Buoyancy control device for multi-section pump valve cooperation of underwater vehicle

Abstract

The invention is suitable for the technical field of underwater vehicles, and provides an underwater vehicle multi-section pump valve cooperative buoyancy control device which comprises a shell arranged in an underwater vehicle, and a main oil bag is installed in the shell; the first oil bag and the second oil bag are arranged on the outer side of the underwater vehicle and used for adjusting the buoyancy of the underwater vehicle; the main pipeline and the auxiliary pipeline are respectively arranged on the first oil bag and the second oil bag; the main pipeline and the auxiliary pipeline are used for supplying liquid to the first oil bag and the second oil bag by the main oil bag; the high-pressure electromagnetic valves are respectively arranged on the main pipeline and the auxiliary pipeline; and the buoyancy adjusting mechanisms are arranged on the main pipeline, the auxiliary pipeline and the main oil bag and are used for adjusting the buoyancy of the underwater vehicle. According to the buoyancy control device for cooperation of the multiple sections of pump valves of the underwater vehicle, through the double-pipeline design and the mode of cooperation of the multiple sections of pump valves, the reliability and efficiency of buoyancy adjustment are effectively improved, and the safety and stability of the system are enhanced.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle technology, and particularly relates to a buoyancy control device for underwater vehicles with multi-stage pump and valve coordination. Background Technology

[0002] Marine monitoring is fundamental to the study, development, and utilization of the ocean. An underwater vehicle (also known as an underwater robot) is a device that navigates underwater via remote or automatic control, used to replace divers or small manned submarines for deep-sea exploration and other underwater operations. The buoyancy control system, a key component of underwater vehicles, provides stable suspension depth control and can adjust buoyancy to ascend or descend depending on the operating depth. Variable volume adjustment is a common method of buoyancy control, typically achieved using oil bladders. In this method, the outer oil bladder is located outside the pressure chamber, while the inner oil bladder is located inside. By changing the volume of the outer oil bladder, the displacement of the underwater vehicle can be changed accordingly, thus adjusting the buoyancy.

[0003] Because the external oil bladder is located on the outside of the underwater vehicle, the connecting pipe between the external and internal oil bladders is exposed. Due to long-term exposure to the complex underwater environment, it may be subject to corrosion, wear, or impact from external objects, which may lead to leakage. Leakage not only causes the liquid inside the oil bladder to be lost, but also affects the normal operation of the buoyancy control system. Currently, traditional buoyancy control devices cannot adjust buoyancy after pipe leakage, which is detrimental to the normal operation of the underwater vehicle's buoyancy control system. Summary of the Invention

[0004] This invention provides a buoyancy control device for multi-stage pump and valve coordination in underwater vehicles, aiming to solve the problem mentioned in the background art that traditional buoyancy control devices cannot adjust buoyancy after pipeline leakage.

[0005] To address the aforementioned problems, the present invention provides a buoyancy control device for an underwater submersible with multi-stage pump-valve coordination, comprising: a hull housed within the underwater submersible, wherein a main oil bladder is installed within the hull; a first oil bladder and a second oil bladder, both located on the outside of the underwater submersible, for adjusting the buoyancy of the underwater submersible; a main pipe and a secondary pipe respectively installed on the first and second oil bladders, wherein both the main pipe and the secondary pipe are used to supply fluid from the main oil bladder to the first and second oil bladders; high-pressure solenoid valves respectively installed on the main pipe and the secondary pipe; and a buoyancy adjustment mechanism located on the main pipe, the secondary pipe, and the main oil bladder for adjusting the buoyancy of the underwater submersible.

[0006] Preferably, the buoyancy adjustment mechanism includes: a first solenoid valve and a flow sensor installed on the main oil bladder delivery pipe; a connecting pipe installed on the main oil bladder delivery pipe; the connecting pipe being fixedly connected to the main pipe and the auxiliary pipe; a control mechanism disposed inside the main oil bladder for adjusting the size of the main oil bladder's liquid storage space; a high-pressure liquid pump and a variable pump respectively fixedly installed on the main pipe and the auxiliary pipe; a first motor disposed on the high-pressure liquid pump; and a second motor disposed on the connecting pipe.

