Buoyancy control system for underwater vehicle

Abstract

The invention is suitable for the technical field of underwater vehicles, and provides an underwater vehicle buoyancy control system, which comprises a central control box and at least two water storage tanks, and the central control box and the at least two water storage tanks can be arranged in an underwater vehicle; the driving motor and the water pump body are both fixedly installed in the center control box, and the input end of the water pump body is in transmission connection with an output shaft of the driving motor; the first integrated control valve box and the second integrated control valve box are both fixedly installed in the center control box, and the at least two water storage tanks, the water pump body, the first integrated control valve box and the second integrated control valve box are sequentially communicated through pipelines. According to the buoyancy control system for the underwater vehicle, the buoyancy of the underwater vehicle is changed by changing the volume of boiled water discharged by the object, water is sucked into or discharged out of the water storage tank under the driving of the water pump body, so that the volume of the boiled water discharged by the underwater vehicle is changed, the buoyancy of the underwater vehicle is adjusted, a control instruction can be quickly responded, and quick adjustment of the buoyancy is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to a buoyancy control system for underwater vehicles. Background Art

[0002] With the continuous development of marine science and technology and the increasing demand for ocean exploration, the stability and safety of underwater vehicles as important ocean exploration tools are particularly important. As one of the core components of underwater vehicles, the buoyancy control system is directly related to the diving depth, stability and operating efficiency of the vehicle.

[0003] At present, most underwater vehicle buoyancy control systems on the market use a variable volume adjustment method, that is, changing the buoyancy of the submersible by changing its displacement. Although this method can achieve buoyancy adjustment, it is usually prone to failure due to the complex piping and low integration. Summary of the invention

[0004] The present invention provides an underwater vehicle buoyancy control system, aiming to solve the problems raised in the above background technology that the submersibles currently used have complex piping, low integration and are prone to failure.

[0005] To solve the above problems, the present invention is implemented as follows: an underwater vehicle buoyancy control system comprises: a central control box and at least two water tanks, both of which can be arranged in the underwater vehicle; a drive motor and a water pump body, both of which are fixedly installed in the central control box, and the input end of the water pump body is drivingly connected to the output shaft of the drive motor; an integrated control valve box 1 and an integrated control valve box 2, both of which are fixedly installed in the central control box, and at least two of the water tanks, the water pump body, the integrated control valve box 1 and the integrated control valve box 2 are connected in sequence through pipelines; a controller, which is fixedly installed in the central control box.

[0006] Preferably, at least two of the water storage tanks include a front water tank and a rear water tank, and the front water tank and the rear water tank are respectively arranged at the front end and the rear end of the underwater submersible.

[0007] Preferably, the water inlet end of the water pump body is connected to the integrated control valve box one by a pump body water inlet pipe, and the water discharge end of the water pump body is connected to the integrated control valve box two by a pump body drain pipe. The integrated control valve box one is also connected with a water supply pipe, a No. 1 water pipe and a No. 2 water pipe, and the integrated control valve box two is also connected with a No. 3 water pipe and a No. 4 water pipe. The water inlet end of the water supply pipe extends to the outside of the underwater vehicle, the No. 1 water pipe and the No. 3 water pipe are both connected to the front water tank, the No. 2 water pipe and the No. 4 water pipe are both connected to the rear water tank, at least two of the water storage tanks are provided with drain pipes, the discharge ends of at least two of the drain pipes extend to the outside of the underwater vehicle, and at least two of the drain pipes are provided with solenoid valves.

[0008] Preferably, the integrated control valve box 1 and the integrated control valve box 2 are both provided with a plurality of controllable plugging mechanisms, and the plurality of controllable plugging mechanisms are respectively arranged corresponding to the water supply pipe, water pipe No. 1, water pipe No. 2, water pipe No. 3 and water pipe No. 4.

[0009] Preferably, the controllable plugging mechanism comprises a threaded sleeve, an adjusting screw, a plug, a positioning guide groove, a positioning guide block, a driven bevel gear 1, a motor 1 and an active bevel gear 1; the threaded sleeve can be rotatably mounted on a side of the integrated control valve box 1 and / or the integrated control valve box 2 relative to the water supply pipe and / or the No. 1 water pipe and / or the No. 2 water pipe and / or the No. 3 water pipe and / or the No. 4 water pipe; the adjusting screw is threadedly mounted in the threaded sleeve; the plug is fixedly mounted on one end of the adjusting screw located in the integrated control valve box 1 and / or the integrated control valve box 2; the plug can be in sealing contact with or separation from the inner wall of the integrated control valve box 1 and / or the integrated control valve box 2, and is used to control the water supply pipe and / or the No. 4 water pipe. / or the closing or opening of No. 1 water pipe and / or No. 2 water pipe and / or No. 3 water pipe and / or No. 4 water pipe, the positioning guide groove is opened on one side of the adjusting screw, the positioning guide block is fixedly installed in the integrated control valve box one and / or the integrated control valve box two, the positioning guide block extends into the positioning guide groove to guide the sliding of the adjusting screw, the driven bevel gear one is fixedly sleeved on the threaded sleeve and is located outside the integrated control valve box one and / or the integrated control valve box two, the motor one is fixedly installed on the outside of the integrated control valve box one and / or the integrated control valve box two, and the active bevel gear one is fixedly installed on the output shaft of the motor one, and the active bevel gear one is meshed with the driven bevel gear one.

[0010] Preferably, the positioning guide groove is always located in the integrated control valve box one and / or the integrated control valve box two, and the sliding trajectory of the plug is always offset from the water inlet end of the pump body water inlet pipe and / or the drainage end of the pump body drainage pipe.

