Submerged piston and motion control method thereof

Abstract

The invention discloses a snorkeling piston and a motion control method thereof, which are applied to a snorkeling piston cooperative driving engine. Comprising a gravity body, a pulley vehicle fixing frame, a pulley vehicle, a gravity body center column, a supporting ring body, a keel, a floating body supporting rod, a closed floating body, a submerged piston top, a piston top protection sealing sleeve, a piston clamping groove, a clamping groove supporting disc and a piston sliding groove. Under the synergistic effect of buoyancy of liquid in a piston barrel of the submersible piston cooperative driving engine and self gravity, the submersible piston circularly reciprocates in the piston barrel, so that torque difference is generated by the submersible pistons on the left side and the right side of the vertical line of the center shaft of the engine, and the piston barrel is driven to rotate together with the rotating large disc of the engine and the center shaft of the engine; and power is output outwards. The gravitational potential energy and the buoyancy potential energy are stably, efficiently and continuously converted into cooperative driving force through creation of the submerging piston, and a key technology and a power engine are provided for creation and application of a stable, clean and sustainable operation power system.

Description

Technical Field

[0001] The invention belongs to the field of engine systems, and in particular relates to a submersible piston and a motion control method thereof. Background Art

[0002] Through scientific and technological literature retrieval and investigation and research, although some researchers are exploring and experimenting with methods and devices for generating power using gravity and buoyancy, these methods are too simple and fail to solve the technical problem of effectively converting gravitational potential energy and buoyancy potential into a synergistic driving force, let alone solving the efficiency problem of power generation and the stability, reliability and sustainability of power, making these research results lack innovation and practicality. So far, no gravity and buoyancy engine has been truly put into commercial application. At present, no researchers at home or abroad have been found to conduct research similar to the submersible piston synergistic drive engine, nor have any researchers been found to be studying the submersible piston. Therefore, no research and application similar to the submersible piston has been found. Summary of the invention

[0003] In order to solve the above problems, the technical problem to be solved by the present invention is to provide a submersible piston and a motion control method thereof. The invention realizes the good conversion of the gravitational potential energy and buoyancy potential energy of the submersible piston into a coordinated driving force, greatly improving the efficiency of converting the gravitational potential energy and buoyancy potential energy into rotational power. Through the cyclic reciprocating motion of the submersible piston, the submersible piston is driven to coordinately drive the piston cylinder of the engine together with the engine rotating disk and the engine center axis to rotate, and output high-quality power to the outside. At the same time, through the precise control of the cyclic motion period of the submersible piston, the stability, reliability and continuity of the engine operation are effectively guaranteed.

[0004] The technical solution of the present invention is:

[0005] A submersible piston is used in a submersible piston cooperative drive engine, and reciprocates in the liquid in the piston cylinder of the submersible piston cooperative drive engine. The piston motion controller and the piston fixed angle control switch installed on the inner wall of the two ends of the piston cylinder are used for locking and releasing control. The submersible piston includes two types of end-controlled submersible pistons and shoulder-controlled submersible pistons. A submersible piston cooperative drive engine can use one of the two submersible pistons. The two submersible pistons specifically include a gravity body, a pulley fixing frame, a pulley, a gravity body center column, a main support ring body, a main keel, a secondary support ring body, a secondary keel, a floating body support rod, a closed floating body, a submersible piston top, a piston top protection sealing sleeve, a piston clamping groove, a groove body protection sleeve, a clamping groove support plate and a piston sliding groove, wherein:

[0006] The gravity body is a component of a regular shape, located in the middle of the submersible piston and having its center of mass located in the middle of the center line of the center column of the gravity body, and made of high-density material. The gravity of the gravity body and all other components and mechanisms of the submersible piston is less than the buoyancy of the submersible piston in the liquid, so as to ensure that the submersible piston always has the ability to float in the liquid in the piston cylinder of the submersible piston cooperatively driving the engine. As the submersible piston continuously reciprocates under the coordinated action of the buoyancy of the liquid and its own gravity, the force arm of the gravity body and the entire submersible piston continuously changes, and the gravity body and the entire submersible piston on the left and right sides of the vertical line of the engine center axis generate a torque difference, driving the piston cylinder together with the engine rotating disk and the engine center axis to rotate, and output power to the outside;

[0007] The pulley trolley fixing frame refers to two parallel rod-shaped components used to install and support the pulley trolley. The two pulley trolley fixing frames are symmetrically installed on both sides of the gravity body. They can be symmetrically fastened and connected to the outer side of the gravity body, or symmetrically installed and fixed in the gravity body groove after slots are opened on both sides of the gravity body. The pulley trolley fixing frame is installed on the outside of the closed floating body. For the submerged floating piston controlled by the end, the pulley trolley fixing frame is a straight rod-shaped mechanism. Both ends of each pulley trolley fixing frame are fastened and supported by the main keel, and the main support circle body is fastened and connected to its two ends. For the submerged floating piston controlled by the shoulder, the pulley trolley fixing frame installed on the gravity body is a U-shaped straight rod disc-shaped mechanism with equal lengths bent outward at both ends. The ends of the straight rod are fastened and supported by the main keel, and the bent part is bent outward at 90 degrees and made into a disc-shaped body, forming a clamping groove support disk, and the main support circle body is fastened and connected to the end of the clamping groove support disk;

[0008] The pulley is a mechanism that supports the buoyant piston to circulate on the slide track of the piston sliding groove. Two or more pulleys are installed on both sides of the buoyant piston. The pulleys on both sides of the buoyant piston are installed symmetrically. The pulleys on both sides of the buoyant piston are clamped between the slide tracks of the parallel piston sliding grooves on the inner walls of both sides of the piston cylinder.

[0009] The gravity body center column is a columnar structure that supports and fixes the gravity body and the closed floating body. The gravity body center column is located in the middle of the gravity body and is perpendicular to the gravity body. The lengths of the gravity body center columns at both ends of the gravity body are the same. The ends of the gravity body center column are respectively fastened to the top of the submerged floating piston.

[0010] The main support ring is a ring-shaped rod-shaped mechanism used to connect and support the floating body support rod. The submerged piston has two main support rings, which are respectively installed and fixed at the ends of the two pulley fixing frames at both ends. The plane of the main support ring is perpendicular to the center column of the gravity body. Each main support ring is supported and fixed by four or more evenly distributed main keels. The other end of the main keel is connected and fixed to the center column of the gravity body. All main keels are located in the plane of the main support ring.

[0011] The secondary support ring body is a ring-shaped rod-shaped mechanism used to connect and support the floating body support rod. There are one or more secondary support ring bodies at each end of the gravity body. The number of secondary support ring bodies at both ends of the gravity body is the same. The plane of the secondary support ring body is perpendicular to the central column of the gravity body. Each secondary support ring body is supported and fixed by four or more evenly distributed secondary keels. The other end of the secondary keel is connected and fixed to the central column of the gravity body. All secondary keels are located in the corresponding plane of the secondary support ring body.

[0012] The floating body support rod is a rod-shaped component used to support the closed floating body. There are several evenly distributed and equal floating body support rods at both ends of the gravity body. For the end-controlled submersible piston, one end of each floating body support rod is connected and fixed to the main support ring body, the middle part is connected and fixed to the auxiliary support ring body, and the other end is connected and fixed to the clamping groove support plate on one side of the center column of the gravity body. For the shoulder-controlled submersible piston, one end of each floating body support rod is connected and fixed to the main support ring body, the middle part is connected and fixed to the auxiliary support ring body, and the other end is connected and fixed to the outer edge of the top of the submersible piston.

