Submersible floating driving device and underwater vehicle

Abstract

The invention discloses a submerging and floating driving device and an underwater vehicle, and belongs to the technical field of underwater vehicles, the submerging and floating driving device comprises a pressure-resistant shell and a sealing end cover mounted on the pressure-resistant shell, and is characterized in that a buoyancy adjusting part is mounted on the sealing end cover and forms a plunger component axially stretching towards the outer side of the sealing end cover; an adjusting driving device for driving the axial moving end of the buoyancy adjusting component is mounted in the pressure-resistant shell; and a counter weight sliding block which moves axially is mounted in the pressure-resistant shell, is driven by an adjusting driving device and moves in the direction opposite to the buoyancy adjusting component. By means of the design of being simple and compact in structure, efficient and environmentally friendly, the submerged floating drive device has remarkable technical advantages. The operation precision and maneuverability of the underwater vehicle are improved, the maintenance cost is effectively reduced, the stability and reliability of the system are improved, and the increasing requirements for high-performance underwater equipment are met.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to a diving and floating action driving device and an underwater vehicle. Background Art

[0002] Underwater vehicles generally use buoyancy drive devices to provide driving force for buoyancy and diving, and use pitch adjustment units to control their underwater posture. In the prior art, buoyancy drive devices usually use hydraulic systems, using oil pumps to pump hydraulic oil from the inner oil tank inside the pressure cabin to the outer bladder outside the pressure cabin. As the volume of water discharged by the outer bladder increases, the buoyancy increases; by opening the solenoid valve inside the pressure cabin, the negative pressure inside the cabin and the seawater pressure during diving are used to press the hydraulic oil from the outer bladder outside the pressure cabin into the inner oil tank inside the pressure cabin. As the volume of water discharged by the outer bladder decreases, the buoyancy decreases.

[0003] At present, the structure in which the pitch adjustment unit and the buoyancy adjustment device work independently has many shortcomings and deficiencies. First of all, the hydraulic system, as the core driving method of the pitch adjustment unit, can provide a large adjustment force, but it uses hydraulic oil as a medium, which has the potential risk of polluting the marine environment. Once the hydraulic system leaks, the hydraulic oil may penetrate into the seawater and cause environmental pollution, which directly limits the extensive testing and application of underwater vehicles in the marine environment. In addition, the hydraulic system itself has a complex structure and requires regular maintenance, with high maintenance costs, which also increases the operation and maintenance burden of the system and reduces its economic efficiency in long-term use.

[0004] On the other hand, the pitch adjustment unit usually adjusts the center of gravity of the underwater vehicle by changing the position of the ballast weight to achieve control of the vehicle's attitude. Although this method can effectively adjust the pitch attitude of the vehicle, its structure is relatively complex. It not only involves a mechanical transmission system, but also requires a sophisticated control system to achieve precise movement of the weight. In addition, the pitch adjustment unit and the buoyancy drive device are usually arranged separately, which results in a large space and structural isolation between the two systems, resulting in inefficient use of the internal space. This independent arrangement makes the overall design and integration of the system poor, increases the complexity and weight of the system, and affects the control flexibility and efficiency of the vehicle.

[0005] On the whole, the independent working structure of the existing pitch adjustment unit and buoyancy adjustment device not only has deficiencies in environmental protection and economy, but also has certain defects in space utilization and system integration, which urgently need to be improved. Summary of the invention

[0006] In view of the problems that the existing independent working structures of the pitch adjustment unit and the buoyancy adjustment device have the risk of hydraulic system contamination, high maintenance cost, inefficient space utilization and complex structure, the present invention provides a submersible and buoyant action drive device and an underwater vehicle.

[0007] The present invention is implemented as follows: a submersible and buoyant action driving device includes a pressure-resistant shell and a sealing end cover installed on the pressure-resistant shell, and is characterized in that: the sealing end cover is installed with a buoyancy adjustment component, and the buoyancy adjustment component forms a plunger component that axially extends and retracts toward the outside of the sealing end cover; an adjustment drive device that drives the axially moving end of the buoyancy adjustment component is installed inside the pressure-resistant shell; an axially moving counterweight slider is installed inside the pressure-resistant shell, and the counterweight slider is driven by the adjustment drive device and moves in the opposite direction to the buoyancy adjustment component.

