Underwater pressure compensator and use method thereof

Abstract

The invention discloses an underwater pressure compensator and a using method thereof, belongs to the technical field of underwater power adjusting devices, and solves the technical problems that an underwater pressure compensator device in the prior art is large in structure, cannot meet the requirement of a miniaturized using environment and is difficult to install and operate. The underwater pressure compensator comprises a cylindrical shell, a first guide cylinder and a displacement feedback mechanism, the cylindrical shell and the first guide cylinder are connected in a sealed mode, a vertical diaphragm is connected to the connecting position of the cylindrical shell and the first guide cylinder in a sealed and clamped mode and divides the cylindrical shell and the first guide cylinder into two cavities, and a sealed oil storage bin is defined between the cylindrical shell and the vertical diaphragm; the displacement feedback mechanism is a rotary motion feedback mechanism and comprises a piston, a telescopic shaft, a second diaphragm telescopic guide cylinder and a sensor; the volume change of liquid stored in the oil storage bin is transmitted to a sensor of the displacement feedback mechanism through the telescopic shaft and the rotary motion feedback mechanism.

Description

Technical Field

[0001] This invention relates to the field of underwater power regulation device technology, specifically to an underwater pressure compensator and its usage method. Background Technology

[0002] Most existing pressure compensators are large-capacity and bulky, suitable for large underwater equipment or large ROVs. However, they cannot be used with small and medium-sized underwater equipment or ROVs due to their small size and limited space. Furthermore, most existing pressure compensators use displacement sensors, which occupy a large space and prevent miniaturization.

[0003] In addition, in order to achieve high-precision liquid level detection, most existing compensators use the principle of linear displacement for adjustment. However, the biggest problem with this structure is the difficulty of installation. The higher the accuracy requirement of this linear displacement compensator, the tighter the connection between the fixed seat and the telescopic structure, which makes its installation more difficult. Summary of the Invention

[0004] Addressing the shortcomings and deficiencies of existing technologies, this invention provides a device with high detection accuracy and small size. It converts linear motion into rotational motion by following the movement of the diaphragm with a telescopic rod. The sensor uses an angle sensor, making the pressure compensator more compact, with a long service life and easy installation. It is especially suitable for small and medium-sized underwater equipment or small and medium-sized ROVs.

[0005] To achieve the above objectives, the present invention provides the following technical solution: the underwater pressure compensator provided by the present invention includes a cylindrical outer shell, a first guide cylinder, and a displacement feedback mechanism. The cylindrical outer shell and the first guide cylinder are sealed together, and a vertical diaphragm is also sealed and clamped at the connection between the two. The vertical diaphragm divides the two into two chambers, and the cylindrical outer shell and the vertical diaphragm form a sealed oil storage tank. An oil filling port communicating with the oil storage tank is provided on the cylindrical outer shell. A displacement feedback mechanism is connected between the first guide cylinder and the vertical diaphragm; The displacement feedback mechanism is a rotary motion feedback mechanism, which includes a piston, a telescopic shaft, a second diaphragm telescopic guide cylinder, and a sensor; The piston is vertically positioned inside the oil reservoir and pressed tightly against the left side of the vertical diaphragm; the right end of the second diaphragm telescopic guide cylinder is open, and its left bottom right side is connected to the left end of the telescopic shaft, while its left bottom left side is fitted against the right side of the vertical diaphragm. The vertical diaphragm is clamped between the piston and the bottom left end of the second diaphragm telescopic guide cylinder by a fastening device; The telescopic shaft of the displacement feedback mechanism is connected to the telescopic guide cylinder of the second diaphragm. The displacement data of the liquid volume change in the oil storage tank is transmitted to the sensor of the displacement feedback mechanism through the reciprocating motion of the telescopic shaft.

[0006] Preferably, the sensor is located at the right end of the first guide cylinder and is connected to the telescopic shaft via a rotary motion feedback mechanism. The displacement feedback mechanism includes a first compression spring, which is sleeved on the outside of the telescopic shaft. The right end of the first compression spring is connected to the right side wall of the first guide cylinder, and its left end is connected to the bottom left end of the second diaphragm telescopic guide cylinder, so that the telescopic shaft and the vertical diaphragm change in real time with the change of the volume of liquid stored in the oil storage tank.

