An underwater robot buoyancy adjustment chamber

Abstract

This invention relates to the field of underwater robot technology, and more particularly to an underwater robot buoyancy adjustment chamber, comprising: a chamber frame, a pressure-resistant electronic chamber, and multiple thrusters. A buoyancy chamber is fixedly mounted on the chamber frame, and an adjustment cavity is provided inside the buoyancy chamber. A sealing adjustment device is also provided inside the buoyancy chamber. The sealing adjustment device includes a hydraulic cylinder and sealing elements. The hydraulic cylinder is located on the side of the buoyancy chamber, and the sealing elements are mounted on the drive end of the hydraulic cylinder via movable parts. An installation groove is formed between the sealing elements, and a sealing compensation component is disposed within the installation groove. The sealing compensation component includes a compensation ring and a compression ring. The compensation ring and the compression ring are disposed within the installation groove. A pushing component is provided at the drive end of the hydraulic cylinder, which pushes the compression ring towards the compensation ring. This invention significantly improves the service life of dynamic seals under deep-sea reciprocating operating conditions.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater robot buoyancy adjustment chamber. Background Technology

[0002] With the rapid development of marine resource development, underwater engineering operations, deep-sea scientific research and underwater security, underwater operation equipment such as autonomous underwater robots and remotely operated underwater robots have been widely used. As a core component of underwater robots, the buoyancy adjustment system is the core carrier for realizing precise buoyancy control of robots and adapting to complex water depth environments.

[0003] Patent CN118306550A discloses an underwater robot with decoupled attitude and buoyancy adjustment, including a control cabin module, a propulsion module, a bow adjustment module, and a tail adjustment module. The bow and tail adjustment modules are located at opposite ends of the control cabin module and have identical structures. The bow adjustment module includes an attitude adjustment system and a buoyancy adjustment system. The buoyancy adjustment system includes an external hydraulic cylinder, which is filled with or discharged with liquid to adjust the buoyancy of the underwater robot. The attitude adjustment system includes a counterweight, a drive motor, and a ring-shaped geared track fixedly sleeved outside the external hydraulic cylinder. The drive motor is fixedly connected to the counterweight and drives the counterweight to move along the ring-shaped geared track through a gear assembly, changing the position of the underwater robot's center of gravity and adjusting the underwater robot's attitude.

[0004] However, as underwater robots continuously adjust their buoyancy, the seals wear out severely. Existing devices can only rely on high-compression seals selected in the early stages. Once the seals wear out, there is no real-time compensation method. The entire machine must be disassembled and the seals replaced, resulting in high equipment maintenance costs and making it impossible to meet the needs of long-term continuous underwater operations. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an underwater robot buoyancy adjustment chamber.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An underwater robot buoyancy adjustment chamber includes: a chamber frame, a pressure-resistant electronic chamber, and multiple thrusters. The buoyancy chamber is fixedly installed on the chamber frame, and the buoyancy chamber is provided with an adjustment cavity and a sealing adjustment device. The sealing adjustment device includes a hydraulic cylinder and a sealing element. The hydraulic cylinder is located on the side of the buoyancy chamber. The sealing element is installed on the drive end of the hydraulic cylinder through a movable part and slides in a sealing manner inside the buoyancy chamber. An installation groove is provided between the sealing elements, and a sealing compensation component is provided inside the installation groove. The sealing compensation assembly includes a compensation ring and a compression ring. The compensation ring is disposed inside the mounting groove, and the compression ring is disposed inside the mounting groove and located on the side of the compensation ring away from the inner wall of the buoyancy chamber. The compression ring is used to squeeze the compensation ring outward to seal the buoyancy chamber. The hydraulic cylinder is equipped with a pushing component at its drive end, which is used to push the extrusion ring toward the compensation ring.

[0007] Preferably, the sealing element includes two sealing rings and a fixing post, the two sealing rings are fixedly connected to both ends of the fixing post, the mounting groove is disposed between the two sealing rings, and both the sealing rings and the compensation ring are made of elastic material.

[0008] Preferably, the movable component includes a connecting post and a limiting post. The connecting post is fixedly connected to the side of the seal near the hydraulic cylinder and has a limiting groove inside. The limiting post is fixedly connected to the output end of the hydraulic cylinder. Both the limiting groove and the limiting post are polygonal.