[0013] The enclosed float is made of a high-strength, highly wear-resistant lightweight material, and is used to tightly wrap the gravity body and all the enclosed float support mechanisms to form a "shuttle-shaped" seal. When the enclosed float is immersed in liquid, the liquid will not leak into the enclosed float. The enclosed float is a rigid body and will not deform when moving in the liquid of the piston cylinder.

[0014] The submerged floating piston top is a regular block structure installed and fixed at the two ends of the center column of the gravity body, and collides with the piston control top of the piston motion controller during movement. The top ends of the two submerged floating pistons are in a planar structure and are perpendicular to the center column of the gravity body. The submerged floating piston top is tightly wrapped by the piston top protection sealing sleeve. The piston top protection sealing sleeve is a sealing body made of high-strength and high-wear-resistant materials, and is sealed with the closed floating body to form a sealed wrapping layer;

[0015] The piston clamping groove is a V-shaped groove mechanism designed and manufactured to allow the clamping crank arm of the piston motion controller to lock and release the submerged floating piston, including an end clamping groove and a shoulder clamping groove. The end clamping groove is used for end control of the submerged floating piston, and the shoulder clamping groove is used for shoulder control of the submerged floating piston. The end clamping groove is also called the neck clamping groove, which is a V-shaped groove body composed of a closed float and a groove body protective cover laid at the intersection of the clamping groove support plate and the float support rod. The groove body protective cover is a high-wear-resistant cushion layer made of high-strength, high-wear-resistant and smooth material and fastened and laid on the surface of the closed float of the V-shaped groove body to increase the performance and life of the piston clamping groove. The shoulder clamping groove is a V-shaped groove body composed of a closed float and a groove body protective cover laid at the curved part of the pulley car fixing frame;

[0016] The piston sliding groove refers to a support mechanism that is installed and fixed in parallel on the middle of the inner walls on both sides of the piston cylinder parallel to the rotation plane, and is used to support the circular motion of the pulley car of the submersible piston. Three mutually parallel sliding tracks are installed and fixed on the piston sliding groove. The pulleys of the pulley cars on both sides of the submersible piston are buckled on the three sliding tracks, thereby supporting the submersible piston to perform reciprocating motion along the piston cylinder. The piston sliding groove includes a U-shaped piston sliding groove and a T-shaped piston sliding groove. Each submersible piston can use one of the two piston sliding grooves.

[0017] The shape of the submersible piston is designed and manufactured into a "shuttle" shape, that is, the two ends of the submersible piston are respectively designed and manufactured into a cone, a hemispherical or a semi-ellipsoidal shape to reduce the liquid resistance when the submersible piston moves in the liquid. The cross-sectional shape of the submersible piston perpendicular to the direction of movement is determined according to the cross-sectional shape of the piston cylinder, and can be designed and manufactured into a circular, elliptical, square, rectangular, polygonal or other suitable shapes.

[0018] The gravity body of the submersible piston can be made of iron, stainless steel, lead, copper, and high-density metal materials, high-density alloy materials, high-density rocks or other high-density materials.

[0019] The airtight float of the submersible piston can be made of iron, stainless steel, aluminum, light alloy material, acrylic (polymethyl methacrylate), PVC (polyethylene), PET (polyethylene terephthalate), resin, organic ceramic or other high-strength light materials.

[0020] The pulley vehicle comprises a vehicle beam, a pulley block ligand, a pulley, a pulley bracket, a bearing, a bearing shaft and a bearing support seat. The vehicle beam is a mechanism installed and fixed on the pulley vehicle fixing frame and connected and fixed to the pulley block ligand. Each pulley vehicle is provided with a pulley block ligand. The pulley block ligand is a mechanism for configuring and installing pulleys. Each pulley is supported by pulley brackets on both sides of the pulley. The pulley bracket is composed of four support rods, and a bearing support seat is provided at the end thereof. The four support rods are installed and fixed on the pulley block ligand. The bearing support seat is used to install and fix the outer ring of the bearing, and the pulley is fastened and connected in series on the bearing shaft. The two ends of the bearing shaft are installed and fixed on the inner rings of the bearings of the two bearing support seats to form a pulley that can rotate freely. In addition, the pulley can also be installed and fixed on an outer ring of the bearing, and the inner ring of the bearing is fixed in series by the bearing shaft. The two ends of the bearing shaft are installed and fixed on the bearing support seats of the pulley brackets on both sides of the pulley to form a pulley that can rotate freely. The pulley can be a U-shaped pulley, an H-shaped pulley, a V-shaped pulley or a grooveless pulley.

[0021] The pulley block ligand refers to a mechanism that organizes and assembles pulleys in the four directions of up, down, left and right when the submerged piston moves in a vertical plane, and is clamped on the sliding track of the piston sliding groove to ensure the balanced and stable movement of the submerged piston. Two or more pulley vehicles are symmetrically installed on both sides of the submerged piston, and the line connecting the centers of pulleys of the same order of any two pulley vehicles corresponding to the two sides of the submerged piston is horizontal. When the pulley block ligand is in a horizontal state, two or more groups of pulley brackets are respectively installed in the vertical upward direction, vertical downward direction and perpendicular to the vertical plane outward direction on one side of the pulley block ligand, and a pulley is installed at the end of each group of pulley brackets. The pulleys in the three directions are just buckled on the three sliding tracks of the piston sliding groove.

[0022] The piston sliding groove is fixed in the middle of the inner wall on both sides of the piston cylinder, and is used to support the pulley of the submersible piston pulley vehicle to make a circular motion. The piston sliding groove includes a sliding groove base, a sliding track support seat and a sliding track. The sliding groove base is fixed on the inner wall on both sides of the piston cylinder, and the sliding track support seat is tightly connected to the sliding groove base. The sliding track is fixed on the sliding track support seat, and the vertical connection between the two corresponding sliding track center lines on the piston sliding grooves on both sides of the piston cylinder is in a horizontal state. The present invention has created two types of piston sliding grooves, namely U-shaped piston sliding grooves and T-shaped piston sliding grooves, wherein:

[0023] The U-shaped piston sliding groove refers to two sliding track support seats respectively installed and fixed vertically at both ends of the sliding groove base, so that the sliding groove base and the sliding track support seat form a U-shaped piston sliding groove, and a sliding track is respectively installed and fixed on the sliding groove base and the two sliding track support seats, and the three sliding tracks are parallel to each other. The pulleys in three directions of the pulley car are respectively clamped on the three sliding tracks of the U-shaped groove, so that the submerged floating piston can circulate freely in the piston cylinder;

[0024] The T-shaped piston sliding groove refers to a sliding track support seat vertically installed and fixed in the middle of the sliding groove base, so that the sliding groove base and the sliding track support seat form a T-shaped piston sliding groove, and a sliding track is respectively installed and fixed at the end and both sides of the sliding track support seat. The three sliding tracks are parallel to each other, and the pulleys in three directions of the pulley car are respectively clamped on the three sliding tracks, so that the submerged piston can circulate freely in the piston cylinder.

