Multistage buoyancy adjusting device and method for underwater vehicle

Abstract

The invention discloses a multistage buoyancy adjusting device and method for an underwater vehicle, and relates to the technical field of buoyancy adjustment. The multistage buoyancy adjusting device comprises a piston cylinder type buoyancy adjusting assembly and an oil bag type buoyancy adjusting assembly; wherein the oil bag type buoyancy adjusting assemblies are integrally and annularly distributed on the periphery of the piston cylinder type buoyancy adjusting assembly, each oil bag type buoyancy adjusting assembly comprises a supporting plate, a seat body fixed to the supporting plate, an expansion and contraction bag body frame and a piston suction assembly, and the expansion and contraction bag body frames and the piston suction assemblies are arranged on the seat bodies and used for multi-stage buoyancy adjustment of the underwater vehicle; and the driving rod assembly is arranged on the seat body and is used for controlling the expansion and contraction bag body frame and the piston suction assembly in a linkage manner, so that the expansion and contraction bag body frame realizes buoyancy adjustment of the underwater vehicle through liquid oil transfer. By means of flexible application of two modes of liquid oil transfer and seawater pumping and drainage, multi-stage adjustment of the snorkeling depth of the aircraft is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of buoyancy adjustment, in particular to a multi-stage buoyancy adjustment device and method for underwater vehicles. BACKGROUND

[0002] When an unmanned underwater vehicle is navigating underwater, it will be affected by various factors such as water depth, water temperature, season, sea area, etc., or it will be required to float or dive due to task needs, at this time, a device for adjusting the balance between buoyancy and gravity, i.e. a buoyancy adjustment device, is needed, which can achieve automatic trimming of the unmanned underwater vehicle when navigating in different water areas and at different depths, but the existing buoyancy adjustment device still has the following disadvantages: Currently, the unmanned underwater vehicle does not have a multi-stage adjustment function for different deep and shallow water areas, and it is difficult to effectively adapt to different environments; and the existing vehicle body position generally has fixed parameters and cannot adaptively adjust the volume. SUMMARY

[0003] The purpose of the present application is to provide a multi-stage buoyancy adjustment device and method for underwater vehicles, which uses the flexible use of liquid oil transfer and seawater pumping to complete multi-stage adjustment of the diving depth of the vehicle, thereby realizing the safe diving of the vehicle and adapting to different water areas.

[0004] To achieve the above purpose, the present application provides the following technical scheme: a multi-stage buoyancy adjustment device for underwater vehicles, comprising: a piston-cylinder type buoyancy adjustment assembly, an oil bladder type buoyancy adjustment assembly; wherein the oil bladder type buoyancy adjustment assembly is distributed in a whole annular shape around the piston-cylinder type buoyancy adjustment assembly, each group of oil bladder type buoyancy adjustment assembly comprises a support plate, a seat body fixed on the support plate, and an expansion and contraction bladder body frame and a piston suction assembly provided on the seat body, for multi-stage buoyancy adjustment of the underwater vehicle; further comprising a drive rod assembly provided on the seat body, for linkage control of the expansion and contraction bladder body frame and the piston suction assembly, so that the expansion and contraction bladder body frame realizes the buoyancy adjustment of the underwater vehicle through liquid oil transfer.

[0005] Preferably, each group of the expansion and contraction bladder body frame comprises a mounting cylinder provided in the middle of the seat body, a groove annularly provided at one end of the mounting cylinder, and a bracket leg rotatably connected with the groove through a rotating shaft provided in the groove; further comprising a telescopic bladder sleeve fixed and sealed around the outer periphery of the bracket legs, the bracket legs being used for expansion and contraction of the telescopic bladder sleeve; each rotating shaft further has a gear fixed thereon; and a transmission column is provided in the mounting cylinder, and an outer gear ring fixed at one end of the transmission column is engaged with the gears, and the other end is connected with the drive rod assembly.

[0006] Preferably, the device further comprises a liquid oil storage tank for transporting liquid oil, wherein the liquid oil storage tank comprises two supporting rods fixed on the side walls of the symmetrically distributed supporting plates, and a tank body fixed on the ends of the two supporting rods away from the supporting plates, wherein the tank body is provided with a plurality of double-way hydraulic pumps corresponding to the plurality of telescopic casings on the side close to the supporting plates; the device further comprises an oil injection pipeline arranged at the outlet valve of each double-way hydraulic pump, wherein the oil injection pipeline is communicated with the corresponding telescopic casing at the end away from the double-way hydraulic pump and is provided with a one-way valve for flowing to the telescopic casing; the device further comprises an oil return pipeline communicated between each telescopic casing and the inlet valve of the double-way hydraulic pump, wherein the oil return pipeline is provided with an on-off electromagnetic valve for opening and closing the oil return pipeline.

[0007] Preferably, each group of the piston pumping assembly is provided with two groups distributed on the two sides of the seat body, and each piston pumping assembly comprises a piston cavity opened on one side of the seat body, a first piston plate arranged in the piston cavity, and a connecting sleeve and a mounting sleeve arranged on the bottom of the seat body and communicated with the piston cavity, wherein the side wall of the mounting sleeve is provided with a first one-way water inlet valve and a first one-way water outlet valve for pumping and discharging seawater, respectively.