[0011] Preferably, the diameters of the No. 1 water pipe, No. 2 water pipe, No. 3 water pipe, No. 4 water pipe and the drain pipe are equal, the diameter of the water supply pipe is 1.2-1.5 times the diameters of the No. 1 water pipe, No. 2 water pipe, No. 3 water pipe, No. 4 water pipe and the drain pipe, and the diameters of the pump body water inlet pipe and the pump body discharge pipe are greater than or equal to the diameter of the water supply pipe.

[0012] Preferably, an assembly hole is provided at the connection portion between the threaded sleeve and the integrated control valve box 1 and / or the integrated control valve box 2, a watertight bearing is fixedly embedded in the assembly hole, and the inner ring of the watertight bearing is fixedly sleeved on the outer ring of the threaded sleeve.

[0013] Preferably, one end of the threaded sleeve located in the integrated control valve box one and / or the integrated control valve box two has an extension, the diameter of the extension of the threaded sleeve is larger than the aperture of the assembly hole, and the extension of the threaded sleeve is in rotatable watertight contact with the inner wall of the integrated control valve box one and / or the integrated control valve box two.

[0014] Preferably, the plug is located on one side of the positioning guide block and has a truncated cone structure.

[0015] Compared with the related art, the underwater vehicle buoyancy control system provided by the present invention has the following beneficial effects:

[0016] Compared with the existing technology, the operating principle of this system is based on the Archimedean principle, that is, changing the buoyancy of an object by changing the volume of water it displaces. Driven by the water pump, water is sucked into or discharged from the water tank, thereby changing the volume of water displaced by the aircraft and adjusting its buoyancy. The controller receives feedback information from other systems of the aircraft (such as depth sensors, attitude sensors, etc.), calculates and issues commands in real time to achieve precise control of the buoyancy of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a buoyancy control system for an underwater vehicle provided by the present invention;

[0018] Figure 2 It is a schematic diagram of the main cross-sectional structure of the central control box part of the present invention;

[0019] Figure 3 A schematic diagram of the main cross-sectional structure of a part of the integrated control valve box in the present invention;

[0020] Figure 4 A schematic diagram of the main cross-sectional structure of the two parts of the integrated control valve box in the present invention;

[0021] Figure 5 A schematic diagram of the main cross-sectional structure of the water storage tank portion of the present invention;

[0022] Figure 6 for Figure 5 An enlarged structural diagram of part A shown in FIG.

[0023] Figure 7 It is a schematic diagram showing the transfer of water from the front water tank to the rear water tank in the present invention;

[0024] Figure 8 It is a schematic diagram showing the transfer of water from the rear water tank to the front water tank in the present invention;

[0025] Fig. 9 This is a schematic diagram showing the present invention when replenishing water to multiple water storage tanks.

[0026] Figure numerals: 1, central control box; 2, water storage tank; X, front water tank; Y, rear water tank; 4, drive motor; 5, water pump body; 6, integrated control valve box 1; 7, integrated control valve box 2; 8, controller; 9, pump body water inlet pipe; 10, pump body drain pipe; 11, water supply pipe; 12, No. 1 water pipe; 13, No. 2 water pipe; 14, No. 3 water pipe; 15, No. 4 water pipe; 16, drain pipe; 17, threaded sleeve; 18, adjusting screw; 19, plug; 20, positioning guide groove; 21, Positioning guide block; 22, driven bevel gear one; 23, motor one; 24, driving bevel gear one; 25, regulating sealing plate; 26, water storage cavity; 27, assembly cavity; 28, extension tube No. 1; 29, extension tube No. 2; 30, water pressure sensor; 31, cavity adjustment screw; 32, driving spindle; 33, motor two; 34, lifting screw; 35, suspension bracket; 36, avoidance groove; 37, lifting rod; 38, driven shaft; 39, driving bevel gear two; 40, driven bevel gear two. DETAILED DESCRIPTION

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" in the specification and claims of the present application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned figures are used to distinguish different objects, rather than to describe a specific order; the terms "inside", "outside", "left", and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] When an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0029] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] The embodiment of the present invention provides a buoyancy control system for an underwater vehicle, such as Figure 1-9 As shown, the underwater vehicle buoyancy control system includes: a central control box 1 and at least two water tanks 2, which can be arranged in the underwater vehicle; a drive motor 4 and a water pump body 5, which are both fixedly installed in the central control box 1, and the input end of the water pump body 5 is drivingly connected to the output shaft of the drive motor 4; an integrated control valve box 1 6 and an integrated control valve box 2 7, which are both fixedly installed in the central control box 1, and at least two of the water tanks 2, the water pump body 5, the integrated control valve box 1 6 and the integrated control valve box 2 7 are connected in sequence through pipelines; a controller 8 is fixedly installed in the central control box 1.

[0031] In this embodiment, the system mainly includes key components such as a central control box 1, at least two water storage tanks 2, a drive motor 4, a water pump body 5, an integrated control valve box 1 6, an integrated control valve box 2 7 and a controller 8.

[0032] During use, the central control box 1, as the core of the entire buoyancy control system, is responsible for receiving instructions from the controller and coordinating the work of various components. The water storage tank 2 is a key component for storing and releasing water. Through the coordinated action of the water pump body 5 and the drive motor 4, water is sucked in and discharged, thereby changing the buoyancy of the craft. The integrated control valve box 1 6 and the integrated control valve box 2 7 are responsible for controlling the flow direction and speed of water, ensuring that the buoyancy of the craft can be adjusted quickly and accurately when needed.

