Seawater hydraulic power device and mechanical arm seawater hydraulic system for deep sea operation

Abstract

The application discloses a seawater hydraulic power device and a mechanical arm seawater hydraulic system for deep sea operation and belongs to the technical field of deep sea operation equipment. The first water outlet, the second water outlet and the backflow path are communicated with the marine environment, seawater medium in the sea is directly used as pressure medium, and on the basis, a double-pump complementary power source structure is provided, the double-pump parallel connection can provide more power for the operation end, can also back pressure energy for the backflow path, ensures that the pressure of the backflow path is equivalent to the environmental pressure, prevents the hose in the operation end and the hydraulic pipe of the backwater path from being collapsed, thereby a open circulation structure which can be implemented is constructed, and the technical problems that the volume, weight and complexity are high, and the mobility and flexibility are poor when the prior art is used in deep sea operation are solved; in addition, the application is more environmentally friendly, and the maintenance cost is also lower.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of deep-sea operation equipment, and more particularly to a seawater hydraulic power device and a mechanical arm seawater hydraulic system for deep-sea operation. BACKGROUND

[0002] The ocean contains rich natural resources, and the development and utilization of marine resources is the only way for mankind. Marine resources have high scientific research value, whether it is a ballast tank simulating a marine environment or a real marine environment. Operation equipment must be compatible with the marine environment, be conducive to protecting the marine environment, and meet the requirements of environmental protection and sustainable development. At present, hydraulic systems based on hydraulic transmission technology have been applied to many marine engineering fields and naval equipment, such as underwater operations, marine resource surveys, offshore oil engineering, marine salvage, ocean wave energy utilization, salt industry engineering, marine construction, and shipbuilding engineering. They play an important role in improving the mobility, flexibility, reliability, and work efficiency of various marine machines and equipment.

[0003] However, the commonly used hydraulic systems currently mainly use mineral hydraulic oil as the pressure medium, and are difficult to maintain and process, have high use costs, and poor economic efficiency. Not only do they waste oil resources, but they also have serious drawbacks such as leakage, pollution of the marine environment, and flammability and explosiveness. In particular, the system must be designed as a closed-circuit structure, and its volume, weight, and complexity increase with increasing sea depth, which is not conducive to improving the mobility and flexibility of the marine development equipment it serves, and in some cases it cannot even be applied, such as in real marine environments for cultivating marine organisms. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the present application provides a seawater hydraulic power device and a mechanical arm seawater hydraulic system for deep-sea operation, to solve the technical problems of high volume, weight, and complexity, and poor mobility and flexibility of the system when used in deep-sea operation, due to the fact that the prior art must be designed as a closed-circuit structure using mineral hydraulic oil as the pressure medium.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present application provides a seawater hydraulic power device for deep-sea operation, comprising: a first servo motor, a second servo motor, a first on-off valve, a second on-off valve, and a first water outlet, a second water outlet, and a return flow path that are all in communication with the marine environment;

[0006] The first water outlet is provided with a first plunger pump and a first servo motor connected thereto, and the second water outlet is provided with a second plunger pump and a second servo motor connected thereto; the plunger pump is used to extract seawater from the marine environment and output to the operation end to provide power for the operation end; the servo motor is used to drive the corresponding plunger pump to work;

[0007] The first water outlet path and the second water outlet path complement each other in deep-sea operation, and the first servo motor and / or the second servo motor is controlled to start working when deep-sea operation is performed;

[0008] The backflow path is used for re-outputting the residual flow when the operation end performs deep-sea operation to the sea; the backflow path is sequentially provided with a pressure sensor and a back pressure valve;

[0009] The first water outlet path is connected with the backflow path through a first switch valve, the second water outlet path is connected with the backflow path through a second switch valve, and the first water outlet path and the second water outlet path are connected; the switch valve is used for controlling the on-off between the corresponding water outlet path and the backflow path;

[0010] When the pressure sensor senses that the pressure on the backflow path is lower than the opening pressure of the back pressure valve:

[0011] For the case that only one servo motor is working, the non-working servo motor is triggered to start working, and the corresponding switch valve is opened to charge the backflow path, and after the opening pressure of the back pressure valve is reached, the corresponding switch valve is closed;

[0012] For the case that two servo motors are working at the same time, any one switch valve is opened to charge the backflow path, and after the opening pressure of the back pressure valve is reached, the opened switch valve is closed.