[0009] Preferably, a plurality of hinge components are arranged in a ring between the hydraulic cylinder and the seal, the hinge components being used to connect the side of the hydraulic cylinder and the seal to prevent the limiting post from separating from the limiting groove.

[0010] Preferably, the hinge assembly includes a mounting ring, two connecting seats, and a hinge rod. The mounting ring is fixedly connected to the hydraulic cylinder and has multiple mounting ports on its side. One connecting seat is fixedly installed on the side of the seal, and the other connecting seat is fixedly installed inside the mounting port. The hinge rod is fixedly connected between the two connecting seats.

[0011] Preferably, the extrusion ring is a frustum-shaped ring, with the side with a larger base area fixedly connected to the inner side of the extrusion ring, and the side with a smaller base area close to the hydraulic cylinder. The extrusion ring is made of an elastic material, and multiple support bars are fixedly connected in a ring shape in the middle.

[0012] Preferably, the pushing assembly includes multiple connecting blocks, a pushing ring, and a fixing ring. The inner side of the sealing ring near the hydraulic cylinder has multiple sliding openings in a ring shape. The connecting blocks are fixedly connected to the side of the extrusion ring with a smaller bottom area. The connecting blocks pass through the sliding openings. The pushing ring is fixedly connected to the end of the connecting block away from the extrusion ring. The fixing ring is fixedly connected to the end of the mounting ring away from the hydraulic cylinder and is used to extrude the pushing ring.

[0013] Preferably, the end of the push ring near the fixed ring is arc-shaped, and the side of the fixed ring near the push ring has an arc-shaped groove for engaging the push ring.

[0014] Preferably, a locking component is provided between the connecting post and the pushing ring, the locking component being used to fix the position of the pushing ring.

[0015] Preferably, the locking assembly includes multiple locking slots and multiple locking rings. The multiple locking slots are formed on the side of the connecting column, and the multiple locking rings are fixedly connected to the inside of the pushing ring. The locking slots are inclined upwards, and the locking rings are inclined upwards and locked inside the locking slots.

[0016] Compared with the prior art, the beneficial effects of the present invention are: The reciprocating stroke of the buoyancy adjustment hydraulic cylinder itself is reused as the power source for seal compensation. No additional independent drive source is required. Based on the original buoyancy adjustment hardware, follow-up seal compensation is achieved. Each buoyancy adjustment sliding process automatically completes a compensation, which offsets the preload loss caused by friction and wear of the seal in real time. The compensation ring is always in close contact with the cylinder wall, suppressing media leakage and significantly improving the service life of the dynamic seal under deep-sea reciprocating conditions. The two sealing rings, together with the middle compensation ring, form multiple sealing barriers, further reducing the probability of leakage. The sealing adjustment device uses a hydraulic cylinder as a power source. On the one hand, it completes the volume drive function of buoyancy adjustment; on the other hand, it constrains the movement posture of the seal to reduce uneven wear; and the reciprocating motion of the buoyancy adjustment itself is used as the power source for seal compensation. There is no need to add an additional compensation drive motor or hydraulic branch. Each buoyancy adjustment action automatically completes the seal compensation without human intervention, which delays the seal failure cycle and reduces the frequency of underwater robot returning to port for disassembly and maintenance. Multi-point hinged constraint of the radial swing of the seal prevents the limiting post and limiting groove from being pulled apart axially, inhibits the tilting of the seal, avoids excessive compression of the sealing ring on one side, reduces local wear, ensures uniform compression of the compensation ring of the sealing compensation component in all circumferential directions, and avoids local compensation failure. The locking component achieves one-way locking. After the compensation is applied, even if the hydraulic cylinder output rod extends forward, it will not release the clamping force of the compression ring, thus preserving the applied sealing compensation amount. In the next subsequent buoyancy adjustment retraction action, the compensation amount can be further increased to achieve gradual compensation and superposition of wear amount. Attached Figure Description