[0007] Preferably, the control mechanism includes: a fixed block fixedly installed on the top of the inner wall of the main oil bladder; a first one-way screw rotatably installed on the fixed block; a push plate slidably disposed in the main oil bladder, the push plate separating the main oil bladder into a reservoir cavity and a connecting cavity, a connector fixedly installed in the push plate, the connector being threadedly connected to the first one-way screw; a fixed tube fixedly installed on one side of the push plate; and a connecting tube disposed in the connecting cavity, the two ends of the connecting tube being fixedly connected to the fixed tube and the output tube of the main oil bladder, respectively.

[0008] Preferably, a limiting wheel is rotatably installed inside the connecting cavity, the connecting pipe passes around the limiting wheel, and pressure gauges are fixedly installed on both the main pipe and the auxiliary pipe.

[0009] Preferably, a detection tube is installed on both the main pipe and the secondary pipe, the detection tube is close to the high-pressure solenoid valve, a detector is installed inside the detection tube, and a control circuit and an alarm mechanism are installed inside the housing.

[0010] Preferably, a pressure measuring mechanism is installed at the bottom of the housing, and the pressure measuring mechanism is located on the outside of the underwater vehicle. The pressure measuring mechanism is one of various types of pressure measuring instruments, such as liquid column type, elastic type, load type and electrical type. Both the first oil bladder and the second oil bladder are made of rubber.

[0011] Preferably, the underwater vehicle is provided with two protective covers on its outer side, the first oil bladder and the second oil bladder are respectively located in the two protective covers, the main pipe and the auxiliary pipe are fixedly connected to the protective covers, and control valves are fixedly installed on the main pipe and the auxiliary pipe, and the control valves are located inside the protective covers.

[0012] Preferably, a connecting plate is fixedly installed on one side of the connecting cavity, a second one-way screw is rotatably installed on the connecting plate, a slider is threaded onto the second one-way screw, a connecting cylinder is fixedly installed on one side of the slider, a connecting tube passes through the connecting cylinder, a servo motor is fixedly installed on one side of the connecting cavity, a first sprocket is fixedly sleeved on the output shaft of the servo motor and the second one-way screw, a first chain is sleeved on the two first sprockets, and the two first chains mesh with each other.

[0013] Preferably, a mounting block is fixedly installed on one side of the fixing block, and a second sprocket is provided on the mounting block and the second one-way screw. A second chain is sleeved on the two second sprockets and the two second chains mesh with each other. A bevel gear is installed on the second sprocket of the mounting block and one end of the first one-way screw, and the two bevel gears mesh with each other.

[0014] Preferably, a guide plate is fixedly installed on the connecting plate, the guide plate slides in contact with one side of the slider, and both ends of the connecting cylinder are flared.

[0015] Compared with related technologies, the buoyancy control device for underwater vehicles with multi-stage pump-valve coordination provided by the present invention has the following beneficial effects: Compared with existing technologies, the buoyancy control device for underwater vehicles provided in this solution, which uses a multi-stage pump-valve coordinated system, features two independent liquid delivery channels: a main pipeline and a secondary pipeline. If one pipeline leaks, the other pipeline can continue the liquid delivery process, ensuring the normal operation of the buoyancy adjustment system and improving its reliability and stability. By employing a multi-stage pump-valve coordinated operation, the buoyancy adjustment mechanism can precisely control the liquid delivery volume and speed according to buoyancy adjustment needs, improving liquid delivery efficiency. Simultaneously, the precise control of the high-pressure solenoid valve enhances system safety, preventing liquid loss and buoyancy loss due to pipeline leaks or other reasons.

[0016] In summary, the buoyancy control device for underwater vehicles with multi-stage pump-valve coordination of the present invention effectively improves the reliability and efficiency of buoyancy adjustment and enhances the safety and stability of the system through the dual-pipeline design and multi-stage pump-valve coordinated operation. Attached Figure Description

[0017] Figure 1 This is a front view structural schematic diagram of a multi-stage pump-valve coordinated buoyancy control device for an underwater submersible provided by the present invention; Figure 2 This is a schematic diagram of a buoyancy control device for a multi-stage pump-valve coordination of an underwater vehicle provided by the present invention; Figure 3 This is a side cross-sectional view of the main oil bladder provided by the present invention; Figure 4 This is a schematic diagram of the main oil bladder structure provided by the present invention; Figure 5 This is a schematic diagram of the main cross-sectional structure of the protective cover provided by the present invention; Figure 6 This is an assembly diagram of the main pipeline and the detection pipe provided by the present invention; Figure 7 This is an assembly drawing of the connecting pipe, the limiting wheel, and the connecting cylinder provided by the present invention; Figure 8 This is an assembly drawing of the servo motor, chain drive assembly, and bevel gear provided by the present invention; Figure 9 This is a cross-sectional view of the connecting cylinder provided by the present invention; Figure 10 for Figure 3 The diagram shows an enlarged view of part A.