[0007] Preferably, the rotary motion feedback mechanism includes a rotary shaft and a rotary support frame. The rotary shaft is rotatably sleeved on the outside of the telescopic shaft through the rotary support frame. It rotates in both directions with the reciprocating motion of the telescopic shaft, thereby transmitting the motion displacement of the telescopic shaft to the sensor.

[0008] Preferably, the telescopic shaft is a two-section telescopic rod: an end telescopic rod and a bottom support rod, and the bottom of the end telescopic rod is provided with a protruding rod part. The side wall of the rotating shaft is provided with an S-curved slide rail that matches the protruding rod part. When the protruding rod part moves back and forth with the end telescopic rod, the rotating shaft also rotates passively in both directions.

[0009] Preferably, the rotating support frame is a transverse cylindrical support frame sleeved on the outside of the rotating shaft, with one end fixed to the right side wall of the first guide cylinder and the other end extending into the second diaphragm telescopic guide cylinder. The two ends of the rotating shaft are rotatably connected to the right side wall of the first guide cylinder and the left side wall of the rotating support frame through bearings, respectively, and the first compression spring is sleeved on the outside of the rotating support frame.

[0010] Preferably, when the second diaphragm telescopic guide cylinder compresses the first compression spring sleeved on the outside of the rotating support frame, the telescopic shaft is at its shortest position, and the oil storage tank is at its maximum liquid level volume.

[0011] Preferably, the central axes of the rotating shaft, the telescopic shaft, the second diaphragm telescopic guide cylinder, and the first compression spring coincide; A sealing protection box is also connected to the right side of the first guide cylinder. The right end of the rotating shaft is a closed structure that passes through the right side wall of the first guide cylinder and corresponds to the sealing protection box. An encoder and an angle sensor are installed inside the sealed protective box. A magnet that works with the encoder is located on the right end of the rotating shaft. The encoder senses the change in the magnetic poles of the magnet and feeds back the oil position through the angle sensor.

[0012] Preferably, the cylindrical outer shell and the first guide cylinder are detachably and sealed together by a locking mechanism; the locking mechanism is a flange structure. The side wall of the first guide cylinder is also provided with a transverse viewing window that matches the displacement of the right end of the second diaphragm telescopic guide cylinder, and the transverse viewing window is provided with a displacement scale. The vertical diaphragm is made of a flexible material.

[0013] Preferably, the fastening device is a screw and a limiting groove. An axial limiting groove is provided at the middle position of the piston end face. The screw extends into the axial limiting groove of the piston, passes through the piston, the vertical diaphragm and the second diaphragm telescopic guide cylinder in sequence, and is finally fixed in the end telescopic rod of the telescopic shaft. A flange is provided on the outer edge of the piston to fit with the bottom left end of the second diaphragm telescopic guide cylinder, which is used to make the piston and the second diaphragm telescopic guide cylinder fit and clamp the vertical diaphragm. A gap is provided between the outer wall of the piston flange and the inner wall of the first guide cylinder to accommodate the vertical stretching movement of the diaphragm.

[0014] The above-mentioned method of using the underwater pressure compensator includes the following steps: When the oil storage tank is in an oil-filled state: S1. When the volume of liquid in the oil storage tank increases, the pressure in the oil storage tank increases, the first compression spring is compressed, pushing the piston, the vertical diaphragm and the second diaphragm telescopic guide cylinder to move to the right, and at the same time driving the telescopic shaft to retract. The telescopic rod at the end of the telescopic shaft moves along the S-curve slide through the protruding rod part, driving the rotating shaft to rotate in the forward direction, thereby driving the magnet at the end of the rotating shaft to rotate in the forward direction. The encoder and the angle sensor work together to detect the change in liquid level value of the magnet rotation, that is, the liquid level value increases. S2. When the liquid volume in the oil storage tank decreases, the pressure in the oil storage tank decreases, the first compression spring extends, and the first compression spring pushes the piston to pull the vertical diaphragm and the second diaphragm telescopic guide cylinder to move to the left. At the same time, it drives the telescopic shaft to extend. The telescopic rod at the end of the telescopic shaft moves along the S-curve slide through the protruding rod part, driving the rotating shaft to rotate in the opposite direction, thereby driving the magnet at the end of the rotating shaft to rotate in the opposite direction. The encoder and the angle sensor work together to detect the change in liquid level value in the magnet rotation feedback, that is, the liquid level value decreases.

