An underwater vehicle oil separation system and method of controlling the same

Abstract

The present application relates to underwater vehicle hydraulic system technical field, especially underwater vehicle oil liquid isolation system and control method thereof. By setting isolation cylinder between outboard execution cylinder and cabin hydraulic, when outboard execution cylinder and pipeline are abnormal, cabin whole ship hydraulic system can still work safely; the cabin hydraulic and outboard execution mechanism are hydraulically isolated by using the isolation cylinder, only the subsystem is modified, the cabin hydraulic system remains unchanged, and the overall adaptability and compatibility are good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater vehicle hydraulic system, and particularly relates to an underwater vehicle oil liquid isolation system and a control method thereof. BACKGROUND

[0002] Underwater vehicles widely use hydraulic cylinders as driving actuators. Traditionally, the underwater vehicle hydraulic cylinders are arranged in the cabin and penetrate the pressure-resistant body through the piston rod or mechanical transmission components, thereby driving the outboard mechanism to act. This scheme has the following disadvantages: the device arrangement is limited by the pressure-resistant hull structure, the cabin space is large, the device structure is dispersed, the safety is affected by the opening of the pressure-resistant body, etc. When the execution hydraulic cylinder is arranged outboard, the device arrangement is flexible, the modular design is easy, the structure is compact, the installation and maintenance are convenient, and the safety of the whole ship structure is also beneficial.

[0003] However, when the execution hydraulic cylinder is arranged outboard, in order to ensure the safety of the hydraulic system, the outboard execution hydraulic cylinder needs to be isolated from other hydraulic systems in the cabin to avoid the failure of the whole ship hydraulic system caused by seawater infiltration and other abnormalities of the outboard pipeline or hydraulic cylinder. Therefore, an independent outboard hydraulic system can be provided for the outboard execution hydraulic cylinder, but this brings complexity to the hydraulic system and increases the cost, especially in the case of existing ship modification, which involves a large amount of engineering.

[0004] In summary, the existing technology mainly has the following problems to be solved:

[0005] 1) After the outboard arrangement of the underwater vehicle execution hydraulic cylinder, the hydraulic pressure of the outboard execution hydraulic cylinder needs to be isolated from the whole ship hydraulic pressure in the cabin to avoid the failure of the whole ship hydraulic system caused by seawater infiltration and leakage of the outboard pipeline and equipment.

[0006] 2) A separate outboard hydraulic system is provided for the outboard execution hydraulic cylinder, which complicates the hydraulic system. Especially in the case of modification of the existing vehicle, the original hydraulic system pipeline needs to be greatly modified, which involves a large amount of engineering, consumes many resources, and has poor compatibility.

[0007] 3) When the isolation cylinder is used for hydraulic isolation, the problem of different operation caused by the leakage of the isolation cylinder needs to be solved. SUMMARY

[0008] The technical problem to be solved by the present application is to provide an underwater vehicle oil liquid isolation system and a control method thereof, which can isolate the outboard execution hydraulic cylinder from the hydraulic system in the cabin without modifying the hydraulic system in the cabin of the ship, and has good compatibility and engineering implementation.

[0009] To solve the above technical problems, the technical scheme adopted by the present application is:

[0010] An underwater vehicle oil liquid isolation system, comprising an execution cylinder 1, an isolation cylinder one 2, an isolation cylinder two 3 and a hydraulic integrated valve block 4, the execution cylinder 1 is vertically installed outside the underwater vehicle, the isolation cylinder one 2, the isolation cylinder two 3 and the hydraulic integrated valve block 4 are all installed in the cabin of the underwater vehicle, and the isolation cylinder one 2 and the isolation cylinder two 3 are both vertically installed.

[0011] The lower cavity of the isolation cylinder one 2 is communicated with the lower cavity of the execution cylinder 1, the lower cavity of the isolation cylinder two 3 is communicated with the upper cavity of the execution cylinder 1, and the lower cavities of the isolation cylinder one 2 and the isolation cylinder two 3 are both provided with branch pipes, and the branch pipes are both provided with a stop valve 5 and a water detection device.

