An underwater robot capsule pressure equalization valve set

Abstract

This invention relates to the field of underwater robot component technology and provides a pressure balancing valve assembly for an underwater robot's sealed chamber. The assembly includes a valve body with connecting components at both ends, allowing the valve body to communicate with an external underwater robot sealed chamber. A pressure relief mechanism is installed on the valve body. When the sealed chamber is under high pressure, the pressure relief mechanism automatically discharges gas from inside the chamber. The pressure relief mechanism includes a first connecting pipe, which is fixedly installed on the valve body and communicates with the valve body's internal cavity. A second connecting pipe connects to the valve body, establishing a gas flow channel between the valve body and the sealed chamber. This allows the internal pressure of the valve body to accurately reflect the internal pressure of the sealed chamber, providing an accurate basis for subsequent pressure regulation. When the internal pressure of the sealed chamber has not reached the required level for pressure relief, a sealing plug in the pressure relief mechanism, under the action of a spring, seals the opening of the first connecting pipe and multiple pressure relief holes, preventing the arbitrary discharge of gas from the sealed chamber and effectively maintaining stable pressure within the sealed chamber.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot component technology, and particularly relates to a pressure balancing valve assembly for an underwater robot's sealed chamber. Background Technology

[0002] The pressure balancing valve assembly of the underwater robot's sealed chamber is a key component ensuring its safety during underwater operations. It employs a two-way ventilation design, utilizing a precision spring and diaphragm structure to respond in real-time to changes in internal and external pressure differences, ensuring stable pressure within the sealed chamber. It boasts high sealing performance, capable of withstanding pressure at a depth of at least 5 meters, and meets an IP68 waterproof rating. When the robot adjusts its posture or is subjected to water flow impacts, this valve assembly can quickly balance the pressure, preventing deformation of the sealing components and ensuring the normal operation of the equipment.

[0003] A pressure regulating valve and a balance valve assembly having the same pressure regulating valve are disclosed in the present publication number CN103644338A. Specifically, the pressure regulating valve includes a first valve body assembly, a first valve core, a first spring, an inlet damper, and two return dampers. The first valve body assembly has a first cavity, a first inlet flow channel, and two first return flow channels. The first valve core and the first spring are disposed in the first cavity. The inlet damper and the return damper are respectively disposed on the first inlet flow channel and the first return flow channel. The first valve core has a valve core cavity connected to the other end, a second inlet flow channel, and two second return flow channels. When the oil pressure in the valve core cavity is less than the set pressure of the first spring, one of the second return flow channels in the valve core cavity is connected to one of the first return flow channels. When the oil pressure in the valve core cavity is greater than the set pressure of the first spring, both second return flow channels in the valve core cavity are simultaneously connected to both first return flow channels. Existing pressure balancing valve assemblies for underwater robot sealed chambers cannot automatically depressurize based on the internal air pressure during pressure balancing. To solve this problem, it is necessary to design a pressure balancing valve assembly for underwater robot sealed chambers. Summary of the Invention

[0004] This invention provides a pressure balancing valve assembly for the sealed chamber of an underwater robot, aiming to solve the current problems.

[0005] The present invention is implemented as follows: an underwater robot sealed chamber pressure balancing valve assembly includes a valve body, both ends of which are provided with a connecting component. The valve body is connected to an external underwater robot sealed chamber through the connecting component, and the connecting component is installed on the external underwater robot sealed chamber.

[0006] The valve body is equipped with a pressure relief mechanism. When the sealed chamber is under high pressure, the pressure relief mechanism automatically discharges the gas inside the sealed chamber. The pressure relief mechanism includes a first connecting pipe, which is fixedly installed on the valve body and communicates with the inner cavity of the valve body. An annular plate is fixedly installed inside the first connecting pipe, and the inner hole of the annular plate is used for venting. A spring is fixedly connected to the annular plate. Multiple pressure relief holes are opened on the first connecting pipe. A sealing plug is slidably installed inside the first connecting pipe. The sealing plug is used to block the opening of the first connecting pipe and the multiple pressure relief holes. The other end of the spring is fixedly connected to the sealing plug.

[0007] As a preferred embodiment, a pressure detector is fixedly installed on the valve body, which is used to measure the internal air pressure of the valve body in real time. A controller is fixedly installed on the valve body, and an electric telescopic rod is fixedly installed on the valve body with its output end fixedly connected to the sealing plug. The controller is used to control the operation of the electric telescopic rod.