[0013] Further preferably, the seawater hydraulic power device further comprises a safety valve; the safety valve is connected between the first water outlet path and the backflow path, or between the second water outlet path and the backflow path, and is used for connecting the first water outlet path, the second water outlet path and the backflow path to unload when the pressure of the first water outlet path or the second water outlet path is higher than the preset pressure.

[0014] Further preferably, the backflow path is further provided with an energy storage accumulator, which stores energy in the initial state, and is used for buffering the pressure in the backflow path when the backflow path fails to seal, so as to prolong the pressure maintaining time.

[0015] Further preferably, the pressure sensor is further used for charging the energy storage accumulator when the pressure on the backflow path is sensed to be lower than the opening pressure of the back pressure valve.

[0016] Further preferably, the first water outlet path or the second water outlet path is further provided with a pulse reduction accumulator, which is used for eliminating the flow pressure pulsation of the first plunger pump and the second plunger pump.

[0017] In a second aspect, the present application provides a mechanical arm seawater hydraulic system, comprising the seawater hydraulic power device provided in the first aspect and a mechanical arm operation end.

[0018] The mechanical arm operation end is used for performing deep-sea operation under the power provided by the seawater hydraulic power device.

[0019] Further preferably, the mechanical arm working end comprises: an execution element and a corresponding control valve group;

[0020] The control valve group is used to control the size and direction of the seawater flow output by the seawater hydraulic power device, thereby controlling the corresponding execution element to carry out deep-sea operations.

[0021] Further preferably, the seawater hydraulic system controls the working speed of the execution element by one or more of the following methods: controlling the rotating speed of the servo motor, controlling the switching frequency of the control valve group, and adjusting the size of the throttling hole of the throttle valve.

[0022] Further preferably, the execution element is multiple, and the types include: linear elements and rotating elements; one execution element is used to simulate one joint on the mechanical arm, and is controlled by one corresponding control valve group.

[0023] Further preferably, the control valve group comprises: a three-position four-way switch valve, a throttle valve and a hydraulic lock connected in sequence.

[0024] Further preferably, the throttle valve is a one-way throttle valve.

[0025] Overall, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0026] 1. The present application provides a seawater hydraulic power device for deep-sea operations, comprising a first water outlet, a second water outlet and a return flow path, all of which are in communication with the marine environment, directly using seawater in the ocean as a pressure medium, and on this basis, a double-pump complementary power source structure is proposed, the double-pump parallel connection can not only provide more power for the working end, but also can provide back pressure energy for the return flow path, to ensure that the pressure of the return flow path is equivalent to the environmental pressure, to prevent the hoses in the working end and the hydraulic pipes of the return water path from being crushed, thereby constructing an open circulation structure that can be implemented, solving the technical problems of high volume, weight and complexity, poor mobility and flexibility of the prior art in deep-sea operations.

[0027] 2. The seawater hydraulic power device for deep-sea operations provided by the present application is a seawater hydraulic power device that uses seawater as the working medium, and is simpler to maintain and handle, has lower use cost, better economy, avoids the risk of flammability, explosion and pollution of the marine environment, and is more environmentally friendly.

[0028] 3. Further, the seawater hydraulic power device for deep-sea operations provided by the present application has the problems of pipeline vibration and impact caused by flow pressure pulsation, and element speed jitter, therefore, the present application also sets up a pulse reduction accumulator to eliminate the flow pressure pulsation of the plunger pump.

[0029] 4、Further, the seawater hydraulic power device for deep sea operation provided by the present application can prolong the duration of the back pressure of the back flow path, reduce the time for the plunger pump to charge the back pressure, and save energy, because the leakage at the back pressure valve joint can cause the back pressure of the back flow path to decrease.

