Hydraulic system for non-retractable fin stabilizer and control method therefor

Abstract

The present application pertains to the technical field of ship hydraulic systems, and in particular relates to a hydraulic system for a non-retractable fin stabilizer and a control method therefor. Said hydraulic system comprises a locking mechanism, a fin tiller, a fin-rotating hydraulic cylinder set, and a control valve set, the control valve set being separately connected to the locking mechanism and hydraulic chambers of two fin-rotating hydraulic cylinders. When the control valve set applies to the two fin-rotating hydraulic cylinders driving forces which have the same magnitude and are in the same direction, torques of the two fin-rotating hydraulic cylinders acting upon the fin tiller are of the same magnitude and in opposite directions, such that the fin tiller is reset, and the control valve set controls a retractable pin of the locking mechanism to extend into a pinhole of the fin tiller so as to lock the fin tiller; and when the control valve set alternatingly applies to the two fin-rotating hydraulic cylinders forces in different directions, at this time the fin tiller carries out rotational motion. In the hydraulic system for a non-retractable fin stabilizer of the present application, the fin-rotating hydraulic cylinders can be controlled to drive the fin tiller to rotate, and the torques acting on the two ends of the fin tiller can also be precisely controlled to attain balance, thus ensuring that after being reset the fin tiller can lock the fin in place or unlock same by means of the retractable pin of the locking mechanism.

Description

A non-retractable fin stabilizer hydraulic system and control method thereof

[0001] Related applications

[0002] This application claims priority to Chinese invention patent application No. 202311067401.4 filed on August 23, 2023, entitled “A non-retractable fin stabilizer hydraulic system and control method”. Technical Field

[0003] The present invention belongs to the technical field of ship hydraulic systems, and in particular relates to a non-retractable fin stabilizer hydraulic system and a control method thereof. Background Art

[0004] When a non-retractable fin stabilizer is not in use, a locking cylinder drives a retractable pin into the pinhole of the fin shank, locking the device and preventing the fin from swinging unpredictably due to currents. The ability of the retractable pin, mounted on the locking cylinder, to smoothly insert into the pinhole of the fin shank is closely related to the accuracy of the fin shank pin reset control. Resetting the retractable pin to zero is typically done electro-hydraulically using a closed-loop control system involving a servo valve and angle sensor. This requires high precision from the servo valve, angle sensor, and reset control, and can sometimes prevent the pin from retracting properly due to accuracy issues.

[0005] Summary of the Invention

[0006] In response to the deficiencies in the prior art, the present invention provides a non-retractable fin stabilizer hydraulic system, which can not only control the fin-rotating cylinder to drive the fin handle to rotate, but also accurately control the torque acting on both ends of the fin handle to achieve a balance, ensuring that the fin handle can be locked or unlocked in place after zeroing through the telescopic pin of the locking mechanism, thereby avoiding the fin handle being unable to be locked or unlocked due to zeroing deviation.

[0007] In order to achieve the technical purpose of the present invention, the present invention will adopt the following technical solutions:

[0008] A non-retractable fin stabilizer hydraulic system includes a locking mechanism, a fin handle, a fin rotation cylinder assembly, and a control valve assembly. The fin rotation cylinder assembly includes two symmetrically arranged fin rotation cylinders, with the two ends of the fin handle respectively connected to the push rods of the two fin rotation cylinders. The fin handle has a central hole for fixing the fin shaft, and a pin hole is provided on the outer edge of the fin handle. The locking mechanism is provided on the outer side of the fin handle and includes a telescopic pin that matches the pin hole of the fin handle. The installation points of the two fin rotation cylinders and the fin handle are equidistant from the center of the central hole of the fin handle.

[0009] The control valve group is connected to the locking mechanism and the oil chambers of the two fin rotating cylinders respectively; when the control valve group applies thrust of the same magnitude and direction to the two fin rotating cylinders, the fin handle returns to zero; when the control valve group applies forces of different directions alternately to the two fin rotating cylinders, the fin handle rotates back and forth; when the fin handle returns to zero, the control valve group controls the telescopic pin of the locking mechanism to extend into the pin hole of the fin handle and lock the fin handle.

[0010] Furthermore, the two fin-turning cylinders are respectively a first fin-turning cylinder and a second fin-turning cylinder. The first fin-turning cylinder and the second fin-turning cylinder have the same structure. Each fin-turning cylinder includes a first piston, a first push rod, a second piston and a second push rod. The first piston and the second piston are spaced apart inside the fin-turning cylinder and move up and down in the fin-turning cylinder. One end of the first push rod is connected to the fin handle, and the other end is connected to the first piston. Both ends of the second push rod are respectively connected to the first piston and the second piston.

[0011] The first piston, the first push rod, the second piston and the second push rod divide the fin-turning cylinder into three oil chambers; the cavity from the end face of the first piston where the first push rod is installed to the top of the fin-turning cylinder is the first oil chamber, the cavity between the first piston and the second piston is the second oil chamber, and the cavity between the second piston and the bottom of the fin-turning cylinder is the third oil chamber;

[0012] The three oil chambers of each fin-turning cylinder are connected to the control valve group, among which one oil chamber of the first fin-turning cylinder and two oil chambers of the second fin-turning cylinder are connected to the control valve group through pipelines in parallel, the two oil chambers of the first fin-turning cylinder and one oil chamber of the second fin-turning cylinder are connected to the control valve group through pipelines in parallel, and the three oil chambers of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder are connected to the control valve group through pipelines in parallel.

[0013] Furthermore, it also includes an oil tank and a cooler assembly; the oil tank and the cooler assembly are connected to the control valve group, and are used to deliver hydraulic oil to the control valve group to control the operation of the fin cylinder group and to collect the hydraulic oil in the fin cylinder group that is controlled to flow back by the control valve group.

[0014] Furthermore, the control valve group includes a hydraulically controlled one-way valve group, an electro-hydraulic servo valve, a high-pressure filter, an accumulator, an electromagnetic reversing valve group and an electromagnetic overflow valve; the hydraulically controlled one-way valve group includes a first hydraulically controlled one-way valve, a second hydraulically controlled one-way valve, a third hydraulically controlled one-way valve, a fourth hydraulically controlled one-way valve and a fifth hydraulically controlled one-way valve; the electromagnetic reversing valve group includes a first electromagnetic reversing valve and a second electromagnetic reversing valve;

[0015] The P port of the first solenoid reversing valve is connected to the oil outlet end of the oil tank and the cooler assembly. An accumulator, a second solenoid reversing valve and an electromagnetic overflow valve are arranged in parallel on the connecting pipeline between the first solenoid reversing valve, the oil tank and the cooler assembly; the A port of the first solenoid reversing valve is connected to the A port of the first hydraulically controlled one-way valve, the B port of the first solenoid reversing valve is connected to the high-pressure filter, the P port of the first solenoid reversing valve is connected to the P port of the second solenoid reversing valve, the T port of the first solenoid reversing valve is connected to the T port of the second solenoid reversing valve and then connected to the oil return end of the oil tank and the cooler assembly through a pipeline, and the B port of the second solenoid reversing valve is connected to the oil chamber of the locking mechanism;

[0016] The high-pressure filter is connected to the P port of the electro-hydraulic servo valve, the T port of the electro-hydraulic servo valve is connected to the oil return end of the oil tank and cooler assembly, the A port of the electro-hydraulic servo valve is connected to the second hydraulically controlled one-way valve, and the B port of the electro-hydraulic servo valve is connected to the fifth hydraulically controlled one-way valve;

[0017] On the connecting pipeline from the high-pressure filter to the electro-hydraulic servo valve, two parallel pipelines are connected to the first hydraulically controlled one-way valve and the fifth hydraulically controlled one-way valve respectively, and the second hydraulically controlled one-way valve is also connected to the fifth hydraulically controlled one-way valve, so that high-pressure oil can flow between the first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve, and the fifth hydraulically controlled one-way valve and open the first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve, and the fifth hydraulically controlled one-way valve;

[0018] The second hydraulically controlled one-way valve and the fifth hydraulically controlled one-way valve have their B ports connected, and the third and fourth hydraulically controlled one-way valves are installed in series on the connecting pipeline. The B ports of the third and fourth hydraulically controlled one-way valves are connected to the B ports of the second and fifth hydraulically controlled one-way valves, respectively. Two parallel pipelines are provided between the third and fourth hydraulically controlled one-way valves, one of which is connected to the pipeline from the first solenoid reversing valve to the first hydraulically controlled one-way valve, and the other is connected to the oil return end of the oil tank and cooler assembly.