[0015] This invention provides an underwater pressure compensator. It has the following advantages: (1) The underwater pressure compensator of the present invention has a clever and compact structure, small size, and high stability and accuracy of liquid level detection, which is suitable for the use of small and medium-sized underwater equipment or small and medium-sized ROVs.

[0016] (2) The underwater pressure compensator and its usage method of the present invention convert linear motion into rotational motion by having a telescopic rod follow the movement of the diaphragm, thereby enabling convenient disassembly and maintenance of the device structure and effectively improving the ease of operation of the equipment. The sensor uses an angle sensor, which significantly improves the detection accuracy of the pressure compensator and also significantly improves the service life of the device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the underwater pressure compensator of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of a three-dimensional image; Figure 3 for Figure 1 A structural schematic diagram of the left view; Figure 4 for Figure 3 A structural schematic diagram of the BB cross-section; Figure 5 This is a schematic diagram of the underwater pressure compensator of the present invention in its unfilled state; Figure 6 This is a schematic diagram of the underwater pressure compensator of the present invention in the oil-filled state.

[0018] In the diagram: 1. Cylindrical outer shell, 2. First guide cylinder, 3. Second diaphragm telescopic guide cylinder, 4. Oil reservoir, 5. Vertical diaphragm, 6. Piston, 601. Flange, 7. Telescopic shaft, 701. End telescopic rod, 702. Bottom support rod, 703. Protruding rod, 8. Sensor, 9. First compression spring, 10. Rotating shaft, 1001. S-curve slide, 11. Rotating support frame, 12. Sealed protective box, 13. Magnet, 14. Horizontal viewing window, 15. Screw. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example 1

[0021] Please see Figures 1-4 The present invention provides a technical solution: like Figure 4 As shown, the underwater pressure compensator provided by this invention includes a cylindrical outer shell 1, a first guide cylinder 2, and a displacement feedback mechanism. The cylindrical outer shell 1 and the first guide cylinder 2 are sealed together, and a vertical diaphragm 5 is also sealed and clamped at the connection point. The vertical diaphragm 5 divides the two into two chambers, forming a sealed oil reservoir 4 between the cylindrical outer shell 1 and the vertical diaphragm 5. An oil inlet is provided on the cylindrical outer shell 1, which communicates with the oil reservoir 4, for adjusting according to the power system requirements of the underwater equipment. The cylindrical outer shell 1 and the first guide cylinder 2 are detachably sealed together by a locking mechanism; the locking mechanism consists of a flange structure and bolts, achieving an effective sealed connection between the two, ensuring the effectiveness of pressure transmission, and simultaneously providing a continuous and effective stable connection for the vertical diaphragm 5.

[0022] A displacement feedback mechanism is connected between the first guide cylinder 2 and the vertical diaphragm 5. The displacement feedback mechanism is a rotary motion feedback mechanism, which includes a piston 6, a telescopic shaft 7, a second diaphragm telescopic guide cylinder 3, and a sensor 8. The piston 6 is vertically positioned inside the oil storage tank 4 and is pressed tightly against the left side of the vertical diaphragm 5. The right end of the second diaphragm telescopic guide cylinder 3 is open, and its bottom right side on the left end is connected to the left end of the telescopic shaft 7. Its bottom left side on the left end is fitted against the right side of the vertical diaphragm 5. The vertical diaphragm 5 is clamped between the piston 6 and the bottom left end of the second diaphragm telescopic guide cylinder 3 by a fastening device. The fastening device consists of a screw 15 and a limiting groove. An axial limiting groove is provided at the middle position of the end face of the piston 6. The screw 15 extends into the axial limiting groove of the piston 6, passes through the piston 6, the vertical diaphragm 5 and the second diaphragm telescopic guide cylinder 3 in sequence, and is finally fixed in the end telescopic rod 701 of the telescopic shaft 7. A flange 601 is provided on the outer edge of the piston 6 to fit against the bottom left end of the second diaphragm telescopic guide cylinder 3, which is used to make the piston 6 and the second diaphragm telescopic guide cylinder 3 fit and clamp the vertical diaphragm 5.