[0025] A method for controlling the motion of a submerged piston, the specific method of which is as follows:

[0026] (1) Calculate and determine the number and weight of the submersible pistons. The speed and power of the submersible piston cooperative drive engine are determined by the number, length, shape, capacity of the piston cylinders, the height and weight of the liquid in the piston cylinders and the gravity box, and the volume and weight of the submersible pistons. After the design speed and design power of the submersible piston cooperative drive engine are determined, first calculate and determine the number, length, shape, capacity of the piston cylinders, and the height and weight of the liquid in the piston cylinders and the gravity box. Then, the number and weight of the submersible pistons can be calculated and determined;

[0027] (2) Design and establish that the buoyancy of the submersible piston immersed in the liquid is greater than its own weight. When designing and manufacturing the submersible piston, by calculating the volume, buoyancy, and gravity of the gravity body and other mechanisms and components of the submersible piston, the buoyancy of the submersible piston in the liquid is designed to be greater than its own weight, so that the submersible piston always has the ability to float in the liquid in the piston cylinder;

[0028] (3) Calculate and determine the effective length and one-way movement time of the submerged piston in the piston barrel. Based on the length of the piston barrel and the distance from the piston control top of the piston motion controller installed at both ends of the piston barrel to the inner wall of the piston barrel end, the effective length of the submerged piston in the piston barrel can be calculated and determined. Based on the buoyancy calculation formula and the physical kinematics formula, the one-way movement time of the submerged piston in the piston barrel when the piston barrel is perpendicular to the horizontal plane or at other angles to the horizontal plane can be calculated and determined, which provides a basis for determining the starting angle when the submerged piston starts to move; the one-way movement time of the submerged piston in the piston barrel determines the speed of the engine. If the one-way movement time of the submerged piston in the piston barrel cannot meet the design speed requirement of the engine, it is necessary to recalculate and adjust the volume of the submerged piston, that is, change the liquid buoyancy of the submerged piston until the design speed requirement of the engine is met;

[0029] (4) Calculate the starting angle for the submersible piston to start moving and set the angle of the gravity ball starting platform. After calculating and determining the one-way movement time of the submersible piston in the piston cylinder, the angle of rotation of the piston cylinder during the one-way movement time of the submersible piston can be calculated based on the speed of the engine driven by the submersible piston. The principle is to maximize the torque difference between the submersible piston on the left and right sides of the vertical line of the engine center axis, and the angle between the piston cylinder and the vertical line of the engine center axis is used as the starting angle when the submersible piston starts moving. The position of the piston cylinder in the vertical rotation plane is determined, and the position of the piston cylinder is used as the starting position for the submersible piston to start moving. The gravity ball starting platform of the piston fixed angle control switch is set to a horizontal state, and the gravity ball hits the gravity drive arm and the linkage mechanism connected thereto to drive the clamping crank arm of the piston motion controller to release the submersible piston, allowing the submersible piston to start floating;

[0030] (5) Automatically control the locking and releasing of the submersible piston. An integrated piston motion controller and a piston fixed angle control switch are installed on the inner walls at both ends of the piston cylinder. The angle between the piston cylinder and the vertical line of the engine center axis is set as the starting angle when the submersible piston starts to move. When the piston cylinder rotates to the position corresponding to the starting angle below the horizontal plane of the engine center axis, the piston fixed angle control switch located at the outer end of the piston cylinder controls the piston motion controller to release the submersible piston, and the submersible piston located at the outer end of the piston cylinder starts to float upward automatically. When the submersible piston moves to the locking position of the piston motion controller at the inner end of the piston cylinder, the piston motion controller immediately and automatically locks the submersible piston, causing the submersible piston to stop moving. When the piston cylinder rotates to the position corresponding to the starting angle above the horizontal plane of the engine center axis, the piston fixed angle control switch located at the inner end of the piston cylinder The piston motion controller is turned off to release the submerged piston, and the submerged piston located at the inner end of the piston cylinder begins to float upward automatically. When the submerged piston moves to the locking position of the piston motion controller at the outer end of the piston cylinder, the piston motion controller immediately and automatically locks the submerged piston to stop the movement of the submerged piston. The submerged piston is locked and released in such a cyclic and regular manner to ensure that the submerged piston has a stable and accurate cyclic reciprocating motion cycle, and ensures that the submerged piston cooperates with the engine to drive a stable and accurate rotation speed. The submerged pistons in all piston cylinders cyclically reciprocate in their respective piston cylinders in turn, causing the submerged pistons on the left and right sides of the vertical line of the engine center axis to produce torque differences and torque differences, thereby driving the piston cylinder together with the engine rotating disk and the engine center axis to rotate, and output power to the outside.

[0031] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art:

[0032] (1) The present invention creates a key energy conversion system, namely a submerged piston, so that the submerged piston performs periodic reciprocating motion in the piston cylinder under the coordinated action of the liquid buoyancy and its own gravity, and the submerged pistons on the left and right sides of the vertical line of the engine central axis continuously generate torque difference and torque difference, thereby continuously driving the piston cylinder together with the engine rotating disk and the engine central axis to rotate, effectively converting the gravitational potential energy and the buoyancy potential energy into rotational power, greatly improving the efficiency of converting the gravitational potential energy and the buoyancy potential energy into the coordinated driving force, creating a new path for the effective conversion and efficient utilization of the gravitational potential energy and the buoyancy potential energy, and providing key technologies and power engines for creating a pioneering power system that is stable, clean, resource-free and sustainable.

[0033] (2) The present invention adopts a linear control method and invents a complete linear motion system composed of a gravity body, a gravity body center column, a submerged piston top, a support ring and keel, a closed float, a pulley, a piston sliding groove, a clamping groove support plate and related support mechanisms, and is linked with a linear control system such as a piston motion controller, thereby being able to make good use of the characteristics and advantages of the linear motion system, greatly improving the stability, accuracy and reliability of the submerged piston cyclic motion, and effectively guaranteeing the operating stability, accuracy and reliability of the submerged piston cooperatively driving the engine.

[0034] (3) The present invention designs the submersible piston into a "shuttle" shape, which greatly reduces the liquid resistance of the submersible piston when it circulates in the liquid in the piston cylinder, reduces energy loss, and increases the movement speed of the submersible piston, thereby increasing the speed of the submersible piston cooperatively driving the engine.

[0035] (4) The present invention creates two control modes, namely, submersible piston end control and shoulder control. These two control modes have different adaptability to submersible pistons of different sizes and weights, thereby providing two options for controlling the submersible pistons of submersible pistons of different powers that cooperate to drive the engines, thereby improving the adaptability of submersible piston control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0037] Figure 1 It is a three-dimensional schematic diagram of the submersible piston of the present invention;

[0038] Figure 2 It is a cross-sectional view of the end-controlled submersible piston of the present invention;

[0039] Figure 3 A cross-sectional view of a shoulder-controlled submersible piston of the present invention;

[0040] Figure 4 It is a three-dimensional schematic diagram of a pulley vehicle based on a wide piston cylinder of the present invention;

[0041] Figure 5 It is a three-dimensional schematic diagram of a pulley vehicle based on a narrow piston cylinder of the present invention;

[0042] Figure 6 A cross-sectional view of a U-shaped piston sliding groove of the present invention;

[0043] Figure 7 It is a cross-sectional view of the T-type piston sliding groove of the present invention.