[0033] The operating principle of the system is based on the Archimedean principle, that is, changing the volume of water displaced by an object to change its buoyancy. Driven by the water pump body 5, water is sucked into or discharged from the water storage tank 2, thereby changing the volume of water displaced by the aircraft and adjusting its buoyancy. The controller 8 receives feedback information from other systems of the aircraft (such as depth sensors, attitude sensors, etc.), calculates and issues commands in real time to achieve precise control of the buoyancy of the aircraft.

[0034] The system is suitable for all types of underwater vehicles, whether used for scientific investigation, resource exploration or military applications, and can provide stable and reliable buoyancy support. Its beneficial effects are mainly reflected in the following aspects:

[0035] Precise control: Through the integrated control valve box 1 6 and the integrated control valve box 2 7 and the precise control system, the system can achieve precise control of the buoyancy of the vehicle and ensure the stability of the vehicle during diving, suspension and floating.

[0036] Quick response: The system adopts a highly efficient drive motor 4 and a water pump body 5, which can quickly respond to control instructions and achieve rapid adjustment of buoyancy.

[0037] In a further preferred embodiment of the present invention, at least two of the water storage tanks 2 include a front water tank X and a rear water tank Y, and the front water tank X and the rear water tank Y are respectively arranged at the front end and the rear end of the underwater submersible.

[0038] In this embodiment, at least two water storage tanks 2 are clearly divided into a front water tank X and a rear water tank Y, which are respectively arranged at the front end and the rear end of the underwater submersible. This layout not only optimizes the efficiency of buoyancy adjustment, but also enhances the stability of the vehicle.

[0039] In terms of usage, the front water tank X and the rear water tank Y are connected to the water pump body 5 and the integrated control valve box (integrated control valve box 1 6 and integrated control valve box 2 7) in the central control box 1 through pipelines. When the controller 8 receives an instruction to adjust the buoyancy, it drives the drive motor 4, which in turn drives the water pump body 5 to work. The water pump body 5 inhales or discharges water from the water storage tank through the pipeline, and the integrated control valve box controls the flow direction and speed of the water.

[0040] In terms of the principle of use, this layout utilizes the buoyancy difference between the front and rear ends of the underwater submersible, and realizes precise adjustment of the overall buoyancy of the vehicle by precisely controlling the amount of water in the front water tank X and the rear water tank Y. For example, when it is necessary to dive, the controller can simultaneously drain water from the front water tank X and the rear water tank Y through the water pump body 5 to make the vehicle sink; and when it is necessary to float, the water pump body 5 can simultaneously fill water into the front water tank X and the rear water tank Y to make the vehicle rise.

[0041] In terms of use environment, the buoyancy control system is suitable for various types of underwater submersibles, and can provide stable and reliable buoyancy support in the fields of deep-sea exploration, resource exploration, and military applications. Especially in complex marine environments, where there are large interference factors such as currents and waves, the system's rapid response and precise control capabilities are particularly important.

[0042] The beneficial effects are mainly reflected in the following aspects: first, the layout of the front water tank X and the rear water tank Y makes the buoyancy adjustment more uniform, which is beneficial to improving the stability of the aircraft; second, by accurately controlling the water volume in the two water tanks, the buoyancy of the aircraft can be quickly and accurately adjusted.

[0043] In summary, the underwater vehicle buoyancy control system of the present invention achieves precise control of the vehicle buoyancy by optimizing the layout and control method of the water tank, improves the stability and operating efficiency of the vehicle, and has broad application prospects and important practical value.

[0044] In a further preferred embodiment of the present invention, the water inlet end of the water pump body 5 is connected to the integrated control valve box 1 6 by a pump body water inlet pipe 9, and the discharge end of the water pump body 5 is connected to the integrated control valve box 2 7 by a pump body discharge pipe 10. The integrated control valve box 1 6 is also connected with a water supply pipe 11, a No. 1 water pipe 12 and a No. 2 water pipe 13, and the integrated control valve box 2 7 is also connected with a No. 3 water pipe 14 and a No. 4 water pipe 15. The water inlet end of the water supply pipe 11 extends to the outside of the underwater vehicle, the No. 1 water pipe 12 and the No. 3 water pipe 14 are both connected to the front water tank X, the No. 2 water pipe 13 and the No. 4 water pipe 15 are both connected to the rear water tank Y, at least two of the water storage tanks 2 are provided with a drain pipe 16, the discharge ends of at least two of the drain pipes 16 extend to the outside of the underwater vehicle, and at least two of the drain pipes 16 are provided with a solenoid valve.

[0045] In this embodiment, the connection mode of the water pump body 5, the control valve box and the water storage tank 2 is designed in detail. Specifically, the water inlet end of the water pump body 5 is connected to the integrated control valve box 1 6 through the pump body water inlet pipe 9, and the water discharge end is connected to the integrated control valve box 2 7 through the pump body water discharge pipe 10. This design enables the water pump body 5 to efficiently inhale or discharge water from the water storage tank 2.

[0046] The integrated control valve box 1 6 is connected with a water supply pipe 11, a No. 1 water pipe 12 and a No. 2 water pipe 13, while the integrated control valve box 2 7 is connected with a No. 3 water pipe 14 and a No. 4 water pipe 15. The water inlet end of the water supply pipe 11 extends to the outside of the underwater vehicle, and is used to replenish fresh water or seawater from the external environment. The No. 1 water pipe 12 and the No. 3 water pipe 14 are both connected to the front water tank X, and are used to inject or discharge water into the front water tank X; while the No. 2 water pipe 13 and the No. 4 water pipe 15 are connected to the rear water tank Y, and the water volume of the rear water tank Y is controlled.

