Buoyancy driving device integrated with pitching adjusting function

Abstract

The utility model discloses a buoyancy driving device integrated with a pitching adjusting function, which belongs to the technical field of underwater vehicles, comprises a pressure-resistant shell and a sealing end cover mounted on the pressure-resistant shell, and is characterized in that a buoyancy adjusting component is mounted on the sealing end cover and forms a plunger component axially stretching towards the outer side of the sealing end cover; an adjusting driving device for driving the axial moving end of the buoyancy adjusting component is mounted in the pressure-resistant shell; and a counter weight sliding block which moves axially is mounted in the pressure-resistant shell, is driven by an adjusting driving device and moves in the direction opposite to the buoyancy adjusting component. The buoyancy driving device integrating the pitching adjusting function has the remarkable technical advantages by means of the design of being simple and compact in structure, efficient and environmentally friendly. The operation precision and maneuverability of the underwater vehicle are improved, the maintenance cost is effectively reduced, the stability and reliability of the system are improved, and the increasing requirements for high-performance underwater equipment are met.

Description

Technical Field

[0001] This utility model belongs to the field of underwater vehicle technology, and in particular relates to a buoyancy drive device with integrated pitch adjustment function. Background Technology

[0002] Underwater vehicles typically use buoyancy propulsion systems to provide the driving force for surfacing and diving, while using pitch control units to control their underwater attitude. In existing technology, buoyancy propulsion systems usually employ hydraulic systems, using an oil pump to pump hydraulic oil from an internal tank inside the pressure chamber to an external bladder. As the volume of water discharged from the external bladder increases, buoyancy increases. By opening a solenoid valve inside the pressure chamber, the negative pressure inside the chamber and the pressure of the seawater during diving force hydraulic oil from the external bladder back into the internal tank inside the pressure chamber. As the volume of water discharged from the external bladder decreases, buoyancy decreases.

[0003] Currently, the independent operation of the pitch control unit and buoyancy control device has several drawbacks and shortcomings. Firstly, while the hydraulic system, as the core drive mechanism of the pitch control unit, can provide significant adjustment force, its use of hydraulic oil as a medium poses a potential risk of marine environmental pollution. If a leak occurs in the hydraulic system, the hydraulic oil may seep into the seawater, causing environmental pollution, which directly limits the widespread testing and application of underwater vehicles in marine environments. Furthermore, the hydraulic system itself has a complex structure, requires regular maintenance, and incurs high repair costs, which increases the operational and maintenance burden of the system and reduces its long-term economic viability.

[0004] On the other hand, pitch control units typically adjust the center of gravity of an underwater vehicle by changing the position of ballast weights, thereby controlling the vehicle's attitude. While this method effectively adjusts the vehicle's pitch attitude, its structure is relatively complex, involving not only a mechanical transmission system but also a sophisticated control system to achieve precise movement of the weights. Furthermore, the pitch control unit and buoyancy drive are usually arranged separately, resulting in significant spatial and structural isolation between the two systems and inefficient use of internal space. This independent arrangement leads to poor overall system design and integration, increasing system complexity and weight, and affecting the vehicle's maneuverability and efficiency.

[0005] In summary, the existing independent working structures of pitch adjustment units and buoyancy adjustment devices are not only insufficient in terms of environmental protection and economy, but also have certain defects in space utilization and system integration, and urgently need to be improved. Utility Model Content

[0006] To address the problems of existing pitch adjustment units and buoyancy adjustment devices having independent working structures, such as hydraulic system contamination risks, high maintenance costs, inefficient space utilization, and complex structures, this utility model provides a buoyancy drive device that integrates pitch adjustment function.

[0007] This utility model is implemented as follows: a buoyancy drive device with integrated pitch adjustment function includes a pressure-resistant housing and a sealing end cap installed on the pressure-resistant housing. The sealing end cap is characterized by: a buoyancy adjustment component installed on the sealing end cap, the buoyancy adjustment component forming a plunger member that axially extends and retracts outward from the sealing end cap; an adjustment drive device for driving the axially moving end of the buoyancy adjustment component is installed inside the pressure-resistant housing; and an axially moving counterweight slider is installed inside the pressure-resistant housing, the counterweight slider being driven by the adjustment drive device and moving in the opposite direction to the buoyancy adjustment component.