[0008] As a preferred embodiment, the communication component includes a second communication pipe, with a first flange fixedly installed at both ends of the second communication pipe, and a second flange fixedly installed at both ends of the valve body. The first flange and the second flange are fixedly connected together. The second communication pipe communicates with the inner cavity of the valve body, and the other end of the second communication pipe is connected to the sealing chamber by screws and communicates with the chamber.

[0009] As a preferred embodiment, both the valve body and the second connecting pipe are coated with a rust-resistant coating.

[0010] As a preferred embodiment, the valve body has a channel that extends through the valve body and is connected to the second connecting pipe.

[0011] As a preferred embodiment, the valve body is provided with a valve core, which can block the channels on both sides. The valve body is provided with a drive mechanism, which is connected to the valve core and used to drive the valve core to move.

[0012] As a preferred embodiment, the drive mechanism includes two spaced guide rods, which are fixedly mounted on the valve body and pass through the valve core. A servo motor is fixedly mounted inside the valve body, and a screw is fixedly mounted on the output shaft end of the servo motor. The screw passes through the valve core and is threadedly connected to the valve core.

[0013] As a preferred embodiment, a manual control mechanism is provided at the upper end of the screw. The manual control mechanism includes a first bevel gear fixedly installed at the upper end of the screw, a drive shaft rotatably installed on the valve body, the drive shaft extending into the interior of the valve body, a second bevel gear fixedly installed at one end of the drive shaft, the second bevel gear meshing with the first bevel gear, a turntable fixedly installed at the outer end of the drive shaft, and a limit block fixedly installed at the lower end of the screw.

[0014] As a preferred embodiment, two spaced-apart third connecting pipes are fixedly installed inside the valve body. A first sealing mechanism is provided at one side of the third connecting pipe, and a second sealing mechanism is provided at the other side of the third connecting pipe. Both the first sealing mechanism and the second sealing mechanism are used to seal the third connecting pipe.

[0015] As a preferred embodiment, the first sealing mechanism includes a first support plate, which is fixedly connected inside the valve body. A first guide rod passes through the first support plate, and a first cap is fixedly connected to one end of the first guide rod. The first cap covers the port of the third connecting pipe. A first elastic element is sleeved on the first guide rod, and both ends of the first elastic element are fixedly connected to the first cap and the first support plate, respectively. The second sealing mechanism includes a second support plate, which is fixedly connected inside the valve body. A second guide rod passes through the second support plate, and a second cap is fixedly connected to one end of the second guide rod. The second cap is slidably installed inside the third connecting pipe. A second elastic element is sleeved on the second guide rod, and both ends of the second elastic element are fixedly connected to the second cap and the second support plate, respectively.

[0016] Compared with related technologies, the pressure balancing valve assembly for the underwater robot's sealed chamber provided by this invention has the following beneficial effects: A second connecting pipe connects to the valve body, establishing a gas flow channel between the valve body and the sealed chamber. This allows the internal air pressure of the valve body to accurately reflect the internal air pressure of the sealed chamber, providing a reliable basis for subsequent pressure regulation. A pressure detector is fixedly installed outside the valve body to measure the internal air pressure in real time and transmit the data to the controller, facilitating timely monitoring of the pressure status within the sealed chamber. When the internal air pressure of the sealed chamber has not reached the required depressurization level, the sealing plug in the depressurization mechanism, under the action of a spring, seals the opening of the first connecting pipe and multiple depressurization holes, preventing the arbitrary escape of gas from the sealed chamber and effectively maintaining stable pressure within the sealed chamber.

[0017] Through a passive pressure relief design using a spring structure, when the sealed chamber is under high pressure and the internal air pressure increases to a certain level, the pressure exerted by the gas on the sealing plug overcomes the spring force, pushing the sealing plug to slide. This allows the gas inside the sealed chamber to be discharged through a specific channel, achieving automatic pressure relief, reducing the internal air pressure of the sealed chamber, and ensuring equipment safety. Through active control of the electric telescopic rod, the pressure detector transmits air pressure data to the controller. When the controller determines that the internal air pressure of the sealed chamber is too high and needs to be relieved, it controls the electric telescopic rod to push the sealing plug to slide and relieve pressure. After the pressure is reduced to a suitable level, the controller can also control the electric telescopic rod to reset the sealing plug, resealing the relevant channels, allowing for more flexible and precise control of the pressure inside the sealed chamber. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 This is an enlarged schematic diagram of a portion of the valve body structure in this invention; Figure 4 This is an enlarged cross-sectional view of a portion of the valve body structure in this invention. Figure 1 ; Figure 5 This is an enlarged cross-sectional view of a portion of the valve body structure in this invention. Figure 2 ; Figure 6 This is an enlarged schematic diagram of a portion of the valve core structure in this invention.