[0047] At least two water storage tanks (front water tank X and rear water tank Y) are provided with drain pipes 16, and the drainage ends of these drain pipes 16 extend to the outside of the underwater vehicle. Such a design allows the water in the water storage tank to be quickly discharged by opening the solenoid valve on the drain pipe 16 when necessary, thereby quickly adjusting the buoyancy of the vehicle.

[0048] In terms of usage, the controller 8 controls the integrated control valve box 1 6 and the integrated control valve box 2 7 according to the needs of the aircraft to achieve precise control of the water pump body 5, the water supply pipe 11, the first to fourth water pipes 12 to 15 and the drain pipe 16. When the buoyancy needs to be increased, the controller 8 can open the water supply pipe 11 to add water from the outside to the water storage tank; when the buoyancy needs to be reduced, the controller 8 can control the water pump body 5 to draw water from the water storage tank and discharge the water to the outside through the pump body drain pipe 10 or directly discharge it through the drain pipe 16.

[0049] In principle, the system changes the overall buoyancy of the aircraft by adjusting the amount of water in the water tank, achieving operations such as diving, suspension and floating. The layout of the front water tank X and the rear water tank Y makes the buoyancy adjustment more uniform, which is conducive to improving the stability of the aircraft.

[0050] The beneficial effects are mainly reflected in the following aspects: first, through the precise design of pipelines and control valve boxes, the buoyancy of the aircraft is quickly and accurately adjusted; second, the layout of the front water tank X and the rear water tank Y improves the stability of the aircraft; third, the setting of the drain pipe 16 and the solenoid valve allows rapid drainage in an emergency, thereby enhancing the safety of the system.

[0051] In a further preferred embodiment of the present invention, the integrated control valve box 1 6 and the integrated control valve box 2 7 are both provided with a plurality of controllable plugging mechanisms, and the plurality of controllable plugging mechanisms are respectively arranged corresponding to the water supply pipe 11, the No. 1 water pipe 12, the No. 2 water pipe 13, the No. 3 water pipe 14 and the No. 4 water pipe 15.

[0052] In this embodiment, the design of the integrated control valve box 1 6 and the integrated control valve box 2 7 is enhanced, especially multiple controllable plugging mechanisms are provided on the two control valve boxes. These controllable plugging mechanisms are respectively provided corresponding to the water supply pipe 11, the first water pipe 12, the second water pipe 13, the third water pipe 14 and the fourth water pipe 15, so that the system can control each water pipe more accurately and flexibly.

[0053] In terms of usage, the controller 8 achieves precise control over the water supply pipe 11 and water pipes No. 1 to No. 4 by controlling the opening and closing states of these controllable plugging mechanisms.

[0054] In a further preferred embodiment of the present invention, the controllable plugging mechanism includes a threaded sleeve 17, an adjusting screw 18, a plug 19, a positioning guide groove 20, a positioning guide block 21, a driven bevel gear 22, a motor 23 and an active bevel gear 24, the threaded sleeve 17 can be rotatably mounted on the side of the integrated control valve box 16 and / or the integrated control valve box 27 relative to the water supply pipe 11 and / or the first water pipe 12 and / or the second water pipe 13 and / or the third water pipe 14 and / or the fourth water pipe 15, the adjusting screw 18 is threadedly mounted in the threaded sleeve 17, the plug 19 is fixedly mounted on one end of the adjusting screw 18 located in the integrated control valve box 16 and / or the integrated control valve box 27, the plug 19 can be in sealing contact with or separation from the inner wall of the integrated control valve box 16 and / or the integrated control valve box 27, and is used to control the The water supply pipe 11 and / or the No. 1 water pipe 12 and / or the No. 2 water pipe 13 and / or the No. 3 water pipe 14 and / or the No. 4 water pipe 15 are closed or opened, the positioning guide groove 20 is opened on one side of the adjusting screw 18, the positioning guide block 21 is fixedly installed in the integrated control valve box 16 and / or the integrated control valve box 27, the positioning guide block 21 extends into the positioning guide groove 20, and is used to guide the sliding of the adjusting screw 18, the driven bevel gear 122 is fixedly sleeved on the threaded sleeve 17 and is located outside the integrated control valve box 16 and / or the integrated control valve box 27, the motor 123 is fixedly installed on the outside of the integrated control valve box 16 and / or the integrated control valve box 27, and an active bevel gear 124 is fixedly installed on the output shaft of the motor 123, and the active bevel gear 124 is meshed with the driven bevel gear 122.

[0055] In this embodiment, the threaded sleeve 17 can be rotatably mounted on the side of the integrated control valve box 16 or the integrated control valve box 27 opposite to the water pipe. It serves as the base of the adjusting screw 18 and provides the functions of rotation and support; the adjusting screw 18 is threadedly mounted in the threaded sleeve 17. By rotating the threaded sleeve 17, the position of the screw 18 in the threaded sleeve 17 can be adjusted, thereby controlling the position of the plug 19; the plug 19 is fixedly mounted on one end of the adjusting screw 18 and is located inside the integrated control valve box 16 or the integrated control valve box 27. The plug 19 can be in sealing contact or separation with the inner wall of the integrated control valve box, and is used to control the closure or conduction of the water pipe; the positioning guide groove 20 is opened on one side of the adjusting screw 18, and the positioning guide block 21 is fixedly mounted in the integrated control valve box and extends into the positioning guide groove 20. This pair of mechanisms is used to ensure that the adjusting screw 18 can stably slide along a straight line when rotating to prevent it from deflecting when rotating; the driven bevel gear 1 22 is fixedly sleeved on the threaded sleeve 17 and is located outside the integrated control valve box. The motor 1 23 is fixedly mounted on the outside of the integrated control valve box, and the output shaft thereof is fixedly mounted with an active bevel gear 1 24. The active bevel gear 1 24 meshes with the driven bevel gear 1 22, so that the rotational power of the motor 1 23 can be transmitted to the threaded sleeve 17 through the gear transmission, thereby driving the lifting and lowering movement of the adjusting screw 18.