[0008] Preferably, each group of the driving rod assembly comprises a screw rod transmission assembly and an engagement transmission assembly for driving the expansion and contraction casing body frame and the piston pumping assembly, respectively, wherein the screw rod transmission assembly comprises a guide rail fixed on the upper surface of the seat body, and a transmission sleeve and a mounting block arranged on the guide rail, wherein the mounting block is fixed on one end of the guide rail and is provided with a starting system, the output end of the starting system is fixed with a screw rod body which passes through the screw hole arranged on the transmission sleeve and extends for a distance, and the device further comprises a connecting frame fixed on the transmission sleeve, wherein the connecting frame is provided with a push rod fixed on the vertical section, the push rod extends into the inside of the mounting cylinder and is fixed with a transmission column, and the push rod serves as a driving source for moving the transmission column.

[0009] Preferably, the meshing transmission assembly comprises a transmission frame fixed on the top of the seat body, and a transmission plate slidingly installed inside the transmission frame, wherein the side wall of the transmission plate is fixed with a transmission frame, the lower part of the vertical section of the transmission frame is fixed with a transmission bar, and two first piston rods are arranged at the two ends of the transmission bar, and the two first piston rods respectively extend into two groups of piston suction assemblies and are fixed with the first piston plate arranged in the piston cavity; further comprising a first transmission gear, a second transmission gear and a third transmission gear which are sequentially meshed, wherein the first transmission gear is fixed on the output end of the motor assembly arranged on the vertical section of the transmission frame, and the third transmission gear is fixed on the third pin shaft which is rotatably installed on the transmission sleeve; the middle part of the first transmission gear is fixed with a first pin shaft, and a first connecting rod and a second connecting rod are rotatably installed on the first pin shaft and the third pin shaft respectively, and the second pin shaft rotatably connected to the opposite ends of the first connecting rod and the second connecting rod is fixedly connected with the second transmission gear; further comprising a limiting shaft fixed on the outer periphery of the third transmission gear, and the limiting shaft is arranged inside the limiting slot longitudinally arranged on the side wall of the transmission plate.

[0010] Preferably, the piston cylinder type buoyancy adjusting assembly and the oil bag type buoyancy adjusting assembly are both arranged in two groups and symmetrically distributed, and each group of oil bag type buoyancy adjusting assembly is annularly arranged around the outer periphery of the corresponding side of the piston cylinder type buoyancy adjusting assembly.

[0011] Preferably, each group of piston cylinder type buoyancy adjusting assembly comprises a piston sleeve and a second piston plate slidingly installed inside the piston sleeve, the second piston plate is fixed with a second piston rod on the side close to the liquid storage tank, the second piston rod passes through the through hole arranged on the side wall of the piston sleeve and is fixed with a hydraulic telescopic rod, and the hydraulic telescopic rod is connected with the middle part of the tank body where the liquid storage tank is arranged; further comprising a second one-way water inlet valve and a second one-way water outlet valve arranged on the end of the piston sleeve away from the liquid storage tank.

[0012] A multi-stage buoyancy adjusting method of underwater vehicle is applied to the multi-stage buoyancy adjusting device of underwater vehicle, and the method comprises the following steps: S1: when the buoyancy needs to be adjusted, the driving rod assembly is driven, the telescopic bag sleeve where the telescopic bag frame is arranged is first expanded, then oil is injected, and the density difference between oil and water can make the buoyancy of the vehicle increase and the vehicle submerges, and the driving rod assembly drives the piston suction assembly to synchronously operate, when the first piston plate moves, the water pumping and water discharging in the installation sleeve, the connecting sleeve and the piston cavity are realized, and the first-stage buoyancy adjustment of the vehicle is realized; S2: due to the structural characteristics of the meshing transmission assembly, the piston suction assembly can further realize the water pumping and water discharging in the installation sleeve, the connecting sleeve and the piston cavity on the basis of the first-stage buoyancy adjustment, and the second-stage buoyancy adjustment of the vehicle is realized; S3: the installation sleeve where the piston-cylinder type buoyancy adjusting assembly is located operates, thereby realizing the water pumping and draining process in the piston sleeve and completing the three-stage buoyancy adjusting process of the vehicle.

[0013] Compared with the prior art, the present application has the following advantages: 1. The present application realizes the multi-stage buoyancy adjustment of the vehicle by the combined movement of the expansion and contraction capsule frame and the piston pumping assembly, so that the piston pumping assembly can further increase or decrease the buoyancy on the basis of the buoyancy adjustment of the expansion and contraction capsule frame during the liquid oil pumping and draining process, and the piston-cylinder type buoyancy adjusting assembly is used to realize the multi-stage buoyancy adjustment of the vehicle. 2. The present application realizes the multi-stage adjustment of the diving depth of the vehicle by the flexible use of the liquid oil transfer and seawater pumping and draining, thereby realizing the safe diving of the vehicle and adapting to the process of different water areas. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a first perspective view of the structure of the present application. Figure 2 It is a second perspective view of the structure of the present application. Figure 3 It is an exploded view of the structure of the present application. Figure 4 It is a partial enlarged view of the oil capsule type buoyancy adjusting assembly. Figure 5 It is a partial exploded view of Figure 4 Figure 6 It is a partial cross-sectional enlarged view of the piston-cylinder type buoyancy adjusting assembly and the oil capsule type buoyancy adjusting assembly. Figure 7 It is a partial enlarged view of the meshing transmission assembly. Figure 8 It is a structural view of the driving rod assembly.