[0019] In the diagram: 1. Valve body; 2. Pressure relief mechanism; 3. First connecting pipe; 4. Annular plate; 5. Spring; 6. Pressure relief hole; 7. Sealing plug; 8. Pressure detector; 9. Controller; 10. Second connecting pipe; 11. First flange; 12. Second flange; 13. Channel; 14. Valve core; 15. Guide rod; 16. Servo motor; 17. Screw; 18. First bevel gear; 19. Drive shaft; 20. Second bevel gear; 21. Turntable; 22. Third connecting pipe; 23. First support plate; 24. First guide rod; 25. First cover; 26. First elastic element; 27. Second support plate; 28. Second guide rod; 29. ​​Second cover; 30. Second elastic element. Detailed Implementation

[0020] 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 be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0021] 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.

[0022] A preferred embodiment of the pressure balancing valve assembly for the underwater robot's sealed chamber provided by the present invention is as follows: Figures 1 to 6 As shown: A pressure balancing valve assembly for an underwater robot's sealed chamber includes a valve body 1. Both ends of the valve body 1 are equipped with connecting components, which connect the valve body 1 to an external underwater robot sealed chamber. The connecting components are mounted on the external underwater robot sealed chamber. A pressure relief mechanism 2 is provided on the valve body 1. When the sealed chamber is under high pressure, the pressure relief mechanism automatically discharges the gas inside the sealed chamber. The pressure relief mechanism 2 includes a first connecting pipe 3, which is fixedly mounted on the valve body 1 and communicates with the inner cavity of the valve body 1. An annular plate 4 is fixedly installed inside the first connecting pipe 3, with an inner hole for venting. A spring 5 is fixedly connected to the annular plate 4. Multiple pressure relief holes 6 are opened on the first connecting pipe 3. A sealing plug 7 is slidably installed inside the first connecting pipe 3, sealing the opening of the first connecting pipe 3 and the multiple pressure relief holes 6. The other end of the spring 5 is fixedly connected to the sealing plug 7.

[0023] A pressure detector 8 is fixedly installed on the outside of the valve body 1. The pressure detector 8 is used to measure the internal air pressure of the valve body 1 in real time. A controller 9 is fixedly installed on the valve body 1. An electric telescopic rod is fixedly installed on the valve body 1, and the output end of the electric telescopic rod is fixedly connected to the sealing plug 7. The controller 9 is used to control the operation of the electric telescopic rod.

[0024] The connecting component includes a second connecting pipe 10, with a first flange 11 fixedly installed at both ends of the second connecting pipe 10, and a second flange 12 fixedly installed at both ends of the valve body 1. The first flange 11 and the second flange 12 are fixedly connected together. The second connecting pipe 10 is connected to the inner cavity of the valve body 1, and the other end of the second connecting pipe 10 is connected to the sealed chamber by screws and is connected to the inside of the chamber.

[0025] The pressure balancing valve assembly is connected to the external underwater robot's sealed chamber via a connecting component. The connecting component has a second connecting pipe 10 with first flanges 11 fixedly installed at both ends, and second flanges 12 fixedly installed at both ends of the valve body 1. The first flanges 11 and second flanges 12 are fixedly connected together, enabling communication between the second connecting pipe 10 and the valve body 1. Simultaneously, the other end of the second connecting pipe 10 is connected to the sealed chamber via screws and communicates with the interior of the chamber, establishing a gas flow channel between the valve body 1 and the sealed chamber. This allows the internal air pressure of the valve body 1 to accurately reflect the internal air pressure of the sealed chamber.

[0026] A pressure detector 8 is fixedly installed on the outside of the valve body 1. The pressure detector 8 measures the internal air pressure of the valve body 1 in real time and transmits the measured air pressure data to the controller 9. Under normal conditions, when the pressure balance is insufficient to reach the required high pressure and pressure relief is needed, the sealing plug 7 in the pressure relief mechanism 2, under the action of the spring 5, seals the opening of the first connecting pipe 3 and multiple pressure relief holes 6. At this time, the first connecting pipe 3 is fixedly installed on the valve body 1 and communicates with the inner cavity of the valve body 1. An annular plate 4 is fixedly installed inside the first connecting pipe 3, and the inner hole of the annular plate 4 is used for venting. One end of the spring 5 is fixedly connected to the annular plate 4, and the other end is fixedly connected to the sealing plug 7. In this state, the gas inside the sealed chamber will not be arbitrarily discharged, maintaining a stable pressure inside the sealed chamber.