[0019] Two branches are set in parallel on the B port of the first hydraulically controlled one-way valve, which are respectively connected to the three oil chambers of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder; two branches are set in parallel on the B port of the second hydraulically controlled one-way valve, which are respectively connected to one oil chamber of the first fin-turning cylinder and two oil chambers of the second fin-turning cylinder; two branches are set in parallel on the B port of the fifth hydraulically controlled one-way valve, which are respectively connected to the two oil chambers of the first fin-turning cylinder and one oil chamber of the second fin-turning cylinder.

[0020] Furthermore, the torque M applied by the two fin turning cylinders to the fin handle w Determined by the following formula:

[0021] Where:

[0022] M w ─Torque applied by the fin turning cylinder on the fin handle, Nm;

[0023] F Lx ─The force exerted by the fin turning cylinder on the fin handle, N;

[0024] L x ─The force arm of the fin turning cylinder acting on the fin handle, m.

[0025] Furthermore, when the fin handle is reset, the force F exerted by the two fin rotating cylinders on both ends of the fin handle is Lx The magnitude direction and lever arm L x are equal, and the sum of the torques applied by the two fin-rotating cylinders to the left and right sides of the fin handle is 0;

[0026] When the fin handle rotates, the two fin rotating cylinders exert a force F on both ends of the fin handle. Lx The two fin cylinders apply a torque M to the fin handle in opposite directions. w is the sum of the torques on the left and right sides of the fin handle.

[0027] Furthermore, the oil tank and cooler assembly includes a motor, a plunger pump, a cooler, an oil return filter and an oil tank; the oil tank includes an oil outlet and an oil return port, the oil outlet of the oil tank is connected to the plunger pump through a pipeline, the plunger pump is connected through a motor drive, and the plunger pump is also connected to the P port of the first electromagnetic reversing valve; the oil return port of the oil tank is connected to the return oil filter, the return oil filter is connected to the cooler, and the cooler is connected to the return oil pipeline of the control valve group.

[0028] A control method for a non-retractable fin stabilizer hydraulic system is provided, utilizing the non-retractable fin stabilizer hydraulic system described above and operating the system in the following manner:

[0029] Step 1: Unlocking action; when the fin handle is not unlocked, the electromagnetic overflow valve, the first electromagnetic reversing valve, and the second electromagnetic reversing valve are all in a de-energized state. The B port and T port of the second electromagnetic reversing valve are connected, and the hydraulic oil in the locking mechanism flows back to the oil tank. The motor is started to drive the plunger pump, which drives the hydraulic oil to charge the accumulator and build up system pressure. After the pressure is built up, the system is reset to zero and the locking mechanism is unlocked.

[0030] Step 2: Fin turning action; after the locking mechanism is unlocked, the first solenoid reversing valve is in the energized state, the P port and the B port of the first solenoid reversing valve are connected, and the A port and the T port of the first solenoid reversing valve are connected. Since two pipelines are connected in parallel on the connecting pipeline from the high-pressure filter to the electro-hydraulic servo valve, which are respectively connected to the first hydraulic-controlled check valve and the fifth hydraulic-controlled check valve, the second hydraulic-controlled check valve is connected to the fifth hydraulic-controlled check valve at the same time. The high-pressure oil flows from the P port and the B port of the first solenoid reversing valve through the high-pressure filter into the electro-hydraulic servo valve and flows to the first hydraulic-controlled check valve respectively. and the fifth hydraulically controlled one-way valve, and then flows to the second hydraulically controlled one-way valve. The high-pressure oil opens the first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve and the fifth hydraulically controlled one-way valve at the same time. The hydraulic oil in the three oil chambers of the first fin-turning cylinder and the second fin-turning cylinder passes through the B port and A port of the first hydraulically controlled one-way valve, and flows through the A port and T port of the first solenoid reversing valve and then flows back to the oil tank. The electro-hydraulic servo valve receives the clockwise or counterclockwise fin-turning command of the electronic control equipment, and then controls the first fin-turning cylinder and the second fin-turning cylinder to push and pull the fin handle alternately, so that the fin handle drives the fin shaft to rotate.

[0031] Step 3: Locking action; when the equipment is shut down, the locking action is performed, the system issues a shutdown command, and the electro-hydraulic servo valve's fin rotation command is released. The passage from port B to port A of the second hydraulically controlled one-way valve and the fifth hydraulically controlled one-way valve is closed to form a hydraulic lock, closing the first and second oil chambers of the first fin rotation cylinder and the first and second oil chambers of the second fin rotation cylinder, reducing the swing of the fin handle; the first solenoid reversing valve and the second solenoid reversing valve are powered off, the P port of the first solenoid reversing valve is connected to the A port, and the high-pressure oil of the first solenoid reversing valve flows from the P port to the A port, and is also connected to the third hydraulically controlled one-way valve and the fourth hydraulically controlled one-way valve, opening the first and second oil chambers of the first fin rotation cylinder and the first and second oil chambers of the second fin rotation cylinder, and the high-pressure oil passes through the first solenoid The reversing valve enters the three oil chambers of the first fin-turning cylinder and the second fin-turning cylinder. The effective working area of ​​the three oil chamber pistons of the first fin-turning cylinder and the second fin-turning cylinder is the same, so that the fin handle is in a horizontal state, and the pin hole of the fin handle is aligned with the telescopic pin of the locking mechanism; the motor stops rotating, and the electromagnetic overflow valve unloads the system pressure after being energized. The passage from port B to port A in the first hydraulically controlled one-way valve is closed, and the three oil chambers of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder maintain the preset pressure, and the fin handle remains in a horizontal state; the B port and the T port of the second electromagnetic reversing valve are connected, and the oil in the locking mechanism flows back to the oil tank through the B port and the T port of the second electromagnetic reversing valve. Under the action of the internal spring force, the locking mechanism inserts the telescopic pin into the pin hole of the fin handle to lock the fin handle.

[0032] Furthermore, step 1 specifically includes:

[0033] Step 1.1: The P port and A port of the first solenoid reversing valve are connected. High-pressure oil enters the A port of the first solenoid reversing valve from the plunger pump and then splits into two branches. One branch enters the A and B channels of the first hydraulically controlled check valve, and from the B port of the first hydraulically controlled check valve, enters the three oil chambers of the first and second fin-turning cylinders. The other branch enters the connecting pipeline of the third and fourth hydraulically controlled check valves, opening the third and fourth hydraulically controlled check valves.

[0034] Step 1.2: After the high-pressure oil opens the third and fourth hydraulically controlled one-way valves, the hydraulic oil in the first oil chamber of the first fin-turning cylinder and the second oil chamber of the second fin-turning cylinder flows back to the oil tank through the third hydraulically controlled one-way valve. The hydraulic oil in the second oil chamber of the first fin-turning cylinder and the first oil chamber of the second fin-turning cylinder flows back to the oil tank through the fourth hydraulically controlled one-way valve.

[0035] Step 1.3: Based on steps 1.1 and 1.2, the first and second oil chambers of the first and second fin rotating cylinders are free of hydraulic oil, and the three oil chambers of the first and second fin rotating cylinders are filled with hydraulic oil of the same pressure. The forces exerted on the fin handle by the first and second fin rotating cylinders are in the same direction and equal in magnitude. At this time, the fin handle is in a horizontal state, and the telescopic pin of the locking mechanism is located in the pin hole of the fin handle;

[0036] Step 1.4: Since the second solenoid reversing valve is connected in parallel to the pipeline from the plunger pump to the first solenoid reversing valve, the second solenoid reversing valve is energized. The P port and B port of the second solenoid reversing valve are the same. The high-pressure oil enters the B port from the P port of the second solenoid reversing valve and flows to the locking mechanism, squeezing the spring in the locking mechanism and pulling the telescopic pin away from the pin hole of the fin handle. At this time, the locking mechanism completes the unlocking action. After unlocking, the second solenoid reversing valve keeps the P port and B port connected.