[0008] In the above technical solution, preferably, the adjustment drive device includes a drive motor, a lead screw and a lead screw nut, the output shaft of the drive motor is connected to the lead screw, the axis of the lead screw is parallel to the axis of the pressure-resistant shell, the lead screw nut is mounted on the lead screw and connected to the buoyancy adjustment component, the buoyancy adjustment component and the pressure-resistant shell form an axial linear motion pair and are driven axially by the drive motor.

[0009] In the above technical solution, preferably, the counterweight slider is installed inside the pressure-resistant shell through an axial slide rail, and the counterweight slider is connected to the screw nut through pull wires on the front and rear sides and a fixed pulley, and the screw nut pulls the counterweight slider in the opposite direction of the movement of the screw nut through the pull wire.

[0010] In the above technical solution, preferably, the buoyancy adjusting component is a cylindrical plunger component, a plunger guide fixing frame is installed inside the pressure-resistant shell, the plunger guide fixing frame is a sleeve-shaped frame body coaxial with the buoyancy adjusting component, the drive motor is installed at the rear of the plunger guide fixing frame, the screw is installed on the inner side of the plunger guide fixing frame, the screw nut is fixed to the rear end part of the buoyancy adjusting component, the plunger guide fixing frame is provided with an axial slide groove, and the buoyancy adjusting component is fixed with a guide slider moving in the axial slide groove.

[0011] In the above technical solution, preferably, the drive motor is mounted on the rear portion of the plunger guide fixing frame via a drive motor fixing frame, and the drive motor fixing frame is installed with a coupling for connecting the lead screw and the output shaft of the drive motor.

[0012] In the above technical solution, preferably, a counterweight bracket is arranged below the plunger guide fixing bracket, two ends of the counterweight bracket are respectively fixed to the sealing end cover and the drive motor fixing bracket, and the counterweight bracket forms the slide rail for installing the counterweight slider.

[0013] In the above technical solution, preferably, a displacement block is installed on the buoyancy adjustment component, and a displacement sensor for collecting axial position information of the displacement block is installed on the plunger guide fixing frame.

[0014] Compared with the prior art, this submersible and floating action driving device has a series of unique advantages and significant effects:

[0015] This device tightly integrates the pitch adjustment unit with the buoyancy adjustment unit, and drives the axial movement of the pitch adjustment unit through the piston mechanism to achieve the synchronous adjustment of the change of the underwater vehicle's buoyancy and the center of gravity position. This integrated design not only effectively saves internal space, but also reduces the complexity of independent control by simplifying the structure. Compared with the traditional separately arranged pitch adjustment unit and buoyancy adjustment unit, the integrated design enhances the coordination and synchronization of the two, improves the adjustment efficiency and operation accuracy, and ensures that the underwater vehicle can quickly respond to different buoyancy and attitude adjustment requirements.

[0016] The device drives the underwater vehicle to float and sink through the reciprocating motion of the plunger, completely avoiding the traditional hydraulic system's reliance on hydraulic oil as a medium, and eliminating the complex control and maintenance of the hydraulic system. Therefore, the system structure is more concise, and the overall design greatly reduces the mechanical complexity. In addition, the use of hydraulic oil as a medium is eliminated, reducing the risk of environmental pollution, greatly reducing the maintenance cost and operating cost of the system, thereby improving the economy of the underwater vehicle. The reduction in maintenance costs also reduces the burden of daily operations and extends the service life of the equipment.

[0017] The device uses a precise mechanical transmission system to make buoyancy and center of gravity adjustment more flexible and accurate. Since buoyancy adjustment and attitude adjustment are carried out simultaneously, the underwater vehicle can achieve more precise floating and attitude control according to mission requirements, improving control accuracy and maneuverability, especially in complex underwater environments, and can quickly adjust attitude to cope with various uncertain factors. This precise adjustment capability makes the device more reliable when performing refined tasks, such as deep-sea exploration, precision operations and other tasks.

[0018] By integrating the pitch adjustment unit with the buoyancy adjustment unit, the space utilization rate of the device has been significantly improved, avoiding the redundant free space and complex component layout in the traditional design. This compact design not only saves valuable internal space, but also provides a lighter structure for the underwater vehicle, improving the overall navigation efficiency and power performance. Compared with the traditional separately arranged system, the integrated design makes the system more compact, lighter in structure, more convenient to operate, and contributes to the stability and long-term operation capability of the underwater vehicle.