[0027] The automatic pressure relief under high pressure is based on passive pressure relief using a spring structure. When the sealed chamber is under high pressure, the internal air pressure increases to a certain level. The pressure exerted by the gas on the sealing plug 7 overcomes the elastic force of the spring 5, pushing the sealing plug 7 to slide within the first connecting pipe 3. As the sealing plug 7 moves, it no longer blocks the opening of the first connecting pipe 3 and the pressure relief hole 6. The gas inside the sealed chamber is discharged through the inner hole of the annular plate 4 and then through the pressure relief hole 6 on the first connecting pipe 3, thus achieving automatic pressure relief and reducing the internal air pressure of the sealed chamber.

[0028] The active pressure relief control under high pressure is based on the active control of the electric telescopic rod. The pressure detector 8 transmits the measured air pressure data to the controller 9. When the controller 9 determines that the air pressure inside the sealed chamber is too high and pressure relief is required, it activates the electric telescopic rod fixedly installed on the control valve body 1. The output end of the electric telescopic rod is fixedly connected to the sealing plug 7. The output end of the electric telescopic rod pushes the sealing plug 7 to slide, so that the sealing plug 7 no longer blocks the opening of the first connecting pipe 3 and the pressure relief hole 6, and the gas inside the sealed chamber is discharged to relieve pressure. When the pressure is reduced to a suitable level, the controller 9 controls the electric telescopic rod to reset the sealing plug 7, resealing the opening of the first connecting pipe 3 and the pressure relief hole 6.

[0029] Both the valve body 1 and the second connecting pipe 10 are coated with a rust-resistant layer, which effectively prevents them from rusting due to contact with water or other corrosive substances during use, thus extending the service life of the equipment. A channel 13 is provided inside the valve body 1, penetrating the valve body 1 and communicating with the second connecting pipe 10. A valve core 14 is provided inside the valve body 1, which can block the channels 13 on both sides. A drive mechanism is provided on the valve body 1, connected to the valve core 14 and used to move the valve core 14. The drive mechanism includes two spaced guide rods 15, which are fixedly installed on the valve body 1 and penetrate the valve core 14. A servo motor 16 is fixedly installed inside the valve body 1, and a screw 17 is fixedly installed on the output shaft end of the servo motor 16, penetrating the valve core 14 and threadedly connected to it. The channel 13, penetrating the valve body 1 and communicating with the second connecting pipe 10, provides a path for the flow of media such as gas or liquid. The drive mechanism consists of the guide rods 15, the servo motor 16, and the screw 17. Two guide rods 15 are fixedly installed on the valve body 1 at intervals and pass through the valve core 14, serving as guides to ensure that the valve core 14 can only move linearly along the direction of the guide rods 15, preventing the valve core 14 from deviating or rotating during movement. The servo motor 16 is fixedly installed inside the valve body 1, and a screw 17 is fixedly installed at its output shaft end. The screw 17 passes through the valve core 14 and is threadedly connected to the valve core 14.

[0030] When it is necessary to control the movement of the valve core 14, the servo motor 16 is activated, which drives the screw 17 to rotate. Since the valve core 14 is restricted by the guide rod 15 and cannot rotate with the screw 17, according to the principle of threaded transmission, the valve core 14 will move linearly along the screw 17. When the valve core 14 moves to a specific position, it can block the channels 13 on both sides, preventing the medium from passing through; when the valve core 14 moves away, the channels 13 are open, and the medium can flow normally. By controlling the forward and reverse rotation and the rotation angle of the servo motor 16, the direction and position of the valve core 14 can be precisely controlled, thereby achieving precise control of the opening and closing of the channels 13 and the medium flow rate.

[0031] The manual control mechanism serves as a backup. In case the servo motor 16 malfunctions or manual operation is required, the drive shaft 19 can be rotated via the turntable 21. The drive shaft 19 drives the second bevel gear 20 to rotate. Since the second bevel gear 20 meshes with the first bevel gear 18, the first bevel gear 18 will rotate accordingly, thereby driving the screw 17 to rotate. Similar to the electric control principle, the rotation of the screw 17 will cause the valve core 14 to move linearly along the guide rod 15, realizing the control of the on / off state of the channel 13. The manual control mechanism provides a backup operating mode for the system, improving the system's reliability and flexibility.