[0012] The upper cavities of the isolation cylinder one 2 and the isolation cylinder two 3 are both connected to the oil supply and return pipelines of the cabin hydraulic system through the hydraulic integrated valve block 4.

[0013] Further, the hydraulic integrated valve block 4 comprises a three-position four-way reversing valve 4.1, a two-position two-usual-through valve one 4.2, a two-position two-usual-break valve one 4.3, a two-position two-usual-break valve two 4.4 and a two-position two-usual-through valve two 4.5, the three-position four-way reversing valve 4.1 cooperates with the two-position two-usual-through valve one 4.2, the two-position two-usual-break valve one 4.3, the two-position two-usual-break valve two 4.4 and the two-position two-usual-through valve two 4.5 to form an execution cylinder extension circuit and an execution cylinder retraction circuit.

[0014] Further, the execution cylinder extension circuit specifically is that the A port of the three-position four-way reversing valve 4.1 is divided into two routes, one route is connected to the upper cavity of the isolation cylinder one 2 through the two-position two-usual-break valve one 4.3, and the other route is connected to the lower cavity of the isolation cylinder one 2 and the lower cavity of the execution cylinder 1 through the two-position two-usual-through valve one 4.2.

[0015] Further, the execution cylinder retraction circuit specifically is that the B port of the three-position four-way reversing valve 4.1 is divided into two routes, one route is connected to the upper cavity of the isolation cylinder two 3 through the two-position two-usual-through valve two 4.5, and the other route is connected to the lower cavity of the isolation cylinder two 3 and the upper cavity of the execution cylinder 1 through the two-position two-usual-break valve two 4.4.

[0016] Further, the volume of the isolation cylinder one 2 is greater than the volume of the lower cavity of the execution cylinder 1, and the volume of the isolation cylinder two 3 is greater than the volume of the upper cavity of the execution cylinder 1.

[0017] An underwater vehicle oil liquid isolation system control method based on the oil liquid isolation system as described above, comprising the following steps:

[0018] S1, judging the working state of the execution cylinder, if the execution cylinder needs to perform an extension action, executing step S2, if the execution cylinder needs to perform a retraction action, executing step S5;

[0019] S2, execute the execution cylinder extension control, and simultaneously execute step S3 and step S4;

[0020] S3, judge whether the execution cylinder is extended to the position when the piston of the isolation cylinder one reaches the lower stroke end, if not, execute the execution cylinder lower chamber oil supplement control, if yes, re-execute step S1;

[0021] S4, judge whether the execution cylinder is extended to the position when the piston of the isolation cylinder two reaches the upper stroke end, if not, execute the execution cylinder upper chamber oil discharge control, if yes, re-execute step S1;

[0022] S5, execute the execution cylinder retraction control, and simultaneously execute step S6 and step S7;

[0023] S6, judge whether the execution cylinder is retracted to the position when the piston of the isolation cylinder one reaches the upper stroke end, if not, execute the execution cylinder lower chamber oil discharge control, if yes, re-execute step S1;

[0024] S7, judge whether the execution cylinder is retracted to the position when the piston of the isolation cylinder two reaches the lower stroke end, if not, execute the execution cylinder upper chamber oil supplement control, if yes, re-execute step S1.

[0025] Wherein:

[0026] The execution cylinder extension control is specifically: the three-position four-way directional valve is in the parallel position, the pressure oil reaches the upper chamber of the isolation cylinder one through the two-position two-way normally open valve one, drives the piston of the isolation cylinder one to move downward, and then pushes the hydraulic oil in the lower chamber of the isolation cylinder one into the lower chamber of the execution cylinder; the oil liquid in the upper chamber of the execution cylinder is discharged and injected into the lower chamber of the isolation cylinder two; the piston of the isolation cylinder two moves upward, and the discharged oil liquid enters the system return pipeline through the two-position two-way normally open valve two and the three-position four-way directional valve;

[0027] The execution cylinder retraction control is specifically: the three-position four-way directional valve is in the cross position, the pressure oil reaches the upper chamber of the isolation cylinder two through the two-position two-way normally open valve two, drives the piston of the isolation cylinder two to move downward, and then pushes the hydraulic oil in the lower chamber of the isolation cylinder two into the upper chamber of the execution cylinder; the oil liquid in the lower chamber of the execution cylinder is discharged and injected into the lower chamber of the isolation cylinder one; the piston of the isolation cylinder one moves upward, and the discharged oil liquid enters the system return pipeline through the two-position two-way normally open valve one and the three-position four-way directional valve.