[0044] Description of reference numerals:

[0045] 1: gravity body; 2: pulley car fixing frame; 3: pulley car; 4: gravity body center column; 5: main support ring body; 6: main keel; 7: auxiliary support ring body; 8: auxiliary keel; 9: floating body support rod; 10: closed floating body; 11: submerged piston top; 12: clamping groove support plate; 13: piston top protection sealing sleeve; 14: piston clamping groove; 15: car beam; 16: pulley block mate; 17: pulley; 18: pulley bracket; 19: bearing; 20: bearing shaft; 21: bearing support seat; 22: U-shaped piston sliding groove base; 23: sliding track; 24: T-shaped piston sliding groove base; 25: U-shaped piston sliding groove sliding track support seat; 26: T-shaped piston sliding groove sliding track support seat. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0047] See also Figure 1 , Figure 2 and Figure 3 The present invention provides a submersible piston, which is applied to a submersible piston cooperative drive engine and reciprocates in a liquid in a piston cylinder of the submersible piston cooperative drive engine. The piston motion controller and the piston fixed angle control switch installed on the inner walls of the two ends of the piston cylinder are used to lock and release the piston. The submersible piston includes an end-controlled submersible piston and a shoulder-controlled submersible piston. A submersible piston cooperative drive engine can use one of the two submersible pistons. The two submersible pistons specifically include a gravity body 1, a pulley fixing frame 2, a pulley 3, a gravity body center column 4, a main support ring body 5, a main keel 6, a secondary support ring body 7, a secondary keel 8, a buoy support rod 9, a closed buoy 10, a submersible piston top 11, a clamping groove support plate 12, a piston top protection sealing sleeve 13, a piston clamping groove 14, a groove body protection sleeve and a piston sliding groove, wherein:

[0048] See also Figure 2 and Figure 3The gravity body 1 is a component of a regular shape, located in the middle of the submersible piston and having its center of mass located in the middle of the center line of the gravity body center column 4, and made of high-density material. The gravity of the gravity body 1 and all other components and mechanisms of the submersible piston is less than the buoyancy of the submersible piston in the liquid, so as to ensure that the submersible piston always has the ability to float in the liquid in the piston cylinder of the submersible piston cooperatively driving the engine. As the submersible piston continuously reciprocates under the coordinated action of the liquid buoyancy and its own gravity, the force arm of the gravity body 1 and the entire submersible piston continuously changes, and the gravity body 1 and the entire submersible piston on the left and right sides of the vertical line of the engine center axis generate a torque difference, driving the piston cylinder together with the engine rotating disk and the engine center axis to rotate, and output power to the outside;

[0049] See also Figure 2 and Figure 3 , the pulley fixing frame 2 refers to two parallel rod-shaped components used to install and support the pulley 3. The two pulley fixing frames 2 are symmetrically installed and fixed on both sides of the gravity body 1. They can be symmetrically fastened and connected with the outer side of the gravity body 1, or they can be symmetrically installed and fixed in the grooves of the gravity body 1 after grooves are opened on both sides of the gravity body 1. The pulley fixing frame 2 is installed on the outside of the closed floating body 10. For the end-controlled submerged piston, the pulley fixing frame 2 is a linear rod-shaped mechanism. Both ends of each pulley fixing frame 2 are fastened and supported by the main keel 6. The main support circle body 5 is fastened and connected to both ends of the pulley fixing frame 2. For the shoulder-controlled submerged piston, the pulley fixing frame 2 installed on the gravity body 1 is a U-shaped straight rod disc-shaped mechanism with equal lengths at both ends bent outward. The ends of the linear rod are fastened and supported by the main keel 6. The bent part is bent outward at 90 degrees and made into a disc-shaped body, forming a clamping groove support plate 12. The main support circle body 5 is fastened and connected to the end of the clamping groove support plate 12;

[0050] See also Figure 4 , Figure 5 , Figure 6 and Figure 7 The pulley 1 is a mechanism for supporting the circulatory motion of the submersible piston on the sliding track of the piston sliding groove. Two or more pulleys 3 are respectively installed on both sides of the submersible piston. The pulleys 3 on both sides of the submersible piston are symmetrically installed. The pulleys 3 on both sides of the submersible piston are clamped between the sliding tracks of the piston sliding grooves parallel to each other on the inner walls of both sides of the piston cylinder.

[0051] See also Figure 2 and Figure 3 The gravity body center column 4 is a columnar structure that supports and fixes the gravity body 1 and the closed floating body 10. The gravity body center column 4 is located in the middle of the gravity body 1 and is perpendicular to the gravity body 1. The lengths of the gravity body center columns 4 at both ends of the gravity body 1 are the same. The ends of the gravity body center column 4 are respectively fastened to the submerged floating piston top 11;

[0052] See also Figure 2 and Figure 3 The main support ring body 5 is an annular rod-shaped mechanism for connecting and supporting the floating support rod 9. The submerged piston has two main support ring bodies 5, which are respectively installed and fixed at the ends of the two pulley fixing frames 2 at both ends. The plane of the main support ring body 5 is perpendicular to the center column 4 of the gravity body. Each main support ring body 4 is supported and fixed by four or more evenly distributed main keels 6. The other end of the main keel 6 is connected and fixed to the center column 4 of the gravity body. All main keels 6 are located in the plane of the corresponding main support ring body 5;

[0053] See also Figure 2 and Figure 3 The secondary support circle 7 is a ring-shaped rod-shaped mechanism for connecting and supporting the floating support rod 9. There are one or more secondary support circle bodies 7 at each end of the gravity body 1. The number of secondary support circle bodies 7 at both ends of the gravity body 1 is the same. The plane of the secondary support circle body 7 is perpendicular to the center column 4 of the gravity body. Each secondary support circle body 7 is supported and fixed by four or more evenly distributed secondary keels 8. The other end of the secondary keel 8 is connected and fixed to the center column 4 of the gravity body. All secondary keels are located in the corresponding secondary support circle plane;

[0054] See also Figure 2 and Figure 3 , the float support rod 9 is a rod-shaped component used to support the closed float 10. There are several evenly distributed and equal float support rods 9 at both ends of the gravity body 1. For the end-controlled submersible piston, one end of each float support rod 9 is connected and fixed to the main support ring body 5, the middle part is connected and fixed to the secondary support ring body 7, and the other end is connected and fixed to the clamping groove support plate 12 close to the side of the gravity body center column 4. For the shoulder-controlled submersible piston, one end of each float support rod 9 is connected and fixed to the main support ring body 5, the middle part is connected and fixed to the secondary support ring body 7, and the other end is connected and fixed to the outer edge of the submersible piston top 11;

[0055] See also Figure 2 and Figure 3 The closed float 10 is made of a high-strength, high-wear-resistant lightweight material, and is used to tightly wrap the gravity body 1 and all the closed float support mechanisms to form a "shuttle-shaped" seal. When the closed float 10 is immersed in liquid, the liquid will not leak into the closed float 10. The closed float 10 is a rigid body and will not deform when moving in the liquid of the piston cylinder.

[0056] See also Figure 2 and Figure 3The submerged piston top 11 is a regular block structure installed and fixed at both ends of the gravity body center column 4, and collides with the piston control top of the piston motion controller during movement. The two ends of the submerged piston top 11 are in a planar structure and are perpendicular to the gravity body center column 4. The submerged piston top 4 is tightly wrapped by the piston top protection sealing sleeve 13. The piston top protection sealing sleeve 13 is a sealing body made of high-strength and high-wear-resistant materials, and is sealed with the closed float 10 to form a sealed wrapping layer;

[0057] See also Figure 2 and Figure 3 The piston clamping groove 14 is a V-shaped groove mechanism designed and manufactured to allow the clamping crank arm of the piston motion controller to lock and release the submerged floating piston, including an end clamping groove and a shoulder clamping groove. The end clamping groove is used for end control of the submerged floating piston, and the shoulder clamping groove is used for shoulder control of the submerged floating piston. The end clamping groove is also called the neck clamping groove, which is a V-shaped groove body composed of a closed float 10 and a groove body protective cover laid at the intersection of the clamping groove support plate 12 and the float support rod 9. The groove body protective cover is a high-wear-resistant cushion layer made of high-strength, high-wear-resistant and smooth material and fastened and laid on the surface of the closed float 10 of the V-shaped groove body to increase the performance and life of the piston clamping groove 14. The shoulder clamping groove is a V-shaped groove body composed of a closed float 10 and a groove body protective cover laid on the curved part of the pulley car fixing frame 2;

[0058] See also Figure 4 , Figure 5 , Figure 6 and Figure 7 The piston sliding groove refers to a supporting mechanism that is installed and fixed in parallel on the middle part of the inner wall on both sides of the piston cylinder parallel to the rotation plane, and is used to support the cyclic motion of the pulley 3 of the submerged floating piston. Three mutually parallel sliding tracks 23 are installed and fixed on the piston sliding groove. The pulleys 17 of the pulley 3 on both sides of the submerged floating piston are clamped on the three sliding tracks 23, thereby supporting the submerged floating piston to make cyclic reciprocating motion along the piston cylinder. The piston sliding groove includes a U-shaped piston sliding groove and a T-shaped piston sliding groove. Each submerged floating piston can use one of the two piston sliding grooves.