[0015] ​In the figure: 1, piston cylinder type buoyancy adjusting assembly; 101, piston sleeve; 102, second piston plate; 103, second piston rod; 104, hydraulic telescopic rod; 105, second one-way water inlet valve; 106, second one-way water outlet valve; 2, support plate; 3, seat body; 4, piston suction assembly; 401, piston cavity; 402, first piston plate; 403, connecting sleeve; 404, mounting sleeve; 405, first one-way water inlet valve; 406, first one-way water outlet valve; 407, meshing transmission assembly; 4071, transmission frame; 4072, transmission plate; 4073, transmission bracket; 4074, transmission bar; 4075, first piston rod; 4081, first transmission tooth; 4082, second transmission tooth; 4083, first connecting rod; 4084, third pin shaft; 4085, second connecting rod; 4086, third transmission tooth; 4087, limiting groove; 4088, limiting shaft; 6, liquid storage tank; 601, support rod; 602, tank body; 603, bidirectional hydraulic pump; 604, oil filling pipeline; 605, oil return pipeline; 7, expansion and contraction capsule frame; 701, mounting cylinder; 702, groove; 703, rotating shaft; 704, frame leg; 705, transmission column; 706, outer tooth ring; 707, screw transmission assembly; 7071, mounting block; 7072, starting system; 7073, screw body; 7074, transmission sleeve; 7075, connecting bracket; 7076, push rod; 708, telescopic capsule sleeve; 709, gear. DETAILED DESCRIPTION

[0016] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0017] Embodiment 1 Please refer to Figures 1 to 8The application preferably provides the technical scheme: a multi-stage buoyancy adjusting device for underwater vehicle, comprising: a piston-cylinder type buoyancy adjusting assembly 1, an oil bag type buoyancy adjusting assembly; wherein the oil bag type buoyancy adjusting assembly is annularly distributed on the outer periphery of the piston-cylinder type buoyancy adjusting assembly 1 as a whole, each group of the oil bag type buoyancy adjusting assembly comprises a support plate 2, a seat body 3 fixed on the support plate 2, and an expansion and contraction bag body frame 7 and a piston suction assembly 4 arranged on the seat body 3, and is used for multi-stage buoyancy adjustment of the underwater vehicle; further comprising a driving rod assembly arranged on the seat body 3, used for linkage control of the expansion and contraction bag body frame 7 and the piston suction assembly 4, so that the expansion and contraction bag body frame 7 realizes the buoyancy adjustment of the underwater vehicle through liquid oil transfer.

[0018] It is known that the floating and sinking ability of the vehicle mainly depends on the adjustment of the buoyancy, by controlling the buoyancy system inside the vehicle, such as compressed air or liquid storage, the immersion degree of the submarine can be changed, when the vehicle needs to float up, by releasing compressed air or liquid to reduce the weight of the submarine, so as to increase the buoyancy, so that it can float out of the water, on the contrary, when the vehicle needs to sink, by injecting compressed air or liquid to increase the weight, to reduce the buoyancy, so that the submarine sinks to the required depth, and because the vehicle needs to dive to different depths to adapt to the changeable environment of the ocean, the buoyancy adjustment of the vehicle is required to be high, and the adjustment range also needs to be extended; In the embodiment, the piston-cylinder type buoyancy adjusting assembly 1 and the oil bag type buoyancy adjusting assembly can realize multi-stage buoyancy adjustment of the vehicle, specifically: the design principle of the oil bag type buoyancy adjusting assembly is to adjust the buoyancy by pumping and discharging seawater, and the oil bag type buoyancy adjusting assembly is realized by combining the pumping and discharging of seawater and the transfer of liquid oil, specifically Figure 1 、 2 , 3, the oil bag type buoyancy adjusting assembly is annularly distributed on the outer periphery of the piston-cylinder type buoyancy adjusting assembly 1 and preferably four groups, the expansion and contraction bag body frame 7 and the piston suction assembly 4 of each group of the oil bag type buoyancy adjusting assembly are respectively arranged in the middle and on both sides of the seat body 3, and respectively implement the liquid oil transfer mode and the seawater pumping and discharging mode, and simultaneously realize linkage under the action of the driving rod assembly, specifically, when the expansion and contraction bag body frame 7 pumps and discharges liquid oil to adjust the buoyancy, the piston suction assembly 4 can further increase or reduce the buoyancy on the basis of the buoyancy adjustment of the expansion and contraction bag body frame 7, cooperate with the piston-cylinder type buoyancy adjusting assembly 1, and realize the multi-stage adjustment process of the buoyancy of the vehicle; The application, through the combined movement of the expansion and contraction capsule frame 7 and the piston pumping assembly 4, can further increase or decrease the buoyancy on the basis of the expansion and contraction capsule frame 7 adjusting the buoyancy in the process of the expansion and contraction capsule frame 7 pumping out the liquid oil to adjust the buoyancy, cooperates with the piston cylinder type buoyancy adjusting assembly 1, realizes the multi-stage adjustment process of the buoyancy of the vehicle, and completes the multi-stage adjustment of the diving depth of the vehicle in two ways of liquid oil transfer and seawater pumping out, thereby realizing the safe diving of the vehicle and adapting to different water areas.