[0018] Reference numerals: 1. Housing; 2. Main oil bladder; 3. First oil bladder; 4. Second oil bladder; 5. Main pipe; 6. Secondary pipe; 7. High-pressure solenoid valve; 8. First solenoid valve; 9. Flow sensor; 10. Fixing block; 11. First one-way screw; 12. Push plate; 13. Connector; 14. Connecting pipe; 15. High-pressure liquid pump; 16. First motor; 17. Second solenoid valve; 18. Variable pump; 19. Second motor; 20. Pressure gauge; 21. Detection tube; 22. Detector; 23. Control circuit; 24. Alarm mechanism; 25. Pressure measuring mechanism; 26. Protective cover; 27. Control valve; 28. Connecting plate; 29. ​​Second one-way screw; 30. Slider; 31. Connecting cylinder; 32. First sprocket; 33. First chain; 34. Servo motor; 35. Mounting block; 36. Second sprocket; 37. Second chain; 38. Bevel gear; 39. Guide plate; 40. Steel ring; 41. Rubber strip; 42. Hard square rubber strip; 43. Expansion sealing strip. Detailed Implementation

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects, not to describe a particular order; the terms "inner," "outer," "left," and "right" indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] This invention provides a buoyancy control device for underwater submersibles with multi-stage pump-valve coordination, such as... Figure 1-10 As shown, the buoyancy control device for a multi-stage pump-valve system of an underwater vehicle includes: a shell 1 located inside the underwater vehicle, with a main oil bladder 2 installed inside the shell 1; a first oil bladder 3 and a second oil bladder 4, both located on the outside of the underwater vehicle, for adjusting the buoyancy of the underwater vehicle; a main pipe 5 and a secondary pipe 6 respectively installed on the first oil bladder 3 and the second oil bladder 4, both of which are used by the main oil bladder 4 to supply fluid to the first oil bladder 3 and the second oil bladder 4; a high-pressure solenoid valve 7 respectively installed on the main pipe 5 and the secondary pipe 6; and a buoyancy adjustment mechanism located on the main pipe 5, the secondary pipe 6, and the main oil bladder 2 for adjusting the buoyancy of the underwater vehicle.

[0022] In this embodiment, a first oil bladder 3 and a second oil bladder 4 for buoyancy adjustment are provided on the outside of the underwater vehicle. These two external oil bladders are connected to the main oil bladder 2 via a main pipe 5 and a secondary pipe 6. These two pipes are responsible for supplying liquid to the first oil bladder 3 and the second oil bladder 4, respectively. High-pressure solenoid valves 7 are installed on the main pipe 5 and the secondary pipe 6 to control the flow of liquid. When buoyancy adjustment is required, the main oil bladder 2 delivers liquid to the first oil bladder 3 and the second oil bladder 4 through the main pipe 5 or the secondary pipe 6, thereby changing the volume of these external oil bladders and thus changing the displacement of the underwater vehicle to adjust the buoyancy. The high-pressure solenoid valves 7 are used to control the opening and closing of the pipes to ensure the accuracy and safety of liquid delivery. The buoyancy adjustment mechanism is responsible for coordinating with pumps and valves to deliver liquid and adjust buoyancy according to the submersible's working depth and requirements. By setting up two independent liquid delivery channels, the main pipe 5 and the auxiliary pipe 6, if one pipe leaks, the liquid delivery operation can continue through the other pipe, thus ensuring the normal operation of the buoyancy adjustment system and improving the system's reliability and stability. By using a multi-stage pump and valve coordinated operation, the buoyancy adjustment mechanism can precisely control the liquid delivery volume and speed according to the buoyancy adjustment requirements, improving the efficiency of liquid delivery. At the same time, the precise control of the high-pressure solenoid valve 7 also enhances the system's safety, avoiding liquid loss and buoyancy loss due to pipe leaks or other reasons.