[0023] A gap is provided between the outer wall of the flange 601 of the piston 6 and the inner wall of the first guide cylinder 2 to accommodate the stretching and movement of the vertical diaphragm 5. This allows the piston 6 and the second diaphragm telescopic guide cylinder 3 to be driven in a timely and effective manner to clamp and stretch the vertical diaphragm 5 in sync with the change in the amount of oil stored in the oil storage tank 4.

[0024] The telescopic shaft 7 of the displacement feedback mechanism is connected to the second diaphragm telescopic guide cylinder 3. The specific value of the change in the volume of liquid stored in the oil storage tank 4 is transmitted to the sensor 8 of the displacement feedback mechanism through the reciprocating displacement data of the telescopic shaft 7 via the rotary motion feedback mechanism. The sensor 8 is located at the right end of the first guide cylinder 2 and is connected to the telescopic shaft 7 via the rotary motion feedback mechanism. The displacement feedback mechanism includes a first compression spring 9, which is sleeved on the outside of the telescopic shaft 7. The right end of the first compression spring 9 is connected to the right side wall of the first guide cylinder 2, and its left end is connected to the bottom left end of the second diaphragm telescopic guide cylinder 3, so that the telescopic shaft 7 and the vertical diaphragm 5 change in real time with the change in the volume of liquid stored in the oil storage tank 4. The vertical diaphragm 5 is made of flexible sealing material to meet the requirements of telescopic and sealing.

[0025] The underwater pressure compensator of this invention provides precise feedback and timely adjustment of the oil level in the oil storage tank 4, meeting the adjustment needs of the power hydraulic systems of small and medium-sized underwater equipment or ROVs. It transforms the linear motion of the vertical diaphragm 5 driven by hydraulic pressure into the rotational motion of the telescopic rod and the rotary motion feedback mechanism. By feeding back the liquid level value through changes in the rotation angle, it achieves accurate measurement of the compensated liquid level, significantly improving the stability and accuracy of liquid level detection. Furthermore, this structure facilitates disassembly and maintenance, eliminating the high-precision installation requirements of traditional methods involving two relatively close-fitting moving structures, effectively improving the ease of operation of the equipment and extending its service life. Example 2

[0026] like Figures 4-6 As shown, the underwater pressure compensator of the present invention includes a rotary motion feedback mechanism comprising a rotary shaft 10 and a rotary support frame 11. The rotary shaft 10 is rotatably sleeved on the outside of the telescopic shaft 7 via the rotary support frame 11, and rotates in both directions with the reciprocating motion of the telescopic shaft 7, thereby transmitting the motion displacement of the telescopic shaft 7 to the sensor 8.

[0027] The telescopic shaft 7 is a double-section telescopic rod: an end telescopic rod 701 and a bottom support rod 702. The bottom of the end telescopic rod 701 is provided with a protruding rod part 703. The side wall of the rotating shaft 10 is provided with an S-curve slide rail 1001 that matches the protruding rod part 703. When the protruding rod part 703 moves back and forth with the end telescopic rod 701, the rotating shaft 10 also rotates passively in both directions.

[0028] The rotating support frame 11 is a transverse cylindrical support frame sleeved on the outside of the rotating shaft 10. One end of it is fixed to the right side wall of the first guide cylinder 2, and the other end extends into the second diaphragm telescopic guide cylinder 3. The two ends of the rotating shaft 10 are rotatably connected to the right side wall of the first guide cylinder 2 and the left side wall of the rotating support frame 11 respectively through bearings. The first compression spring 9 is sleeved on the outside of the rotating support frame 11. This connection structure not only ensures the accuracy of the displacement of the telescopic shaft 7 as it moves laterally with the vertical diaphragm 5, but also ensures that the telescopic shaft 7 accurately transmits the lateral displacement signal to the rotating shaft 10 and the sensor 8. This ensures that the entire underwater pressure compensator can detect and transmit the displacement volume change of the hydraulic oil in the oil storage tank 4 in a timely and effective manner, meeting the hydraulic adjustment requirements of the actual underwater power system.