[0019] Embodiment 2 As another embodiment of the application, each group of expansion and contraction capsule frames 7 comprises a mounting cylinder 701 arranged in the middle of the seat body 3, a groove 702 annularly arranged at one end of the mounting cylinder 701, and a frame leg 704 rotatably connected with the groove 702 through a rotating shaft 703 arranged in the groove 702; further comprises a telescopic capsule sleeve 708 fixed on the outer periphery of the frame leg 704 and sealed, and the frame leg 704 is used for expanding and retracting the telescopic capsule sleeve 708; each rotating shaft 703 is further fixed with a gear 709; and a transmission column 705 is arranged in the mounting cylinder 701, and an outer gear ring 706 fixed at one end of the transmission column 705 is engaged with the gears 709, and the other end is connected with a driving rod assembly; further, a liquid oil storage tank 6 is arranged for transferring liquid oil; the liquid oil storage tank 6 comprises two supporting rods 601, and the two supporting rods 601 are respectively fixed on the side walls of the symmetrically distributed supporting plates 2; and a tank body 602 is fixed on the ends of the two supporting rods 601 away from the supporting plates 2, and a plurality of bidirectional hydraulic pumps 603 are arranged on the tank body 602 corresponding to the telescopic capsule sleeves 708 on the side close to the supporting plates 2; further comprising an oil injection pipeline 604 arranged at the outlet valve of each bidirectional hydraulic pump 603, and the end of the oil injection pipeline 604 away from the bidirectional hydraulic pump 603 is communicated with the corresponding telescopic capsule sleeve 708 and is provided with a one-way valve for flowing to the telescopic capsule sleeve 708; the telescopic capsule sleeve 708 and the bidirectional hydraulic pump 603 are further communicated with an oil return pipeline 605, and the oil return pipeline 605 is provided with an on-off electromagnetic valve for opening and closing the oil return pipeline 605.

[0020] Combination Figure 3 , 4 , 5, the outer gear ring 706 fixed at one end of the transmission column 705 is engaged with the gears 709 respectively fixed on the rotating shafts 703, and the rotating shafts 703 are further fixed with the frame legs 704, so that when the transmission column 705 expands and retracts, the frame legs 704 can complete the expansion or folding process, thereby realizing the expansion and retraction process of the telescopic capsule sleeve 708, and providing a preliminary environment for the oil injection and discharge process of the telescopic capsule sleeve 708; specifically, when the buoyancy needs to be adjusted, the telescopic capsule sleeve 708 is controlled to expand, and then oil is injected, so that the buoyancy of the vehicle increases and the vehicle ascends, and the vehicle sinks in the reverse operation; The oil injection and oil discharge inside the telescopic sleeve 708 can be adjusted by the oil storage tank 6, and the specific combination Figure 1 As shown in the figure, one end of the oil injection pipeline 604 and the oil return pipeline 605 is in communication with the tank 602, and the other end is in communication with the telescopic sleeve 708. Here, four groups are preferred, and the one-way valve and the on-off electromagnetic valve provided in the two pipelines respectively are used to realize the adjustment and control of the oil injection and oil discharge process. Specifically, when the buoyancy needs to be increased, the oil is discharged into the telescopic sleeve 708 outside through the one-way valve by the bi-directional hydraulic pump 603, and the telescopic sleeve 708 is expanded in cooperation with the expansion of the legs 704, so that the volume of the telescopic sleeve 708 is increased, and the buoyancy of the device is increased through the buoyancy of the oil. When the buoyancy needs to be reduced, the legs 704 are retracted, and the on-off electromagnetic valve is opened, so that the oil in the telescopic sleeve 708 enters the tank 602 through the oil return pipeline 605, and the volume of the telescopic sleeve 708 is reduced. When the buoyancy adjustment is stopped, the electromagnetic valve is closed, and the oil return pipeline 605 is cut off, so that the volume of the telescopic sleeve 708 is maintained. In addition, the device is also provided with a linear displacement sensor, which can calculate the buoyancy adjustment amount by sensing the change of the oil amount in the tank 602. The bi-directional hydraulic pump 603 is a mature technology, and its principle is that the switching of the directional valve is controlled by the electromagnet to realize the bi-directional movement of the hydraulic system. Specifically, when the electromagnet is powered on, the directional valve is switched to a specific position, so that the pressure oil of the bi-directional hydraulic pump 603 enters the rodless cavity of the hydraulic cylinder through the one-way valve, the filter, the directional valve and other components, so as to drive the cylinder to move quickly and realize oil injection. When moving to a certain position, the electromagnet is powered off, the directional valve is switched to another position, the pressure oil of the bi-directional hydraulic pump 603 enters the rod cavity of the hydraulic cylinder through the directional valve, so that the cylinder moves quickly in the opposite direction, the on-off electromagnetic valve is opened, and the oil return is realized.