[0017] Figure 1 This is a front structural diagram of an underwater robot buoyancy adjustment chamber proposed in this invention. Figure 2 This is a schematic diagram of the bottom structure of an underwater robot buoyancy adjustment chamber proposed in this invention; Figure 3 This is a schematic diagram of the buoyancy chamber structure of an underwater robot buoyancy adjustment chamber proposed in this invention; Figure 4 This is a cross-sectional view of the buoyancy adjustment chamber of an underwater robot proposed in this invention. Figure 5This is a schematic diagram of the sealing adjustment device structure of the buoyancy adjustment chamber of an underwater robot proposed in this invention; Figure 6 This is a cross-sectional schematic diagram of a sealing adjustment device for an underwater robot buoyancy adjustment chamber proposed in this invention. Figure 7 This is a schematic diagram of the sealing compensation component structure of an underwater robot buoyancy adjustment chamber proposed in this invention; Figure 8 This is a schematic diagram of the movable component structure of an underwater robot buoyancy adjustment chamber proposed in this invention; Figure 9 This is a schematic diagram of the hinge assembly structure of an underwater robot buoyancy adjustment cabin proposed in this invention; Figure 10 for Figure 6 A magnified structural diagram of point A in the middle.

[0018] In the diagram: 1. Cabin frame; 2. Pressure-resistant electronic compartment; 3. Buoyancy compartment; 4. Sealing adjustment device; 41. Hydraulic cylinder; 42. Seal; 421. Sealing ring; 422. Fixing post; 5. Sealing compensation assembly; 51. Compensation ring; 52. Compression ring; 6. Pushing assembly; 61. Connecting block; 62. Pushing ring; 63. Fixing ring; 7. Moving part; 71. Connecting post; 72. Limiting post; 8. Hinge assembly; 81. Mounting ring; 82. Connecting seat; 83. Hinge rod; 9. Locking assembly; 91. Locking groove; 92. Locking ring. 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] The terms used in this invention, such as "upper," "lower," "left," "right," "middle," and "one," are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0021] Reference Figures 1-10 An underwater robot buoyancy adjustment chamber includes: a chamber frame 1, a pressure-resistant electronic chamber 2 and multiple thrusters. A buoyancy chamber 3 is fixedly installed on the chamber frame 1. An adjustment cavity is provided inside the buoyancy chamber 3. A sealing adjustment device 4 is provided inside the buoyancy chamber 3. The sealing adjustment device 4 includes a hydraulic cylinder 41 and a sealing element 42. The hydraulic cylinder 41 is located on the side of the buoyancy chamber 3. The sealing element 42 is installed on the drive end of the hydraulic cylinder 41 through a movable part 7 and slides in a sealed manner inside the buoyancy chamber 3. An installation groove is provided between the sealing elements 42, and a sealing compensation component 5 is provided inside the installation groove. The sealing compensation assembly 5 includes a compensation ring 51 and a compression ring 52. The compensation ring 51 is disposed inside the mounting groove, and the compression ring 52 is disposed inside the mounting groove and located on the side of the compensation ring 51 away from the inner wall of the buoyancy chamber 3. The compression ring 52 is used to squeeze the compensation ring 51 outward to seal the buoyancy chamber. The driving end of the hydraulic cylinder 41 is provided with a pushing component 6, which is used to push the extrusion ring 52 to move towards the compensation ring 51.