[0023] In a further preferred embodiment of the present invention, the buoyancy adjustment mechanism includes: a first solenoid valve 8 and a flow sensor 9 installed on the main oil bladder 2 delivery pipe; a connecting pipe installed on the main oil bladder 2 delivery pipe; the connecting pipe being fixedly connected to the main pipe 5 and the auxiliary pipe 6; a control mechanism disposed within the main oil bladder 2 for adjusting the size of the liquid storage space of the main oil bladder 2; a high-pressure liquid pump 15 and a variable pump 18 respectively fixedly installed on the main pipe 5 and the auxiliary pipe 6; a first motor 16 disposed on the high-pressure liquid pump 15; and a second motor 19 disposed on the variable pump 18; and a second solenoid valve 17 disposed on the connecting pipe.

[0024] In this embodiment, when the buoyancy of the underwater vehicle needs to be adjusted, the size of the liquid storage space of the main oil bladder 2 is first changed by the control mechanism to determine how much liquid needs to be transferred to the external oil bladder. Simultaneously with changing the size of the liquid storage space of the main oil bladder 2, the push plate 12 can also push the liquid out of the main oil bladder 2. Then, as needed, the first solenoid valve 8 and the second solenoid valve 17 are opened to allow liquid to flow from the main oil bladder 2 into the main pipe 5 or the secondary pipe 6 through the connecting pipe. During the liquid flow, the flow sensor 9 monitors the flow rate in real time to ensure the accuracy and stability of the flow. At the same time, the high-pressure liquid pump 15 and the variable pump 18 operate under the drive of the motor, providing the necessary pressure for the liquid flow. 5 provides stable pressure, while the variable pump 18 can adjust the output pressure as needed, thereby achieving precise control of the liquid flow rate. Through the combined use of the flow sensor 9, the high-pressure hydraulic pump 15, and the variable pump 18, precise control of the liquid flow rate can be achieved, thereby achieving precise adjustment of buoyancy. The design of the control mechanism allows the liquid storage space of the main oil bladder 2 to be flexibly adjusted, further increasing the flexibility of buoyancy adjustment. The coordinated work of the high-pressure hydraulic pump 15 and the variable pump 18 ensures the stability and efficiency of the liquid flow, improving the efficiency of buoyancy adjustment. By setting the first solenoid valve 8 and the second solenoid valve 17, the liquid flow can be cut off when necessary, ensuring the safety of the system.

[0025] In a further preferred embodiment of the present invention, the control mechanism includes: a fixed block 10 fixedly installed on the top of the inner wall of the main oil bladder 2; a first one-way screw 11 rotatably installed on the fixed block 10; a push plate 12 slidably disposed in the main oil bladder 2, the push plate 12 separating the main oil bladder 2 to form a liquid storage chamber and a connecting chamber, a connector 13 fixedly installed in the push plate 12, the connector 13 being threadedly connected to the first one-way screw 11; a fixed tube fixedly installed on one side of the push plate 12; and a connecting tube 14 disposed in the connecting chamber, the two ends of the connecting tube 14 being fixedly connected to the fixed tube and the output tube of the main oil bladder 2, respectively.

[0026] In this embodiment, when it is necessary to adjust the amount of liquid in the main oil bladder 2, the first one-way screw 11 is rotated by the servo motor 34. Since the connecting piece 13 is threadedly connected to the first one-way screw 11, the rotation of the first one-way screw 11 will drive the connecting piece 13 and the push plate 12 to move along the axial direction of the first one-way screw 11. The movement of the push plate 12 will change the volume of the liquid storage chamber, thereby squeezing out or sucking in liquid, thus realizing the adjustment of the amount of liquid in the main oil bladder 2. By rotating the first one-way screw 11, the moving distance of the push plate 12 can be precisely controlled, thereby realizing the precise adjustment of the amount of liquid in the main oil bladder 2. The control mechanism adopts a simple screw and threaded connection structure, which is easy to manufacture and maintain. Due to the stability of the screw and threaded connection, the control mechanism can maintain stable performance during operation and is not prone to failure.

[0027] In a further preferred embodiment of the present invention, a limiting wheel is rotatably installed inside the connecting cavity, the connecting pipe 14 bypasses the limiting wheel, and pressure gauges 20 are fixedly installed on both the main pipe 5 and the secondary pipe 6.