[0019] Compared with traditional hydraulic systems, the design of this device completely avoids the use of hydraulic oil, which not only effectively reduces the complexity and cost of the system, but also reduces the risk of pollution to the marine environment caused by hydraulic oil leakage. Since hydraulic oil leakage in underwater environments may have a significant impact on marine ecology, this design not only ensures environmental friendliness, but also improves the environmental performance of underwater vehicles, and is particularly suitable for long-term operation in deep-sea environments.

[0020] Since the device abandons the complexity of the hydraulic system, has a simple structure and reliable transmission, it reduces the high-frequency maintenance work required in conventional hydraulic systems. This enables the underwater vehicle to reduce the failure rate and maintenance frequency during long-term use, and improves work efficiency and reliability. Especially in deep sea or extreme environments, it reduces the need and cost of maintenance, thereby enhancing the long-term operability of the device.

[0021] In general, the submersible and floating motion drive device has significant technical advantages due to its simple structure, compact, efficient and environmentally friendly design. It not only improves the operating accuracy and maneuverability of underwater vehicles, but also effectively reduces maintenance costs, increases the stability and reliability of the system, and meets the growing demand for high-performance underwater equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the external structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the internal structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the transmission connection structure between the lead screw and the drive motor in the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] In order to solve the problems of hydraulic system pollution risk, high maintenance cost, inefficient space utilization and complex structure in the existing independent working structure of the pitch adjustment unit and the buoyancy adjustment device, the present invention provides a submersible and buoyant action driving device and an underwater vehicle. In order to further illustrate the structure of the present invention, the detailed description is as follows in conjunction with the drawings:

[0027] See also Figure 1 and Figure 2, a submersible and floating action drive device, comprising a pressure-resistant shell 1 and a sealing end cover 2 installed on the pressure-resistant shell. The pressure-resistant shell is made of aluminum alloy, which is sealed and connected to the sealing end cover to protect internal components. The pressure-resistant shell of an underwater vehicle is one of its core structural components. It is made of aluminum alloy to withstand the high water pressure in the deep-sea environment and ensure the safety of internal electronic equipment and mechanical components. The pressure-resistant shell is usually cylindrical to optimize structural strength and pressure resistance. The sealing end cover is a key connecting part of the shell. Through an efficient sealing design (such as an O-ring, conical seal or trapezoidal groove seal), watertight isolation between the inside and outside of the shell is achieved to ensure the reliability and long-term operation capability of the underwater vehicle.

[0028] The sealing end cover is installed with a buoyancy adjustment component 3, and the buoyancy adjustment component forms a plunger component that axially expands and contracts toward the outside of the sealing end cover. In the present embodiment, the buoyancy adjustment component is a cylindrical plunger component. The assembly of the buoyancy adjustment component and the sealing end cover can adopt a sealing guide structure to realize the axial movement of the plunger component while ensuring water tightness. Specifically, a guide hole or a mounting seat can be provided on the sealing end cover to accommodate the plunger component of the buoyancy adjustment component. The outer wall of the plunger has a high-precision machined surface, and a sealing component, such as an O-ring or a lip seal, is provided between it and the guide hole to ensure that the plunger can maintain watertight isolation from the outside when it is moving. The axial movement of the plunger changes the volume of the buoyancy adjustment component, and the volume difference formed with the water environment further adjusts the buoyancy of the vehicle to achieve precise floating or attitude control.