[0059] See also Figure 1 , Figure 2 and Figure 3 The shape of the submersible piston is designed and manufactured into a "shuttle" shape, that is, the two ends of the submersible piston are respectively designed and manufactured into a cone, a hemispherical or a semi-ellipsoidal shape to reduce the liquid resistance when the submersible piston moves in the liquid. The cross-sectional shape of the submersible piston perpendicular to the direction of movement is determined according to the cross-sectional shape of the piston cylinder, and can be designed and manufactured into a circular, elliptical, square, rectangular, polygonal or other suitable shapes.

[0060] See also Figure 2 and Figure 3The gravity body 1 of the submerged piston can be made of iron, stainless steel, lead, copper, and high-density metal materials, high-density alloy materials, high-density rocks or other high-density materials.

[0061] See also Figure 2 and Figure 3 The enclosed float 10 of the submerged piston can be made of iron, stainless steel, aluminum, light alloy materials, acrylic (polymethyl methacrylate), PVC (polyethylene), PET (polyethylene terephthalate), resin, organic ceramics or other high-strength light materials.

[0062] See also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The pulley trolley 3 includes a car beam 15, a pulley block ligand 16, a pulley 17, a pulley bracket 18, a bearing 19, a bearing shaft rod 20 and a bearing support seat 21. The car beam 15 is installed and fixed on the pulley trolley fixed frame 2, and is connected and fixed to the pulley block ligand 16. Each pulley trolley 3 is provided with a pulley block ligand 16. The pulley block ligand 16 is a mechanism for configuring and installing the pulley 17. Each pulley 17 is supported by the pulley bracket 18 on both sides of the pulley 17. The pulley bracket 18 is composed of four support rods, and a bearing support seat 21 is provided at the end thereof. The four support rods are installed and fixed on the pulley block ligand 16. The bearing The support seat 21 is used to install and fix the outer ring of the bearing 19, and the pulley 17 is fastened and connected in series on the bearing shaft 20. The two ends of the bearing shaft 20 are installed and fixed on the inner rings of the bearings 20 of the two bearing support seats 21, forming a freely rotatable pulley 17. In addition, the pulley 17 can also be installed and fixed on the outer ring of a bearing 19, and the inner ring of the bearing 19 is connected and fixed by the bearing shaft 20. The two ends of the bearing shaft 20 are installed and fixed on the bearing support seats 21 at the ends of the two pulley brackets 18, forming a freely rotatable pulley 17. The pulley 17 can be a U-shaped pulley, an H-shaped pulley, a V-shaped pulley or a grooveless pulley.

[0063] See also Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7The pulley block ligand 16 refers to a mechanism for organizing and assembling pulleys 17 in the four directions of up, down, left and right when the submerged piston moves in a vertical plane, and clamping the pulley 17 on the sliding track 23 of the piston sliding groove to ensure the balanced and stable movement of the submerged piston. Two or more pulley vehicles 3 are symmetrically installed on both sides of the submerged piston, and the line between the pulley centers of any two pulley vehicles 3 corresponding to the two sides of the submerged piston is horizontal. When the pulley block ligand 16 is in a horizontal state, two or more groups of pulley brackets 18 are respectively installed in the vertical upward direction, the vertical downward direction and the outward direction perpendicular to the vertical plane on one side of the pulley block ligand 16, and a pulley 17 is installed at the end of each group of pulley brackets 18. The pulleys 17 in the three directions are just buckled on the three sliding tracks 23 of the piston sliding groove.

[0064] See also Figure 6 and Figure 7 The piston sliding groove is fixed in the middle of the inner wall on both sides of the piston cylinder, and is used to support the cyclic motion of the pulley 17 of the submerged piston pulley vehicle 3. The piston sliding groove includes a sliding groove base, a sliding track support seat and a sliding track. The sliding groove base is fixed on the inner wall on both sides of the piston cylinder, and the sliding track support seat is tightly connected to the sliding groove base. The sliding track is fixed on the sliding track support seat, and the vertical connection between the two corresponding sliding track center lines on the piston sliding grooves on both sides of the piston cylinder is in a horizontal state. The present invention has created two types of piston sliding grooves, namely U-shaped piston sliding grooves and T-shaped piston sliding grooves. A submerged piston cooperative drive engine can use one of the two types of piston sliding grooves, wherein:

[0065] See also Figure 6 The U-shaped piston sliding groove refers to two sliding rail support seats 25 respectively installed and fixed vertically at both ends of the sliding groove base 22, so that the sliding groove base 22 and the sliding rail support seat 25 form a U-shaped piston sliding groove, and a sliding rail 23 is respectively installed and fixed on the sliding groove base 22 and the two sliding rail support seats 25. The three sliding rails 23 are parallel to each other, and the pulleys 17 in three directions of the pulley car 3 are respectively clamped on the three sliding rails 23 of the U-shaped groove, so that the submerged piston can circulate freely in the piston cylinder;

[0066] See also Figure 7 The T-shaped piston sliding groove refers to a sliding track support seat 26 vertically installed and fixed in the middle of the sliding groove base 24, so that the sliding groove base 24 and the sliding track support seat 26 form a T-shaped piston sliding groove, and a sliding track 23 is respectively installed and fixed at the end and both sides of the sliding track support seat 26. The three sliding tracks 23 are parallel to each other, and the pulleys 17 in three directions of the pulley car 3 are respectively clamped on the three sliding tracks 23, so that the submerged piston can circulate freely in the piston cylinder.

[0067] A method for controlling the motion of a submerged piston, the specific method of which is as follows:

[0068] (1) Calculate and determine the number and weight of the submersible pistons. The speed and power of the submersible piston cooperative drive engine are determined by the number, length, shape, capacity of the piston cylinders, the height and weight of the liquid in the piston cylinder and the gravity box, and the volume and weight of the submersible pistons. After the design speed and design power of the submersible piston cooperative drive engine are determined, first calculate and determine the number, length, shape, capacity of the piston cylinders, and the height and weight of the liquid in the piston cylinder and the gravity box. Then, the number and weight of the submersible pistons can be calculated and determined.

[0069] (2) Design and establish that the buoyancy of the submersible piston immersed in the liquid is greater than its own weight. After the weight of the submersible piston is determined, when designing and manufacturing the submersible piston, the buoyancy of the submersible piston in the liquid is designed to be greater than its own weight by calculating the volume, buoyancy, and gravity of the gravity body and other mechanisms and components of the submersible piston, so that the submersible piston always has the ability to float in the liquid in the piston cylinder.