[0021] Embodiment 3 As another embodiment of the present application, each piston suction assembly 4 is provided with two and is distributed on both sides of the seat body 3. Each piston suction assembly 4 includes a piston cavity 401 opened on one side of the seat body 3, a first piston plate 402 provided in the piston cavity 401, and a connecting sleeve 403 and a mounting sleeve 404 provided at the bottom of the seat body 3 and in communication with the piston cavity 401. The side wall of the mounting sleeve 404 is provided with a first one-way water inlet valve 405 and a first one-way water outlet valve 406, which are respectively used for seawater suction and discharge.

[0022] In combination Figure 6 , 8The first piston plate 402 can move inside the piston chamber 401, which is connected to the connecting sleeve 403 and the mounting sleeve 404. The mounting sleeve 404 is equipped with a first one-way water inlet valve 405 and a first one-way water outlet valve 406. Therefore, when the drive rod assembly moves the first piston plate 402, water can be pumped and drained from the mounting sleeve 404, the connecting sleeve 403, and the piston chamber 401, thereby increasing or decreasing the weight of the aircraft.

[0023] Example 4 In another embodiment of the present invention, each drive rod assembly includes a screw drive assembly 707 and a meshing drive assembly 407, which are used to drive the expansion and contraction bladder frame 7 and the piston suction assembly 4, respectively. The screw drive assembly 707 includes a guide rail 7077 fixed to the upper surface of the base 3, and a transmission sleeve 7074 and a mounting block 7071 disposed on the guide rail 7077. The mounting block 7071 is fixed to one end of the guide rail 7077 and is provided with a starting system 7072. The screw body 7073 fixed at the output end of the starting system 7072 passes through a screw hole opened on the transmission sleeve 7074 which is slidably mounted with the guide rail 7077 and extends a certain distance. It also includes a connecting frame 7075 fixed on the transmission sleeve 7074. A push rod 7076 fixed to the vertical section of the connecting frame 7075 extends into the mounting cylinder 701 and is fixed to the transmission column 705, serving as a drive source for the movement of the transmission column 705. Further, the meshing transmission assembly 407 includes a C-shaped transmission frame 4071 fixed to the top of the base 3, and a transmission plate 4072 slidably installed inside the transmission frame 4071. The transmission plate 4072 has a transmission frame 4073 fixed to its side wall, a transmission bar 4074 fixed to its lower vertical section, and two first piston rods 4075 disposed at both ends of the transmission bar 4074. The two first piston rods 4075 extend into the piston chambers 401 where the two sets of piston suction assemblies 4 are located and are fixed to the first piston plates 402 disposed within the piston chambers 401. It also includes a first transmission tooth 4081, a second transmission tooth 4082, and a third transmission tooth 4086 that mesh sequentially. The first transmission tooth 4081... 81 is fixed on the output end of the motor assembly set on the vertical section of the transmission frame 4071. The third transmission gear 4086 is fixed on the third pin 4084 which is rotatably mounted with the transmission sleeve 7074. The first transmission gear 4081 has a first pin fixed in the middle, and a first connecting rod 4083 and a second connecting rod 4085 respectively rotatably mounted on the first pin and the third pin 4084. The second pin is rotatably connected to the opposite ends of the first connecting rod 4083 and the second connecting rod 4085 and is fixedly connected to the second transmission gear 4082. It also includes a limiting shaft 4088 fixed on the outer periphery of the third transmission gear 4086, and the limiting shaft 4088 is set inside the limiting groove 4087 longitudinally opened on the side wall of the transmission plate 4072.

