An anti-lock safety valve for deep-sea hydraulic manipulator

Abstract

The present invention belongs to the field of hydraulic transmission control and underwater robot operation, specifically, an anti-locking safety valve for deep-sea hydraulic manipulator, with two stepped valve holes on the valve body, the sealing valve core and the control piston respectively cooperate with the clearance of two stepped valve holes with different diameters, and can slide axially in the stepped valve holes; a pressure oil chamber is formed between the sealing valve core and one end plug, a spring chamber is formed between the control piston and the other end plug, and an oil return chamber is formed between the control piston and the sealing valve core; the valve body is respectively provided with oil ports P, oil ports T, oil ports A, and oil ports B, the oil port P is communicated with the spring chamber and the pressure oil chamber, and the oil ports A, B, and T are respectively communicated with the oil return chamber; the valve seat at the step valve hole diameter change can cooperate with the sealing valve core to realize the cut-off of the oil ports A, B, and T. The present invention has the advantages of good stability, small leakage, compact structure, etc.

Description

Technical Field

[0001] The invention belongs to the field of hydraulic transmission control and underwater robot operation, and specifically is an anti-locking safety valve for a deep-sea hydraulic manipulator. Background Art

[0002] In hydraulic transmission control technology, the safety valve ensures system safety by limiting the maximum pressure of the hydraulic system. The safety valve port is normally closed. When the pressure exceeds the safety valve setting value, the valve port opens and the oil overflows. However, in some applications, the safety valve port needs to remain normally open and close when the pressure rises.

[0003] For example, in deep-sea hydraulic manipulators, the clamps can be used as end effectors to complete tasks such as sample grabbing and anchoring. When the hydraulic manipulator clamps are anchoring or clamping heavy objects, the clamp hydraulic cylinder is in the process of maintaining pressure. If the hydraulic system fails suddenly, the pressure of the main pressure oil circuit will become zero; and because the hydraulic lock is in the closed state, the clamp hydraulic cylinder still maintains pressure, and the clamp cannot release the heavy object, which will lead to the serious consequence that the underwater robot cannot be recovered. Therefore, a valve is needed that is normally open when there is no external control pressure, and the valve port is closed when there is external control pressure oil.

[0004] After investigation, it was found that there are hydraulic valves on the market that can achieve the above functions, such as the PSxx-35 series pressurized closing sequence valves of HydraForce Corporation in the United States. However, in this series of valves, even the smallest specification PS08-35 is still too large (103.2mm long) and is not suitable for deep-sea hydraulic manipulator systems. Summary of the invention

[0005] In order to solve the problem that the underwater robot cannot be recovered due to the inability of the clamp to release the heavy object due to the sudden failure of the hydraulic system, the purpose of the present invention is to provide an anti-locking safety valve for a deep-sea hydraulic manipulator.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] The present invention comprises a valve body, a sealing valve core, a control piston, a plug, a spring, an internal pressure oil channel and an internal return oil channel, wherein the valve body is provided with two stepped valve holes, both ends of each of the stepped valve holes are sealed with plugs, each of the stepped valve holes contains a sealing valve core and a control piston, the sealing valve core and the control piston abut against each other and can slide along the axial direction of the stepped valve hole, and there is always a sealing portion between the sealing valve core and the control piston and the inner wall of the stepped valve hole; a pressure oil chamber is formed between the sealing valve core and the plug at one end, an oil return chamber is formed between the sealing valve core and the control piston, and a spring chamber is formed between the control piston and the plug at the other end, a spring is contained in the spring chamber, and the two ends of the spring are respectively connected to the control piston and the other end The valve body is provided with an oil port P, an oil port A, an oil port B and an oil port T, respectively. The oil port P is connected with the spring chambers in the two step valve holes and the pressure oil chambers in the two step valve holes through the internal pressure oil channel opened in the valve body, respectively. The oil port A and the oil port B are connected with the return oil chamber in one step valve hole, respectively. The oil port T is connected with the return oil chamber in the two step valve holes through the internal return oil channel opened in the valve body. A valve seat is formed at the reduced diameter of each step valve hole. The sealing valve core has a sealing surface for sealing with the valve seat. The connection between the oil port A and the oil port B and the return oil chamber is located on one side of the respective valve seats, and the connection between the internal return oil channel and the return oil chamber is located on the other side of the valve seat.