[0037] Furthermore, step 2 specifically includes:

[0038] Step 2.1: When the electro-hydraulic servo valve receives the clockwise fin rotation instruction from the electronic control device, the P port and B port of the electro-hydraulic servo valve are connected, and the A port and T port are connected. The high-pressure oil passes through the P port and B port of the electro-hydraulic servo valve and enters the fifth hydraulic-controlled one-way valve, and enters the two oil chambers of the first fin-turning cylinder and the one oil chamber of the second fin-turning cylinder through the fifth hydraulic-controlled one-way valve. The hydraulic oil in the one oil chamber of the first fin-turning cylinder and the two oil chambers of the second fin-turning cylinder enter the A port and T port of the electro-hydraulic servo valve through the second hydraulic-controlled one-way valve and then flows back to the oil tank. At this time, the high-pressure oil in the two oil chambers of the first fin-turning cylinder pushes the first piston and the first push rod, thereby generating thrust on one end of the fin handle. The high-pressure oil in the two oil chambers of the second fin-turning cylinder compresses the first piston and drives the first push rod to move into the oil chamber, thereby generating pulling force on the other end of the fin handle.

[0039] Step 2.2: When the electro-hydraulic servo valve receives the counterclockwise fin rotation instruction from the electronic control device, the P port and A port of the electro-hydraulic servo valve are connected, and the B port and T port are connected. The high-pressure oil passes through the P port and A port of the electro-hydraulic servo valve and enters the second hydraulically controlled one-way valve, and enters the first oil chamber of the first fin rotation cylinder and the second oil chamber of the second fin rotation cylinder through the second hydraulically controlled one-way valve. The hydraulic oil in the two oil chambers of the first fin rotation cylinder and the one oil chamber of the second fin rotation cylinder enters the B port and T port of the electro-hydraulic servo valve through the fifth hydraulically controlled one-way valve and then flows back to the oil tank. At this time, the high-pressure oil in the one oil chamber of the first fin rotation cylinder compresses the first piston and drives the first push rod to move into the oil chamber, thereby generating a pulling force on the other end of the fin handle. The high-pressure oil in the two oil chambers of the second fin rotation cylinder pushes the first piston and the first push rod, thereby generating a thrust on one end of the fin handle.

[0040] It should be noted that the P port, A port, and B port mentioned in the present invention are merely the numbers of the openings of the electro-hydraulic servo valve, and those skilled in the art may adopt other numbering methods.

[0041] According to the above technical solution, compared with the prior art, the present invention has the following advantages:

[0042] First, the present invention utilizes the lever principle. When the fins are reset to zero, hydraulic oil of the same pressure is applied to the bottom of the two fin-turning cylinders at the same time through the control valve group. The hydraulic oil enters the fin-turning cylinders and pushes the pistons in the fin-turning cylinders, so that the effective working areas of the pistons of the two fin-turning cylinders are the same. The pistons of the fin-turning cylinders drive the push rods of the fin-turning cylinders to apply the same thrust to the two ends of the fin handle, so that the fin handle is in a reset state; when the fins are working, the control valve group controls the fin-turning cylinder on one side to apply thrust to the fin handle, and the control valve group controls the fin-turning cylinder on the other side to apply tension to the fin handle, and the control valve group controls the two fin-turning cylinders alternately to realize the rotational movement of the fin handle; the torque acting on the two ends of the fin handle can be accurately controlled to achieve balance, so that the fins are accurately reset to zero, and ensure that the fin handle after reset can be locked or unlocked in place by the telescopic pin of the locking mechanism, thereby avoiding the fin handle being unable to be locked or unlocked due to reset deviation;

[0043] Second, the fin-turning cylinder of the present invention has three oil chambers and multiple working modes. The three oil chambers are respectively one oil chamber, two oil chambers and three oil chambers. When the fin is reset to zero, the one oil chamber and the two oil chambers of the two fin-turning cylinders are drained synchronously, and the effective working area of ​​the pistons of the three oil chambers is the same. When the fin reciprocates, the fin-turning cylinder on one side of the fin handle works based on the mode of oil intake from the one oil chamber and oil drainage from the two and three oil chambers, and the fin-turning cylinder on the other side of the fin handle works based on the mode of oil intake from the two oil chambers and oil drainage from the one and three oil chambers. The two working modes of the two fin-turning cylinders are alternated with each other to accurately realize the reciprocating rotation of the fin.

[0044] Third, the control valve assembly of the present invention has an accumulator, which can be charged with hydraulic oil with a preset pressure when the non-retractable fin stabilizer hydraulic system is under pressure;

[0045] Fourth, the oil tank and cooler assembly of the present invention can deliver hydraulic oil to the control valve group and collect the hydraulic oil in the fin cylinder group that is controlled by the control valve group to flow back. The oil tank and cooler assembly includes a cooler and a return oil filter. The cooler and the return oil filter are installed on the return oil pipeline of the control valve group. The cooler can cool the hydraulic oil after work to ensure that the non-retractable fin stabilizer hydraulic system is at a suitable working temperature and the system pressure is guaranteed. The return oil filter can filter out wear impurities in the fin cylinder, control valve group and pipeline to ensure smooth operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of a non-retractable fin stabilizer hydraulic system according to embodiment 1 of the present invention;

[0047] FIG2 is a schematic structural diagram of a non-retractable fin stabilizer hydraulic system according to embodiment 1 of the present invention;

[0048] Figure 3 is a schematic diagram of the force on the fin handle when the fin is reset to zero;

[0049] FIG4 is a schematic diagram of the forces acting on the fin handle when the fin rotates;

[0050] FIG5 is a second schematic diagram of the forces acting on the fin handle when the fin rotates;

[0051] FIG6 is a schematic diagram of a non-retractable fin stabilizer hydraulic system according to a second embodiment of the present invention;

[0052] FIG7 is a schematic structural diagram of a first fin rotating cylinder according to embodiment 2 of the present invention;

[0053] FIG8 is a schematic diagram of a control valve group according to a second embodiment of the present invention.

[0054] Among them, 1-locking mechanism; 2-fin handle; 3-fin cylinder group; 30-first fin cylinder; 300-first fin cylinder oil chamber 1; 301-first fin cylinder oil chamber 2; 302-first fin cylinder oil chamber 3; 31-second fin cylinder; 4-control valve group; 40-hydraulic one-way valve group; 400-first hydraulic one-way valve; 401-second hydraulic one-way valve; 402-third hydraulic one-way valve; 40 3-Fourth hydraulically controlled one-way valve; 404-Fifth hydraulically controlled one-way valve; 41-Electro-hydraulic servo valve; 42-High-pressure filter; 43-Accumulator; 44-Solenoid reversing valve group; 440-First solenoid reversing valve; 441-Second solenoid reversing valve; 45-Solenoid overflow valve; 5-Oil tank and cooler assembly; 50-Motor; 51-Plunger pump; 52-Cooler; 53-Return oil filter; 54-Oil tank; A-Fin. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the technical solution of the present application, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0056] The terms "up", "down", "left", "right", "front", and "back" in this application are based on the positional relationships shown in the accompanying drawings. The corresponding positional relationships may vary depending on the drawings, and should not be construed as limiting the scope of protection.

[0057] In this application, the terms "installed," "connected," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, integral connection, mechanical connection, electrical connection, or mutual communication. They can also be directly connected or indirectly connected through an intermediate medium. They can also refer to internal communication between two components or interaction between two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] Example 1:

[0059] Referring to Figures 1-2 of the specification, a non-retractable fin stabilizer hydraulic system includes a locking mechanism 1, a fin shank 2, a finning cylinder assembly 3, a control valve assembly 4, and an oil tank and cooler assembly 5. The finning cylinder assembly 3 includes two symmetrically arranged finning cylinders, one end of which has a push rod and the other end has an oil inlet for the control valve assembly. The fin shank 2 has a center hole with mounting holes symmetrically arranged at both ends. The fin shaft of fin A is inserted into the center hole of the fin shank 2 for fixation. The outer edge of the fin shank 2 is provided with a pin hole, the central axis of which is perpendicular to the line connecting the center points of the mounting holes at both ends of the fin shank 2 and intersecting the axis of the fin shaft. The two fin-turning cylinders and the locking mechanism 1 are located on either side of the fin handle 2. The two fin-turning cylinders have push rods at one end connected to the mounting holes at both ends of the fin handle 2. The two fin-turning cylinders are used to alternately push and pull the two ends of the fin handle 2, so that the fin handle 2 drives the fin axis of fin A to rotate along the axial direction. The two fin-turning cylinders have oil inlet ports at one end connected to the control valve group 4, which is used to input hydraulic oil to the two fin-turning cylinders. The locking mechanism 1 includes a telescopic pin. The telescopic pin of the locking mechanism 1 matches the pin hole of the fin handle 2. When fin A is reset to zero, the telescopic pin of the locking mechanism 1 extends into the pin hole of the fin handle 2 to secure the fin handle 2. The locking mechanism 1 is also connected to the control valve group 4, which controls the extension or retraction of the telescopic pin of the locking mechanism 1 to achieve locking or unlocking of fin A. The oil tank and cooler assembly 5 is connected to the control valve group 4 and is used to deliver hydraulic oil to the control valve group 4 and collect the hydraulic oil in the fin cylinder group 3 that is controlled to flow back by the control valve group 4.