[0028] Wherein:

[0029] When the execution cylinder extension control is executed, the two-position two-way normally open valve one is conducted, that is, the execution cylinder lower chamber oil supplement control;

[0030] When the execution cylinder extension control is executed, the two-position two-way normally open valve two is conducted, that is, the execution cylinder upper chamber oil discharge control;

[0031] When the execution oil cylinder control retraction is performed, the two-position two-normal break valve two is turned on, that is, the execution oil cylinder upper cavity oil supplement control;

[0032] When the execution oil cylinder control retraction is performed, the two-position two-normal break valve one is turned on, that is, the execution oil cylinder lower cavity oil discharge control.

[0033] Compared with the prior art, the present application has the following main advantages:

[0034] 1. By setting the isolation oil cylinder between the outboard execution oil cylinder and the cabin hydraulic pressure, the cabin ship hydraulic system can still work safely when the outboard execution oil cylinder and the pipeline are abnormal;

[0035] 2. The cabin hydraulic pressure and the outboard execution mechanism are hydraulically isolated by using the isolation oil cylinder, which can be realized by modifying only the subsystem, and the cabin hydraulic system remains unchanged, and the overall adaptability and compatibility are good. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a whole schematic diagram of the underwater vehicle oil liquid isolation system of the present application;

[0037] Figure 2 It is a specific arrangement schematic diagram of the hydraulic integrated valve block of the present application;

[0038] Figure 3 It is a control method flow chart of the underwater vehicle oil liquid isolation system of the present application.

[0039] In the figure: 1, execution oil cylinder; 2, isolation oil cylinder one; 3, isolation oil cylinder two; 4, hydraulic integrated valve block; 5, stop valve; 4.1, three-position four-way reversing valve; 4.2, two-position two-normal valve one; 4.3, two-position two-normal break valve one; 4.4, two-position two-normal break valve two; 4.5, two-position two-normal valve two. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0041] It should be pointed out that according to the needs of implementation, each step / component described in the present application can be split into more steps / components, or two or more steps / components or part of the operation of the steps / components can be combined into a new step / component to achieve the purpose of the present application.

[0042] I. An underwater vehicle oil liquid isolation system

[0043] As Figure 1 shown, according to the present application, an underwater vehicle oil isolation system, including the execution cylinder 1, isolation cylinder one 2 and isolation cylinder two 3, hydraulic integrated valve block 4, stop valve 5 and so on.

[0044] Among them: the execution cylinder 1 is vertical installation, the isolation cylinder one 2 is arranged in the lower loop of the execution cylinder 1, the isolation cylinder two 3 is arranged in the upper loop of the execution cylinder 1, so that the two cavity oil liquid is isolated from the in-cabin hydraulic system when the outboard execution cylinder works, to ensure the safety of the in-cabin hydraulic system;

[0045] The execution cylinder 1 is arranged outside the underwater vehicle, the isolation cylinder one 2, the isolation cylinder two 3 and the hydraulic integrated valve block 4 are arranged in the cabin of the underwater vehicle;

[0046] The isolation cylinder one 2 and the isolation cylinder two 3 are both vertical installation, the isolation cylinder one 2 and the isolation cylinder two 3 are both connected to the outboard execution cylinder 1 through the lower cavity, and a branch pipe is arranged on the pipeline thereof, the branch pipe is provided with a stop valve 5 and a water detection device; when the outboard loop is infiltrated with water, because the density of water is greater than that of hydraulic oil, water detection can be carried out at the lower end pipeline of the isolation cylinder one 2 and the isolation cylinder two 3.

[0047] Further, one cavity of the isolation cylinder one 2 and the isolation cylinder two 3 is connected to the corresponding oil cavity of the outboard execution cylinder 1 through the hydraulic integrated valve block 4, and the other cavity is connected to the oil supply and return pipeline of the in-cabin hydraulic system through the hydraulic integrated valve block.