[0070] (3) Calculate and determine the effective length and one-way movement time of the submerged piston in the piston barrel. Based on the length of the piston barrel and the distance from the piston control top of the piston motion controller installed at both ends of the piston barrel to the inner wall of the piston barrel end, the effective length of the submerged piston in the piston barrel can be calculated and determined. Based on the buoyancy calculation formula and the physical kinematics formula, the one-way movement time of the submerged piston in the piston barrel when the piston barrel is perpendicular to the horizontal plane or at other angles to the horizontal plane can be calculated and determined, which provides a basis for determining the starting angle when the submerged piston starts to move. The one-way movement time of the submerged piston in the piston barrel determines the speed of the engine. If the one-way movement time of the submerged piston in the piston barrel cannot meet the design speed requirements of the engine, it is necessary to recalculate and adjust the volume of the submerged piston, that is, change the liquid buoyancy of the submerged piston until the design speed requirements of the engine are met.

[0071] (4) Calculate the starting angle for the submersible piston to start moving and set the angle of the gravity ball starting platform. After calculating and determining the one-way movement time of the submersible piston in the piston cylinder, the angle of rotation of the piston cylinder during the one-way movement time of the submersible piston can be calculated based on the speed of the engine driven by the submersible piston. The principle is to maximize the torque difference between the submersible piston on the left and right sides of the vertical line of the engine center axis, and the angle between the piston cylinder and the vertical line of the engine center axis is used as the starting angle when the submersible piston starts moving. The position of the piston cylinder in the vertical rotation plane is determined, and the position of the piston cylinder is used as the starting position for the submersible piston to start moving. The gravity ball starting platform of the piston fixed angle control switch is set to a horizontal state, and the gravity ball hits the gravity drive arm and the linkage mechanism connected thereto to drive the clamping crank arm of the piston motion controller to release the submersible piston, allowing the submersible piston to start floating.

[0072] (5) Automatically control the locking and releasing of the submersible piston. An integrated piston motion controller and a piston fixed angle control switch are installed on the inner walls at both ends of the piston cylinder. The angle between the piston cylinder and the vertical line of the engine center axis is set as the starting angle when the submersible piston starts to move. When the piston cylinder rotates to the position corresponding to the starting angle below the horizontal plane of the engine center axis, the piston fixed angle control switch located at the outer end of the piston cylinder controls the piston motion controller to release the submersible piston, and the submersible piston located at the outer end of the piston cylinder begins to float upward automatically. When the submersible piston moves to the locking position of the piston motion controller at the inner end of the piston cylinder, the piston motion controller immediately and automatically locks the submersible piston, causing the submersible piston to stop moving. When the piston cylinder rotates to the position corresponding to the starting angle above the horizontal plane of the engine center axis, the piston fixed angle control switch located at the inner end of the piston cylinder controls the piston motion controller to release the submersible piston. The switch controls the piston motion controller to release the submersible piston, and the submersible piston located at the inner end of the piston cylinder begins to float upward automatically. When the submersible piston moves to the locking position of the piston motion controller at the outer end of the piston cylinder, the piston motion controller immediately and automatically locks the submersible piston to stop the movement of the submersible piston. The submersible piston is locked and released in such a cycle and regularly, which ensures that the submersible piston has a stable and accurate cyclic reciprocating motion cycle, and ensures that the submersible piston cooperates with the engine to drive a stable and accurate speed. The submersible pistons in all piston cylinders reciprocate in their respective piston cylinders in turn, so that the submersible pistons on the left and right sides of the vertical line of the engine center axis produce torque differences and torque differences, driving the piston cylinder together with the engine rotating disk and the engine center axis to rotate, and output power to the outside.

[0073] The working process of the present invention is further described below:

[0074] After all the submersible pistons are installed in the piston cylinders of the submersible piston cooperatively driven engine, and equal and appropriate amounts of liquid are injected into each piston cylinder and gravity box, when the engine needs to be started, press the start button, and the motor in the engine's start and brake controller pushes the drive gear to engage the start and brake discs, and drives the start and brake discs together with the engine rotating disc to rotate. When the speed sensor of the intelligent control system detects that the speed of the engine rotating disc reaches the set speed, the intelligent control system controls the drive gear to separate from the start and brake discs, and turns off the motor. Thereafter, driven by the submersible pistons of each piston cylinder and the liquid in each gravity box, the engine rotating disc and the engine center axis rotate continuously to output power to the outside. When the engine rotating disk rotates in the clockwise direction, each piston cylinder also rotates in the clockwise direction. When each piston cylinder rotates to the position corresponding to the starting angle below the horizontal plane on the right side of the engine center axis in turn, the piston fixed angle control switch located at the outer end of the piston cylinder drives the piston motion controller to release the submerged floating piston, and the submerged floating piston located at the outer end of the piston cylinder begins to float upward rapidly. When the submerged floating piston moves to the locking position of the piston motion controller at the inner end of the piston cylinder, the piston motion controller immediately and automatically locks the submerged floating piston, causing the submerged floating piston to stop moving. As the engine rotating disk continues to rotate, all the submerged floating pistons that rotate to the left side of the engine center axis move to the inner end of the piston cylinder and are locked, so that all the submerged floating pistons located on the left side of the engine center axis have the smallest lever arm and the smallest torque. When each piston cylinder rotates to the position corresponding to the starting angle above the horizontal plane on the left side of the engine center axis in turn, the piston fixed angle control switch located at the inner end of the piston cylinder drives the piston motion controller to release the submerged floating piston, and the submerged floating piston located at the inner end of the piston cylinder begins to float upward rapidly. When the submerged floating piston moves to the locking position of the piston motion controller at the outer end of the piston cylinder, the piston motion controller immediately automatically locks the submerged floating piston, so that the submerged floating piston stops moving; as the engine rotating disk continues to rotate, all the submerged floating pistons rotating to the right side of the engine center axis move to the outer end of the piston cylinder and lock, so that all the submerged floating pistons located on the right side of the engine center axis have the largest force arm and the largest torque. This makes the torque vector sum of all the submerged floating pistons on the right side of the vertical line of the engine center axis much greater than the torque vector sum of all the submerged floating pistons on the left side of the vertical line of the engine center axis, so that the maximum torque difference is generated between the submerged floating pistons on the left and right sides of the vertical line of the engine center axis. It is this torque difference that drives the piston cylinder together with the engine rotating disk and the engine center axis to rotate continuously and output high-quality power to the outside. When the engine rotating disk rotates in the counterclockwise direction, the working process of the submerged floating piston is the same.