[0008] In the above technical solution, preferably, the adjustment drive device includes a drive motor, a lead screw and a lead screw nut, the output shaft of the drive motor is connected to the lead screw, the axis of the lead screw is parallel to the axis of the pressure-resistant housing, the lead screw nut is fitted to the lead screw and connected to the buoyancy adjustment component, the buoyancy adjustment component and the pressure-resistant housing form an axial linear sliding pair and are driven to move axially by the drive motor.

[0009] In the above technical solution, preferably, the counterweight slider is installed inside the pressure-resistant housing via an axial slide rail, and the counterweight slider is connected to the lead screw nut via pull lines on the front and rear sides and a fixed pulley. The lead screw nut pulls the counterweight slider in the opposite direction to the movement of the lead screw nut via pull lines.

[0010] In the above technical solution, preferably, the buoyancy adjustment component is a cylindrical plunger component, the plunger guide fixing frame is installed inside the pressure-resistant shell, the plunger guide fixing frame is a sleeve-shaped frame coaxial with the buoyancy adjustment component, the drive motor is installed at the rear of the plunger guide fixing frame, the lead screw is installed inside the plunger guide fixing frame, the lead screw nut is fixed to the rear end of the buoyancy adjustment component, the plunger guide fixing frame is provided with an axial sliding groove, and the buoyancy adjustment component is fixedly equipped with a guide slider that moves in the axial sliding groove.

[0011] In the above technical solution, preferably, the drive motor is mounted on the rear part of the plunger guide fixing bracket via a drive motor fixing bracket, and the drive motor fixing bracket is equipped with a coupling for connecting the lead screw and the output shaft of the drive motor.

[0012] In the above technical solution, preferably, a counterweight bracket is provided below the plunger guide fixing bracket, and the two ends of the counterweight bracket are respectively fixed to the sealing end cover and the drive motor fixing bracket, and the counterweight bracket forms the slide rail for installing the counterweight slider.

[0013] In the above technical solution, preferably, a displacement block is installed on the buoyancy adjustment component, and a displacement sensor for collecting the axial position information of the displacement block is installed on the plunger guide bracket.

[0014] Compared to existing technologies, this buoyancy drive device with integrated pitch adjustment function has a series of unique advantages and significant effects:

[0015] This device tightly integrates the pitch adjustment unit and the buoyancy adjustment unit. A piston mechanism drives the axial movement of the pitch adjustment unit, achieving synchronized adjustment of the underwater vehicle's buoyancy and center of gravity position. This integrated design not only effectively saves internal space but also reduces the complexity of requiring independent control by simplifying the structure. Compared to traditionally separate pitch and buoyancy adjustment units, the integrated design enhances their coordination and synchronization, improving adjustment efficiency and operational precision, ensuring the underwater vehicle can quickly respond to different buoyancy and attitude adjustment needs.

[0016] This device drives the underwater vehicle to rise and sink via the reciprocating motion of a plunger, completely eliminating the reliance on hydraulic oil as a medium in traditional hydraulic systems and eliminating the complex control and maintenance work required by hydraulic systems. Therefore, the system structure is simpler, and the overall design significantly reduces mechanical complexity. Furthermore, eliminating the use of hydraulic oil reduces the risk of environmental pollution and greatly lowers the system's maintenance and operating costs, thereby improving the economics of the underwater vehicle. The reduced maintenance costs also lessen the burden of daily operation and extend the equipment's service life.

[0017] This device utilizes a precise mechanical transmission system, enabling more flexible and accurate adjustments to buoyancy and center of gravity. Because buoyancy adjustment and attitude control are synchronized, the underwater vehicle can achieve more precise buoyancy and attitude control according to mission requirements, improving maneuverability and control precision. Especially in complex underwater environments, it can quickly adjust its attitude to cope with various uncertainties. This precise adjustment capability makes the device more reliable when performing complex tasks, such as deep-sea exploration and precision operations.

[0018] By integrating the pitch adjustment unit with the buoyancy adjustment unit, the space utilization of the device is significantly improved, avoiding redundant empty space and complex component layouts found in traditional designs. This compact design not only saves valuable internal space but also provides a lighter structure for the underwater vehicle, improving overall navigation efficiency and power performance. Compared to traditionally separate systems, the integrated design makes the system more compact, lighter in weight, and easier to operate, contributing to the stability and long-term operational capability of the underwater vehicle.