[0022] In embodiments applying the above technical solutions, the traditional elastic sealing ring 421 is a one-time pre-compression assembly, with a fixed pre-tightening amount after assembly. As the sealing element 42 reciprocates and slides, the compensation ring 51 and the sealing ring 421 wear down, the pre-compression force between the sealing element 42 and the cylinder wall gradually decreases, and tiny gaps appear at the sealing interface, allowing seawater to seep in or the medium in the regulating cavity to leak out. Existing sealing compensation technology requires an independent drive mechanism, increasing the internal volume and power consumption, and cannot achieve synchronous automatic compensation for sealing wear with each buoyancy adjustment action. This structure needs to utilize the buoyancy adjustment to adjust its own movement stroke, and automatically apply radial pressure to the worn sealing element 42 each time the buoyancy is adjusted to compensate for the gaps caused by wear. The compensation ring 51 is arranged in the mounting groove between the two sealing rings 421. The extrusion ring 52 is a frustum-shaped structure with the large diameter end facing the compensation ring 51 and the small diameter end facing the hydraulic cylinder 41. The push assembly 6 outputs axial thrust, which acts on the small diameter end of the extrusion ring 52. The frustum slope converts the axial thrust into a radial outward expansion force, which continuously pushes the outer circumference of the compensation ring 51 to press against the inner wall of the buoyancy chamber 3. Each time buoyancy adjustment is performed, the hydraulic cylinder 41 drives the seal 42 to slide forward or backward. When the seal 42 retracts towards the hydraulic cylinder 41, the distance between the seal 42 and the hydraulic cylinder 41 body decreases. The fixed ring 63 squeezes the push ring 62, which drives the connecting block 61 to press the squeeze ring 52. The squeeze ring 52 deforms into a frustum shape, pushing the compensation ring 51 outward. Even if the compensation ring 51 has been worn, this action will immediately increase the radial opening, fill the gap caused by wear, and lock the position of the push ring 62 in one direction with the locking component 9, maintaining the deformation state of the squeeze ring 52 and maintaining the clamping force of the compensation ring 51. The above compensation action is repeated during the next buoyancy adjustment slide, so that a seal compensation is performed synchronously with each buoyancy adjustment. The reciprocating stroke of the buoyancy adjustment hydraulic cylinder 41 is reused as the power source for seal compensation, eliminating the need for a new independent drive source. Based on the existing buoyancy adjustment hardware, follow-up seal compensation is achieved. Each buoyancy adjustment sliding process automatically completes a compensation, offsetting the pre-tightening force loss caused by the friction and wear of the seal 42 in real time. The compensation ring 51 always fits tightly against the cylinder wall, suppressing media leakage and significantly improving the service life of the dynamic seal under deep-sea reciprocating conditions. The two sealing rings 421, together with the intermediate compensation ring 51, form multiple sealing barriers, further reducing the probability of leakage.

[0023] The preferred technical solution in this embodiment is: Reference Figure 5 and Figure 6 The sealing element 42 includes two sealing rings 421 and a fixing post 422. The two sealing rings 421 are fixedly connected to both ends of the fixing post 422. The mounting groove is disposed between the two sealing rings 421. Both the sealing rings 421 and the compensation ring 51 are made of elastic material. As the existing dynamic sealing components of the buoyancy regulating chamber wear down with reciprocating sliding, the sealing compression decreases, gaps appear on the sealing surface, the medium in the regulating chamber leaks, and the buoyancy regulation accuracy decreases; the radial deviation of the sealing element 42 during the sliding process aggravates the local wear of the sealing element 42; under the high pressure conditions of deep sea, the dynamic seal lacks a compensation mechanism that is synchronized with the action, resulting in a short sealing life and the need for frequent disassembly and maintenance of the equipment on shore. The sealing adjustment device 4 uses a hydraulic cylinder 41 as a power source and motion reference body. The output end of the hydraulic cylinder 41 transmits axial driving force through the movable part 7 to drive the sealing part 42 to reciprocate and slide within the buoyancy chamber 3, directly changing the volume of the adjustment chamber to achieve buoyancy control. Based on the relative axial displacement between the hydraulic cylinder 41 and the sealing part 42, the linkage drive push assembly 6 is used to convert the axial motion into the radial expansion action of the extrusion ring 52, driving the sealing compensation assembly 5 to perform sealing compensation. The locking assembly 9 locks the position of the push ring 62 to preserve the compensation preload. Each time the buoyancy adjustment sliding stroke occurs, a sealing compensation action is triggered synchronously. On the one hand, it completes the volume drive function of buoyancy adjustment; on the other hand, it constrains the movement posture of the seal 42 to reduce uneven wear; and it uses the reciprocating motion of the buoyancy adjustment itself as the power source for seal compensation, without the need to add an additional compensation drive motor or hydraulic branch. Each buoyancy adjustment action automatically completes the seal compensation without human intervention, delaying the seal failure cycle and reducing the frequency of underwater robot return to port for disassembly and maintenance.

[0024] Underwater robots often need to operate underwater for several consecutive days, making it impossible to stop midway to replace seal 42. Repeated friction and wear on seal 42 are unavoidable. Without adaptive compensation, micro-leakage in the seal can lead to distorted control of the adjustment chamber volume, deviations in buoyancy calculations, and unexpected surfacing or sinking of the robot, potentially resulting in safety accidents. This component couples buoyancy adjustment with seal compensation, eliminating the need for manual intervention and continuously maintaining sealing performance throughout the operation, making it suitable for long-term deep-sea operations.