[0028] In this embodiment, the connecting pipe 14 is arranged around the limiting wheel within the connecting cavity. This ensures that the connecting pipe 14 maintains a stable path and position when the push plate 12 moves, preventing the connecting pipe 14 from twisting, folding, or being damaged due to the movement of the push plate 12. At the same time, the limiting wheel also serves as a support and guide, making the connecting pipe 14 flow more smoothly during liquid flow. By monitoring the liquid pressure in the main pipe 5 and the secondary pipe 6 in real time through the pressure gauge 20, the pressure change of the liquid in the pipe during buoyancy adjustment can be understood, thereby determining whether the working status of the buoyancy adjustment system is normal. If the pressure displayed by the pressure gauge 20 is abnormal, it may mean that there is a blockage, leakage, or other fault in the pipe, which needs to be dealt with in time. The design of the limiting wheel ensures that the connecting pipe 14 remains stable when the push plate 12 moves, avoiding problems such as poor liquid flow or leakage caused by pipe twisting, folding, or damage, thus improving the stability of the buoyancy adjustment system. The introduction of the pressure gauge 20 enables real-time monitoring of the liquid pressure in the pipe, providing strong support for the status monitoring and fault diagnosis of the buoyancy adjustment system.

[0029] In a further preferred embodiment of the present invention, a detection tube 21 is installed on both the main pipe 5 and the secondary pipe 6. The detection tube 21 is close to the high-pressure solenoid valve 7. A detector 22 is installed inside the detection tube 21. A control circuit 22 and an alarm mechanism 24 are installed inside the housing 1.

[0030] In this embodiment, when a leak occurs in the main pipe 5 or the secondary pipe 6, seawater will seep into the detection pipe 21 near the high-pressure solenoid valve 7. After the detector 22 detects the seawater, it will send a signal to the control circuit 23. Upon receiving the signal, the control circuit 23 will immediately control the high-pressure solenoid valve 7 on the leaking pipe to close, thereby cutting off the leak source. At the same time, the control circuit 23 will also trigger the alarm mechanism 24 to issue an alarm, alerting the operator. At this time, the operator can choose to use another non-leaking pipe (i.e., the secondary pipe 6 or the main pipe 5, depending on which pipe has leaked) to continue the infusion operation as needed. Through the coordinated use of the detection pipe 21 and the detector 22, the system can monitor whether a leak has occurred in the pipe in real time and immediately trigger the alarm mechanism 24 to issue an alarm when a leak occurs, thereby improving the safety and reliability of the system. After receiving the leak signal, the control circuit 23 can automatically control the high-pressure solenoid valve 7 on the leaking pipe to close, thereby cutting off the leak source and preventing the leak from expanding further. After a leak occurs, the operator can choose to use another non-leaking pipe to continue the infusion operation, thereby ensuring the continuity and stability of the underwater vehicle buoyancy adjustment system.

[0031] In a further preferred embodiment of the present invention, a pressure measuring mechanism 25 is installed at the bottom of the housing 1. The pressure measuring mechanism 25 is located on the outside of the underwater vehicle. The pressure measuring mechanism 25 is one of various types of pressure measuring instruments, such as liquid column type, elastic type, load type and electrical type. The first oil bladder 3 and the second oil bladder 4 are both made of rubber.

[0032] In this embodiment, when the underwater vehicle is operating underwater, external water pressure acts on the pressure measuring mechanism 25. The pressure measuring mechanism 25 converts the pressure value into a readable numerical value or signal output according to the magnitude of the pressure, through corresponding measurement principles (such as changes in the height of the liquid column, deformation of elastic elements, changes in load, or conversion of electrical signals). The first oil bladder 3 and the second oil bladder 4 are important components of the buoyancy adjustment system. They change their volume and weight by filling and releasing oil, thereby adjusting the buoyancy of the underwater vehicle. The rubber oil bladders can withstand the high-pressure underwater environment and maintain good sealing and flexibility, ensuring the normal operation of the buoyancy adjustment system. The pressure measuring mechanism 25 can accurately measure the external water pressure of the underwater vehicle's environment, providing accurate reference data for the buoyancy adjustment system and helping to achieve more precise buoyancy control. The rubber first oil bladder 3 and the second oil bladder 4 have good corrosion resistance, sealing and high-pressure resistance, and can operate stably for a long time in harsh underwater environments, improving the durability and reliability of the buoyancy adjustment system.