[0048] Further, the execution cylinder reaches the corresponding stroke end before the piston of the corresponding isolation cylinder of the oil cavity thereof.

[0049] Further, the volume of the isolation cylinder is greater than that of the corresponding oil cavity of the execution cylinder.

[0050] Further, the execution cylinder has oil supplementing and oil discharging functions, which are used to compensate for the operation mismatch caused by the leakage in the isolation cylinder, and are also used for system debugging;

[0051] When the execution cylinder 1 reaches the stroke end, and the pistons of the isolation cylinder one 2 and the isolation cylinder two 3 reach the corresponding stroke end, it is work matching, otherwise, corresponding execution cylinder oil supplementing and oil discharging control is needed;

[0052] The execution cylinder oil supplementing control method is that the hydraulic system pressure oil bypasses the isolation cylinder to enter the execution cylinder oil inlet cavity, so as to realize the oil supplementing of the execution cylinder;

[0053] The execution cylinder oil discharging control method is that the oil discharged from the execution cylinder bypasses the isolation cylinder to enter the system return pipeline, so as to realize the oil discharging of the execution cylinder.

[0054] As Figure 2 shown, the hydraulic integrated valve block 4 includes two-position two-normal-break valve one 4.3 and two-position two-normal-break valve two 4.4, two-position two-normal-pass valve one 4.2 and two-position two-normal-pass valve two 4.5, three-position four-way directional valve 4.1. Among them, the three-position four-way directional valve 4.1 controls the extension or retraction of the execution cylinder; the combination of the three-position four-way directional valve and the two-position two-normal-break valve and the two-position two-normal-pass valve realizes the isolation cylinder oil supplement and oil discharge.

[0055] Extension circuit: the A port of the three-position four-way directional valve 4.1 is divided into two routes, one route is connected to the upper cavity of the isolation cylinder one 2 through the two-position two-normal-break valve one 4.3, and the other route is connected to the lower cavity of the isolation cylinder 2 and the lower cavity of the execution cylinder 1 through the two-position two-normal-pass valve one 4.2.

[0056] Retraction circuit: the B port of the three-position four-way directional valve 4.1 is divided into two routes, one route is connected to the upper cavity of the isolation cylinder two 3 through the two-position two-normal-pass valve two 4.5, and the other route is connected to the lower cavity of the isolation cylinder two 3 and the upper cavity of the execution cylinder 1 through the two-position two-normal-break valve two 4.4.

[0057] Two, a control method of an underwater vehicle oil isolation system

[0058] Based on the same inventive concept, the embodiments of the present application also provide a control method of an underwater vehicle oil isolation system, based on the oil isolation system as described above, as Figure 3 shown, specifically comprising the following steps:

[0059] S1, judging the working state of the execution cylinder 1, if the execution cylinder 1 needs to perform the extension action, executing step S2, if the execution cylinder 1 needs to perform the retraction action, executing step S5;

[0060] S2, performing the execution cylinder 1 extension control, and simultaneously executing step S3 and step S4;

[0061] S3, judging whether the execution cylinder 1 is extended to the position when the piston of the isolation cylinder one 2 reaches the lower stroke end (the lower end A1), if not, performing the execution cylinder 1 lower cavity oil supplement control, if yes, re-executing step S1;

[0062] S4, judging whether the execution cylinder 1 is extended to the position when the piston of the isolation cylinder two 3 reaches the upper stroke end (the upper end B2), if not, performing the execution cylinder 1 upper cavity oil discharge control, if yes, re-executing step S1;

[0063] S5, performing the execution cylinder 1 retraction control, and simultaneously executing step S6 and step S7;

[0064] S6, judging whether the execution cylinder 1 is retracted to the position when the piston of the isolation cylinder 1 reaches the end of the upstroke (at the lower end A2), if not, the lower chamber oil discharge control of the execution cylinder 1 is performed, if yes, the step S1 is re-executed;

[0065] S7, judging whether the execution cylinder 1 is retracted to the position when the piston of the isolation cylinder 2 reaches the end of the downstroke (at the upper end B1), if not, the upper chamber oil supplement control of the execution cylinder 1 is performed, if yes, the step S1 is re-executed.