[0008] Wherein: the sealing valve core and the control piston are in clearance fit with the stepped valve hole, and sealing rings are installed on the sealing valve core and the control piston, and the sealing rings abut against the inner wall of the stepped valve hole to form the sealing part.

[0009] The sealing surface on the sealing valve core is a sealing cone surface.

[0010] The pressure oil action area of ​​the sealing valve core in the pressure oil chamber is larger than the pressure oil action area of ​​the control piston in the spring chamber.

[0011] The internal pressure oil channel includes an internal pressure oil channel A, an internal pressure oil channel B and an internal pressure oil channel C. The internal pressure oil channel A is respectively connected to the spring chambers in the two step valve holes, the internal pressure oil channel C is respectively connected to the pressure oil chambers in the two step valve holes, the internal pressure oil channel C is connected to the internal pressure oil channel A through the internal pressure oil channel B, and the oil port P is connected to the internal pressure oil channel A.

[0012] The internal oil return hole is located below the internal pressure oil hole.

[0013] The sealing valve cores in the two step valve holes are respectively in contact with the one-end plug through the pre-compression force of the springs in the respective step valve holes when the pressure oil is not connected.

[0014] The two stepped valve holes are symmetrically arranged, the axial center lines of the two stepped valve holes are parallel, and the planes where the two axial center lines are located are parallel to the top surface and the bottom surface of the valve body.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. Good stability: The present invention uses the pre-compression force of the spring to make the sealing valve core firmly press against the valve body. Since the pressure oil is introduced into the spring chamber, the force exerted by the pressure oil in the pressure oil chamber on the sealing valve core can be greatly reduced, thereby reducing the impact of the sealing valve core on the valve seat, and has good stability.

[0017] 2. Small leakage: The sealing valve core of the present invention is a cone valve structure with good guiding performance. The oil circuit can be completely cut off by the cooperation between the sealing cone surface and the valve seat in the stepped valve hole. In addition, the cone surface seal has the characteristic of self-compensation for wear, and the sealing is reliable. In theory, no leakage can be achieved.

[0018] 3. Compact structure and small size: The overall size of the three-way valve of the present invention is 66mm×60mm×18mm, and the superimposed valve structure can be directly installed in the valve group without changing the original structure of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a hydraulic principle diagram of the present invention applied to the control clamp on the deep-sea hydraulic manipulator;

[0020] Figure 2 It is a structural front view of the present invention;

[0021] Figure 3 A perspective view of the present invention;

[0022] Figure 4 It is a top view of the structure of the present invention;

[0023] Figure 5 for Figure 2 A-A section view in FIG.

[0024] Figure 6 for Figure 2 The B-B section view in FIG.

[0025] Figure 7 for Figure 2 The C-C section view in FIG.

[0026] Among them: 1 is a servo valve, 2 is a hydraulic lock, 3 is a clamp hydraulic cylinder, 4 is an anti-lock safety valve, 5 is a valve body, 6 is a sealing valve core, 7 is a control piston, 8 is a plug, 9 is a spring, 10 is a sealing ring, 11 is an internal pressure oil channel A, 12 is an internal pressure oil channel B, 13 is an internal pressure oil channel C, 14 is an oil port P, 15 is an oil port A, 16 is an oil port B, 17 is an oil port T, 18 is an internal oil return channel, 19 is a valve seat, 20 is a sealing cone, 21 is a spring chamber, 22 is a pressure oil chamber, and 23 is an oil return chamber. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] like Figures 2 to 7 As shown, the present invention includes a valve body 5, a sealing valve core 6, a control piston 7, a plug 8, a spring 9, an internal pressure oil channel and an internal oil return channel 18, wherein two stepped valve holes are opened in the valve body 5, and plugs 8 are sealed and installed at both ends of each stepped valve hole; the valve body 5 of this embodiment is a hollow rectangular parallelepiped, the two stepped valve holes are symmetrically arranged, the axial center lines of the two stepped valve holes are parallel, and the plane where the two axial center lines are located is parallel to the top surface and the bottom surface of the valve body 5.

[0029] Each step valve hole contains a sealing valve core 6 and a control piston 7, which abut against each other and can slide along the axial direction of the step valve hole. There is always a seal between the sealing valve core 6 and the control piston 7 and the inner wall of the step valve hole. The sealing valve core 6 and the control piston 7 of this embodiment are in clearance fit with the step valve hole. The sealing valve core 6 and the control piston 7 are both installed with a sealing ring 10, which abuts against the inner wall of the step valve hole to form a seal to achieve the blocking of oil between different cavities.