[0060] The two fin-turning cylinders and the fin handle 2 form a lever structure, the fin handle 2 is the lever of the lever structure, and the center hole of the fin handle 2 is the fulcrum of the lever structure. The installation points of the two fin-turning cylinders and the fin handle 2 are both the resistance points of the lever structure and the thrust points of the lever structure. The length from the installation points of the two fin-turning cylinders and the fin handle 2 to the center of the center hole of the fin handle 2 is the lever arm of the lever structure, and the lengths of the two lever arms of the lever structure are the same.

[0061] In this embodiment, the torque M applied by the two fin turning cylinders 3 to the fin handle 2 is w Determined by the following formula:

[0062] Where:

[0063] M w ─Torque applied by the fin turning cylinder on the fin handle, Nm;

[0064] F Lx ─The force exerted by the fin turning cylinder on the fin handle, N;

[0065] L x ─The force arm of the fin turning cylinder acting on the fin handle, m.

[0066] Taking Figure 3 as an example, when fin A is reset, the force F exerted by the two fin rotating cylinders 3 on the fin handle 2 is L3 and F L4 The magnitude and direction are the same, the force arms L3 and L4 are equal, and the torques exerted by the cylinder on the fin handle 2 are equal and opposite in direction, achieving the comprehensive torque M w The torque M applied by the two fin rotating cylinders to the fin handle 2 is zero, so that the line connecting the center of the circle of the pin hole on the outer edge of the fin handle 2 is horizontal. The telescopic pin of the locking mechanism 1 smoothly extends into the pin hole of the fin handle 2 to achieve locking. w Determined by the following formula:

[0067] Taking FIG4 as an example, when the fin A rotates clockwise along the axis, one fin rotating cylinder 3 releases pressure on one end of the fin handle 2, and the other fin rotating cylinder 3 applies pressure to the other end of the fin handle 2, so that the force F exerted by the two fin rotating cylinders 3 on the fin handle 2 is L5 and F L6 The torque M applied by the two fin turning cylinders to the left and right sides of the fin handle 2 is in opposite directions. w Determined by the following formula:

[0068] Taking Figure 5 as an example, when the fin A rotates counterclockwise along the axis, the force exerted by the two fin-turning cylinders 3 on the fin handle 2 is opposite to that when the fin A rotates clockwise along the axis. One fin-turning cylinder 3 releases pressure on one end of the fin handle 2, and the other fin-turning cylinder 3 applies pressure on the other end of the fin handle 2, so that the force F exerted by the two fin-turning cylinders 3 on the fin handle 2 is L7 and FL8 The torque M applied by the two fin turning cylinders to the left and right sides of the fin handle 2 is in opposite directions. w Determined by the following formula:

[0069] This embodiment utilizes the lever principle. When fin A is reset, hydraulic oil of equal pressure is simultaneously applied to the bottom of the two fin-turning cylinders through the control valve group 4. The hydraulic oil enters the fin-turning cylinders and pushes the pistons in the fin-turning cylinders, making the effective working areas of the pistons of the two fin-turning cylinders equal. The pistons of the fin-turning cylinders drive the push rods of the fin-turning cylinders to apply equal thrust to the two ends of the fin handle 2, so that the fin handle 2 is reset to zero. When fin A is working, the control valve group 4 controls the fin-turning cylinder on one side to apply thrust to the fin handle 2, and the control valve group 4 controls the fin-turning cylinder on the other side to apply tension to the fin handle 2. By alternately controlling the two fin-turning cylinders by the control valve group 4, the rotation of the fin handle 2 is achieved. The structural method of this embodiment can accurately control the torque acting on the two ends of the fin handle 2 to achieve balance, so that fin A is accurately reset to zero. It ensures that the fin handle 2 can be locked or unlocked in place with fin A through the telescopic pin of the locking mechanism 1 after the reset, avoiding the fin handle 2 from being unable to be locked or unlocked due to reset deviation.

[0070] In a preferred embodiment, referring to Figures 6-8 of the present specification, the finning cylinder assembly 3 of this embodiment includes a first finning cylinder 30 and a second finning cylinder 31. The first and second finning cylinders 30, 31 have identical structures. Taking the first finning cylinder 30 as an example, it has three oil chambers (sealed): a first finning cylinder first oil chamber 300, a first finning cylinder second oil chamber 301, and a first finning cylinder third oil chamber 302.

[0071] The first fin rotating cylinder oil chamber 300 is provided with a first piston and a first push rod, one end of the first push rod is fixed on the first piston, and the other end extends out of the outside of the first fin rotating cylinder oil chamber 300 and is connected to the mounting hole on one side of the fin handle 2. The inside of the third oil chamber 302 of the first fin rotating cylinder is provided with a second piston, and the inside of the second oil chamber 301 of the first fin rotating cylinder and the third oil chamber 302 of the first fin rotating cylinder are provided with a second push rod. The second push rod is located between the first piston and the second piston, and one end is connected to the second piston.

[0072] The second fin rotating cylinder 31 includes one oil chamber, two oil chambers and three oil chambers, and has the same structure as the first fin rotating cylinder one oil chamber 300, the first fin rotating cylinder two oil chambers 301 and the first fin rotating cylinder three oil chambers 302 respectively.

[0073] The control valve group 4 includes a hydraulically controlled one-way valve group 40 , an electro-hydraulic servo valve 41 , a high-pressure filter 42 , an accumulator 43 , an electromagnetic reversing valve group 44 and an electromagnetic overflow valve 45 .

[0074] The hydraulically controlled one-way valve assembly 40 of this embodiment includes a first hydraulically controlled one-way valve 400, a second hydraulically controlled one-way valve 401, a third hydraulically controlled one-way valve 402, a fourth hydraulically controlled one-way valve 403, and a fifth hydraulically controlled one-way valve 404. The electromagnetic reversing valve assembly 44 includes a first electromagnetic reversing valve 440 and a second electromagnetic reversing valve 441.

[0075] The outlet of the oil tank and cooler assembly 5 is connected to the P port of the first solenoid reversing valve 440 through a one-way valve, which is used to deliver hydraulic oil to the control valve group 4. A pressure gauge, an accumulator 43, a second solenoid reversing valve 441, and an electromagnetic relief valve 45 are arranged in parallel on the pipeline between the one-way valve and the P port of the first solenoid reversing valve 440. The accumulator 43 is used to charge hydraulic oil with a preset pressure when the non-retractable fin stabilizer hydraulic system is pressurized. The A port of the first solenoid reversing valve 440 is connected to the A port of the first hydraulically controlled one-way valve 400, the B port of the first solenoid reversing valve 440 is connected to the high-pressure filter 42, the P port of the first solenoid reversing valve 440 is connected to the P port of the second solenoid reversing valve 441, the T port of the first solenoid reversing valve 440 is connected to the T port of the second solenoid reversing valve 441, and then connected to the oil return end of the oil tank and cooler assembly 5 through a hydraulic pipe. The B port of the second solenoid reversing valve 441 is connected to the oil chamber of the locking mechanism 1.

[0076] The high-pressure filter 42 is also connected to the P port of the electro-hydraulic servo valve 41, the T port of the electro-hydraulic servo valve 41 is connected to the oil return end of the oil tank and cooler assembly 5, the A port of the electro-hydraulic servo valve 41 is connected in parallel to the pressure gauge and the second hydraulically controlled one-way valve 401, the B port of the electro-hydraulic servo valve 41 is connected in parallel to the pressure gauge and the fifth hydraulically controlled one-way valve 404, and the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404 are connected through a hydraulic pipe.

[0077] On the connecting pipeline from the high-pressure filter 42 to the electro-hydraulic servo valve 41, two parallel pipelines are respectively connected to the first hydraulically controlled one-way valve 400 and the fifth hydraulically controlled one-way valve 404, and the second hydraulically controlled one-way valve 401 is also connected to the fifth hydraulically controlled one-way valve 404, so that high-pressure oil can flow between the first hydraulically controlled one-way valve 400, the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404 and open the first hydraulically controlled one-way valve 400, the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404.