[0066] Further, the specific control method of each action is as shown in the following table:

[0067]

[0068] 1) The execution cylinder 1 extends: the three-position four-way directional valve 4.1 is at the parallel position Y1 side, the pressure oil reaches the upper chamber of the isolation cylinder 1 through the two-position two-normal open valve 1 4.2, the piston of the isolation cylinder 1 is pushed to move downward, and then the hydraulic oil in the lower chamber of the isolation cylinder 1 is pushed into the lower chamber of the execution cylinder 1; the oil in the upper chamber of the execution cylinder 1 is discharged and injected into the lower chamber of the isolation cylinder 2; the piston of the isolation cylinder 2 moves upward, and the discharged oil enters the system return pipeline through the two-position two-normal open valve 2 4.5 and the three-position four-way directional valve 4.1.

[0069] 2) The execution cylinder 1 retracts: the three-position four-way directional valve 4.1 is at the cross position Y2 side, and the oil circuit is opposite to that when the execution cylinder 1 extends.

[0070] 3) The execution cylinder 1 supplements oil: when the execution cylinder 1 extends, the two-position two-normal open valve 1 4.3 is conducted, so that the lower chamber of the execution cylinder can be supplemented with oil; when the execution cylinder 1 retracts, the two-position two-normal open valve 2 4.4 is conducted, so that the upper chamber of the execution cylinder can be supplemented with oil.

[0071] 4) The execution cylinder 1 discharges oil: when the execution cylinder 1 extends, the two-position two-normal open valve 2 4.4 is conducted, so that the upper chamber of the execution cylinder can be discharged; when the execution cylinder 1 retracts, the two-position two-normal open valve 1 4.3 is conducted, so that the lower chamber of the execution cylinder can be discharged.

[0072] In summary:

[0073] 1. By arranging the isolation cylinder between the outboard execution cylinder and the cabin hydraulic pressure, when the outboard execution cylinder and the pipeline are abnormal, the cabin hydraulic system of the whole ship can still work safely.

[0074] 2. The cabin hydraulic pressure and the outboard execution mechanism are hydraulically isolated by using the isolation cylinder, which can be realized by modifying only the subsystem, the cabin hydraulic system remains unchanged, and the overall adaptability and compatibility are good.

[0075] Those skilled in the art can easily understand that the above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater vehicle oil separation system, comprising: It includes an execution cylinder (1), an isolation cylinder one (2), an isolation cylinder two (3) and a hydraulic integrated valve block (4), the execution cylinder (1) is vertically installed outside the underwater vehicle, the isolation cylinder one (2), the isolation cylinder two (3) and the hydraulic integrated valve block (4) are all installed in the cabin of the underwater vehicle, and the isolation cylinder one (2) and the isolation cylinder two (3) are both vertically installed. The lower cavity of the isolation cylinder one (2) is communicated with the lower cavity of the execution cylinder (1), the lower cavity of the isolation cylinder two (3) is communicated with the upper cavity of the execution cylinder (1), the lower cavities of the isolation cylinder one (2) and the isolation cylinder two (3) are both provided with branch pipes, and the branch pipes are both provided with a stop valve (5) and a water detection device; The upper cavities of the isolation cylinder one (2) and the isolation cylinder two (3) are connected to the oil supply and return pipelines of the cabin hydraulic system through the hydraulic integrated valve block (4); The hydraulic integrated valve block (4) includes a three-position four-way reversing valve (4.1), a two-position two-normal-through valve one (4.2), a two-position two-normal-break valve one (4.3), a two-position two-normal-break valve two (4.4) and a two-position two-normal-through valve two (4.5), the three-position four-way reversing valve (4.1) is matched with the two-position two-normal-through valve one (4.2), the two-position two-normal-break valve one (4.3), the two-position two-normal-break valve two (4.4) and the two-position two-normal-through valve two (4.5) to form an execution cylinder extension circuit and an execution cylinder retraction circuit; The execution cylinder extension circuit specifically is that the A port of the three-position four-way reversing valve (4.1) is divided into two paths, one path is connected to the upper cavity of the isolation cylinder one (2) through the two-position two-normal-break valve one (4.3), and the other path is connected to the lower cavity of the isolation cylinder one (2) and the lower cavity of the execution cylinder (1) through the two-position two-normal-through valve one (4.2).