[0056] In terms of usage, the controller 8 controls the rotation direction and speed of the motor 23, and then controls the lifting and lowering of the adjusting screw 18, so that the plug 19 contacts or separates from the inner wall of the integrated control valve box, thereby achieving the closure or conduction of the water pipe.

[0057] In terms of the use principle, the controllable plugging mechanism realizes the precise control of the opening and closing of the water pipe by means of mechanical transmission. By adjusting the lifting and lowering of the screw 18, the plug 19 can precisely control the conduction degree of the water pipe, thereby realizing the precise control of the buoyancy adjustment.

[0058] In a further preferred embodiment of the present invention, the positioning guide groove 20 is always located in the integrated control valve box 1 6 and / or the integrated control valve box 2 7, and the sliding trajectory of the plug 19 is always offset from the water inlet end of the pump body water inlet pipe 9 and / or the drainage end of the pump body drainage pipe 10.

[0059] In this embodiment, the position of the positioning guide groove 20 is designed to always be located inside the integrated control valve box 1 6 or the integrated control valve box 2 7. Such a design can ensure that when the adjusting screw 18 rotates, the positioning guide groove 20 thereon can stably slide along the positioning guide block 21, thereby ensuring the linear motion of the adjusting screw 18 and the plug 19, and the positioning guide groove 20 will not enter the threaded sleeve 17, which can largely avoid water leakage.

[0060] The sliding track of the plug 19 is specially designed to ensure that it is always staggered from the water inlet end of the pump body water inlet pipe 9 and the drainage end of the pump body drainage pipe 10. Such a design is very important because it prevents the plug 19 from colliding or interfering with the water inlet pipe or the drainage pipe during movement, thereby ensuring the normal operation of the water pump body 5.

[0061] In a further preferred embodiment of the present invention, the diameters of the No. 1 water pipe 12, No. 2 water pipe 13, No. 3 water pipe 14, No. 4 water pipe 15 and the drain pipe 16 are equal, the diameter of the water supply pipe 11 is 1.2-1.5 times the diameters of the No. 1 water pipe 12, No. 2 water pipe 13, No. 3 water pipe 14, No. 4 water pipe 15 and the drain pipe 16, and the diameters of the pump body water inlet pipe 9 and the pump body discharge pipe 10 are greater than or equal to the diameter of the water supply pipe 11.

[0062] In this embodiment, water pipe No. 1 12, water pipe No. 2 13, water pipe No. 3 14, water pipe No. 4 15 and drain pipe 16: the diameters of these water pipes are designed to be equal to ensure that the flow rates between the water pipes are evenly distributed during the buoyancy adjustment process, thereby improving the response speed and stability of the system.

[0063] The diameter of the water supply pipe 11 is designed to be 1.2-1.5 times the diameter of the No. 1 water pipe 12, No. 2 water pipe 13, No. 3 water pipe 14, No. 4 water pipe 15 and the drain pipe 16. This design allows the water supply pipe 11 to provide a larger flow rate when needed to meet the demand for rapid water replenishment, especially when buoyancy needs to be increased quickly.

[0064] The diameters of the pump water inlet pipe 9 and the pump water discharge pipe 10 are designed to be greater than or equal to the diameter of the water supply pipe 11. Such a design ensures that the water pump body 5 can have sufficient flow when pumping or draining water, thereby ensuring the efficiency and performance of the system.

[0065] In a further preferred embodiment of the present invention, an assembly hole is provided at the connection portion between the threaded sleeve 17 and the integrated control valve box 1 6 and / or the integrated control valve box 2 7, a watertight bearing is fixedly embedded in the assembly hole, and the inner ring of the watertight bearing is fixedly sleeved on the outer ring of the threaded sleeve 17.

[0066] In this embodiment, an assembly hole is specially provided at the connection part between the threaded sleeve 17 and the integrated control valve box 1 6 or the integrated control valve box 2 7, and a watertight bearing is fixedly embedded in the assembly hole. The design of the watertight bearing is to ensure that in an underwater environment, the threaded sleeve 17 will not leak with the integrated control valve box when rotating, thereby ensuring the watertightness and reliability of the entire buoyancy control system. The inner ring of the watertight bearing is fixedly sleeved on the outer ring of the threaded sleeve 17. This design ensures a tight connection between the watertight bearing and the threaded sleeve, further enhancing the watertightness of the system.

[0067] In actual use, when the position of the plug 19 needs to be adjusted to control the opening and closing of the water pipe, the motor 123 will drive the active bevel gear 124 to rotate, thereby driving the driven bevel gear 122 and the threaded sleeve 17 to rotate. Due to the presence of the watertight bearing, the threaded sleeve 17 can maintain watertightness with the integrated control valve box during rotation, while ensuring that the adjusting screw 18 and the plug 19 can move stably along the preset trajectory.