[0019] Compared to traditional hydraulic systems, this device completely eliminates the use of hydraulic oil. This not only effectively reduces system complexity and cost but also minimizes the risk of marine environmental pollution caused by hydraulic oil leaks. Since hydraulic oil leaks in underwater environments can have a significant impact on marine ecosystems, this design ensures environmental friendliness while enhancing the environmental performance of underwater vehicles, making it particularly suitable for long-term operation in deep-sea environments.

[0020] Because this device eliminates the complexity of hydraulic systems, its simple structure and reliable transmission reduce the high-frequency maintenance required in conventional hydraulic systems. This allows underwater vehicles to reduce failure rates and maintenance frequency during long-term use, improving operational efficiency and reliability. Especially in deep-sea or extreme environments, it reduces maintenance needs and costs, thereby enhancing the device's long-term operability.

[0021] Overall, this buoyancy propulsion device with integrated pitch adjustment function has significant technical advantages due to its simple, compact, efficient, and environmentally friendly design. It not only improves the operational accuracy and maneuverability of underwater vehicles but also effectively reduces maintenance costs, increases system stability and reliability, and meets the growing demand for high-performance underwater equipment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the external structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0024] Figure 3 This is a schematic diagram of the transmission connection structure between the lead screw and the drive motor in this utility model. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.

[0026] To address the problems of existing pitch adjustment units and buoyancy adjustment devices, which suffer from hydraulic system contamination risks, high maintenance costs, inefficient space utilization, and complex structures due to their independent operating structures, this utility model provides a buoyancy drive device that integrates pitch adjustment functionality. To further illustrate the structure of this utility model, a detailed description is provided below in conjunction with the accompanying drawings:

[0027] Please see Figure 1 and Figure 2 A buoyancy-driven device integrating pitch adjustment function includes a pressure hull 1 and a sealing end cap 2 installed on the pressure hull. The pressure hull is made of aluminum alloy and is sealed to the sealing end cap to protect internal components. The pressure hull of the underwater vehicle is one of its core structural components, made of aluminum alloy to withstand the high water pressure in the deep-sea environment, ensuring the safety of internal electronic equipment and mechanical components. The pressure hull is typically cylindrical to optimize structural strength and pressure resistance. The sealing end cap is a critical connection part of the hull, achieving watertight isolation between the inside and outside of the hull through efficient sealing designs (such as O-rings, conical seals, or trapezoidal groove seals), ensuring the reliability and long-term operational capability of the underwater vehicle.

[0028] A buoyancy adjustment component 3 is installed on the sealed end cap. This buoyancy adjustment component forms a plunger member that extends axially outward from the sealed end cap. In this embodiment, the buoyancy adjustment component is a cylindrical plunger member. The assembly of the buoyancy adjustment component and the sealed end cap can employ a sealing guide structure to achieve axial movement of the plunger member while ensuring watertightness. Specifically, a guide hole or mounting seat can be provided on the sealed end cap to accommodate the plunger member of the buoyancy adjustment component. The outer wall of the plunger has a high-precision machined surface, and a sealing component, such as an O-ring or lip seal, is provided between it and the guide hole to ensure that the plunger remains watertight during movement. The axial movement of the plunger changes the volume of the buoyancy adjustment component, and the volume difference formed with the water environment adjusts the buoyancy of the vehicle, achieving precise buoyancy or attitude control.

