Self-draining oil buoyancy regulating device for underwater robots

A self-draining oil buoyancy regulating device for underwater robots, comprising:

• an accumulator (1), a lower hatch cover (2), a lower valve block (3), a hydraulic-operated check valve (4), an upper valve block (5), a pump outlet pressure sensor (19), an accumulator pressure sensor (20), a depth-pressure sensor (21), a hydraulic pump motor assembly (22), a directional valve (23), a relief valve (24), a control circuit board (25), a hatch shell (30), an upper hatch cover (31), a bladder (32), a water-proof connector (33) and a host computer, wherein:
• the accumulator (1), the lower hatch cover (2), the hatch shell (30), the upper hatch cover (31) and the bladder (32) are fixedly connected in sequence;
• the water-proof connector (33) is fixed on the upper hatch cover (31);
• the depth-pressure sensor (21) is mounted on the lower hatch cover (2) to measure an underwater pressure;
• the upper valve block (5), the hydraulic-operated check valve (4) and the lower valve block (3) are connected through piping in sequence;
• the lower valve block (3) is fixed on the lower hatch cover (2);
• the pump outlet pressure sensor (19) and the accumulator pressure sensor (20) are mounted on the lower valve block (3);
• the directional valve (23) and the upper valve block (5) are connected through piping;
• the hydraulic pump motor assembly (22) and the relief valve (24) are both connected with the lower valve block (3) through piping;
• the depth-pressure sensor (21), the pump outlet pressure sensor (19) and the accumulator pressure sensor (20) are all connected with the control circuit board (25);
• the control circuit board (25) is connected with an external power supply and the host computer respectively by the water-proof connector (33).