[0033] In a further preferred embodiment of the present invention, two protective covers 26 are provided on the outside of the underwater vehicle, the first oil bladder 3 and the second oil bladder 4 are respectively disposed in the two protective covers 26, the main pipe 5 and the auxiliary pipe 6 are both fixedly connected to the protective covers 26, and control valves 27 are fixedly installed on the main pipe 5 and the auxiliary pipe 6, the control valves 27 being located inside the protective covers 26.

[0034] In this embodiment, when it is necessary to adjust the buoyancy of the underwater vehicle, the control system issues a command to open or close the corresponding valves on the main pipe 5 and the secondary pipe 6 via the control valve 27, allowing liquid to flow into or out of the oil bladder. As the amount of liquid in the oil bladder changes, the volume and weight of the oil bladder also change accordingly, thereby achieving the adjustment of the buoyancy of the underwater vehicle. The presence of the protective cover 26 can protect the oil bladder and the control valve 27 from direct impact and damage from the external environment, while providing a certain degree of heat insulation and sound insulation, ensuring that the entire buoyancy adjustment system can operate stably in harsh underwater environments. Through the setting of the protective cover 26 and the control valve 27, the oil bladder and the control valve 27 can be protected from damage by the external environment, reducing the possibility of failure and improving the safety and reliability of the entire buoyancy adjustment system. Through the flexible opening and closing of the control valve 27, the oil filling and discharging process of the oil bladder can be precisely controlled, thereby achieving precise adjustment of the buoyancy of the underwater vehicle.

[0035] In a further preferred embodiment of the present invention, a connecting plate 28 is fixedly installed on one side of the connecting cavity, a second one-way screw 29 is rotatably installed on the connecting plate 28, a slider 30 is threadedly installed on the second one-way screw 29, a connecting cylinder 31 is fixedly installed on one side of the slider 30, a connecting tube 14 passes through the connecting cylinder 31, a servo motor 34 is fixedly installed on one side of the connecting cavity, a first sprocket 32 ​​is fixedly sleeved on the output shaft of the servo motor 34 and the second one-way screw 29, a first chain 33 is sleeved on the two first sprockets 32, and the two first chains 33 mesh with each other.

[0036] In this embodiment, when the space of the liquid storage chamber needs to be adjusted, the servo motor 34 starts, driving the first sprocket 32 ​​on its output shaft to rotate. Through the transmission action of the first chain 33, the second one-way screw 29 also rotates synchronously. Since the slider 30 is engaged with the threaded portion of the second one-way screw 29, the slider 30 will move along the length direction of the second one-way screw 29. When the slider 30 moves, it will drive the connecting cylinder 31 to move together. Since the connecting tube 14 passes through the connecting cylinder 31, the connecting tube 14 will also move with the movement of the connecting cylinder 31. When the push plate 12 slides to the right, the second one-way screw... The rotation of screw 29 causes slider 30 to drive connecting cylinder 31 downwards, thereby gradually releasing connecting tube 14, which was originally wavy and stored in connecting cylinder 31. This allows connecting tube 14 to move along with push plate 12. Driven by servo motor 34, the length of connecting tube 14 is automatically adjusted, improving the automation level and work efficiency of the system. Through the threaded engagement of second one-way screw 29 and slider 30, as well as the transmission action of first sprocket 32 ​​and first chain 33, the stability and reliability of power transmission are ensured, avoiding system failures caused by poor movement of connecting tube 14.

[0037] In a further preferred embodiment of the present invention, an mounting block 35 is fixedly installed on one side of the fixing block 10, and a second sprocket 36 is provided on the mounting block 35 and the second one-way screw 29. A second chain 37 is sleeved on the two second sprockets 36 and the two second chains 37 mesh with each other. A bevel gear 38 is installed on the second sprocket 36 of the mounting block 35 and one end of the first one-way screw 11, and the two bevel gears 38 mesh with each other.