[0075] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A submersible piston, used in a submersible piston cooperatively driven engine, and performs cyclic reciprocating motion in the liquid in the piston cylinder of the submersible piston cooperatively driven engine, and is locked and released by a piston motion controller and a piston fixed angle control switch installed on the inner wall of both ends of the piston cylinder, characterized in that: The submersible piston includes two types: an end-controlled submersible piston and a shoulder-controlled submersible piston. A submersible piston cooperatively drives an engine and can use one of the two submersible pistons. The two submersible pistons specifically include a gravity body, a pulley fixing frame, a pulley, a gravity body center column, a main support ring body, a main keel, a secondary support ring body, a secondary keel, a buoy support rod, a closed buoy, a submersible piston top, a piston top protection sealing sleeve, a piston clamping groove, a groove body protection sleeve, a clamping groove support plate and a piston sliding groove, wherein, The gravity body is a component of a regular shape, located in the middle of the submersible piston and having its center of mass located in the middle of the center line of the center column of the gravity body, and made of high-density material. The gravity of the gravity body and all other components and mechanisms of the submersible piston is less than the buoyancy of the submersible piston in the liquid, so as to ensure that the submersible piston always has the ability to float in the liquid in the engine piston cylinder. As the submersible piston continuously performs cyclic reciprocating motion under the coordinated action of the liquid buoyancy and its own gravity, the force arm of the gravity body and the entire submersible piston continuously changes, and the gravity body and the entire submersible piston on the left and right sides of the vertical line of the engine central axis generate a torque difference, thereby driving the piston cylinder together with the engine rotating disk and the engine central axis to rotate, and output power to the outside; The pulley trolley fixing frame refers to two parallel rod-shaped components used to install and support the pulley trolley. The two pulley trolley fixing frames are symmetrically installed on both sides of the gravity body. They can be symmetrically fastened and connected to the outer side of the gravity body, or symmetrically installed and fixed in the gravity body groove after slots are opened on both sides of the gravity body. The pulley trolley fixing frame is installed on the outside of the closed floating body. For the submerged floating piston controlled by the end, the pulley trolley fixing frame is a straight rod-shaped mechanism. Both ends of each pulley trolley fixing frame are fastened and supported by the main keel, and the main support circle body is fastened and connected to its two ends. For the submerged floating piston controlled by the shoulder, the pulley trolley fixing frame installed on the gravity body is a U-shaped straight rod disc-shaped mechanism with equal lengths bent outward at both ends. The ends of the straight rod are fastened and supported by the main keel, and the bent part is bent outward at 90 degrees and made into a disc-shaped body, forming a clamping groove support disk, and the main support circle body is fastened and connected to the end of the clamping groove support disk; The pulley is a mechanism that supports the buoyant piston to circulate on the slide track of the piston sliding groove. Two or more pulleys are installed on both sides of the buoyant piston. The pulleys on both sides of the buoyant piston are installed symmetrically. The pulleys on both sides of the buoyant piston are clamped between the slide tracks of the parallel piston sliding grooves on the inner walls of both sides of the piston cylinder. The gravity body center column is a columnar structure that supports and fixes the gravity body and the closed floating body. The gravity body center column is located in the middle of the gravity body and is perpendicular to the gravity body. The lengths of the gravity body center columns at both ends of the gravity body are the same. The ends of the gravity body center column are respectively fastened to the top of the submerged floating piston. The main support ring is a ring-shaped rod-shaped mechanism used to connect and support the floating body support rod. The submerged piston has two main support rings, which are respectively installed and fixed at the two ends of the two pulley fixing frames. The plane of the main support ring is perpendicular to the center column of the gravity body. Each main support ring is supported and fixed by four or more evenly distributed main keels. The other end of the main keel is connected and fixed to the center column of the gravity body. All main keels are located in the plane of the main support ring. The secondary support ring body is a ring-shaped rod-shaped mechanism used to connect and support the floating body support rod. There are one or more secondary support ring bodies at each end of the gravity body. The number of secondary support ring bodies at both ends of the gravity body is the same. The plane of the secondary support ring body is perpendicular to the central column of the gravity body. Each secondary support ring body is supported and fixed by four or more evenly distributed secondary keels. The other end of the secondary keel is connected and fixed to the central column of the gravity body. All secondary keels are located in the corresponding plane of the secondary support ring body. The floating body support rod is a rod-shaped component used to support the closed floating body. There are several evenly distributed and equal floating body support rods at both ends of the gravity body. For the end-controlled submersible piston, one end of each floating body support rod is connected and fixed to the main support ring body, the middle part is connected and fixed to the auxiliary support ring body, and the other end is connected and fixed to the clamping groove support plate on one side of the center column of the gravity body. For the shoulder-controlled submersible piston, one end of each floating body support rod is connected and fixed to the main support ring body, the middle part is connected and fixed to the auxiliary support ring body, and the other end is connected and fixed to the outer edge of the top of the submersible piston. The enclosed float is made of a high-strength, highly wear-resistant lightweight material, and is used to tightly wrap the gravity body and all the enclosed float support mechanisms to form a "shuttle-shaped" seal. When the enclosed float is immersed in liquid, the liquid will not leak into the enclosed float. The enclosed float is a rigid body and will not deform when moving in the liquid of the piston cylinder. The submerged floating piston top is a regular block structure installed and fixed at the two ends of the center column of the gravity body, and collides with the piston control top of the piston motion controller during movement. The top ends of the two submerged floating pistons are in a planar structure and are perpendicular to the center column of the gravity body. The submerged floating piston top is tightly wrapped by the piston top protection sealing sleeve. The piston top protection sealing sleeve is a sealing body made of high-strength and high-wear-resistant materials, and is sealed with the closed floating body to form a sealed wrapping layer; The piston clamping groove is a V-shaped groove mechanism designed and manufactured to allow the clamping crank arm of the piston motion controller to lock and release the submerged floating piston, including an end clamping groove and a shoulder clamping groove. The end clamping groove is used for end control of the submerged floating piston, and the shoulder clamping groove is used for shoulder control of the submerged floating piston. The end clamping groove is also called the neck clamping groove, which is a V-shaped groove body composed of a closed float and a groove body protective cover laid at the intersection of the clamping groove support plate and the float support rod. The groove body protective cover is a high-wear-resistant cushion layer made of high-strength, high-wear-resistant and smooth material and fastened and laid on the surface of the closed float of the V-shaped groove body to increase the performance and life of the piston clamping groove. The shoulder clamping groove is a V-shaped groove body composed of a closed float and a groove body protective cover laid at the curved part of the pulley car fixing frame; The piston sliding groove refers to a support mechanism that is installed and fixed in parallel on the middle of the inner walls on both sides of the piston cylinder parallel to the rotation plane, and is used to support the circular motion of the pulley car of the submersible piston. Three mutually parallel sliding tracks are installed and fixed on the piston sliding groove. The pulleys of the pulley cars on both sides of the submersible piston are buckled on the three sliding tracks, thereby supporting the submersible piston to perform reciprocating motion along the piston cylinder. The piston sliding groove includes a U-shaped piston sliding groove and a T-shaped piston sliding groove. Each submersible piston can use one of the two piston sliding grooves.

2. The submersible piston according to claim 1, characterized in that: The shape of the submersible piston is designed and manufactured into a "shuttle" shape, that is, the two ends of the submersible piston are respectively designed and manufactured into a cone, a hemispherical or a semi-ellipsoidal shape to reduce the liquid resistance when the submersible piston moves in the liquid. The cross-sectional shape of the submersible piston perpendicular to the direction of movement is determined according to the cross-sectional shape of the piston cylinder, and can be designed and manufactured into a circular, elliptical, square, rectangular, polygonal or other suitable shapes.

3. The submersible piston according to claim 1, characterized in that: The gravity body of the submersible piston can be made of iron, stainless steel, lead, copper, and high-density metal materials, high-density alloy materials, high-density rocks or other high-density materials.

4. The submersible piston according to claim 1, characterized in that: The airtight float of the submersible piston can be made of iron, stainless steel, aluminum, light alloy material, acrylic (polymethyl methacrylate), PVC (polyethylene), PET (polyethylene terephthalate), resin, organic ceramic or other high-strength light materials.

5. The submersible piston according to claim 1, characterized in that: The pulley vehicle comprises a vehicle beam, a pulley block ligand, a pulley, a pulley bracket, a bearing, a bearing shaft and a bearing support seat. The vehicle beam is a mechanism installed and fixed on the pulley vehicle fixing frame and connected and fixed to the pulley block ligand. Each pulley vehicle is provided with a pulley block ligand. The pulley block ligand is a mechanism for configuring and installing pulleys. Each pulley is supported by pulley brackets on both sides of the pulley. The pulley bracket is composed of four support rods, and a bearing support seat is provided at the end thereof. The four support rods are installed and fixed on the pulley block ligand. The bearing support seat is used to install and fix the outer ring of the bearing, and the pulley is fastened and connected in series on the bearing shaft. The two ends of the bearing shaft are installed and fixed on the inner rings of the bearings of the two bearing support seats to form a pulley that can rotate freely. In addition, the pulley can also be installed and fixed on an outer ring of the bearing, and the inner ring of the bearing is fixed in series by the bearing shaft. The two ends of the bearing shaft are installed and fixed on the bearing support seats of the pulley brackets on both sides of the pulley to form a pulley that can rotate freely. The pulley can be a U-shaped pulley, an H-shaped pulley, a V-shaped pulley or a grooveless pulley.