[0029] A plunger guide fixing frame 4 is installed inside the pressure-resistant shell. The plunger guide fixing frame is a sleeve-shaped frame coaxial with the buoyancy adjustment component. An adjustment drive device for driving the axial moving end of the buoyancy adjustment component is installed inside the pressure-resistant shell. In this embodiment, the adjustment drive device includes a drive motor 5, a lead screw 6 and a lead screw nut 7. The output shaft of the drive motor is connected to the lead screw. The axis of the lead screw is parallel to the axis of the pressure-resistant shell. The lead screw nut is mounted on the lead screw and connected to the buoyancy adjustment component. The buoyancy adjustment component forms an axial linear moving pair with the pressure-resistant shell and is driven axially by the drive motor. The drive motor is installed at the rear of the plunger guide fixing frame, the lead screw is installed on the inner side of the plunger guide fixing frame, the lead screw nut is fixed to the rear end of the buoyancy adjustment component, the plunger guide fixing frame is provided with an axial slide groove, and the buoyancy adjustment component is fixed with a guide slider that moves in the axial slide groove. A displacement block is installed on the buoyancy adjustment component, and a displacement sensor for collecting axial position information of the displacement block is installed on the plunger guide fixing frame. This structural design has many advantages. The plunger guide bracket provides coaxial support to ensure the accuracy and stability of the axial movement of the buoyancy adjustment component. At the same time, the axial slide and guide slider further constrain the direction of movement to reduce deviation or swing. The drive motor is combined with the transmission mechanism consisting of a lead screw and a lead screw nut. The lead screw uses a body-shaped lead screw to achieve high-precision and smooth drive, meeting the requirements of underwater buoyancy adjustment for response speed and control accuracy. In addition, the combination of the displacement block and the displacement sensor can monitor the axial position of the buoyancy adjustment component in real time, providing feedback guarantee for precise control.

[0030] The rear part of the plunger guide bracket is mounted with the drive motor through the drive motor bracket 8, and the drive motor bracket is mounted with the coupling 9 for connecting the lead screw and the output shaft of the drive motor. For the installation of the lead screw and the transmission connection structure with the drive motor, please refer to Figure 3 , that is, the screw mounting sleeve 10 is mounted on the end of the screw. The screw connecting shaft 11 is connected to the end of the trapezoidal screw by threads, and is fixed between the rear support frame 13 and the front support frame 14 at the rear of the plunger guide fixing frame through a rolling bearing 12. The coupling connects the output shaft of the drive motor with the screw connecting shaft.

[0031] The inner end of the plunger component is the plunger end cover, which is connected to the lead screw nut through a flange surface. The front end of the lead screw extends into the hollow plunger component. Two guide sliders 15 are symmetrically mounted on the plunger end cover and placed in the axial groove of the plunger guide fixing frame. The buoyancy adjustment unit adopts two sets of symmetrically arranged rolling bearings and thrust bearing structures to enhance the safety and reliability of the entire system. The rolling bearings provide stable support, while the thrust bearings prevent excessive accumulation of axial forces, ensuring that the buoyancy adjustment unit is more stable during operation and is not prone to accidental damage or failure. The plunger is connected to the trapezoidal screw pair and uses the self-locking function of the trapezoidal screw to achieve precise axial positioning of the buoyancy unit, preventing axial movement, thereby effectively ensuring the accuracy and stability of the device during operation. This self-locking function improves the stability of the entire device and avoids instability caused by improper operation or external impact.

[0032] A counterweight slider 16 is installed inside the pressure-resistant shell for axial movement. The counterweight slider is driven by the adjustment drive device and moves in the opposite direction to the buoyancy adjustment component. The counterweight slider is installed inside the pressure-resistant shell through an axial slide rail. The counterweight slider is connected to the lead screw nut through the pull wire 17 on the front and rear sides and the fixed pulley 18. The lead screw nut pulls the counterweight slider in the opposite direction of the movement of the lead screw nut through the pull wire. Specifically, a counterweight bracket 19 is arranged below the plunger guide fixed frame. The two ends of the counterweight bracket are respectively fixed to the sealing end cover and the drive motor fixed frame. The counterweight bracket forms a slide rail for installing the counterweight slider. This structural design realizes the coordinated adjustment of buoyancy and pitch through the reverse movement of the counterweight slider and the buoyancy adjustment component. The counterweight slider is installed on the axial slide rail inside the pressure-resistant shell and is indirectly driven by the adjustment drive device through the pull wire and the fixed pulley. Specifically, the lead screw nut drives the counterweight slider to move through the pull wire. When the lead screw nut moves forward, the pull wire causes the counterweight slider to move backward, forming a reverse motion linkage mechanism between the buoyancy adjustment component and the counterweight slider. The counterweight bracket is fixed between the sealing end cover and the drive motor fixing frame to provide rail support for the counterweight slider to ensure the accuracy and stability of its movement. The linkage between the counterweight slider and the buoyancy adjustment component can meet the rapid dynamic adjustment requirements of the underwater vehicle and achieve the coordinated optimization of buoyancy adjustment and center of gravity adjustment.