[0025] The sealing ring 421 is made of elastic material and directly contacts the wall of the buoyancy chamber 3, forming the first and third seals. The intermediate compensation ring 51 forms the second seal, creating a three-layer sealing barrier. It provides multiple layers of sealing protection to reduce the risk of single-point sealing failure, provides a stable installation slot for the sealing compensation component 5, ensures that the position of the compensation ring 51 will not shift, and the elastic sealing ring 421 undertakes the basic dynamic sealing function and buffers high pressure impact.

[0026] Reference Figure 6 and Figure 8 The movable component 7 includes a connecting post 71 and a limiting post 72. The connecting post 71 is fixedly connected to the side of the sealing component 42 near the hydraulic cylinder 41 and has a limiting groove inside. The limiting post 72 is fixedly connected to the output end of the hydraulic cylinder 41. Both the limiting groove and the limiting post 72 are polygonal. When the hydraulic cylinder 41 drives the seal 42 at the output end, relying solely on the end face to push it can easily cause circumferential slippage and torque transmission failure. Furthermore, there is radial clearance and poor coaxiality of movement, which exacerbates localized wear of the seal 42. The limiting post 72 at the output end of the hydraulic cylinder 41 and the internal limiting groove of the connecting post 71 adopt a polygonal fit. The polygonal structure can transmit torque and limit the circumferential rotation of the seal 42 relative to the output end of the hydraulic cylinder 41. The connecting post 71 is fixed inside the seal 42 and provides a processing carrier for the locking groove 91. A certain displacement can be transmitted axially. Eliminate circumferential slippage at the drive end to ensure reliable power transmission; polygonal limit constraint restricts circumferential degree of freedom and reduces torsional wear of the seal 42.

[0027] Reference Figure 5 and Figure 9 A plurality of hinge components 8 are arranged in a ring between the hydraulic cylinder 41 and the seal 42. The hinge components 8 are used to connect the side of the hydraulic cylinder 41 and the seal 42 to prevent the limiting post 72 from separating from the limiting groove. The hinge assembly 8 includes a mounting ring 81, two connecting seats 82, and a hinge rod 83. The mounting ring 81 is fixedly connected to the hydraulic cylinder 41 and has multiple mounting ports in a ring shape on its side. One connecting seat 82 is fixedly installed on the side of the seal 42, and the other connecting seat 82 is fixedly installed inside the mounting port. The hinge rod 83 is fixedly connected between the two connecting seats 82.

[0028] The hydraulic cylinder 41 output end is connected to the seal 42 only by the moving part 7. When the seal 42 is subjected to the friction of the cylinder wall and the lateral force of seawater pressure, radial warping will occur, which may cause the limit post 72 to separate from the limit groove. The radial wobble of the seal 42 will cause excessive local compression of the sealing ring 421, resulting in local rapid wear. The mounting ring 81 is fixed to the body of the hydraulic cylinder 41. Multiple sets of hinge rods 83 are arranged in a ring along the circumference. The two ends of the hinge rods 83 are respectively hinged to the mounting ring 81 on the side of the hydraulic cylinder 41 and the side of the seal 42 through the connecting seat 82. The hinge rods 83 can adapt to axial relative expansion and contraction, but constrain radial displacement, and play a multi-point radial limit role on the seal 42, always maintaining the coaxial attitude of the seal 42 and the buoyancy chamber 3 cylinder. The multi-point hinged constraint seal 42 radially swings to prevent the limiting post 72 and the limiting groove from being pulled apart axially, suppress the tilting of the seal 42, avoid excessive compression on one side of the sealing ring 421, reduce local wear, ensure that the compensation ring 51 of the sealing compensation component 5 is compressed evenly in all directions, and avoid local compensation failure.

[0029] Reference Figure 6 and Figure 7 The extrusion ring 52 is a frustum-shaped ring, with the side with a larger bottom area fixedly connected to the inner side of the extrusion ring 52, and the side with a smaller bottom area close to the hydraulic cylinder 41. The extrusion ring 52 is made of elastic material, and multiple support bars are fixedly connected in a ring shape in the middle.