[0078] The B ports of the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404 are connected, and the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403 are installed in series on the connecting pipeline. The B ports of the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403 are respectively connected to the B ports of the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404. The third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403 are connected through two parallel connecting pipelines, one of which is connected to the pipeline from the first solenoid reversing valve 440 to the first hydraulically controlled one-way valve 400, and the other connecting pipeline is connected to the return oil end of the oil tank and the cooler assembly 5 through the hydraulic pipe.

[0079] Port B of the first hydraulically controlled one-way valve 400 is connected to the three oil chambers 302 of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder 31 through two branches in parallel via hydraulic pipes, respectively, for applying the same pressure to the three oil chambers 302 of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder 31 at the same time.

[0080] The B port of the second hydraulically controlled one-way valve 401 is connected to the first oil chamber 300 of the first fin cylinder and the two oil chambers of the second fin cylinder 31 through two branches in parallel through hydraulic pipes, and is used for the hydraulic oil to act on the first piston of the first fin cylinder 30 with one end of the rod chamber and the first piston of the second fin cylinder 31 with one end of the rodless chamber, so that the hydraulic oil of the first fin cylinder 30 pushes the first piston to move toward the third oil chamber 302 of the first fin cylinder, thereby driving the first push rod of the first fin cylinder 30 to pull the fixed end with the fin handle 2, and at the same time, the hydraulic oil in the second fin cylinder 31 fills the space between the first piston and the second piston of the second fin cylinder 31 and pushes the first piston to move away from the second piston, thereby driving the first push rod of the second fin cylinder 31 to push the fixed end with the fin handle 2, so that the fin handle 2 rotates counterclockwise along its center axis.

[0081] The B port of the fifth hydraulically controlled one-way valve 404 is connected to the second oil chamber 301 of the first fin cylinder 30 and one oil chamber of the second fin cylinder 31 through two branches in parallel through hydraulic pipes, so that the hydraulic oil acts on one end of the rodless chamber of the first piston of the first fin cylinder 30 and one end of the rod chamber of the first piston of the second fin cylinder 31, so that the hydraulic oil of the first fin cylinder 30 fills the space between its first piston and the second piston and pushes the first piston to move away from the second piston, thereby driving the first push rod to push the fixed end of the fin handle 2, and at the same time, the hydraulic oil pushes the first piston of the second fin cylinder 31 to move toward the second piston, thereby driving the first push rod of the second fin cylinder 31 to pull the fixed end of the fin handle 2, so that the fin handle 2 rotates clockwise along its center axis.

[0082] It should be noted that those skilled in the art should understand that each chamber of the fin turning cylinder can be controlled by a corresponding control valve, or can be controlled by the control valve group 4 in the embodiment of the present invention. The structure of the fin turning cylinder group 3 and the piping arrangement framework of the control valve group 4 in this embodiment are merely illustrative. The structure of the fin turning cylinder group 3 and the piping arrangement framework of the control valve group 4 can be adjusted according to actual conditions. Using the lever principle of this embodiment, the fin turning cylinder group 3 and the control valve group 4 can achieve precise zero-reset control of the fin handle 2.

[0083] By adopting this structure of the present embodiment, when the fin is reset to zero, the effective working area of ​​the pistons in the three oil chambers 302 of the first fin rotating cylinder and the three oil chambers of the second fin rotating cylinder 31 are the same, and the fin handle 2 is in a horizontal posture, which facilitates the smooth insertion of the telescopic pin of the locking cylinder 1 into the pin hole of the fin handle 2.

[0084] By adopting the structure of the present embodiment, when the non-retractable fin stabilizer hydraulic system is unloading oil, the three oil chambers of the first fin rotating cylinder 300 and the second fin rotating cylinder 31 can be maintained at a predetermined pressure through the first hydraulically controlled one-way valve 400, so that the horizontal posture of the fin handle 2 is stabilized.

[0085] By adopting this structure of the present embodiment, the first hydraulically controlled one-way valve 400, the third hydraulically controlled one-way valve 401 and the fourth hydraulically controlled one-way valve 403 are used in conjunction. When the high-pressure oil passes through the first hydraulically controlled one-way valve 400 to the three oil chambers 302 of the first fin cylinder and the three oil chambers of the second fin cylinder 31, the third hydraulically controlled one-way valve 401 and the fourth hydraulically controlled one-way valve 403 are opened by the high-pressure oil circuit of the first hydraulically controlled one-way valve 400, and the second piston of the first fin cylinder 31 and the second piston of the second fin cylinder 31 can smoothly push the first piston of the first fin cylinder 31 and the first piston of the second fin cylinder 31, so that the first oil chamber 300 of the first fin cylinder, the second oil chamber 301 of the first fin cylinder, the first oil chamber 31 of the second fin cylinder 31 and the second oil chambers of the second fin cylinder 31 can return oil smoothly.

[0086] By adopting the structure of the present embodiment, when working, the hydraulic oil of the P port of the electro-hydraulic servo valve 41 is connected with the control oil circuit of the first hydraulically controlled one-way valve 400, the control oil circuit of the second hydraulically controlled one-way valve 401 and the control oil circuit of the fifth hydraulically controlled one-way valve 404, so that the first hydraulically controlled one-way valve 400, the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404 are always in the open state, keeping the three oil chambers of the first fin cylinder 300 and the second fin cylinder 31 always discharging the oil into the oil tank and the cooler assembly 5 through the first hydraulically controlled one-way valve 400 and the first electromagnetic reversing valve 440, ensuring the normal operation of the first fin cylinder 31 and the second fin cylinder 31.

[0087] Furthermore, the oil tank and cooler assembly 5 of this embodiment includes a motor 50 , a plunger pump 51 , a cooler 52 , an oil return filter 53 and an oil tank 54 .

[0088] The oil tank 54 includes an oil outlet and an oil return port. The oil outlet of the oil tank 54 is connected to the plunger pump 51 via a pipeline. The plunger pump 51 is driven by the motor 50 and is also connected to the check valve of the control valve assembly 4. The oil return port of the oil tank 54 is connected to the return oil filter 53 via a pipeline. The return oil filter 53 is connected to the cooler 52 via a pipeline. The cooler 52 is connected to the T port of the electromagnetic overflow valve 45, the T port of the electromagnetic reversing valve assembly 44, the T port of the electro-hydraulic servo valve, and the connecting pipelines between the A ports of the third hydraulically controlled check valve 402 and the fourth hydraulically controlled check valve 403.

[0089] In this embodiment, the A-port connecting pipeline of the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403 and the hydraulic pipe connected to the cooler 52 are the main return pipeline, and the T-port of the electromagnetic overflow valve 45, the T-port of the electromagnetic reversing valve group 44 and the T-port of the electro-hydraulic servo valve are respectively connected to the main return pipeline through pipelines, thereby straightening the pipeline direction and making the pipeline structure of the overall control valve group 4 neat.

[0090] In conjunction with the above embodiments, the working method of the present invention is described as follows:

[0091] Step 1: Unlocking action; when the fin handle 2 is not unlocked, the electromagnetic overflow valve 45, the first electromagnetic reversing valve 440 and the second electromagnetic reversing valve 441 are all in the power-off state, the B port and the T port of the second electromagnetic reversing valve 441 are connected, the hydraulic oil in the locking mechanism 1 flows back to the oil tank 54, the starting motor 50 drives the plunger pump 51, and the plunger pump 51 drives the hydraulic oil to fill the accumulator 43 and build up the system pressure. After the pressure is built up, the system is reset to zero and the locking mechanism 1 is unlocked.

[0092] Step 1.1: The P port of the first solenoid reversing valve 440 is connected to the A port. After the high-pressure oil enters the A port of the first solenoid reversing valve 440 from the plunger pump 51, it is divided into two branches. One branch enters the A and B channels of the first hydraulically controlled one-way valve 400, and enters the three oil chambers of the first fin cylinder and the second fin cylinder from the B port of the first hydraulically controlled one-way valve 400. The other branch enters the connecting pipeline of the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403, and opens the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403.

[0093] Step 1.2: After the high-pressure oil opens the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403, the hydraulic oil in one oil chamber of the first fin-turning cylinder and two oil chambers of the second fin-turning cylinder flows back to the oil tank 54 through the third hydraulically controlled one-way valve 402, and the hydraulic oil in the two oil chambers of the first fin-turning cylinder and one oil chamber of the second fin-turning cylinder flows back to the oil tank 54 through the fourth hydraulically controlled one-way valve 403.