[0030] 5、The present application provides a mechanical arm seawater hydraulic system, which can solve the technical problems of high volume, weight and complexity, poor mobility and flexibility in deep sea operation of the prior art, and is more environmentally friendly and has lower maintenance costs, because the seawater hydraulic power device provided by the first aspect of the present application is used as the power source of the mechanical arm operation end.

[0031] 6、Further, in the mechanical arm seawater hydraulic system provided by the present application, the three-position four-way switch valve can use seawater as the working medium, control the flow rate and flow direction of the valve outlet by controlling the switching frequency of the switch valve, and has strong anti-pollution ability; the hydraulic lock can maintain pressure when the joint with large load is stationary, preventing the movement of the joint caused by internal leakage of the high-speed switch valve; the inlet and outlet of the actuator are provided with flat gap type one-way throttles, which can control the flow rate by adjusting the extension length of the valve core, and perform backflow throttling speed regulation.

[0032] 7、Further, the seawater hydraulic system provided by the present application can control the speed of the actuator by controlling the output flow rate in three ways: servo motor pump control, valve control, and throttle valve control, and the actuator is provided with a displacement or angle sensor to form a closed loop control of displacement or angle, so that the control is more accurate and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The seawater hydraulic power device for deep sea operation provided by the present application is shown in the schematic diagram of embodiment 1.

[0034] Figure 2 The deep sea mechanical arm seawater hydraulic system provided by the present application is shown in the schematic diagram of embodiment 2. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments 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.

[0036] Embodiment 1,

[0037] The seawater hydraulic power device for deep-sea operation comprises a first servo motor, a second servo motor, a first on-off valve, a second on-off valve, a first water outlet, a second water outlet and a backflow path, all of which are in communication with the marine environment.

[0038] The first water outlet is provided with a first plunger pump and a first servo motor connected thereto, and the second water outlet is provided with a second plunger pump and a second servo motor connected thereto; the plunger pump is used to extract seawater from the marine environment and output to the operation end to provide power for the operation end; the servo motor is used to drive the corresponding plunger pump to work and control the flow of seawater output in the corresponding water outlet, and the output flow of the plunger pump is dynamically adjusted by adjusting the rotating speed of the servo motor.

[0039] The first water outlet and the second water outlet complement each other in deep-sea operation, and when deep-sea operation is performed, the first servo motor and / or the second servo motor is controlled to start working.

[0040] The backflow path is used to re-output the residual flow when the operation end performs deep-sea operation to the marine environment; the backflow path is provided with a pressure sensor and a back pressure valve in sequence.

[0041] The first water outlet is connected to the backflow path via the first on-off valve, the second water outlet is connected to the backflow path via the second on-off valve, and the first water outlet and the second water outlet are connected; the on-off valve is used to control the on-off between the corresponding water outlet and the backflow path.

[0042] When the pressure sensor senses that the pressure on the backflow path is lower than the opening pressure of the back pressure valve:

[0043] For the case that only one servo motor is working, the non-working servo motor is triggered to start working, and the corresponding on-off valve is opened to charge the backflow path until the opening pressure of the back pressure valve is reached, and then the corresponding on-off valve is closed.

[0044] For the case that both servo motors are working, any one on-off valve is opened to charge the backflow path until the opening pressure of the back pressure valve is reached, and then the opened on-off valve is closed.

[0045] In this embodiment, the opening pressure of the back pressure valve is the pressure of the marine environment.

[0046] In an optional embodiment, the seawater hydraulic power device further comprises a safety valve; the safety valve is connected between the first water outlet and the backflow path, or between the second water outlet and the backflow path, and is used to control the pressure on the first water outlet and the second water outlet; specifically, when the pressure of the first water outlet or the second water outlet is higher than the preset pressure, the first water outlet, the second water outlet and the backflow path are connected to unload.

[0047] In an alternative embodiment, the backflow path is further provided with an energy storage accumulator, which stores energy in an initial state, and is used to buffer the pressure in the backflow path when the backflow path seal fails, so as to prolong the pressure maintaining time.