[0029] like Figure 6 As shown, when the second diaphragm telescopic guide cylinder 3 compresses the first compression spring 9 sleeved on the outside of the rotating support frame 11, the telescopic shaft 7 is at its shortest position, and the oil storage tank 4 is at its maximum liquid level volume.

[0030] The central axes of the rotating shaft 10, the telescopic shaft 7, the second diaphragm telescopic guide cylinder 3, and the first compression spring 9 are aligned, further ensuring the accuracy and precision of the transmission of hydraulic oil displacement volume changes within the entire oil storage tank 4.

[0031] In addition, a sealing protection box 12 is connected to the right side of the first guide cylinder 2. The right end of the rotating shaft 10 is a closed structure, which passes through the right side wall of the first guide cylinder 2 and corresponds to the sealing protection box 12. An encoder and an angle sensor 8 are installed inside the sealing protection box 12. A magnet 13 that cooperates with the encoder is provided on the right end of the rotating shaft 10. The encoder senses the change of the magnetic pole of the magnet 13 and feeds back the oil position through the angle sensor 8, which effectively reduces the overall size and space occupancy of the device, making the pressure compensator more compact and smaller in size, and more suitable for use in small and medium-sized underwater equipment or small and medium-sized ROVs.

[0032] The underwater pressure compensator of the present invention has a lateral viewing window 14 on the side wall of the first guide cylinder 2 that matches the displacement of the right end of the second diaphragm telescopic guide cylinder 3. The lateral viewing window 14 is provided with a displacement scale, which can directly read the displacement data, realize the actual electronic data measurement of liquid level change and implement real-time visual detection, adapt to the detection needs of different underwater environments, and effectively improve the applicability of the device. Example 3

[0033] The method of using the underwater pressure compensator of the present invention includes the following steps: like Figure 6 As shown, when oil storage tank 4 is in the oil-filled state: S1. When the volume of liquid in the oil storage tank 4 increases, the pressure in the oil storage tank 4 increases, the first compression spring 9 is compressed, and the liquid pressure will act on the piston 6 to push the vertical diaphragm 5 and the second diaphragm telescopic guide cylinder 3 to move to the right, while driving the telescopic shaft 7 to retract. The telescopic rod 701 at the end of the telescopic shaft 7 moves along the S-curve slide 1001 through the protruding rod part 703, driving the rotating shaft 10 to rotate in the forward direction, thereby driving the magnet 13 at the end of the rotating shaft 10 to rotate in the forward direction. The encoder and the angle sensor 8 work together to detect the rotation of the magnet 13 and feedback the change in liquid level, that is, the liquid level value increases. S2. When the liquid volume in the oil storage tank 4 decreases, the pressure in the oil storage tank 4 decreases, the first compression spring 9 rebounds and extends, and the pressure exerted by the liquid on the piston 6 decreases accordingly. The first compression spring 9 pushes the piston 6 to pull the vertical diaphragm 5 and the second diaphragm telescopic guide cylinder 3 to move to the left, and at the same time drives the telescopic shaft 7 to extend. The telescopic rod 701 at the end of the telescopic shaft 7 moves along the S-curve slide 1001 through the protruding rod part 703, driving the rotating shaft 10 to rotate in the opposite direction, thereby driving the magnet 13 at the end of the rotating shaft 10 to rotate in the opposite direction. The encoder and the angle sensor 8 work together to detect the rotation of the magnet 13 and feedback the change in liquid level, that is, the liquid level value decreases.

[0034] like Figure 5 As shown, when the oil storage tank 4 is not filled with oil, the piston 6 and the second diaphragm telescopic guide cylinder 3 together clamp the vertical diaphragm 5, so that it is in a vertical non-tensioned state, which can effectively reduce the space occupation rate of the mechanism in the non-working state and meet the needs of miniaturization.