[0029] A plunger guide bracket 4 is installed inside the pressure shell. The plunger guide bracket is a sleeve-shaped frame coaxial with the buoyancy adjustment component. An adjustment drive device for driving the axial movement of the buoyancy adjustment component is installed inside the pressure shell. In this embodiment, the adjustment drive device includes a drive motor 5, a lead screw 6, and a lead screw nut 7. The output shaft of the drive motor is connected to the lead screw, the axis of the lead screw is parallel to the axis of the pressure shell, and the lead screw nut is fitted onto the lead screw and connected to the buoyancy adjustment component. The buoyancy adjustment component and the pressure shell form an axial linear sliding pair and are driven axially by the drive motor. The drive motor is installed at the rear of the plunger guide bracket, the lead screw is installed inside the plunger guide bracket, and the lead screw nut is fixed to the rear end of the buoyancy adjustment component. The plunger guide bracket has an axial groove, and the buoyancy adjustment component is fixed with a guide slider that moves within the axial groove. A displacement block is installed on the buoyancy adjustment component, and a displacement sensor for collecting the axial position information of the displacement block is installed on the plunger guide bracket. This structural design has several advantages. A plunger guide bracket provides coaxial support, ensuring the accuracy and stability of the axial movement of the buoyancy adjustment component. Simultaneously, axial grooves and guide sliders further constrain the direction of movement, reducing offset or swaying. The drive motor, combined with a lead screw and lead screw nut, forms a transmission mechanism. A three-dimensional lead screw is used, achieving high-precision and smooth drive, meeting the requirements of underwater buoyancy adjustment for response speed and control accuracy. Furthermore, the cooperation of the displacement block and displacement sensor enables real-time monitoring of the axial position of the buoyancy adjustment component, providing feedback for precise control.

[0030] The rear of the plunger guide bracket is fitted with a drive motor mounting bracket 8, which in turn mounts a coupling 9 for connecting the lead screw to the drive motor output shaft. For details on the lead screw mounting and its transmission connection with the drive motor, please refer to [link to relevant documentation]. Figure 3 The lead screw mounting sleeve 10 is fitted onto the end of the lead screw. The lead screw connecting shaft 11 is threaded to the end of the trapezoidal lead screw and is fixed between the rear support frame 13 and the front support frame 14 at the rear of the plunger guide bracket by a rolling bearing 12. The coupling connects the output shaft of the drive motor to the lead screw connecting shaft.

[0031] The inner end of the plunger assembly is a plunger end cap, which is connected to the lead screw nut via a flange face. The front end of the lead screw extends into the hollow plunger assembly. Two guide sliders 15 are symmetrically mounted on the plunger end cap and placed within the axial groove of the plunger guide fixing frame. The buoyancy adjustment unit employs a symmetrically arranged structure of two sets of rolling bearings and thrust bearings, enhancing the safety and reliability of the entire system. The rolling bearings provide stable support, while the thrust bearings prevent excessive accumulation of axial force, ensuring greater stability of the buoyancy adjustment unit during operation and reducing the likelihood of accidental damage or malfunction. The plunger, connected to the trapezoidal lead screw pair, utilizes the self-locking function of the trapezoidal lead screw to achieve precise axial positioning of the buoyancy unit, preventing axial movement and effectively ensuring the accuracy and stability of the device during operation. This self-locking function improves the overall stability of the device, avoiding instability caused by improper operation or external impacts.

[0032] A counterweight slider 16, which moves axially, is installed inside the pressure housing. The counterweight slider is driven by an adjustment drive device and moves in the opposite direction to the buoyancy adjustment component. The counterweight slider is mounted inside the pressure housing via an axial slide rail. It is connected to a lead screw nut via pull lines 17 on both sides and a fixed pulley 18. The lead screw nut pulls the counterweight slider in the opposite direction to the lead screw nut's movement via the pull lines. Specifically, a counterweight bracket 19 is installed below the plunger guide bracket. Both ends of the counterweight bracket are fixed to a sealing end cover and a drive motor bracket, respectively, forming a slide rail for mounting the counterweight slider. This structural design achieves coordinated adjustment of buoyancy and pitch through the counter-movement of the counterweight slider and the buoyancy adjustment component. The counterweight slider is mounted on the axial slide rail inside the pressure housing and is indirectly driven by the adjustment drive device via pull lines and fixed pulleys. Specifically, the lead screw nut moves the counterweight slider via the pull lines. When the lead screw nut moves forward, the pull lines cause the counterweight slider to move backward, forming a linkage mechanism of counter-movement between the buoyancy adjustment component and the counterweight slider. The counterweight bracket is fixed between the sealed end cap and the drive motor mounting bracket, providing slide rail support for the counterweight slider and ensuring its precise and stable movement. The linkage between the counterweight slider and the buoyancy adjustment components can adapt to the rapid dynamic adjustment needs of underwater vehicles, achieving coordinated optimization of buoyancy adjustment and center of gravity adjustment.