[0048] In an alternative embodiment, the pressure sensor is further used to charge the energy storage accumulator when the pressure on the backflow path is sensed to be lower than the opening pressure of the back pressure valve.

[0049] In an alternative embodiment, the first water outlet path or the second water outlet path is further provided with a pulse reduction accumulator, which is used to eliminate the flow pressure pulsation of the first plunger pump or the second plunger pump.

[0050] The following will be described in detail in combination with a specific embodiment:

[0051] As shown in Figure 1 , the seawater hydraulic power device comprises: a first plunger pump and a first servo motor connected thereto (see 2.1 in Figure 1 ), a second plunger pump and a second servo motor connected thereto (see 2.2 in Figure 1 ), a safety valve 3.1, a back pressure valve 3.2, a pulse reduction accumulator 4.1, an energy storage accumulator 4.2, a first on-off valve 5.1, a second on-off valve 5.2, and a pressure sensor 6;

[0052] The first plunger pump is arranged on the first water outlet path, and its water inlet (P port) is communicated with the marine environment 1 through a filter, and its water outlet is connected with the working end, which is used to extract seawater from the marine environment and output to the working end to provide power for the working end. Similarly, the second plunger pump is arranged on the second water outlet path, and its water inlet (P port) is connected with the marine environment through a filter, and its water outlet is connected with the working end, which is used to extract seawater from the marine environment and output to the working end to provide power for the working end. The first water outlet path and the second water outlet path complement each other in deep sea operation. When deep sea operation is performed, the first servo motor and / or the second servo motor is controlled to start working, and then drives the first plunger pump and / or the second plunger pump to start working. It should be noted that whether one or two plunger pumps are controlled to work is determined according to the requirement of the working end. When the working end needs more kinetic energy, both plunger pumps are driven to work.

[0053] The pulse reduction accumulator 4.1 is arranged on the first water outlet path, and is used to eliminate the flow pressure pulsation of the first plunger pump and the second plunger pump. The flow pressure pulsation will bring about the vibration, impact of the pipeline, and the speed jitter of the linear element.

[0054] The back pressure valve 3.2, the energy storage accumulator 4.2 and the pressure sensor 6 are arranged on the backflow path, which is used to output the residual flow when the working end performs deep sea operation to the sea. Further, the end of the backflow path communicated with the sea is further provided with a filter and a cooler.

[0055] The first outlet water path is connected with the backflow path via the first switch valve 5.1, the second outlet water path is connected with the backflow path via the second switch valve 5.2, and the first outlet water path and the second outlet water path are connected; the switch valve is used to control the on-off between the plunger pump on the corresponding outlet water path and the backflow path;

[0056] When the pressure sensor 6 senses that the pressure on the backflow path is lower than the opening pressure of the back pressure valve:

[0057] For the case that only one servo motor is working, the non-working servo motor is triggered to start working, and the corresponding switch valve is opened to charge the backflow path, until the opening pressure of the back pressure valve is reached, and the corresponding switch valve is closed;

[0058] For the case that two servo motors are working at the same time, any one switch valve is opened to charge the backflow path, until the opening pressure of the back pressure valve is reached, and the opened switch valve is closed.

[0059] The two plunger pumps are complementary in the working process. The back pressure of the backflow path is detected by the pressure sensor, which is fed back to the switch valve to control the on-off of the plunger pump to the back pressure charging circuit, so as to realize the automatic control of the back pressure circuit pressure. During operation, the pump output pressure and the backflow path pressure can be monitored by observing the pressure panel to realize the automatic control and visualization of the back pressure.

[0060] The energy storage accumulator 4.2 is used for back pressure energy storage of the backflow path. Due to the leakage of the back pressure valve and the joint, the back pressure of the backflow path will decrease. The energy stored in the energy storage accumulator 4.2 can continuously charge the back pressure, prolong the duration of the back pressure, reduce the time of the pump charging the back pressure, and save energy. Specifically, when the first switch valve 5.1 is opened, the first plunger seawater pump charges the energy storage accumulator 4.2; when the second switch valve 5.2 is opened, the second plunger seawater pump charges the energy storage accumulator 4.2.