[0030] Reference Figure 7 and Figure 10 The pushing assembly 6 includes multiple connecting blocks 61, a pushing ring 62, and a fixing ring 63. The inner side of the sealing ring 421 near the hydraulic cylinder 41 has multiple sliding openings in a ring shape. The connecting blocks 61 are fixedly connected to the side of the extrusion ring 52 with a smaller bottom area. The connecting blocks 61 pass through the sliding openings. The pushing ring 62 is fixedly connected to the end of the connecting blocks 61 away from the extrusion ring 52. The fixing ring 63 is fixedly connected to the end of the mounting ring 81 away from the hydraulic cylinder 41 and is used to extrude the pushing ring 62. The end of the push ring 62 near the fixed ring 63 is set to be arc-shaped, and the fixed ring 63 near the push ring 62 has an arc-shaped groove, which is used to hold the push ring 62. The axial relative displacement of the seal 42 relative to the hydraulic cylinder 41 base needs to be converted into axial pressure on the extrusion ring 52. Power needs to be transmitted across the sliding port opened in the seal ring 421 to realize the input of axial force to the extrusion ring 52. At the same time, a limiting structure needs to be set to realize the positioning of the push ring 62 after it is in place, and cooperate with the arc-shaped groove to prevent the push ring 62 from slipping off.

[0031] The fixed ring 63 is fixed on the mounting ring 81 on the side of the hydraulic cylinder 41 and remains in a fixed position. When the seal 42 moves towards the hydraulic cylinder 41, the push ring 62 will abut against the fixed ring 63, and the fixed ring 63 will push the push ring 62 in the opposite direction. The thrust is transmitted to the compression ring 52 through the sliding port of the sealing ring 421 via the connecting block 61. The arc-shaped structure at the end of the push ring 62 cooperates with the arc-shaped groove of the fixed ring 63. After sliding into place, it is locked into the groove, limiting the radial position of the push ring 62.

[0032] The axial relative displacement generated by the buoyancy adjustment is converted into the pressure of the driving sealing compensation component 5. The arc-shaped groove limits the movement and prevents the pushing ring 62 from radially moving under force, ensuring that the circumferential thrust is evenly output to the extrusion ring 52.

[0033] Reference Figure 10 A locking component 9 is provided between the connecting post 71 and the pushing ring 62, and the locking component 9 is used to fix the position of the pushing ring 62; The locking component 9 includes multiple locking slots 91 and multiple locking rings 92. The multiple locking slots 91 are opened on the side of the connecting post 71, and the multiple locking rings 92 are fixedly connected to the inside of the push ring 62. The locking slots 91 are inclined upward, and the locking rings 92 are inclined upward and locked inside the locking slots 91.

[0034] When the hydraulic cylinder 41 extends in the opposite direction to drive the seal 42 away from the hydraulic cylinder 41, the compression ring 52 loses the positive thrust and is prone to rebound and reset, causing the radial clamping force of the compensation ring 51 to disappear and the sealing compensation effect to be lost. A one-way locking mechanism is required so that the pre-tightening pressure can be maintained after the compression is in place, and the compensation pressure will not be directly removed as the hydraulic cylinder 41 extends.

[0035] Both the locking groove 91 and the locking ring 92 are inclined upwards, forming a one-way ratchet locking structure. When the push ring 62 moves towards the hydraulic cylinder 41 to perform a compensation action, the inclined locking ring 92 can slide into the next-level locking groove 91 to achieve progressive locking. When moving in the opposite direction, the locking ring 92 and the locking groove 91 engage with each other to prevent the push ring 62 from retracting, locking the push ring 62 in the current position and continuously maintaining the axial thrust of the compression ring 52 on the compensation ring 51.

[0036] To achieve one-way locking, even if the output rod of the hydraulic cylinder 41 extends forward after the compensation is applied, the clamping force of the compression ring 52 will not be released, thus preserving the applied sealing compensation amount. In the next subsequent buoyancy adjustment retraction action, the compensation amount can be further increased, thereby achieving gradual compensation and superposition of wear amount.