[0094] Step 1.3: Based on steps 1.1 and 1.2, there is no hydraulic oil in the first and second oil chambers of the first fin-turning cylinder and the second fin-turning cylinder, and there is hydraulic oil with the same pressure in the three oil chambers of the first fin-turning cylinder and the second fin-turning cylinder. The forces exerted by the first fin-turning cylinder and the second fin-turning cylinder on the fin handle 2 are of the same direction and equal magnitude. At this time, the fin handle 2 is in a horizontal state, and the telescopic pin of the locking mechanism 1 is located in the pin hole of the fin handle 2.

[0095] Step 1.4: Since the second solenoid reversing valve 441 is connected in parallel to the pipeline from the plunger pump 51 to the first solenoid reversing valve 440, the second solenoid reversing valve 441 is energized, and the P port of the second solenoid reversing valve 441 is connected to the B port. The high-pressure oil enters the B port from the P port of the second solenoid reversing valve 441 and flows to the locking mechanism 1, squeezing the spring in the locking mechanism 1, pulling the telescopic pin away from the pin hole of the fin handle 2. At this time, the locking mechanism 1 completes the unlocking action. After unlocking, the second solenoid reversing valve 441 keeps the P port and the B port connected.

[0096] Step 2: fin turning action; after the locking mechanism 1 is unlocked, the first electromagnetic reversing valve 440 is energized, the P port and the B port of the first electromagnetic reversing valve 440 are connected, and the A port and the T port of the first electromagnetic reversing valve 440 are connected. Since two pipelines are connected in parallel on the connecting pipeline from the high-pressure filter 42 to the electro-hydraulic servo valve 41, which are respectively connected to the first hydraulically controlled one-way valve 400 and the fifth hydraulically controlled one-way valve 404, the second hydraulically controlled one-way valve 401 is connected to the fifth hydraulically controlled one-way valve 404 at the same time, the high-pressure oil flows from the P port and the B port of the first electromagnetic reversing valve 440 through the high-pressure filter 42 into the electro-hydraulic servo valve 41 and flows to the first hydraulically controlled one-way valve 400 and the fifth hydraulically controlled one-way valve 404 respectively. The high-pressure oil flows through the first hydraulically controlled one-way valve 400 and the fifth hydraulically controlled one-way valve 404, and then flows to the second hydraulically controlled one-way valve 401. The high-pressure oil opens the first hydraulically controlled one-way valve 400, the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404 at the same time. The hydraulic oil in the three oil chambers of the first fin-turning cylinder and the second fin-turning cylinder passes through the B port and the A port of the first hydraulically controlled one-way valve 400, and flows through the A port and the T port of the first electromagnetic reversing valve 440 and then flows back to the oil tank 54. The electro-hydraulic servo valve 41 receives the clockwise or counterclockwise fin-turning instruction of the electronic control equipment, and then controls the first fin-turning cylinder and the second fin-turning cylinder to push and pull the fin handle 2 alternately, so that the fin handle 2 drives the fin shaft to rotate.

[0097] Step 2.1: When the electro-hydraulic servo valve 41 receives the clockwise fin rotation instruction from the electronic control equipment, the P port and B port of the electro-hydraulic servo valve 41 are connected, and the A port and T port are connected. The high-pressure oil passes through the P port and B port of the electro-hydraulic servo valve 41 and enters the fifth hydraulically controlled one-way valve 404, and enters the two oil chambers of the first fin rotation cylinder and the one oil chamber of the second fin rotation cylinder through the fifth hydraulically controlled one-way valve 404. The hydraulic oil in the one oil chamber of the first fin rotation cylinder and the two oil chambers of the second fin rotation cylinder enters the A port and T port of the electro-hydraulic servo valve 41 through the second hydraulically controlled one-way valve 401 and then flows back to the oil tank 54. At this time, the high-pressure oil in the two oil chambers of the first fin rotation cylinder pushes the first piston and the first push rod, thereby generating thrust on one end of the fin handle 2. The high-pressure oil in the two oil chambers of the second fin rotation cylinder compresses the first piston and drives the first push rod to move into the oil chamber, thereby generating pulling force on the other end of the fin handle 2.

[0098] Step 2.2: When the electro-hydraulic servo valve 41 receives the counterclockwise fin rotation instruction from the electronic control device, the P port and the A port of the electro-hydraulic servo valve 41 are connected, and the B port and the T port are connected. The high-pressure oil passes through the P port and the A port of the electro-hydraulic servo valve 41 and enters the second hydraulically controlled one-way valve 401, and enters the first oil chamber of the first fin rotation cylinder and the second oil chamber of the second fin rotation cylinder through the second hydraulically controlled one-way valve 401. The hydraulic oil in the two oil chambers of the first fin rotation cylinder and the one oil chamber of the second fin rotation cylinder enters the B port and the T port of the electro-hydraulic servo valve 41 through the fifth hydraulically controlled one-way valve 404 and then flows back to the oil tank 54. At this time, the high-pressure oil in the one oil chamber of the first fin rotation cylinder compresses the first piston and drives the first push rod to move into the oil chamber, thereby generating a pulling force on the other end of the fin handle 2. The high-pressure oil in the two oil chambers of the second fin rotation cylinder pushes the first piston and the first push rod, thereby generating a thrust on one end of the fin handle 2.

[0099] Step 3: Locking action; the locking action is performed when the equipment is shut down, the system issues a shutdown command, the fin turning command of the electro-hydraulic servo valve 41 is released, and the passage from port B to port A of the second hydraulically controlled one-way valve 401 and the fifth hydraulically controlled one-way valve 404 is closed, forming a hydraulic lock, closing the first oil chamber and the second oil chamber of the first fin turning cylinder, the first oil chamber and the second oil chamber of the second fin turning cylinder 31, reducing the swing of the fin handle 2; the first solenoid reversing valve 440 and the second solenoid reversing valve 441 are powered off, the P port of the first solenoid reversing valve 440 is connected to the A port, and the high-pressure oil of the first solenoid reversing valve 440 flows from the P port to the A port, and the high-pressure oil passes through the first solenoid reversing valve 440 into the three oil chambers of the first fin turning cylinder and the second fin turning cylinder, and is also connected to the third hydraulically controlled one-way valve 402 and the fourth hydraulically controlled one-way valve 403, opening the first fin turning cylinder The first and second oil chambers of the oil cylinder, the first and second oil chambers of the second fin rotating cylinder 31, and the effective working area of ​​the three oil chamber pistons of the first fin rotating cylinder and the second fin rotating cylinder are the same, so that the fin handle 2 is in a horizontal state, and the pin hole of the fin handle 2 is aligned with the telescopic pin of the locking mechanism 1; the motor 50 stops rotating, and the electromagnetic overflow valve 45 unloads the system pressure after being energized, and the passage from port B to port A in the first hydraulically controlled one-way valve 400 is closed. The three oil chambers of the first fin rotating cylinder and the three oil chambers of the second fin rotating cylinder maintain the preset pressure, and the fin handle 2 remains in a horizontal state; the B port and the T port of the second electromagnetic reversing valve 441 are connected, and the oil in the locking mechanism 1 flows back to the oil tank 54 through the B port and the T port of the second electromagnetic reversing valve 441, and the locking mechanism 1 inserts the telescopic pin into the pin hole of the fin handle 2 under the action of the internal spring force to lock the fin handle 2.

[0100] Although the principles of the present invention have been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely illustrative of the implementation of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple substitutions based on the technical solutions of the present invention fall within the scope of protection of the present invention.

Claims

1. A non-retractable fin stabilizer hydraulic system, comprising a locking mechanism (1), a fin handle (2), a fin turning cylinder group (3) and a control valve group (4); the fin turning cylinder group (3) comprises two symmetrically arranged fin turning cylinders, and the two ends of the fin handle (2) are respectively connected to the push rods of the two fin turning cylinders; the fin handle (2) has a central hole for fixing the fin shaft, and the outer edge of the fin handle (2) is provided with a pin hole, and the locking mechanism (1) is arranged on the outer side of the fin handle (2), and the locking mechanism (1) comprises a telescopic pin, and the telescopic pin matches the pin hole of the fin handle (2); characterized in that, The distances between the mounting points of the two fin-turning oil cylinders and the fin handle (2) and the center of the central hole of the fin handle (2) are equal; The control valve group (4) is respectively connected to the locking mechanism (1) and the oil chambers of the two fin rotating cylinders; when the control valve group (4) applies thrusts of the same magnitude and direction to the two fin rotating cylinders, the fin handle (2) returns to zero; when the control valve group (4) applies forces of different directions to the two fin rotating cylinders alternately, the fin handle (2) reciprocates; when the fin handle (2) returns to zero, the control valve group (4) controls the telescopic pin of the locking mechanism (1) to extend into the pin hole of the fin handle (2) and locks the fin handle (2).