[0024] Known, screw drive assembly 707, mesh drive assembly 407 are used for the drive of expansion and contraction of the capsule frame 7 and piston suction assembly 4 respectively, the specific combination Figures 4-8 As shown, the screw body 7073 of the screw drive assembly 707 can be driven by the power brought by the starting system 7072 to drive the transmission sleeve 7074 to move, and then make the connecting frame 7075 and the push rod 7076 on the transmission sleeve 7074 drive the transmission column 705 to expand and contract inside the mounting cylinder 701, so as to realize the expansion and contraction process of the annular distribution leg 704, and further realize the expansion and contraction process of the telescopic capsule 708. The transmission plate 4072 of the mesh drive assembly 407 can move horizontally inside the transmission frame 4071, and then drive the transmission frame 4073, the transmission bar 4074 and the first piston rod 4075 on the transmission plate 4072 to drive the first piston plate 402 where the two piston suction assemblies 4 are located, combined with Figure 4 、 5 8, and the meshing characteristics of the first transmission tooth 4081, the second transmission tooth 4082 and the third transmission tooth 4086, the action of the first connecting rod 4083 and the second connecting rod 4085 connected between the first transmission tooth 4081 and the second transmission tooth 4082, and the second transmission tooth 4082 and the third transmission tooth 4086, and the third transmission tooth 4086. The limiting shaft 4088 arranged on the outer periphery of the third transmission tooth 4086 can slide longitudinally inside the limiting groove 4087 opened on the transmission plate 4072, combined with the structure characteristics that the third pin shaft 4084 fixed in the middle of the third transmission tooth 4086 is rotatably installed on the transmission sleeve 7074, the piston suction assembly 4 can further adjust the buoyancy on the basis of completing the buoyancy adjustment of the expansion and contraction capsule frame 7. Combined with Figure 5 、 7 8, when the transmission sleeve 7074 moves horizontally under the action of the screw body 7073, that is, during the expansion or contraction process of the telescopic capsule 708, the included angle below the first connecting rod 4083 and the second connecting rod 4085 can be adaptively smaller or larger, combined with Figure 7 , so as to drive the transmission plate 4072 to move horizontally inside the transmission frame 4071, and the piston suction assembly 4 and the expansion and contraction capsule frame 7 run synchronously during this process. And because of the meshing of the first transmission tooth 4081, the second transmission tooth 4082 and the third transmission tooth 4086, after the telescopic capsule 708 completes the deformation, that is, after the completion of the buoyancy adjustment, the first transmission tooth 4081 is further rotated under the action of the motor assembly, so that the limiting shaft 4088 on the third transmission tooth 4086 moves inside the limiting groove 4087, and the vertical force of the limiting shaft 4088 moves inside the limiting groove 4087, and the horizontal force of the limiting shaft 4088 drives the transmission plate 4072 to further move horizontally inside the transmission frame 4071, Specifically, when the transmission sleeve 7074 moves horizontally under the action of the screw body 7073,Figure 5 When the state is left, the leg 704 is extended, the telescopic capsule 708 is inflated, the process of increasing the buoyancy by injecting oil is carried out, and at the same time, the transmission plate 4072 is left, the first piston plate 402 is advanced to the inside of the piston cavity 401, so as to discharge the liquid in the inside of the mounting sleeve 404, and further increase the buoyancy; While the transmission sleeve 7074 is right Figure 5 When the state is right, the telescopic capsule 708 is retracted, the process of reducing the buoyancy by discharging oil is carried out, and at the same time, the piston suction assembly 4 sucks water, so as to increase the weight of the vehicle and reduce the buoyancy; It is worth noting that the operation of the motor assembly is controlled separately, so that when the vehicle is in the process of increasing and reducing the buoyancy, the further increase and reduction of the buoyancy can be realized by controlling the running direction of the first transmission gear 4081.

[0025] Embodiment 5 As other embodiments of the present application, the piston cylinder type buoyancy adjusting assembly 1 and the oil capsule type buoyancy adjusting assembly are both provided with two groups and are symmetrically distributed, and each group of the oil capsule type buoyancy adjusting assembly is annularly distributed on the outer periphery of the corresponding side of the piston cylinder type buoyancy adjusting assembly 1.

[0026] Here, the piston cylinder type buoyancy adjusting assembly 1 and the oil capsule type buoyancy adjusting assembly are both provided with two groups and are symmetrically distributed, and the combination part Figure 1 、 2 , 3 is shown to ensure the effect of buoyancy adjustment.

[0027] Further, each group of the piston cylinder type buoyancy adjusting assembly 1 includes a piston sleeve 101, and a second piston plate 102 slidingly installed in the inside of the piston sleeve 101, a second piston rod 103 fixed to the side of the second piston plate 102 close to the liquid storage tank 6, a hydraulic telescopic rod 104 fixed through the through hole of the side wall of the piston sleeve 101, and the hydraulic telescopic rod 104 connected with the middle part of the box body 602 where the liquid storage tank 6 is located; further including a second one-way water inlet valve 105 and a second one-way water outlet valve 106 provided at the end of the piston sleeve 101 away from the liquid storage tank 6, in combination with Figure 1 .

[0028] A multi-stage buoyancy adjusting method of an underwater vehicle, applied to the multi-stage buoyancy adjusting device of the underwater vehicle, the method comprising the following steps: S1: when it is necessary to adjust the buoyancy, the driving rod assembly is driven, the telescopic capsule sleeve 708 where the telescopic capsule frame 7 is located is first expanded, and then oil is injected, so that the buoyancy of the vehicle is increased, the vehicle is submerged, and in the reverse direction, the vehicle sinks, and at the same time, the driving rod assembly drives the piston suction assembly 4 to operate synchronously, when the first piston plate 402 moves, the water in the inside of the mounting sleeve 404, the connecting sleeve 403 and the piston cavity 401 is pumped and discharged, and the first-stage buoyancy adjustment of the vehicle is realized; S2: And due to the structural characteristics of the meshing transmission assembly 407, the piston suction assembly 4 can further realize water pumping and draining in the installation sleeve 404, the connecting sleeve 403 and the piston cavity 401 on the basis of the first-stage buoyancy adjustment, so as to realize the second-stage buoyancy adjustment of the vehicle. S3: The installation sleeve 404 in which the piston-cylinder type buoyancy adjustment assembly 1 is arranged is operated, so as to realize the water pumping and draining process in the piston sleeve 101, and complete the third-stage buoyancy adjustment process of the vehicle.