[0035] In summary, the underwater pressure compensator and its usage method of the present invention feature a clever and compact structure. It transforms the linear motion of the vertical diaphragm 5 driven by hydraulic pressure into the rotational motion of the telescopic rod and the rotary motion feedback mechanism. By feeding back the liquid level value through changes in the rotation angle, it achieves accurate measurement of the compensation liquid level, significantly improving the stability and accuracy of liquid level detection. This enables precise feedback and timely adjustment of the oil filling amount in the oil storage tank 4, meeting the adjustment needs of the power hydraulic systems of small and medium-sized underwater equipment or ROVs. Furthermore, this structure facilitates disassembly and maintenance and has a long service life.

[0036] The above are merely embodiments of the present invention. For example, the vertical diaphragm 5 is made of a flexible sealing material to meet the requirements of expansion and sealing, which can realize the underwater pressure compensator and its usage method of the present invention.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An underwater pressure compensator, characterized in that, It includes a cylindrical outer shell (1), a first guide cylinder (2), and a displacement feedback mechanism. The cylindrical shell (1) and the first guide cylinder (2) are sealed together, and a vertical diaphragm (5) is also sealed and clamped at the connection between them. The vertical diaphragm (5) divides the two into two chambers. The cylindrical shell (1) and the vertical diaphragm (5) form a sealed oil storage tank (4). An oil inlet is provided on the cylindrical shell (1) that communicates with the oil storage tank (4). A displacement feedback mechanism is connected between the first guide cylinder (2) and the vertical diaphragm (5); The displacement feedback mechanism is a rotary motion feedback mechanism, which includes a piston (6), a telescopic shaft (7), a second diaphragm telescopic guide cylinder (3), and a sensor (8). The piston (6) is vertically positioned inside the oil storage tank (4) and pressed tightly against the left side of the vertical diaphragm (5); the right end of the second diaphragm telescopic guide cylinder (3) is open, and its left bottom right side is connected to the left end of the telescopic shaft (7), and its left bottom left side is fitted against the right side of the vertical diaphragm (5). The vertical diaphragm (5) is clamped between the piston (6) and the bottom left end of the second diaphragm telescopic guide cylinder (3) by a fastening device; The telescopic shaft (7) of the displacement feedback mechanism is connected to the second diaphragm telescopic guide cylinder (3). The volume change of the liquid stored in the oil storage tank (4) is transmitted to the sensor (8) of the displacement feedback mechanism through the reciprocating motion displacement data of the telescopic shaft (7) via the rotary motion feedback mechanism.

2. The underwater pressure compensator according to claim 1, characterized in that, The sensor (8) is located at the right end of the first guide cylinder (2) and is connected to the telescopic shaft (7) via the rotary motion feedback mechanism. The displacement feedback mechanism includes a first compression spring (9), which is sleeved on the outside of the telescopic shaft (7). The right end of the first compression spring (9) is connected to the right side wall of the first guide cylinder (2), and its left end is connected to the bottom left end of the second diaphragm telescopic guide cylinder (3), so that the telescopic shaft (7) and the vertical diaphragm (5) change in real time with the change of the liquid volume stored in the oil storage tank (4).

3. The underwater pressure compensator according to claim 2, characterized in that, The rotary motion feedback mechanism includes a rotary shaft (10) and a rotary support frame (11). The rotary shaft (10) is rotatably sleeved on the outside of the telescopic shaft (7) through the rotary support frame (11). It rotates forward and backward with the reciprocating motion of the telescopic shaft (7) to transmit the motion displacement of the telescopic shaft (7) to the sensor (8).

4. The underwater pressure compensator according to claim 3, characterized in that, The telescopic shaft (7) is a double-section telescopic rod: an end telescopic rod (701) and a bottom support rod (702), and the bottom of the end telescopic rod (701) is provided with a protruding rod part (703). The side wall of the rotating shaft (10) is provided with an S-curve slide (1001) that matches the protruding rod part (703). When the protruding rod part (703) moves back and forth with the end telescopic rod (701), the rotating shaft (10) also rotates passively in both directions.

5. An underwater pressure compensator according to claim 4, characterized in that, The rotating support frame (11) is a transverse cylindrical support frame sleeved on the outside of the rotating shaft (10). One end of the frame is fixed to the right side wall of the first guide cylinder (2), and the other end extends into the second diaphragm telescopic guide cylinder (3). The two ends of the rotating shaft (10) are rotatably connected to the right side wall of the first guide cylinder (2) and the left side wall of the rotating support frame (11) respectively through bearings, and the first compression spring (9) is sleeved on the outside of the rotating support frame (11).