[0033] This design achieves efficient integration of buoyancy adjustment and attitude control through the linkage between the buoyancy adjustment component and the counterweight slider. When the buoyancy adjustment component extends forward to increase buoyancy, the counterweight slider moves backward, shifting the center of gravity and causing the device's nose to tilt upward, achieving a dome-like ascent. Conversely, when the buoyancy adjustment component retracts and the counterweight slider moves forward, the center of gravity shifts forward, causing the device's nose to tilt downward, achieving a dive. This linkage design not only precisely controls the device's buoyancy state but also synchronously adjusts the vehicle's attitude, improving underwater maneuverability and control precision. It is particularly suitable for delicate operations in complex waters or missions requiring high attitude control.

[0034] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. For example, the reverse linear transmission mechanism formed by the pull wire and the fixed pulley can be replaced with other transmission structures in existing mechanical transmissions. For instance, the pull wire and the fixed pulley can be replaced with another lead screw parallel to the aforementioned lead screw, with the two lead screws having opposite thread directions and being driven by a drive motor and gears. This lead screw and the mounting slider are transmitted through a lead screw nut. Alternatively, the pull wire and the fixed pulley can be replaced with a lever mechanism, etc.

Claims

1. A buoyancy drive device with integrated pitch adjustment function, comprising a pressure-resistant housing and a sealed end cap installed on the pressure-resistant housing, characterized in that: The sealing end cap is equipped with a buoyancy adjustment component, which forms a plunger member that extends and retracts axially outward from the sealing end cap. An adjustment drive device for driving the axially moving end of the buoyancy adjustment component is installed inside the pressure-resistant housing. An axially moving counterweight slider is installed inside the pressure-resistant housing. The counterweight slider is driven by the adjustment drive device and moves in the opposite direction to the buoyancy adjustment component.

2. The buoyancy drive device with integrated pitch adjustment function according to claim 1, characterized in that: The adjustment drive device includes a drive motor, a lead screw, and a lead screw nut. The output shaft of the drive motor is connected to the lead screw, the axis of the lead screw is parallel to the axis of the pressure-resistant housing, the lead screw nut is fitted onto the lead screw and connected to the buoyancy adjustment component, and the buoyancy adjustment component forms an axial linear sliding pair with the pressure-resistant housing and is driven to move axially by the drive motor.

3. The buoyancy drive device with integrated pitch adjustment function according to claim 2, characterized in that: The counterweight slider is installed inside the pressure-resistant housing via an axial slide rail. The counterweight slider is connected to the lead screw nut via pull lines on the front and rear sides and a fixed pulley. The lead screw nut pulls the counterweight slider in the opposite direction to the movement of the lead screw nut via pull lines.

4. The buoyancy drive device with integrated pitch adjustment function according to claim 3, characterized in that: The buoyancy adjustment component is a cylindrical plunger component. A plunger guide fixing frame is installed inside the pressure-resistant shell. The plunger guide fixing frame is a sleeve-shaped frame coaxial with the buoyancy adjustment component. The drive motor is installed at the rear of the plunger guide fixing frame. The lead screw is installed inside the plunger guide fixing frame. The lead screw nut is fixed to the rear end of the buoyancy adjustment component. The plunger guide fixing frame is provided with an axial sliding groove. The buoyancy adjustment component is fixed with a guide slider that moves in the axial sliding groove.

5. The buoyancy drive device with integrated pitch adjustment function according to claim 4, characterized in that: The rear part of the plunger guide bracket is equipped with the drive motor via a drive motor mounting bracket, which is equipped with a coupling for connecting the lead screw and the output shaft of the drive motor.

6. The buoyancy drive device with integrated pitch adjustment function according to claim 5, characterized in that: A counterweight bracket is provided below the plunger guide bracket. The two ends of the counterweight bracket are respectively fixed to the sealing end cap and the drive motor bracket. The counterweight bracket forms the slide rail for mounting the counterweight slider.

7. The buoyancy drive device with integrated pitch adjustment function according to claim 6, characterized in that: The buoyancy adjustment component is equipped with a displacement block, and the plunger guide bracket is equipped with a displacement sensor for collecting the axial position information of the displacement block.

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