2. The non-retractable fin stabilizer hydraulic system according to claim 1, characterized in that: The two fin-turning cylinders are respectively a first fin-turning cylinder and a second fin-turning cylinder. The first fin-turning cylinder and the second fin-turning cylinder have the same structure. Each fin-turning cylinder comprises a first piston, a first push rod, a second piston and a second push rod. The first piston and the second piston are arranged at intervals inside the fin-turning cylinder and move up and down inside the fin-turning cylinder. One end of the first push rod is connected to the fin handle (2), and the other end is connected to the first piston. Both ends of the second push rod are respectively connected to the first piston and the second piston. The first piston, the first push rod, the second piston and the second push rod divide the fin-turning cylinder into three oil chambers; the cavity from the end face of the first piston where the first push rod is installed to the top of the fin-turning cylinder is the first oil chamber, the cavity between the first piston and the second piston is the second oil chamber, and the cavity between the second piston and the bottom of the fin-turning cylinder is the third oil chamber; The three oil chambers of each fin-turning oil cylinder are connected to the control valve group (4), wherein one oil chamber of the first fin-turning oil cylinder and two oil chambers of the second fin-turning oil cylinder are connected to the control valve group (4) through pipelines in parallel, two oil chambers of the first fin-turning oil cylinder and one oil chamber of the second fin-turning oil cylinder are connected to the control valve group (4) through pipelines in parallel, and three oil chambers of the first fin-turning oil cylinder and three oil chambers of the second fin-turning oil cylinder are connected to the control valve group (4) through pipelines in parallel.

3. The non-retractable fin stabilizer hydraulic system according to claim 1, characterized in that: It also comprises an oil tank and a cooler assembly (5); the oil tank and the cooler assembly (5) is connected to the control valve assembly (4) and is used to deliver hydraulic oil to the control valve assembly (4) to control the operation of the fin-turning cylinder assembly (3) and to collect hydraulic oil in the fin-turning cylinder assembly (3) that is controlled to flow back by the control valve assembly (4).

4. The non-retractable fin stabilizer hydraulic system according to claim 3, characterized in that: The control valve group (4) comprises a hydraulically controlled one-way valve group (40), an electro-hydraulic servo valve (41), a high-pressure filter (42), an accumulator (43), an electromagnetic reversing valve group (44) and an electromagnetic overflow valve (45); the hydraulically controlled one-way valve group (40) comprises a first hydraulically controlled one-way valve (400), a second hydraulically controlled one-way valve (401), a third hydraulically controlled one-way valve (402), a fourth hydraulically controlled one-way valve (403) and a fifth hydraulically controlled one-way valve (404); the electromagnetic reversing valve group (44) comprises a first electromagnetic reversing valve (440) and a second electromagnetic reversing valve (441); The P port of the first electromagnetic reversing valve (440) is connected to the oil outlet end of the oil tank and cooler assembly (5), and an accumulator (43), a second electromagnetic reversing valve (441) and an electric A magnetic overflow valve (45); the A port of the first electromagnetic reversing valve (440) is connected to the A port of the first hydraulically controlled one-way valve (400); the B port of the first electromagnetic reversing valve (440) is connected to the high-pressure filter (42); the P port of the first electromagnetic reversing valve (440) is connected to the P port of the second electromagnetic reversing valve (441); the T port of the first electromagnetic reversing valve (440) is connected to the T port of the second electromagnetic reversing valve (441) and then connected to the oil return end of the oil tank and cooler assembly (5) through a pipeline; the B port of the second electromagnetic reversing valve (441) is connected to the oil chamber of the locking mechanism (1); The high-pressure filter (42) is simultaneously connected to the P port of the electro-hydraulic servo valve (41), the T port of the electro-hydraulic servo valve (41) is connected to the oil return end of the oil tank and cooler assembly (5), the A port of the electro-hydraulic servo valve (41) is connected to the second hydraulically controlled one-way valve (401), and the B port of the electro-hydraulic servo valve (41) is connected to the fifth hydraulically controlled one-way valve (404); On the connecting pipeline from the high-pressure filter (42) to the electro-hydraulic servo valve (41), two parallel pipelines are respectively connected to the first hydraulically controlled one-way valve (400) and the fifth hydraulically controlled one-way valve (404), and the second hydraulically controlled one-way valve (401) is simultaneously connected to the fifth hydraulically controlled one-way valve (404), so that high-pressure oil can flow between the first hydraulically controlled one-way valve (400), the second hydraulically controlled one-way valve (401) and the fifth hydraulically controlled one-way valve (404) and open the first hydraulically controlled one-way valve (400), the second hydraulically controlled one-way valve (401) and the fifth hydraulically controlled one-way valve (404); The B ports of the second hydraulically controlled one-way valve (401) and the fifth hydraulically controlled one-way valve (404) are connected, and the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403) are installed in series on the connecting pipeline. The B ports of the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403) are respectively connected to the B ports of the second hydraulically controlled one-way valve (401) and the fifth hydraulically controlled one-way valve (404). There are two parallel pipelines between the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403), one of which is connected to the pipeline from the first electromagnetic reversing valve (440) to the first hydraulically controlled one-way valve (400), and the other pipeline is connected to the oil return end of the oil tank and the cooler assembly (5); The B port of the first hydraulically controlled one-way valve (400) is provided with two branches in parallel, which are respectively connected to the three oil chambers of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder; the B port of the second hydraulically controlled one-way valve (401) is provided with two branches in parallel, which are respectively connected to one oil chamber of the first fin-turning cylinder and two oil chambers of the second fin-turning cylinder; the B port of the fifth hydraulically controlled one-way valve (404) is provided with two branches in parallel, which are respectively connected to the two oil chambers of the first fin-turning cylinder and one oil chamber of the second fin-turning cylinder.

5. The non-retractable fin stabilizer hydraulic system according to claim 1, characterized in that: The torque M applied by the two fin turning cylinders to the fin handle (2) w Determined by the following formula: Where: M w ─Torque applied by the fin turning cylinder on the fin handle, Nm; F Lx ─The force of the fin turning cylinder on the fin handle, N; L x ─The force arm of the fin turning cylinder acting on the fin handle, m.

6. The non-retractable fin stabilizer hydraulic system according to claim 5, characterized in that: When the fin handle (2) is reset to zero, the force F exerted by the two fin rotating cylinders on both ends of the fin handle (2) is Lx The magnitude direction and force arm L x The torque M applied by the two fin turning cylinders to the left and right sides of the fin handle (2) is equal. w The sum is 0; When the fin handle (2) rotates, the two fin rotating cylinders exert a force F on both ends of the fin handle (2). Lx The two fin turning cylinders apply a torque M to the fin handle (2) in the opposite direction. w It is the sum of the torques on the left and right sides of the fin handle (2).

7. The non-retractable fin stabilizer hydraulic system according to claim 3, characterized in that: The oil tank and cooler assembly (5) comprises a motor (50), a plunger pump (51), a cooler (52), an oil return filter (53) and an oil tank (54); the oil tank (54) comprises an oil outlet and an oil return port, the oil outlet of the oil tank (54) is connected to the plunger pump (51) via a pipeline, the plunger pump (51) is driven and connected via the motor (50), and the plunger pump (51) is simultaneously connected to the P port of the first electromagnetic reversing valve (440); the oil return port of the oil tank (54) is connected to the oil return filter (53), the oil return filter (53) is connected to the cooler (52), and the cooler (52) is connected to the oil return pipeline of the control valve group (4).