[0032] In a further preferred embodiment of the present invention: The valve body 1 has two spaced third connecting pipes 22 fixedly installed inside. A first sealing mechanism is provided at the third connecting pipe 22 on one side, and a second sealing mechanism is provided at the third connecting pipe 22 on the other side. Both the first sealing mechanism and the second sealing mechanism are used to seal the third connecting pipe 22. The first sealing mechanism includes a first support plate 23, which is fixedly connected inside the valve body 1. A first guide rod 24 passes through the first support plate 23, and a first cap 25 is fixedly connected to one end of the first guide rod 24. The first cap 25 covers the port of the third connecting pipe 22. A first elastic element 26 is sleeved on the first guide rod 24, and both ends of the first elastic element 26 are fixedly connected to the first cap 25 and the first support plate 23, respectively. The second sealing mechanism includes a second support plate 27, which is fixedly connected inside the valve body 1. A second guide rod 28 passes through the second support plate 27, and a second cap 29 is fixedly connected to one end of the second guide rod 28. The second cap 29 is slidably installed inside the third connecting pipe 22. A second elastic element 30 is sleeved on the second guide rod 28, and both ends of the second elastic element 30 are fixedly connected to the second cap 29 and the second support plate 27, respectively.

[0033] In the initial state, the first elastic element 26 is in a natural or compressed state, relying on its elasticity to firmly press the first cap 25 against the port of the third connecting pipe 22, thereby reliably sealing the third connecting pipe 22 and preventing fluid from passing through it. When it is necessary to open the third connecting pipe 22, an external force opposite to the elastic force of the first elastic element 26 is applied, pushing the first guide rod 24 and the first cap 25 away from the port of the third connecting pipe 22, while compressing the first elastic element 26. As the first cap 25 moves, the port of the third connecting pipe 22 gradually opens, allowing fluid to flow through it. When the external force disappears, the first elastic element 26 extends under its own elasticity, pushing the first cap 25 back to the port of the third connecting pipe 22, achieving a tight seal again and preventing fluid leakage.

[0034] Initially, the second elastic element 30 is in a relaxed or stretched state. Its elasticity causes the second cap 29 to fit tightly against a specific sealing position within the third connecting pipe 22, preventing fluid flow within the pipe and achieving a reliable sealing effect. When it is necessary to open the third connecting pipe 22, an external pulling force is applied, causing the second cap 29 to slide away from the sealing position via the second guide rod 28, while simultaneously stretching the second elastic element 30. As the second cap 29 moves, the channel within the third connecting pipe 22 gradually becomes unobstructed, allowing fluid to pass smoothly through the pipe. When the external pulling force is removed, the second elastic element 30 contracts under its own elasticity, pulling the second cap 29 back to its original sealing position, resealing the third connecting pipe 22 and ensuring no fluid leakage.

[0035] In this embodiment, the two third connecting pipes can be connected to different fluid lines or equipment components, and the first and second blocking mechanisms can independently control their respective third connecting pipes. By controlling the opening degree of the blocking mechanisms, the fluid flow rate in the third connecting pipes can be indirectly adjusted. The corresponding blocking mechanisms can be appropriately adjusted to change the flow area of ​​the channel, thereby reducing the flow rate and meeting the needs of different scenarios.

[0036] The sealing mechanism effectively prevents fluid backflow in pipelines, avoiding equipment damage and process disruptions caused by backflow. Simultaneously, during system shutdown or maintenance, the sealing mechanism reliably seals the third connecting pipe, preventing fluid leakage and ensuring a safe working environment. When the system pressure is too high, the sealing mechanism can work in conjunction with other safety devices to release pressure by sealing or opening the third connecting pipe, protecting system equipment from damage. For example, in some high-pressure systems, when the pressure exceeds a set value, the sealing mechanism can automatically open, releasing some gas to a safe area and reducing system pressure.

[0037] It is worth noting that the circuits, electronic components, and modules involved in this invention are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve improvements to the software and methods.

[0038] It should be understood that the disclosed apparatus can be implemented in other ways, given the several embodiments provided in this application. For example, the apparatus embodiments described above are merely illustrative; the division of units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or communication connections shown or discussed may be through some interfaces; the indirect coupling or communication connections between devices or units may be telecommunications or other forms.