2. An underwater vehicle oil separation system as claimed in claim 1, wherein, The execution cylinder retraction circuit specifically is that the B port of the three-position four-way reversing valve (4.1) is divided into two paths, one path is connected to the upper cavity of the isolation cylinder two (3) through the two-position two-normal-through valve two (4.5), and the other path is connected to the lower cavity of the isolation cylinder two (3) and the upper cavity of the execution cylinder (1) through the two-position two-normal-break valve two (4.4).

3. The underwater vehicle oil isolation system of claim 1, wherein: The volume of the isolation cylinder one (2) is greater than the volume of the lower cavity of the execution cylinder (1), and the volume of the isolation cylinder two (3) is greater than the volume of the upper cavity of the execution cylinder (1).

4. A method of controlling an oil separation system of an underwater vehicle according to any one of claims 1 to 3, characterized in that It includes the following steps: S1, judging the working state of the execution cylinder, if the execution cylinder needs to extend, executing step S2, if the execution cylinder needs to retract, executing step S5; S2, executing the execution cylinder extension control, and simultaneously executing step S3 and step S4; S3, judging whether the execution cylinder is extended to the position when the piston of the isolation cylinder one reaches the lower stroke end, if not, executing the execution cylinder lower cavity oil supplement control, if yes, re-executing step S1; S4, judging whether the execution cylinder is extended to the position when the piston of the isolation cylinder two reaches the upper stroke end, if not, executing the execution cylinder upper cavity oil discharge control, if yes, re-executing step S1; S5, executing the execution cylinder retraction control, and simultaneously executing step S6 and step S7; S6, judging whether the executing cylinder is retracted to the position when the piston of the isolation cylinder one reaches the upper stroke end, if not, the lower chamber oil discharge control of the executing cylinder is performed, if yes, the step S1 is re-executed; S7, judging whether the executing cylinder is retracted to the position when the piston of the isolation cylinder two reaches the lower stroke end, if not, the upper chamber oil supplement control of the executing cylinder is performed, if yes, the step S1 is re-executed. 5.The control method of the underwater vehicle oil isolation system according to claim 4, characterized in that, the executing cylinder extension control is that the three-position four-way reversing valve is in the parallel position, the pressure oil reaches the upper chamber of the isolation cylinder one through the two-position two-usual-through valve one, the piston of the isolation cylinder one is pushed to move downward, and then the hydraulic oil in the lower chamber of the isolation cylinder one is pushed into the lower chamber of the executing cylinder; the oil in the upper chamber of the executing cylinder is discharged and injected into the lower chamber of the isolation cylinder two; the piston of the isolation cylinder two is pushed to move upward, and the discharged oil enters the system oil return pipeline through the two-position two-usual-through valve two and the three-position four-way reversing valve; the executing cylinder retraction control is that the three-position four-way reversing valve is in the cross position, the pressure oil reaches the upper chamber of the isolation cylinder two through the two-position two-usual-through valve two, the piston of the isolation cylinder two is pushed to move downward, and then the hydraulic oil in the lower chamber of the isolation cylinder two is pushed into the upper chamber of the executing cylinder; the oil in the lower chamber of the executing cylinder is discharged and injected into the lower chamber of the isolation cylinder one; the piston of the isolation cylinder one is pushed to move upward, and the discharged oil enters the system oil return pipeline through the two-position two-usual-through valve one and the three-position four-way reversing valve. 6.The control method of the underwater vehicle oil isolation system according to claim 5, characterized in that, when the executing cylinder extension control is performed, the two-position two-usual-break valve one is conducted, which is the executing cylinder lower chamber oil supplement control; when the executing cylinder extension control is performed, the two-position two-usual-break valve two is conducted, which is the executing cylinder upper chamber oil discharge control; when the executing cylinder retraction control is performed, the two-position two-usual-break valve two is conducted, which is the executing cylinder upper chamber oil supplement control; when the executing cylinder retraction control is performed, the two-position two-usual-break valve one is conducted, which is the executing cylinder lower chamber oil discharge control. ​

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