[0068] This embodiment solves the problem of water leakage that may occur when the threaded sleeve rotates by introducing a watertight bearing, thereby improving the watertightness and reliability of the entire buoyancy control system. At the same time, the close connection between the watertight bearing and the threaded sleeve also ensures the stability and durability of the system.

[0069] In a further preferred embodiment of the present invention, one end of the threaded sleeve 17 located in the integrated control valve box 1 6 and / or the integrated control valve box 2 7 has an extension, the diameter of the extension of the threaded sleeve 17 is larger than the aperture of the assembly hole, and the extension of the threaded sleeve 17 is in rotatable watertight contact with the inner wall of the integrated control valve box 1 6 and / or the integrated control valve box 2 7.

[0070] In this embodiment, an extension is designed at one end of the threaded sleeve 17 located in the integrated control valve box 1 6 or the integrated control valve box 2 7. The diameter of the extension is intentionally made larger than the diameter of the assembly hole. This design has two main purposes: one is to ensure that the threaded sleeve 17 does not go too deep into the integrated control valve box, thereby maintaining a proper installation position; the other is to form a good contact with the inner wall of the integrated control valve box.

[0071] More importantly, the extension of the threaded sleeve 17 is designed to be in rotatable watertight contact with the inner wall of the integrated control valve box 1 6 or the integrated control valve box 2 7. This design not only ensures that the threaded sleeve will not leak when rotating, but also ensures the stability and smoothness of the rotation. When the threaded sleeve rotates, its extension part will rotate closely against the inner wall of the integrated control valve box. Since the contact surface is watertight, it can effectively prevent water from penetrating from the contact surface.

[0072] In a further preferred embodiment of the present invention, the plug 19 is located on one side of the positioning guide block 21 and has a truncated cone structure.

[0073] In this embodiment, the truncated cone structure design of the plug 19 enables it to form a tighter seal when in contact with the water pipe. Due to the inclined surface characteristics of the truncated cone structure, the water flow is smoother.

[0074] In order to further improve the use effect of the device, in addition to the above scheme, this scheme also has the following embodiments:

[0075] In another embodiment of the present invention, at least two of the water storage tanks 2 are provided with a controllable water cavity structure, and the controllable water cavity structure includes a regulating sealing plate 25, and the regulating sealing plate 25 is slidably arranged in the front water tank X and / or the rear water tank Y in a watertight manner, so that the interior is divided into a water storage cavity 26 and an assembly cavity 27, and a No. 1 extension tube 28 and a No. 2 extension tube 29 are arranged in the assembly cavity 27, and the two ends of the No. 1 extension tube 28 and the No. 2 extension tube 29 are respectively fixedly connected to the inner wall of the regulating sealing plate 25 and the assembly cavity 27, and the two ends of the No. 1 extension tube 28 and the No. 2 extension tube 29 are respectively connected to the water storage cavity 26 and the No. 1 water pipe 12 and / or The No. 2 water pipe 13 and / or the No. 3 water pipe 14 and / or the No. 4 water pipe 15 are interconnected, a water pressure sensor 30 is provided in the water storage cavity 26, the water pressure sensor 30 is fixedly connected to the regulating sealing plate 25, an adjusting screw 31 is installed on the regulating sealing plate 25 along the sliding direction of the thread, one end of the adjusting screw 31 is rotatably connected to the inner wall of the water storage cavity 26 by an axle seat, and a driving spindle 32 is fixedly installed on the other end, the driving spindle 32 is rotatably connected to one side of the water storage tank 2 and extends to the outside, a motor 2 33 is fixedly installed on one side of the water storage tank 2, and the output shaft of the motor 2 33 is fixedly connected to one end of the driving spindle 32.

[0076] In this embodiment, first, at least one controllable water cavity structure is provided inside the water storage tank 2 in this embodiment. The core of this controllable water cavity structure is the regulating sealing plate 25, which is a watertight and slidable plate that can slide inside the front water tank X or the rear water tank Y. The sliding of the regulating sealing plate 25 divides the inside of the water storage tank 2 into two areas: a water storage cavity 26 and an assembly cavity 27.

[0077] In the assembly cavity 27, a No. 1 extension pipe 28 and a No. 2 extension pipe 29 are provided. The two ends of the two extension pipes are fixedly connected to the regulating sealing plate 25 and the inner wall of the assembly cavity 27, respectively. The No. 1 extension pipe 28 and the No. 2 extension pipe 29 play the role of connecting the water storage cavity 26 with the No. 1 water pipe 12, the No. 2 water pipe 13, the No. 3 water pipe 14 and the No. 4 water pipe 15 (these water pipes can be water pipes for water supply, drainage or other purposes). Through this design, the water in the water storage cavity 26 can flow in or out through the extension pipes, realizing the flow and distribution of water.

[0078] In order to monitor the water pressure in the water storage cavity 26 in real time, the present embodiment provides a water pressure sensor 30 in the water storage cavity 26. The water pressure sensor 30 is fixedly connected to the regulating sealing plate 25 to ensure that the water pressure change in the water storage cavity 26 can be accurately measured, thereby controlling drainage and water inflow.