[0030] A pressure oil chamber 22 is formed between the sealing valve core 6 and the plug 8 at one end, an oil return chamber 23 is formed between the sealing valve core 6 and the control piston 7, and a spring chamber 21 is formed between the control piston 7 and the plug 8 at the other end. A spring 9 is placed in the spring chamber 21, and the two ends of the spring 9 are respectively abutted against the control piston 7 and the plug 8 at the other end; the sealing valve cores 6 in the two stepped valve holes are respectively abutted against the plug 8 at one end through the pre-compression force of the springs 9 in their respective stepped valve holes when the pressure oil is not connected.

[0031] The valve body 5 is respectively provided with an oil port P14, an oil port A15, an oil port B16 and an oil port T17. The oil port P14 is respectively connected with the spring chamber 21 in the two step valve holes and the pressure oil chamber 22 in the two step valve holes through the internal pressure oil channel opened in the valve body 5. The oil port A15 and the oil port B16 are respectively connected with the return oil chamber 23 in one step valve hole. The oil port T17 is connected with the return oil chamber 23 in the two step valve holes through the internal oil return channel 18 opened in the valve body 5.

[0032] A valve seat 19 is formed at the reduced diameter of each stepped valve hole, and the sealing valve core 6 has a sealing surface for sealing with the valve seat 19; the sealing surface on the sealing valve core 6 in this embodiment is a sealing cone 20. The connection between the oil port A15 and the oil port B16 and the oil return chamber 23 is located on one side of the respective valve seats 19, and the connection between the internal oil return channel 18 and the oil return chamber 23 is located on the other side of the valve seat 19. In this embodiment, the pressure oil action area of ​​the sealing valve core 2 in the pressure oil chamber 22 is larger than the pressure oil action area of ​​the control piston 7 in the spring chamber 21.

[0033] The internal pressure oil channel of the present embodiment includes an internal pressure oil channel A11, an internal pressure oil channel B12 and an internal pressure oil channel C13, wherein the internal pressure oil channel A11 is respectively connected to the spring chambers 21 in the two step valve holes, and the internal pressure oil channel C13 is respectively connected to the pressure oil chambers 22 in the two step valve holes, wherein the internal pressure oil channel C13 is parallel to the internal pressure oil channel A11 and is connected to the internal pressure oil channel A11 through the internal pressure oil channel B12, and the oil port P14 is connected to the internal pressure oil channel A11. The internal oil return channel 18 of the present embodiment is located below the internal pressure oil channel to avoid interference between the two channels.

[0034] The working principle of the present invention is:

[0035] like Figures 1 to 7 As shown, when the hydraulic system works normally, the present invention can cut off the oil circuit between oil port A15 and oil port T17 and the oil circuit between oil port B16 and oil port T17, so that the clamp hydraulic cylinder 3 circuit can build up pressure. If the hydraulic system suddenly fails and the oil pressure of the pressure oil circuit connected to the oil port P14 is zero, the present invention can connect the oil circuit between oil port A15 and oil port T17 and the oil circuit between oil port B16 and oil port T17, thereby achieving pressure relief and allowing the clamp to release the clamped object, thereby not affecting the recovery of the underwater robot. Specifically:

[0036] When the external control pressure oil enters the valve body 5 from the oil port P14, it enters the spring chamber 21 in the two stepped valve holes and the pressure oil chamber 22 in the two stepped valve holes through the internal pressure oil channel. Since the effective area of ​​the sealing valve core 6 in the pressure oil chamber 22 is larger than the effective area on the control piston 7 in the spring chamber 21, the thrust generated overcomes the elastic force of the spring 9, so that the control piston 7 compresses the spring 9, and the sealing cone 20 on the sealing valve core 6 is pressed against the valve seat 19, so that the oil circuit between the oil port A15 and the oil port T17 and the oil circuit between the oil port B16 and the oil port T17 are cut off. When the pressure oil suddenly disappears, the existence of the spring 9 can open the closed oil port, so that the oil circuit between the oil port A15 and the oil port T17 and the oil circuit between the oil port B16 and the oil port T17 are connected.