6. The submersible piston according to claim 5, characterized in that: The pulley block ligand refers to a mechanism that organizes and assembles pulleys in the four directions of up, down, left and right when the submerged piston moves in a vertical plane, and is clamped on the sliding track of the piston sliding groove to ensure the balanced and stable movement of the submerged piston. Two or more pulley vehicles are symmetrically installed on both sides of the submerged piston, and the line connecting the centers of pulleys of the same order of any two pulley vehicles corresponding to the two sides of the submerged piston is horizontal. When the pulley block ligand is in a horizontal state, two or more groups of pulley brackets are respectively installed in the vertical upward direction, vertical downward direction and perpendicular to the vertical plane outward direction on one side of the pulley block ligand, and a pulley is installed at the end of each group of pulley brackets. The pulleys in the three directions are just buckled on the three sliding tracks of the piston sliding groove.

7. The submersible piston according to claim 1, characterized in that: The piston sliding groove is installed and fixed on the middle part of the inner wall on both sides of the piston cylinder parallel to the rotating plane, and is used to support the pulley of the submerged piston pulley car to make a circular motion. The piston sliding groove includes a sliding groove base, a sliding track support seat and a sliding track. The sliding groove base is installed and fixed on the inner walls on both sides of the piston cylinder, and the sliding track support seat is tightly connected to the sliding groove base. The sliding track is installed and fixed on the sliding track support seat. The vertical connection line between the corresponding two sliding track center lines on the piston sliding grooves on both sides of the piston cylinder is in a horizontal state. The piston sliding groove includes two types: U-shaped piston sliding groove and T-shaped piston sliding groove. Among them, The U-shaped piston sliding groove refers to two sliding track support seats respectively installed and fixed vertically at both ends of the sliding groove base, so that the sliding groove base and the sliding track support seat form a U-shaped piston sliding groove, and a sliding track is respectively installed and fixed on the sliding groove base and the two sliding track support seats, and the three sliding tracks are parallel to each other. The pulleys in three directions of the pulley car are respectively clamped on the three sliding tracks of the U-shaped groove, so that the submerged floating piston can circulate freely in the piston cylinder; The T-shaped piston sliding groove refers to a sliding track support seat vertically installed and fixed in the middle of the sliding groove base, so that the sliding groove base and the sliding track support seat form a T-shaped piston sliding groove, and a sliding track is respectively installed and fixed at the end and both sides of the sliding track support seat. The three sliding tracks are parallel to each other, and the pulleys in three directions of the pulley car are respectively clamped on the three sliding tracks, so that the submerged piston can circulate freely in the piston cylinder.

8. A method for controlling the motion of a submerged piston, characterized in that: The specific method of controlling the submerged piston motion is as follows: (1) Calculate and determine the number and weight of the submersible pistons. The speed and power of the submersible piston cooperative drive engine are determined by the number, length, shape, capacity of the piston cylinders, the height and weight of the piston cylinders and the liquid in the gravity box, and the volume and weight of the submersible pistons. After the design speed and design power of the submersible piston cooperative drive engine are determined, first calculate and determine the number, length, shape, capacity of the piston cylinders, and the height and weight of the piston cylinders and the liquid in the gravity box. Then, the number and weight of the submersible pistons can be calculated and determined; (2) Design and establish that the buoyancy of the submersible piston immersed in the liquid is greater than its own weight. When designing and manufacturing the submersible piston, the buoyancy of the submersible piston in the liquid is designed to be greater than its own weight by calculating the volume, buoyancy, and gravity of the gravity body and other mechanisms and components of the submersible piston, so that the submersible piston always has the ability to float upward in the liquid in the piston cylinder; (3) Calculate and determine the effective length and one-way motion time of the submerged piston in the piston barrel. According to the length of the piston barrel and the distance from the piston control top of the piston motion controller installed at both ends of the piston barrel to the inner wall of the piston barrel end, the effective length of the submerged piston in the piston barrel can be calculated and determined. According to the buoyancy calculation formula and the physical kinematics formula, the one-way motion time of the submerged piston in the piston barrel when the piston barrel is perpendicular to the horizontal plane or at other angles to the horizontal plane can be calculated and determined, which provides a basis for determining the starting angle when the submerged piston starts to move. The one-way motion time of the submerged piston in the piston barrel determines the speed of the engine. If the one-way motion time of the submerged piston in the piston barrel cannot meet the design speed requirement of the engine, it is necessary to recalculate and adjust the volume of the submerged piston, that is, change the liquid buoyancy of the submerged piston until the design speed requirement of the engine is met; (4) Calculate the starting angle for the submersible piston to start moving and the angle for setting the gravity ball starting platform. After calculating and determining the one-way movement time of the submersible piston in the piston cylinder, the rotation angle of the piston cylinder during the one-way movement time of the submersible piston can be calculated according to the rotation speed of the engine driven by the submersible piston. The torque difference between the submersible piston on the left and right sides of the vertical line of the engine center axis is maximized as the principle. The angle between the piston cylinder and the vertical line of the engine center axis is used as the starting angle for the submersible piston to start moving. The position of the piston cylinder in the vertical rotation plane is determined, and the position of the piston cylinder is used as the starting position for the submersible piston to start moving. The gravity ball starting platform of the piston fixed angle control switch is set to a horizontal state. The gravity ball hits the gravity drive arm and the linkage mechanism connected thereto to drive the clamping crank arm of the piston motion controller to release the submersible piston, so that the submersible piston starts to float upward. (5) Automatically control the locking and releasing of the submersible piston. An integrated piston motion controller and a piston fixed angle control switch are respectively installed on the inner walls at both ends of the piston cylinder. The angle between the piston cylinder and the vertical line of the engine center axis is set as the starting angle when the submersible piston starts to move. When the piston cylinder rotates to the position corresponding to the starting angle below the horizontal plane of the engine center axis, the piston fixed angle control switch located at the outer end of the piston cylinder controls the piston motion controller to release the submersible piston, and the submersible piston located at the outer end of the piston cylinder starts to float upward automatically. When the submersible piston moves to the locking position of the piston motion controller at the inner end of the piston cylinder, the piston motion controller immediately and automatically locks the submersible piston, causing the submersible piston to stop moving. When the piston cylinder rotates to the position corresponding to the starting angle above the horizontal plane of the engine center axis, the piston fixed angle control switch located at the inner end of the piston cylinder controls the piston motion controller to release the submersible piston. The piston fixed angle control switch at the end controls the piston motion controller to release the submerged floating piston, and the submerged floating piston located at the inner end of the piston cylinder begins to float upward automatically. When the submerged floating piston moves to the locking position of the piston motion controller at the outer end of the piston cylinder, the piston motion controller immediately and automatically locks the submerged floating piston to stop the movement of the submerged floating piston. The submerged floating piston is locked and released in such a cycle and regularly, which ensures that the submerged floating piston has a stable and accurate cyclic reciprocating motion cycle, and ensures that the submerged floating piston cooperates to drive the engine with a stable and accurate speed. The submerged pistons in all piston cylinders cyclically reciprocate in their respective piston cylinders in turn, causing the submerged floating pistons on the left and right sides of the vertical line of the engine center axis to produce torque differences and torque differences, thereby driving the piston cylinder together with the engine rotating disk and the engine center axis to rotate, and output power to the outside.

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