8. A control method for a non-retractable fin stabilizer hydraulic system, characterized in that: The non-retractable fin stabilizer hydraulic system according to claims 1 to 7 is operated in the following manner: Step 1: unlocking action; when the fin handle (2) is not unlocked, the electromagnetic overflow valve (45), the first electromagnetic reversing valve (440) and the second electromagnetic reversing valve (441) are all in a power-off state, the B port and the T port of the second electromagnetic reversing valve (441) are connected, the hydraulic oil in the locking mechanism (1) flows back to the oil tank (54), the starter motor (50) drives the plunger pump (51), and the plunger pump (51) drives the hydraulic oil to fill the accumulator (43) and build up system pressure. After the pressure is built up, the system is reset to zero and the locking mechanism (1) is unlocked; Step 2: fin rotation action; after the locking mechanism (1) is unlocked, the first electromagnetic reversing valve (440) is in an energized state, the P port and the B port of the first electromagnetic reversing valve (440) are in communication, and the A port and the T port of the first electromagnetic reversing valve (440) are in communication. Since two pipelines are connected in parallel on the connecting pipeline from the high-pressure filter (42) to the electro-hydraulic servo valve (41), which are respectively connected to the first hydraulically controlled check valve (400) and the fifth hydraulically controlled check valve (404), the second hydraulically controlled check valve (401) is simultaneously connected to the fifth hydraulically controlled check valve (404), and the high-pressure oil flows from the P port and the B port of the first electromagnetic reversing valve (440) through the high-pressure filter (42) into the electro-hydraulic servo valve (41) and flows to the first hydraulically controlled check valve (400) and the fifth hydraulically controlled check valve (404). The first hydraulically controlled one-way valve (400) and the fifth hydraulically controlled one-way valve (404) are connected to the hydraulically controlled one-way valve (400), and then flow to the second hydraulically controlled one-way valve (401). The high-pressure oil opens the first hydraulically controlled one-way valve (400), the second hydraulically controlled one-way valve (401) and the fifth hydraulically controlled one-way valve (404) at the same time. The hydraulic oil in the three oil chambers of the first fin-turning oil cylinder and the second fin-turning oil cylinder passes through the B port and the A port of the first hydraulically controlled one-way valve (400), and flows through the A port and the T port of the first electromagnetic reversing valve (440) and then flows back to the oil tank (54). The electro-hydraulic servo valve (41) receives the clockwise or counterclockwise fin-turning instruction of the electronic control device, and then controls the first fin-turning oil cylinder and the second fin-turning oil cylinder to alternately push and pull the fin handle (2), so that the fin handle (2) drives the fin shaft to rotate. Step 3: locking action; when the equipment is shut down, the locking action is performed, the system issues a shutdown command, the fin rotation command of the electro-hydraulic servo valve (41) is released, and the passage from the B port to the A port of the second hydraulically controlled one-way valve (401) and the fifth hydraulically controlled one-way valve (404) is closed, forming a hydraulic lock, closing the first oil chamber and the second oil chamber of the first fin rotation cylinder, and the first oil chamber and the second oil chamber of the second fin rotation cylinder, thereby reducing the swing of the fin handle (2); the first electromagnetic reversing valve (440) and the second electromagnetic reversing valve (441) are powered off, and the P of the first electromagnetic reversing valve (440) is The first solenoid reversing valve (440) of high-pressure oil flows from the P port to the A port, and the high-pressure oil passes through the first solenoid reversing valve (440) and enters the three oil chambers of the first fin-turning oil cylinder and the second fin-turning oil cylinder, and is also connected with the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403), opening the first oil chamber and the second oil chamber of the first fin-turning oil cylinder, and the first oil chamber and the second oil chamber of the second fin-turning oil cylinder. The effective action area of ​​the three oil chamber pistons of the first fin-turning oil cylinder and the second fin-turning oil cylinder is the same, so that the fin handle (2) is in a horizontal state, and the pin hole of the fin handle (2) is aligned with the telescopic pin of the locking mechanism (1). The motor (50) stops rotating, and the electromagnetic relief valve (45) is energized to unload the system pressure. The passage from port B to port A in the first hydraulically controlled one-way valve (400) is closed, and the three oil chambers of the first fin-turning cylinder and the three oil chambers of the second fin-turning cylinder maintain a preset pressure, and the fin handle (2) remains in a horizontal state. The port B of the second electromagnetic reversing valve (441) is connected to the port T, and the oil in the locking mechanism (1) flows back to the oil tank (54) through the port B and the port T of the second electromagnetic reversing valve (441). Under the action of the internal spring force, the locking mechanism (1) inserts the telescopic pin into the pin hole of the fin handle (2), thereby locking the fin handle (2).

9. The control method of the non-retractable fin stabilizer hydraulic system according to claim 8, characterized in that: Step 1 specifically includes: Step 1.1: The P port of the first electromagnetic reversing valve (440) is connected to the A port. After the high-pressure oil enters the A port of the first electromagnetic reversing valve (440) from the plunger pump (51), it is divided into two branches. One branch enters the A and B channels of the first hydraulically controlled one-way valve (400), and enters the three oil chambers of the first fin-turning cylinder and the second fin-turning cylinder from the B port of the first hydraulically controlled one-way valve (400). The other branch enters the connecting pipeline of the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403), and opens the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403). Step 1.2: After the high-pressure oil opens the third hydraulically controlled one-way valve (402) and the fourth hydraulically controlled one-way valve (403), the hydraulic oil in one oil chamber of the first fin-turning oil cylinder and two oil chambers of the second fin-turning oil cylinder flows back to the oil tank (54) through the third hydraulically controlled one-way valve (402), and the hydraulic oil in two oil chambers of the first fin-turning oil cylinder and one oil chamber of the second fin-turning oil cylinder flows back to the oil tank (54) through the fourth hydraulically controlled one-way valve (403); Step 1.3: On the basis of step 1.1 and step 1.2, there is no hydraulic oil in the first and second oil chambers of the first fin-turning oil cylinder and the second fin-turning oil cylinder, and there is hydraulic oil with the same pressure in the third oil chambers of the first fin-turning oil cylinder and the second fin-turning oil cylinder. The forces exerted by the first fin-turning oil cylinder and the second fin-turning oil cylinder on the fin handle (2) are in the same direction and equal in magnitude. At this time, the fin handle (2) is in a horizontal state, and the telescopic pin of the locking mechanism (1) is located in the pin hole of the fin handle (2); Step 1.4: Since the second electromagnetic reversing valve (441) is connected in parallel to the pipeline from the plunger pump (51) to the first electromagnetic reversing valve (440), the second electromagnetic reversing valve (441) is energized, and the P port of the second electromagnetic reversing valve (441) is the same as the B port. The high-pressure oil enters the B port from the P port of the second electromagnetic reversing valve (441) and flows to the locking mechanism (1), and squeezes the spring in the locking mechanism (1), pulling the telescopic pin away from the pin hole of the fin handle (2). At this time, the locking mechanism (1) completes the unlocking action. After unlocking, the second electromagnetic reversing valve (441) keeps the P port connected to the B port.

10. The control method of the non-retractable fin stabilizer hydraulic system according to claim 8, characterized in that: Step 2 specifically includes: Step 2.1: When the electro-hydraulic servo valve (41) receives the clockwise fin rotation instruction from the electronic control device, the P port and the B port of the electro-hydraulic servo valve (41) are connected, and the A port and the T port are connected. The high-pressure oil passes through the P port and the B port of the electro-hydraulic servo valve (41) and enters the fifth hydraulic control The one-way valve (404) is opened, and the fifth hydraulically controlled one-way valve (404) enters the second oil chamber of the first fin-turning oil cylinder and the first oil chamber of the second fin-turning oil cylinder. The hydraulic oil in the first oil chamber of the first fin-turning oil cylinder and the second oil chamber of the second fin-turning oil cylinder enters the A port and the T port of the electro-hydraulic servo valve (41) through the second hydraulically controlled one-way valve (401) and then flows back to the oil tank (54). At this time, the high-pressure oil in the two oil chambers of the first fin-turning oil cylinder pushes the first piston and the first push rod, thereby generating a thrust on one end of the fin handle (2). The high-pressure oil in the two oil chambers of the second fin-turning oil cylinder compresses the first piston and drives the first push rod to move into the oil chamber, thereby generating a pulling force on the other end of the fin handle (2). Step 2.2: When the electro-hydraulic servo valve (41) receives the counterclockwise fin rotation instruction from the electronic control device, the P port and the A port of the electro-hydraulic servo valve (41) are connected, and the B port and the T port are connected. The high-pressure oil passes through the P port and the A port of the electro-hydraulic servo valve (41) and enters the second hydraulically controlled one-way valve (401), and enters the first oil chamber of the first fin rotation cylinder and the second oil chamber of the second fin rotation cylinder through the second hydraulically controlled one-way valve (401). The hydraulic oil in the two oil chambers of the first fin rotation cylinder and the first oil chamber of the second fin rotation cylinder passes through the fifth hydraulically controlled one-way valve (404) and enters the B port and the T port of the electro-hydraulic servo valve (41) and then flows back to the oil tank (54). At this time, the high-pressure oil in the one oil chamber of the first fin rotation cylinder compresses the first piston and drives the first push rod to move into the oil chamber, thereby generating a pulling force on the other end of the fin handle (2). The high-pressure oil in the two oil chambers of the second fin rotation cylinder pushes the first piston and the first push rod, thereby generating a thrust on one end of the fin handle (2).

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