[0037] The present invention has many advantages such as small valve volume, compact structure, small leakage, good stability, etc. It is suitable for deep-sea manipulator hydraulic systems. When the oil pressure in the system increases, the valve port is closed under the action of external control oil to cut off the oil circuit. When the system loses pressure, the valve port can be opened to connect the return oil circuit, so that the clamp hydraulic cylinder 3 is depressurized to prevent the hydraulic lock 2 from locking the clamp hydraulic cylinder 3 by pressure.

Claims

1. An anti-lock safety valve for deep-sea hydraulic manipulator, characterized by: The invention comprises a valve body (5), a sealing valve core (6), a control piston (7), a plug (8), a spring (9), an internal pressure oil channel and an internal oil return channel (18), wherein the valve body (5) is provided with two stepped valve holes, and plugs (8) are installed at both ends of each of the stepped valve holes in a sealed manner, and each of the stepped valve holes accommodates a sealing valve core (6) and a control piston (7), the sealing valve core (6) and the control piston (7) abut against each other and can slide along the axial direction of the stepped valve hole, and the sealing valve core (6) ) and the control piston (7) are always sealed with the inner wall of the stepped valve hole; a pressure oil chamber (22) is formed between the sealing valve core (6) and the plug (8) at one end, an oil return chamber (23) is formed between the sealing valve core (6) and the control piston (7), a spring chamber (21) is formed between the control piston (7) and the plug (8) at the other end, a spring (9) is placed in the spring chamber (21), and two ends of the spring (9) are respectively in contact with the control piston (7) and the plug (8) at the other end; The valve body (5) is provided with an oil port P (14), an oil port A (15), an oil port B (16) and an oil port T (17), respectively. The oil port P (14) is connected to the spring chambers (21) in the two stepped valve holes and the pressure oil chambers (22) in the two stepped valve holes through internal pressure oil passages provided in the valve body (5), respectively. The oil port A (15) and the oil port B (16) are connected to the oil return chamber (23) in one stepped valve hole, respectively. The oil port T (17) is connected to the spring chamber (21) in the two stepped valve holes through internal pressure oil passages provided in the valve body (5). 5) An internal oil return channel (18) is connected to the oil return chamber (23) in the two stepped valve holes; a valve seat (19) is formed at a reduced diameter portion in each of the stepped valve holes; the sealing valve core (6) has a sealing surface for sealing with the valve seat (19); the connection between the oil port A (15) and the oil port B (16) and the oil return chamber (23) is located on one side of the respective valve seats (19); and the connection between the internal oil return channel (18) and the oil return chamber (23) is located on the other side of the valve seat (19).

2. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1, characterized in that: The sealing valve core (6) and the control piston (7) are in clearance fit with the stepped valve hole. A sealing ring (10) is mounted on the sealing valve core (6) and the control piston (7). The sealing ring (10) abuts against the inner wall of the stepped valve hole to form the sealing portion.

3. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1 is characterized in that: The sealing surface on the sealing valve core (6) is a sealing cone surface (20).

4. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1, characterized in that: The pressure oil action area of ​​the sealing valve core (2) in the pressure oil chamber (22) is larger than the pressure oil action area of ​​the control piston (7) in the spring chamber (21).

5. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1 is characterized in that: The internal pressure oil channel comprises an internal pressure oil channel A (11), an internal pressure oil channel B (12) and an internal pressure oil channel C (13). The internal pressure oil channel A (11) is respectively connected to the spring chambers (21) in the two step valve holes. The internal pressure oil channel C (13) is respectively connected to the pressure oil chambers (22) in the two step valve holes. The internal pressure oil channel C (13) is connected to the internal pressure oil channel A (11) through the internal pressure oil channel B (12). The oil port P (14) is connected to the internal pressure oil channel A (11).

6. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1, characterized in that: The internal oil return channel (18) is located below the internal pressure oil channel.

7. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1, characterized in that: The sealing valve cores (6) in the two stepped valve holes are respectively in contact with the one-end plug (8) by the pre-compression force of the springs (9) in the respective stepped valve holes when the pressure oil is not connected.

8. The anti-lock safety valve for deep-sea hydraulic manipulator according to claim 1, characterized in that: The two stepped valve holes are symmetrically arranged, the axial center lines of the two stepped valve holes are parallel, and the planes where the two axial center lines are located are parallel to the top surface and the bottom surface of the valve body (5).

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