6. An underwater pressure compensator according to claim 5, characterized in that, When the second diaphragm telescopic guide cylinder (3) compresses the first compression spring (9) and is sleeved on the outside of the rotating support frame (11), the telescopic shaft (7) is at its shortest position and the oil storage tank (4) is at its maximum liquid volume.

7. An underwater pressure compensator according to claim 5, characterized in that, The central axes of the rotating shaft (10), the telescopic shaft (7), the second diaphragm telescopic guide cylinder (3), and the first compression spring (9) coincide; A sealing protection box (12) is also connected to the right side of the first guide cylinder (2). The right end of the rotating shaft (10) is a closed structure, which passes through the right side wall of the first guide cylinder (2) and corresponds to the sealing protection box (12). The sealed protective box (12) is equipped with an encoder and an angle sensor (8). A magnet (13) that cooperates with the encoder is provided on the right end of the rotating shaft (10). The encoder senses the change of the magnetic pole of the magnet (13) and feeds back the oil position through the angle sensor (8).

8. An underwater pressure compensator according to claim 5, characterized in that, The cylindrical outer shell (1) and the first guide cylinder (2) are detachably and sealed together by a locking mechanism; the locking mechanism is a flange structure. The first guide cylinder (2) is also provided with a transverse viewing window (14) on its side wall that matches the displacement of the right end of the second diaphragm telescopic guide cylinder (3), and the transverse viewing window (14) is provided with a displacement scale. The vertical diaphragm (5) is made of a flexible material.

9. An underwater pressure compensator according to claim 5, characterized in that, The fastening device is a screw (15) and a limiting groove. An axial limiting groove is provided at the middle position of the end face of the piston (6). The screw (15) extends into the axial limiting groove of the piston (6), passes through the piston (6), the vertical diaphragm (5) and the second diaphragm telescopic guide cylinder (3) in sequence, and is finally fixed in the end telescopic rod (701) of the telescopic shaft (7). The piston (6) has a flange (601) at its outer edge that fits against the bottom left end of the second diaphragm telescopic guide cylinder (3), which is used to make the piston (6) and the second diaphragm telescopic guide cylinder (3) fit and clamp the vertical diaphragm (5). A gap is provided between the outer wall of the flange (601) of the piston (6) and the inner wall of the first guide cylinder (2) to accommodate the stretching and movement of the vertical diaphragm (5).

10. A method of using an underwater pressure compensator according to any one of claims 1-9, characterized in that, The steps include the following: When the oil storage tank (4) is in an oil-filled state: S1. When the liquid volume in the oil storage tank (4) increases, the pressure in the oil storage tank (4) increases, the first compression spring (9) is compressed, pushing the piston (6), the vertical diaphragm (5) and the second diaphragm telescopic guide cylinder (3) to move to the right, and at the same time driving the telescopic shaft (7) to retract. The telescopic rod (701) at the end of the telescopic shaft (7) moves along the S-curve slide (1001) through the protruding rod part (703), driving the rotating shaft (10) to rotate in the positive direction, thereby driving the magnet (13) at the end of the rotating shaft (10) to rotate in the positive direction. The encoder and the angle sensor (8) work together to detect the change in liquid level value of the rotation of the magnet (13), that is, the liquid level value increases. S2. When the liquid volume in the oil storage tank (4) decreases, the pressure in the oil storage tank (4) decreases, the first compression spring (9) extends, and the first compression spring (9) pushes the piston (6), the vertical diaphragm (5) and the second diaphragm telescopic guide cylinder (3) to move to the left, causing the telescopic shaft (7) to extend. The telescopic rod (701) at the end of the telescopic shaft (7) moves along the S-curve slide (1001) through the protruding rod part (703), causing the rotating shaft (10) to rotate in the opposite direction, thereby causing the magnet (13) at the end of the rotating shaft (10) to rotate in the opposite direction. The encoder and the angle sensor (8) work together to detect the change in liquid level value of the rotation of the magnet (13), that is, the liquid level value decreases.

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