[0038] In this embodiment, when the servo motor 34 drives the second one-way screw 29 to rotate, the second sprocket 36 on the mounting block 35 will also rotate synchronously through the transmission action of the second sprocket 36 and the second chain 37. Since the two bevel gears 38 are meshed, when the second sprocket 36 on the mounting block 35 rotates, it will drive the bevel gear 38 connected to it to rotate. The other bevel gear 38 is connected to the first one-way screw 11, so the first one-way screw 11 will also rotate synchronously. As the first one-way screw 11 rotates, its threaded engagement... The push plate 12 moves along the length of the first one-way screw 11, thereby adjusting the size of the liquid storage chamber. At the same time, the rotation of the second one-way screw 29 also drives the movement of the slider 30 and the connecting cylinder 31, causing the connecting tube 14, which was originally stored in the connecting cylinder 31 in a wave-like shape, to be gradually released and move along with the push plate 12. Through the transmission of the chain drive and the bevel gear 38, the servo motor 34 realizes the linkage adjustment of the second one-way screw 29 and the first one-way screw 11, improving the overall coordination and working efficiency of the system.

[0039] In a further preferred embodiment of the present invention, a guide plate 39 is fixedly installed on the connecting plate 28, the connecting plate 39 slides in contact with one side of the slider 30, and both ends of the connecting cylinder 31 are arranged in a trumpet shape.

[0040] In this embodiment, as the slider 30 moves along the second one-way screw 29, the guide plate 39 maintains sliding contact with one side of the slider 30, ensuring that the slider 30 can move stably along a predetermined trajectory. Simultaneously, as the slider 30 moves, the connecting cylinder 31 also moves, thereby driving the connecting tube 14 to move. Since both ends of the connecting cylinder 31 are flared, when the connecting tube 14 slides within the connecting cylinder 31, it is gradually guided and protected by the flared structure, preventing damage to the connecting tube 14 from direct scraping by the edge of the connecting cylinder 31. The guide plate 39 ensures the stability of the slider 30 during movement, and the flared design of the connecting cylinder 31 effectively protects the connecting tube 14, preventing damage from direct scraping by the edge of the connecting cylinder 31 during movement and extending the service life of the connecting tube 14.

[0041] To further improve the performance of this device, in addition to the above-mentioned solutions, this solution also includes the following embodiments: In another embodiment of the present invention, a steel ring 40 is installed on the push plate 12. A rubber strip 41, a rigid square rubber strip 42, and an expansion sealing rubber strip 43 are provided in the groove of the steel ring 40 for sealing the contact position between the steel ring 40 and the main oil bladder 2. The rubber strip 41 is in contact with the inner side of the groove. The rigid square rubber strip 5 is sleeved on the rubber strip 41. The expansion sealing rubber strip 43 is sleeved on the rigid square rubber strip 42. The expansion sealing rubber strip 43 is in close contact with the inner wall of the main oil bladder 2.

[0042] In this embodiment, when the push plate 12 moves or applies pressure on the main oil bladder 2, the steel ring 40 first contacts the main oil bladder 2. Due to their elasticity and sealing properties, the rubber strip 41, the rigid square rubber strip 42, and the expansion sealing strip 43 can fill the tiny gap between them, preventing the liquid in the storage chamber from draining into the connecting chamber. Through the combined use of multiple sealing components, the sealing performance between the push plate 12 and the main oil bladder 2 is significantly improved, preventing liquid leakage.

[0043] In summary, compared with related technologies, this device, through its dual-pipeline design and multi-stage pump-valve coordinated operation, effectively improves the reliability and efficiency of buoyancy adjustment, and enhances the safety and stability of the system.

[0044] It should be understood, in the several embodiments provided in this application, that the disclosed apparatus may be implemented in other ways.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort 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, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A buoyancy control device for a multi-stage pump valve coordinated underwater vehicle, characterized by, The utility model relates to a kind of underwater vehicle buoyancy control system, including: Shell (1) is arranged in underwater vehicle, main oil bag (2) is installed in the shell (1); First oil bag (3) and second oil bag (4) for adjusting the buoyancy of underwater vehicle are both arranged outside underwater vehicle; Main pipeline (5) and auxiliary pipeline (6) are respectively installed on first oil bag (3) and second oil bag (4), and main pipeline (5) and auxiliary pipeline (6) are used for main oil bag (4) to supply liquid to first oil bag (3) and second oil bag (4); High-pressure electromagnetic valve (7) is respectively installed on main pipeline (5) and auxiliary pipeline (6); Buoyancy adjusting mechanism is arranged on main pipeline (5), auxiliary pipeline (6) and main oil bag (2) for adjusting the buoyancy of underwater vehicle.