[0039] 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 pressure balancing valve assembly for the sealed chamber of an underwater robot, characterized in that, Includes a valve body (1), both ends of which are provided with a communication component. The valve body (1) is connected to an external underwater robot sealed cabin through the communication component. The communication component is installed on the external underwater robot sealed cabin. The valve body (1) is provided with a pressure relief mechanism (2). When the sealed chamber is under high pressure, the pressure relief mechanism automatically discharges the gas inside the sealed chamber. The pressure relief mechanism (2) includes a first connecting pipe (3). The first connecting pipe (3) is fixedly installed on the valve body (1) and communicates with the inner cavity of the valve body (1). An annular plate (4) is fixedly installed inside the first connecting pipe (3). The inner hole of the annular plate (4) is used for venting. A spring (5) is fixedly connected to the annular plate (4). Multiple pressure relief holes (6) are opened on the first connecting pipe (3). A sealing plug (7) is slidably installed inside the first connecting pipe (3). The sealing plug (7) is used to block the opening of the first connecting pipe (3) and the multiple pressure relief holes (6). The other end of the spring (5) is fixedly connected to the sealing plug (7).

2. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 1, characterized in that, A pressure detector (8) is fixedly installed on the outside of the valve body (1). The pressure detector (8) is used to measure the internal air pressure of the valve body (1) in real time. A controller (9) is fixedly installed on the valve body (1). An electric telescopic rod is fixedly installed on the valve body (1) and the output end of the electric telescopic rod is fixedly connected to the sealing plug (7). The controller (9) is used to control the operation of the electric telescopic rod.

3. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 2, characterized in that, The communication assembly includes a second communication pipe (10), with a first flange (11) fixedly installed at both ends of the second communication pipe (10), and a second flange (12) fixedly installed at both ends of the valve body (1). The first flange (11) and the second flange (12) are fixedly connected together. The second communication pipe (10) communicates with the inner cavity of the valve body (1), and the other end of the second communication pipe (10) is connected to the sealed chamber by screws and communicates with the inside of the chamber.

4. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 3, characterized in that, Both the valve body (1) and the second connecting pipe (10) are coated with a rust-resistant coating.

5. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 1, characterized in that, The valve body (1) has a channel (13) inside, the channel (13) passes through the valve body (1) and is connected to the second connecting pipe (10).

6. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 5, characterized in that, The valve body (1) is provided with a valve core (14), which can block the channels (13) on both sides. The valve body (1) is provided with a drive mechanism, which is connected to the valve core (14) and used to drive the valve core (14) to move.

7. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 6, characterized in that, The drive mechanism includes two spaced guide rods (15), which are fixedly mounted on the valve body (1) and pass through the valve core (14). A servo motor (16) is fixedly mounted inside the valve body (1), and a screw (17) is fixedly mounted on the output shaft end of the servo motor (16). The screw (17) passes through the valve core (14) and is threadedly connected to the valve core (14).

8. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 7, characterized in that, The upper end of the screw (17) is provided with a manual control mechanism, which includes a first bevel gear (18) fixedly installed on the upper end of the screw (17), a drive shaft (19) rotatably installed on the valve body (1), the drive shaft (19) extending into the valve body (1), a second bevel gear (20) fixedly installed at one end of the drive shaft (19), the second bevel gear (20) meshing with the first bevel gear (18), a turntable (21) fixedly installed at the outer end of the drive shaft (19), and a limit block fixedly installed at the lower end of the screw (17).

9. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 3, characterized in that, The valve body (1) has two spaced third connecting pipes (22) fixedly installed inside. A first sealing mechanism is provided at one side of the third connecting pipe (22), and a second sealing mechanism is provided at the other side of the third connecting pipe (22). Both the first sealing mechanism and the second sealing mechanism are used to seal the third connecting pipe (22).

10. The pressure balancing valve assembly for the underwater robot's sealed chamber as described in claim 9, characterized in that, The first sealing mechanism includes a first support plate (23), which is fixedly connected inside the valve body (1). A first guide rod (24) passes through the first support plate (23). A first cover (25) is fixedly connected to one end of the first guide rod (24). The first cover (25) covers the port of the third connecting pipe (22). A first elastic element (26) is provided on the first guide rod (24). The two ends of the first elastic element (26) are fixedly connected to the first cover (25) and the first support plate (23), respectively. The second sealing mechanism includes a second support plate (27), which is fixedly connected inside the valve body (1). A second guide rod (28) passes through the second support plate (27). A second cover (29) is fixedly connected to one end of the second guide rod (28). The second cover (29) is slidably installed inside the third connecting pipe (22). A second elastic element (30) is sleeved on the second guide rod (28). Both ends of the second elastic element (30) are fixedly connected to the second cover (29) and the second support plate (27), respectively.

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