[0029] Further, the starting system 7072 and the motor assembly are both mature technologies, and are both composed of an external waterproof sealing cover and an internal driving device.

[0030] In the present application, unless otherwise clearly specified and limited, the terms such as "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. Among them, the detachable mounting mode has many kinds, for example, can be through the cooperation of plug-in and buckle, and for example, through the bolt connection mode and the like.

[0031] The above description of the embodiments and the drawings of the present application clearly, completely and comprehensively describes the concept, specific structure and generated technical effects of the present application, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments, and based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. In addition, all the coupling / connection relationships mentioned in the text do not mean that the components are directly connected, but that a better coupling structure can be composed by adding or reducing coupling accessories according to the specific implementation situation.

[0032] The above embodiments are only used to further illustrate the present application, and cannot be understood as limiting the protection scope of the present application. The technical engineers in the art can make some non-essential improvements and adjustments to the present application according to the above content of the present application, which falls within the protection scope of the present application.

Claims

1. A multi-stage buoyancy adjustment device for an underwater vehicle, the device comprising: The piston-cylinder type buoyancy adjusting assembly (1) and the oil bag type buoyancy adjusting assembly are included. The oil bag type buoyancy adjusting assembly is distributed in the whole annular of the piston-cylinder type buoyancy adjusting assembly (1), each group of the oil bag type buoyancy adjusting assembly includes a support plate (2), a seat (3) fixed on the support plate (2), and an expansion and contraction bag body frame (7) and a piston suction assembly (4) arranged on the seat (3). The driving rod assembly arranged on the seat (3) is further included, which is used for linkage control of the expansion and contraction bag body frame (7) and the piston suction assembly (4), so that the expansion and contraction bag body frame (7) realizes the buoyancy adjustment of the underwater vehicle through liquid oil transfer.

2. The underwater vehicle multi-stage buoyancy adjusting device according to claim 1, wherein: Each group of the expansion and contraction bag body frame (7) includes a mounting cylinder (701) arranged in the middle of the seat (3), a groove (702) annularly arranged at one end of the mounting cylinder (701), and a frame leg (704) rotatably connected with the groove (702) through a rotating shaft (703) arranged in the groove (702); Further including a telescopic bag sleeve (708) fixed on the outer periphery of the plurality of frame legs (704) and sealed, the frame leg (704) is used for expansion and contraction of the telescopic bag sleeve (708); a gear (709) is further fixed on each rotating shaft (703); And a transmission column (705) arranged in the mounting cylinder (701), and an outer gear ring (706) fixed at one end of the transmission column (705) is engaged with the plurality of gears (709), and the other end is connected with the driving rod assembly.

3. The underwater vehicle multi-stage buoyancy adjusting device according to claim 2, wherein: Further including a liquid oil storage tank (6) for liquid oil transfer; The liquid oil storage tank (6) includes two support rods (601), and the two support rods (601) are respectively fixed on the side walls of the symmetrically distributed support plates (2); And a tank body (602) fixed at the ends of the two support rods (601) away from the support plates (2), the tank body (602) is provided with a plurality of bidirectional hydraulic pumps (603) corresponding to the plurality of telescopic bag sleeves (708) on the side close to the support plates (2); Further including an oil injection pipeline (604) arranged at the outlet valve of each bidirectional hydraulic pump (603), and the end of the oil injection pipeline (604) away from the bidirectional hydraulic pump (603) is communicated with the corresponding telescopic bag sleeve (708) and is provided with a one-way valve for flowing to the telescopic bag sleeve (708); The oil return pipeline (605) is further communicated between each telescopic bag sleeve (708) and the inlet valve of the bidirectional hydraulic pump (603), and the oil return pipeline (605) is provided with an on-off electromagnetic valve for opening and closing the oil return pipeline (605).

4. The underwater vehicle multi-stage buoyancy adjusting device according to claim 1, wherein: ​ Each group of the piston suction assembly (4) is provided with two and is distributed on both sides of the seat body (3), each piston suction assembly (4) comprises a piston cavity (401) opened on one side of the seat body (3), a first piston plate (402) arranged in the piston cavity (401), and a connecting sleeve (403) arranged at the bottom of the seat body (3) and communicated with the piston cavity (401), and a mounting sleeve (404) is arranged in the connecting sleeve (403), wherein a first one-way water inlet valve (405) and a first one-way water outlet valve (406) are arranged on the side wall of the mounting sleeve (404), and are used for pumping and draining seawater, respectively.