[0033] This design realizes the efficient integration of buoyancy adjustment and attitude control through the linkage between the buoyancy adjustment component and the counterweight slider. The buoyancy adjustment component extends forward to increase buoyancy, while the counterweight slider moves backward. The center of gravity moves backward to make the head of the device tilt upward, realizing supine buoyancy; conversely, when the buoyancy adjustment component retracts and the counterweight slider moves forward, the center of gravity moves forward to make the head of the device tilt downward, realizing prone diving. This linkage design can not only accurately control the buoyancy state of the device, but also synchronously adjust the attitude of the vehicle, improve underwater maneuverability and control accuracy, and is particularly suitable for delicate operations in complex waters or tasks with high attitude requirements.

[0034] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention. For example, the reverse linear transmission mechanism formed by the pull wire and the fixed pulley is replaced with other transmission structures in the existing mechanical transmission, such as replacing the pull wire and the fixed pulley with another lead screw parallel to the above-mentioned lead screw, the two lead screws have opposite thread rotation directions, and are driven by a drive motor and gears. This lead screw and the matching slider are driven by a lead screw nut. Alternatively, the pull wire and the fixed pulley are replaced with a toggle connecting rod mechanism, etc.

Claims

1. A submersible and floating action driving device, comprising a pressure-resistant shell and a sealing end cover installed on the pressure-resistant shell, characterized in that: The sealing end cover is installed with a buoyancy adjustment component, and the buoyancy adjustment component forms a plunger component that axially extends and retracts toward the outside of the sealing end cover. An adjustment drive device that drives the axially moving end of the buoyancy adjustment component is installed inside the pressure-resistant shell; an axially moving counterweight slider is installed inside the pressure-resistant shell, and the counterweight slider is driven by the adjustment drive device and moves in the opposite direction to the buoyancy adjustment component.

2. The submersible and floating motion driving device according to claim 1, characterized in that: The adjustment drive device includes a drive motor, a lead screw and a lead screw nut, wherein the output shaft of the drive motor is connected to the lead screw, the axis of the lead screw is parallel to the axis of the pressure-resistant shell, the lead screw nut is mounted on the lead screw and connected to the buoyancy adjustment component, the buoyancy adjustment component forms an axial linear motion pair with the pressure-resistant shell and is driven by the drive motor to move axially.

3. The submersible and floating motion driving device according to claim 2, characterized in that: The counterweight slider is installed inside the pressure-resistant shell through an axial slide rail. The counterweight slider is connected to the lead screw nut through pull wires on the front and rear sides and a fixed pulley. The lead screw nut pulls the counterweight slider in the opposite direction of the movement of the lead screw nut through the pull wire.

4. The submersible and floating motion driving device according to claim 3, characterized in that: The buoyancy adjusting component is a cylindrical plunger member, and a plunger guide fixing frame is installed inside the pressure-resistant shell. The plunger guide fixing frame is a sleeve-shaped frame body coaxial with the buoyancy adjusting component. The drive motor is installed at the rear of the plunger guide fixing frame, the screw is installed on the inner side of the plunger guide fixing frame, and the screw nut is fixed to the rear end part of the buoyancy adjusting component. The plunger guide fixing frame is provided with an axial slide groove, and the buoyancy adjusting component is fixed with a guide slider moving in the axial slide groove.

5. The submersible and floating motion driving device according to claim 4, characterized in that: The rear portion of the plunger guide fixing frame is provided with the driving motor via a driving motor fixing frame, and the driving motor fixing frame is provided with a coupling for connecting the lead screw and the output shaft of the driving motor.

6. The submersible and floating motion driving device according to claim 5, characterized in that: A counterweight bracket is arranged below the plunger guide fixing bracket, and two ends of the counterweight bracket are respectively fixed to the sealing end cover and the driving motor fixing bracket, and the counterweight bracket forms the slide rail for installing the counterweight slider.

7. The submersible and floating motion driving device according to claim 6, characterized in that: A displacement block is installed on the buoyancy adjustment component, and a displacement sensor for collecting axial position information of the displacement block is installed on the plunger guide fixing frame.

8. An underwater vehicle, characterized in that: The underwater vehicle is equipped with a diving and floating motion driving device as described in any one of claims 1-7.

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