elastic buffer gasket can be provided at the inner contact part of the piston and the limit end cover to relieve the mechanical stress during piston impact and improve the service life of the system; the limit end cover is fixed to the end of the piston cylinder 10 by a threaded structure, so that it is firmly and reliably installed and can be disassembled for maintenance or replacement when necessary.

[0084] The above technical solution can accurately control the maximum stroke position of the piston, prevent the piston from detaching from the cylinder due to excessive movement, ensure the safety and reliability of the system operation, and at the same time extend the overall service life of the device and enhance the stability and practicality of the entire variable buoyancy device.

[0085] 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 transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application 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, for storing compressed gas and providing 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, wherein the negative pressure gas tank has a negative pressure environment and is used to provide an adsorption force for the piston inward movement in the piston cylinder; A normal-pressure gas tank is connected to the gas circulation control cabin, and the pressure in the normal-pressure gas tank is balanced with the external environmental pressure; a first air duct is provided between the positive-pressure gas tank and the normal-pressure gas tank, which can transport the gas in the positive-pressure gas tank to the normal-pressure gas tank, and a first valve is provided on the first air duct; 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.

2. The compact variable buoyancy system device according to claim 1, characterized in that: Also includes: 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 its 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. The R port and S port of each three-position five-way solenoid valve are blocked. 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: The negative pressure gas tank is provided with a first pressure sensor; 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 pump 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 further provided between the negative pressure gas tank and the normal pressure gas tank. The third air duct is provided with a second valve. 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 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.

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 backflow of gas in the normal pressure gas tank 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 limiting piece for limiting the maximum stroke of the piston.

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