[0079] In order to achieve precise control of the regulating and sealing plate 25, in this embodiment, a cavity adjusting screw 31 is installed on the regulating and sealing plate 25 through a thread along the sliding direction. One end of the cavity adjusting screw 31 is rotatably connected to the inner wall of the water storage cavity 26 by an axle seat, and a driving spindle 32 is fixedly installed on the other end. The driving spindle 32 is rotatably connected to one side of the water storage tank 2 and extends to the outside. On one side of the water storage tank 2, a motor 2 33 is fixedly installed, and its output shaft is fixedly connected to one end of the driving spindle 32. By controlling the rotation of the motor 2 33, the cavity adjusting screw 31 can be driven to rotate, thereby driving the regulating and sealing plate 25 to slide in the water storage tank 2, thereby changing the size of the water storage cavity 26.

[0080] By adjusting the size of the water storage cavity 26, the flow and distribution of water can be precisely controlled to meet water demand in different scenarios.

[0081] The water pressure sensor 30 can monitor the water pressure changes in the water storage cavity 26 in real time to ensure the safe and stable operation of the system.

[0082] The sliding design of the regulating sealing plate 25 makes the adjustment of the water chamber more flexible and convenient, thereby improving the use efficiency of the system.

[0083] The introduction of the motor 2 33 realizes the automatic control of the regulating sealing plate 25 and improves the intelligence level of the system.

[0084] In another embodiment of the present invention, a lifting screw 34 is rotatably installed in the assembly cavity 27, a suspension frame 35 is slidably provided in the assembly cavity 27, the suspension frame 35 is threadedly connected to the lifting screw 34, and an avoidance groove 36 for avoiding the No. 1 extension tube 28 and the No. 2 extension tube 29 is opened on the suspension frame 35, and a lifting rod 37 is fixedly installed in the avoidance groove 36 for supporting the No. 1 extension tube 28 and the No. 2 extension tube 29. A driven shaft 38 is fixedly installed on the top of the lifting screw 34, an active bevel gear 39 is fixedly sleeved on the driving main shaft 32, and a driven bevel gear 40 is fixedly sleeved on the driven shaft 38, and the active bevel gear 39 is meshed with the driven bevel gear 40.

[0085] In this embodiment, first, a lifting screw 34 is rotatably installed in the assembly cavity 27. The lifting screw 34 provides a driving force for the suspension frame 35 to move up and down. The suspension frame 35 is slidably arranged in the assembly cavity 27 and is threadedly connected with the lifting screw 34. In this way, when the lifting screw 34 rotates, the suspension frame 35 will move up or down according to the rotation direction of the thread and the rotation direction of the lifting screw 34.

[0086] In order to prevent the suspension frame 35 from interfering with the No. 1 extension tube 28 and the No. 2 extension tube 29 during the lifting process, an avoidance groove 36 is provided on the suspension frame 35. The position and size of the avoidance groove 36 are carefully designed to ensure that the No. 1 extension tube 28 and the No. 2 extension tube 29 can be fully accommodated. In addition, a lifting rod 37 is fixedly installed in the avoidance groove 36 to support the No. 1 extension tube 28 and the No. 2 extension tube 29 to prevent them from being damaged or displaced due to the movement of the suspension frame 35.

[0087] In order to realize the rotation control of the lifting screw 34, a driven shaft 38 is fixedly installed on the top of the lifting screw 34. At the same time, a second driving bevel gear 39 is fixedly sleeved on the driving main shaft 32, and a second driven bevel gear 40 is fixedly sleeved on the driven shaft 38. The second driving bevel gear 39 is meshed with the second driven bevel gear 40, so that when the driving main shaft 32 rotates, the driven shaft 38 is driven to rotate through the bevel gear transmission, thereby driving the lifting screw 34 to rotate.

[0088] This design allows the sliding of the sealing plate 25 and the lifting of the suspension frame 35 to be controlled in linkage through the same driving source (i.e., the second motor 33). By precisely controlling the rotation of the second motor 33, the size of the water storage cavity 26 and the height of the suspension frame 35 can be synchronously adjusted, thereby achieving more precise control over the flow and distribution of water.

[0089] The design of the suspension bracket 35 and the lifting screw 34 increases the functionality and flexibility of the system, so that the water tank can adjust and control the water flow according to different needs.

[0090] The arrangement of the avoidance groove 36 and the lifting rod 37 prevents the suspension frame 35 from interfering with the extension pipe during the lifting process, thereby ensuring the stable operation of the system.

[0091] The bevel gear transmission method realizes the linkage control of regulating the sliding of the sealing plate 25 and the lifting of the suspension frame 35, thereby improving the overall coordination and response speed of the system.

[0092] In summary, compared with the related art, the operating principle of this system is based on the Archimedean principle, that is, changing the buoyancy of an object by changing the volume of water it displaces. Driven by the water pump body 5, water is sucked into or discharged from the water storage tank 2, thereby changing the volume of water displaced by the aircraft and adjusting its buoyancy. The controller 8 receives feedback information from other systems of the aircraft (such as depth sensors, attitude sensors, etc.), calculates and issues commands in real time, so as to achieve precise control of the buoyancy of the aircraft.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways.

[0094] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A buoyancy control system for an underwater vehicle, characterized in that: include: A central control box (1) and at least two water storage tanks (2), wherein the central control box (1) and the at least two water storage tanks (2) can be arranged in an underwater vehicle; a drive motor (4) and a water pump body (5), both of which are fixedly installed in the central control box (1), and the input end of the water pump body (5) is drivingly connected to the output shaft of the drive motor (4); an integrated control valve box (1) (6) and an integrated control valve box (2) (7), both of which are fixedly installed in the central control box (1), and at least two of the water storage tanks (2), the water pump body (5), the integrated control valve box (1) (6) and the integrated control valve box (7) are connected in sequence through pipelines; and a controller (8) is fixedly installed in the central control box (1).