2. The multi-stage pump-valve coordinated buoyancy control apparatus of the underwater vehicle according to claim 1, wherein, The buoyancy adjusting mechanism includes: First electromagnetic valve (8) and flow sensor (9) are installed on the delivery pipe of main oil bag (2), the delivery pipe of main oil bag (2) is provided with adapter pipe, and the adapter pipe is fixedly connected with main pipeline (5) and auxiliary pipeline (6); Regulating mechanism is arranged in main oil bag (2) for adjusting the size of liquid storage space of main oil bag (2); High-pressure liquid pump (15) and variable pump (18) are fixedly installed on main pipeline (5) and auxiliary pipeline (6) respectively, first motor (16) is arranged on high-pressure liquid pump (15), and second motor (19) is arranged on variable pump (18); Second electromagnetic valve (17) is arranged on the adapter pipe.

3. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle according to claim 2, wherein, The regulating mechanism includes: Fixed block (10) is fixedly installed on the top of inner wall of main oil bag (2); First one-way screw rod (11) is rotatably installed on fixed block (10); Push plate (12) is slidably arranged in main oil bag (2), push plate (12) separates main oil bag (2) into liquid storage cavity and connecting cavity, connecting piece (13) is fixedly installed in push plate (12), and connecting piece (13) is threadedly connected with first one-way screw rod (11); Fixed pipe is fixedly installed on one side of push plate (12); Connecting pipe (14) is arranged in connecting cavity, and both ends of connecting pipe (14) are fixedly connected with fixed pipe and output pipe of main oil bag (2).

4. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle according to claim 3, wherein, Limiting wheel is rotatably installed in connecting cavity, connecting pipe (14) passes through limiting wheel, and pressure gauge (20) is fixedly installed on main pipeline (5) and auxiliary pipeline (6).

5. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle according to claim 1, wherein, Detection pipe (21) is installed on main pipeline (5) and auxiliary pipeline (6) respectively, detection pipe (21) is close to high-pressure electromagnetic valve (7), detector (22) is assembled in detection pipe (21), control circuit (22) and alarm mechanism (24) are installed in shell (1).

6. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle of claim 1, wherein, Pressure measuring mechanism (25) is installed on the bottom of shell (1), pressure measuring mechanism (25) is arranged outside underwater vehicle, pressure measuring mechanism (25) is one of various types of pressure measuring instruments such as liquid column type, elastic type, load type and electric measuring type, and first oil bag (3) and second oil bag (4) are made of rubber material.

7. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle of claim 1, wherein, The outer side of the underwater submarine is provided with two protective covers (26), the first oil bag (3) and the second oil bag (4) are arranged in the two protective covers (26) respectively, the main pipeline (5) and the auxiliary pipeline (6) are fixedly connected with the protective cover (26), the control valve (27) is fixedly installed on the main pipeline (5) and the auxiliary pipeline (6), and the control valve (27) is located in the protective cover (26).

8. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle according to claim 3, wherein, One side of the connecting cavity is fixedly installed with an adapter plate (28), the second one-way screw (29) is rotatably installed on the adapter plate (28), the sliding block (30) is threadedly installed on the second one-way screw (29), the connecting barrel (31) is fixedly installed on one side of the sliding block (30), the connecting pipe (14) penetrates through the connecting barrel (31), the servo motor (34) is fixedly installed on one side of the connecting cavity, the output shaft of the servo motor (34) and the second one-way screw (29) are fixedly sleeved with the first sprocket (32), the first chain (33) is sleeved on the two first sprockets (32), and the two first chains (33) are engaged.

9. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle of claim 8, wherein, One side of the fixed block (10) is fixedly installed with the mounting block (35), the second sprocket (36) is arranged on the mounting block (35) and the second one-way screw (29), the second chain (37) is sleeved on the two second sprockets (36), the two second chains (37) are engaged, the bevel gear (38) is installed on one end of the first one-way screw (11) and the second sprocket (36) of the mounting block (35), and the two bevel gears (38) are engaged.

10. The multi-stage pump-valve coordinated buoyancy control apparatus of an underwater vehicle of claim 9, wherein, The adapter plate (28) is fixedly installed with the guide plate (39), the guide plate (39) is in sliding contact with one side of the sliding block (30), and both ends of the connecting barrel (31) are arranged in a trumpet shape.

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