[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 robotic buoyancy adjustment compartment, comprising: The hull frame, pressure-resistant electronic compartment, and multiple thrusters are characterized in that a buoyancy chamber is fixedly installed on the hull frame, an adjustment cavity is provided inside the buoyancy chamber, and a sealing adjustment device is provided inside the buoyancy chamber. The sealing adjustment device includes a hydraulic cylinder and a sealing element. The hydraulic cylinder is located on the side of the buoyancy chamber. The sealing element is installed on the drive end of the hydraulic cylinder through a movable part and slides in a sealing manner inside the buoyancy chamber. An installation groove is provided between the sealing elements, and a sealing compensation component is provided inside the installation groove. The sealing compensation assembly includes a compensation ring and a compression ring. The compensation ring is disposed inside the mounting groove, and the compression ring is disposed inside the mounting groove and located on the side of the compensation ring away from the inner wall of the buoyancy chamber. The compression ring is used to squeeze the compensation ring outward to seal the buoyancy chamber. The hydraulic cylinder is equipped with a pushing component at its drive end, which is used to push the extrusion ring toward the compensation ring.

2. A buoyancy adjustment chamber for an underwater robot according to claim 1, wherein, The sealing element includes two sealing rings and a fixing post. The two sealing rings are fixedly connected to both ends of the fixing post. The mounting groove is disposed between the two sealing rings. Both the sealing rings and the compensation ring are made of elastic material.

3. The buoyancy adjustment chamber for an underwater robot of claim 1, wherein, The movable component includes a connecting post and a limiting post. The connecting post is fixedly connected to the side of the seal near the hydraulic cylinder and has a limiting groove inside. The limiting post is fixedly connected to the output end of the hydraulic cylinder. Both the limiting groove and the limiting post are polygonal.

4. The buoyancy adjustment chamber for an underwater robot of claim 1, wherein, Multiple hinge components are arranged in a ring between the hydraulic cylinder and the seal. The hinge components are used to connect the side of the hydraulic cylinder and the seal to prevent the limiting post from separating from the limiting groove.

5. A buoyancy adjustment chamber for an underwater robot according to claim 4, wherein, The hinge assembly includes a mounting ring, two connecting seats, and a hinge rod. The mounting ring is fixedly connected to the hydraulic cylinder and has multiple mounting ports on its side. One connecting seat is fixedly installed on the side of the seal, and the other connecting seat is fixedly installed inside the mounting port. The hinge rod is fixedly connected between the two connecting seats.

6. The buoyancy adjustment chamber for an underwater robot of claim 1, wherein, The extrusion ring is a frustum-shaped ring, with the side with the larger base area fixedly connected to the inner side of the extrusion ring, and the side with the smaller base area close to the hydraulic cylinder. The extrusion ring is made of elastic material, and multiple support bars are fixedly connected in a ring shape in the middle.

7. The underwater robot buoyancy adjustment chamber according to claim 3, characterized in that, The pushing assembly includes multiple connecting blocks, a pushing ring, and a fixing ring. Multiple sliding openings are provided on the inner side of the sealing ring near the hydraulic cylinder. The connecting blocks are fixedly connected to the side of the extrusion ring with the smaller bottom area. The connecting blocks pass through the sliding openings. The pushing ring is fixedly connected to the end of the connecting block away from the extrusion ring. The fixing ring is fixedly connected to the end of the mounting ring away from the hydraulic cylinder and is used to extrude the pushing ring.

8. The underwater robot buoyancy adjustment chamber according to claim 7, characterized in that, The end of the push ring near the fixed ring is arc-shaped, and the fixed ring has an arc-shaped groove on the side near the push ring. The arc-shaped groove is used to hold the push ring.

9. The underwater robot buoyancy adjustment chamber according to claim 8, characterized in that, A locking component is provided between the connecting column and the pushing ring, and the locking component is used to fix the position of the pushing ring.

10. The buoyancy regulating chamber for an underwater robot according to claim 9, characterized in that, The locking assembly includes multiple locking slots and multiple locking rings. The multiple locking slots are opened on the side of the connecting column, and the multiple locking rings are fixedly connected to the inside of the push ring. The locking slots are inclined upwards, and the locking rings are inclined upwards and locked inside the locking slots.

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