2. The underwater vehicle buoyancy control system according to claim 1, characterized in that: At least two of the water storage tanks (2) include a front water tank (X) and a rear water tank (Y), and the front water tank (X) and the rear water tank (Y) are respectively arranged at the front end and the rear end of the underwater submersible.

3. The underwater vehicle buoyancy control system according to claim 2, characterized in that: The water inlet end of the water pump body (5) is connected to the integrated control valve box (1) (6) by a pump body water inlet pipe (9), and the water discharge end of the water pump body (5) is connected to the integrated control valve box (7) (7) by a pump body water discharge pipe (10). The integrated control valve box (1) (6) is also connected to a water supply pipe (11), a No. 1 water pipe (12) and a No. 2 water pipe (13). The integrated control valve box (7) is also connected to a No. 3 water pipe (14) and a No. 4 water pipe (15). The water inlet end of the pipe (11) extends to the outside of the underwater vehicle, the No. 1 water pipe (12) and the No. 3 water pipe (14) are both connected to the front water tank (X), the No. 2 water pipe (13) and the No. 4 water pipe (15) are both connected to the rear water tank (Y), at least two of the water storage tanks (2) are provided with a drain pipe (16), the discharge ends of at least two of the drain pipes (16) extend to the outside of the underwater vehicle, and at least two of the drain pipes (16) are provided with a solenoid valve.

4. The underwater vehicle buoyancy control system according to claim 3, characterized in that: The integrated control valve box one (6) and the integrated control valve box two (7) are both provided with a plurality of controllable plugging mechanisms, and the plurality of controllable plugging mechanisms are respectively provided corresponding to the water supply pipe (11), the first water pipe (12), the second water pipe (13), the third water pipe (14) and the fourth water pipe (15).

5. The underwater vehicle buoyancy control system according to claim 4, characterized in that: The controllable plugging mechanism comprises a threaded sleeve (17), an adjusting screw (18), a plug (19), a positioning guide groove (20), a positioning guide block (21), a driven bevel gear 1 (22), a motor 1 (23) and a driving bevel gear 1 (24); the threaded sleeve (17) is rotatably mounted on the integrated control valve box 1 (6) and / or the integrated control valve box 2 (7) relative to the water supply pipe (11) and / or the first water pipe (12) and / or the second water pipe (13) and / or The third water pipe (14) and / or the fourth water pipe (15) are connected to one side of the third water pipe (14) and / or the fourth water pipe (15), the adjusting screw (18) is threadedly installed in the threaded sleeve (17), the plug (19) is fixedly installed on one end of the adjusting screw (18) located in the integrated control valve box one (6) and / or the integrated control valve box two (7), and the plug (19) can be in sealing contact with or separated from the inner wall of the integrated control valve box one (6) and / or the integrated control valve box two (7), and is used to control the water supply pipe ( The positioning guide groove (20) is provided on one side of the adjusting screw (18), and the positioning guide block (21) is fixedly installed in the integrated control valve box 1 (6) and / or the integrated control valve box 2 (7). The positioning guide block (21) extends into the positioning guide groove (20) and is used to guide the sliding of the adjusting screw (18). The driven bevel gear 1 (22) is fixedly sleeved on the threaded sleeve (17) and is located outside the integrated control valve box 1 (6) and / or the integrated control valve box 2 (7); the motor 1 (23) is fixedly mounted on the outside of the integrated control valve box 1 (6) and / or the integrated control valve box 2 (7); an active bevel gear 1 (24) is fixedly mounted on the output shaft of the motor 1 (23); the active bevel gear 1 (24) is meshed with the driven bevel gear 1 (22).

6. The underwater vehicle buoyancy control system according to claim 5, characterized in that: The position of the positioning guide groove (20) is always located in the integrated control valve box one (6) and / or the integrated control valve box two (7), and the sliding track of the plug (19) is always offset from the water inlet end of the pump body water inlet pipe (9) and / or the drainage end of the pump body drainage pipe (10).

7. The underwater vehicle buoyancy control system according to claim 3, characterized in that: The diameters of the No. 1 water pipe (12), the No. 2 water pipe (13), the No. 3 water pipe (14), the No. 4 water pipe (15) and the drain pipe (16) are equal; the diameter of the water supply pipe (11) is 1.2 to 1.5 times the diameters of the No. 1 water pipe (12), the No. 2 water pipe (13), the No. 3 water pipe (14), the No. 4 water pipe (15) and the drain pipe (16); and the diameters of the pump body water inlet pipe (9) and the pump body drain pipe (10) are greater than or equal to the diameter of the water supply pipe (11).

8. The underwater vehicle buoyancy control system according to claim 5, characterized in that: An assembly hole is provided at the connection portion between the threaded sleeve (17) and the integrated control valve box one (6) and / or the integrated control valve box two (7), a watertight bearing is fixedly embedded in the assembly hole, and the inner ring of the watertight bearing is fixedly sleeved on the outer ring of the threaded sleeve (17).

9. The underwater vehicle buoyancy control system according to claim 8, characterized in that: One end of the threaded sleeve (17) located in the integrated control valve box one (6) and / or the integrated control valve box two (7) has an extension, the diameter of the extension of the threaded sleeve (17) is larger than the aperture of the assembly hole, and the extension of the threaded sleeve (17) is in rotatable watertight contact with the inner wall of the integrated control valve box one (6) and / or the integrated control valve box two (7).

10. The underwater vehicle buoyancy control system according to claim 5, characterized in that: The plug (19) is located on one side of the positioning guide block (21) and has a truncated cone structure.

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