5. The underwater vehicle multi-stage buoyancy adjusting device according to claim 1, wherein: Each group of the driving rod assembly comprises a screw rod transmission assembly (707) and an engagement transmission assembly (407) for driving the expansion and contraction capsule frame (7) and the piston suction assembly (4), respectively. The screw rod transmission assembly (707) comprises a guide rail (7077) fixed on the upper surface of the seat body (3), a transmission sleeve (7074) arranged on the guide rail (7077), and a mounting block (7071), wherein the mounting block (7071) is fixed at one end of the guide rail (7077) and is provided with a starting system (7072), and a screw rod body (7073) fixed at the output end of the starting system (7072) extends a distance through a screw hole arranged on the transmission sleeve (7074) and is slidably arranged on the guide rail (7077). Further comprising a connecting frame (7075) fixed on the transmission sleeve (7074), and a push rod (7076) fixed at the vertical section of the connecting frame (7075) and extending into the inside of the mounting cylinder (701) and being fixed with the transmission column (705), which is used as a driving source for moving the transmission column (705).

6. The underwater vehicle multi-stage buoyancy adjusting device according to claim 5, wherein: The engagement transmission assembly (407) comprises a transmission frame (4071) fixed on the top of the seat body (3) and a transmission plate (4072) slidably arranged in the inside of the transmission frame (4071), wherein a transmission frame (4073) is fixed on the side wall of the transmission plate (4072), a transmission bar (4074) is fixed at the vertical section of the transmission frame (4073), two first piston rods (4075) are arranged at both ends of the transmission bar (4074), and the two first piston rods (4075) extend into the piston cavities (401) of the two groups of piston suction assemblies (4) and are fixed with the first piston plates (402) arranged in the piston cavities (401). Further comprising a first transmission gear (4081), a second transmission gear (4082), and a third transmission gear (4086) arranged in sequence, wherein the first transmission gear (4081) is fixed on the output end of the motor assembly arranged on the vertical section of the transmission frame (4071), and the third transmission gear (4086) is fixed on a third pin shaft (4084) rotatably arranged with the transmission sleeve (7074). ​ The first transmission gear (4081) is fixed with a first pin shaft in the middle, and a first connecting rod (4083) and a second connecting rod (4085) are rotatably installed on the first pin shaft and a third pin shaft (4084) respectively, and the opposite ends of the first connecting rod (4083) and the second connecting rod (4085) are rotatably connected to a second pin shaft, which is fixedly connected with the second transmission gear (4082).

7. A multi-stage buoyancy adjustment device for an underwater vehicle according to claim 6, wherein: Further comprising a limiting shaft (4088) fixed on the outer periphery of the third transmission gear (4086), and the limiting shaft (4088) is arranged in a limiting groove (4087) longitudinally opened in the side wall of the transmission plate (4072).

8. The multi-stage buoyancy adjusting device of the underwater vehicle according to claim 1, characterized in that: The piston-cylinder type buoyancy adjusting assembly (1) and the oil bladder type buoyancy adjusting assembly are both provided with two groups and symmetrically distributed, and each group of the oil bladder type buoyancy adjusting assembly is annularly distributed on the outer periphery of the corresponding piston-cylinder type buoyancy adjusting assembly (1).

9. The multi-stage buoyancy adjusting device of the underwater vehicle according to claim 1, characterized in that: Each group of the piston-cylinder type buoyancy adjusting assembly (1) comprises a piston sleeve (101) and a second piston plate (102) slidably installed in the piston sleeve (101), the second piston plate (102) is fixed with a second piston rod (103) on the side close to the liquid storage tank (6), the second piston rod (103) passes through a through hole opened in the side wall of the piston sleeve (101) and is fixed with a hydraulic telescopic rod (104), and the hydraulic telescopic rod (104) is connected with the middle of a tank (602) where the liquid storage tank (6) is located; Further comprising a second one-way water inlet valve (105) and a second one-way water outlet valve (106) arranged at the end of the piston sleeve (101) away from the liquid storage tank (6).

10. A method for multi-stage buoyancy adjustment of an underwater vehicle, applied to the multi-stage buoyancy adjustment device of any one of claims 1-9, characterized in that, The method comprises the following steps: S1: when the buoyancy needs to be adjusted, the driving rod assembly is driven, the telescopic bladder sleeve (708) where the bladder frame (7) is located is first expanded, then oil is injected, and the density difference between oil and water can make the vehicle buoyancy increase and submerge, and in the reverse operation, the vehicle sinks, at the same time, the driving rod assembly drives the piston suction assembly (4) to run synchronously, when the first piston plate (402) moves, the water pumping and water discharging in the installation sleeve (404), the connecting sleeve (403) and the piston cavity (401) can be realized, and the first-stage buoyancy adjustment of the vehicle can be realized; S2: due to the structural characteristics of the meshing transmission assembly (407), the piston suction assembly (4) can further realize the water pumping and water discharging in the installation sleeve (404), the connecting sleeve (403) and the piston cavity (401) on the basis of the first-stage buoyancy adjustment, and the second-stage buoyancy adjustment of the vehicle can be realized; S3: the installation sleeve (404) where the piston-cylinder type buoyancy adjusting assembly (1) is located is operated, and then the water pumping and water discharging process in the piston sleeve (101) is realized, and the third-stage buoyancy adjustment process of the vehicle is completed.

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