[0061] The safety valve 3.1 is connected between the first outlet water path and the backflow path, and is used to connect the first outlet water path, the second outlet water path and the backflow path when the pressure of the first outlet water path or the second outlet water path is higher than the preset pressure, so as to unload.

[0062] Specifically, in one specific embodiment, the safety valve is adjusted to 1 MPa (to ensure that the system pipeline is filled with water under pressure), the back pressure valve is adjusted to 0, the first and second plunger pumps are turned on, and the first and second switch valves 5.1 and 5.2 are turned on, so that the pipeline of the seawater hydraulic power device is filled with hydraulic water medium. After a period of time, the first and second switch valves 5.1 and 5.2 are closed, and only one of the first and second plunger pumps needs to be turned on. The back pressure valve 3.2 is adjusted to the ambient pressure, and the safety valve 3.1 is adjusted to the ambient pressure plus a little bit of working pressure, taking into account the pressure loss through the pipeline and various elements. During operation, when the working end is in a static state, the back pressure may slowly decrease due to local leakage. At this time, the pressure sensor 6 feeds back to the second switch valve 5.2 connected to the second plunger pump that has been turned on, causing it to open. When the pressure returns to the required back pressure, the second switch valve 5.2 closes. When one of the plunger pumps fails or the flow is not enough, the other plunger pump is turned on, and the two pumps complement each other.

[0063] Embodiment 2,

[0064] A mechanical arm seawater hydraulic system, comprising the seawater hydraulic power device provided in Embodiment 1 and a mechanical arm working end.

[0065] The mechanical arm working end is used for deep-sea operation under the power provided by the seawater hydraulic power device.

[0066] The related technical solutions are the same as those in Embodiment 1, which will not be repeated here.

[0067] In an optional embodiment, the above-mentioned mechanical arm working end comprises: an execution element and a corresponding control valve group; the control valve group is used for controlling the size and direction of the seawater flow output by the seawater hydraulic power device, thereby controlling the corresponding execution element to perform deep-sea operation.

[0068] In an optional embodiment, as shown in Figure 2 , the execution element is multiple, and the types include: linear elements and rotating elements; one execution element is used to simulate one joint on the mechanical arm, and is controlled by one corresponding control valve group.

[0069] Specifically, the control valve group comprises, in sequence, a three-position four-way on-off valve, a throttle valve and a hydraulic lock; wherein the water outlet of the three-position four-way on-off valve is connected with the water inlet of the throttle valve. Specifically, the control valve group comprises a plurality of three-position four-way on-off valves (7.1-7.12), a plurality of throttle valves 8 and a plurality of hydraulic locks 9; four high-speed on-off valves form a three-position four-way on-off valve, which can use seawater as a working medium, control the flow rate and flow direction of the valve outlet by controlling the switching frequency of the on-off valve, and has strong anti-pollution ability; one three-position four-way on-off valve and two throttle valves control one joint, and a hydraulic lock is added for a joint that needs to be pressure-kept.

[0070] In the embodiment, the throttle valve is preferably a one-way throttle valve.

[0071] Further, the execution element comprises a linear element and a rotating element; the linear element comprises a linear cylinder (as shown by symbol 11 in FIG. 1) and can also convert linear motion into rotary motion through a multi-link mechanism; the rotating element comprises a swing cylinder (as shown by symbol 10 in FIG. 1) and a motor, the swing cylinder realizes 0-180° swing, and the motor controls continuous rotation of the end gripper. Figure 2 Figure 2 Further, the execution element comprises a linear element and a rotating element; the linear element comprises a linear cylinder (as shown by symbol 11 in FIG. 1) and can also convert linear motion into rotary motion through a multi-link mechanism; the rotating element comprises a swing cylinder (as shown by symbol 10 in FIG. 1) and a motor, the swing cylinder realizes 0-180° swing, and the motor controls continuous rotation of the end gripper.

[0072] It should be noted that the seawater hydraulic system controls the operation speed of the execution element by one or more of the following ways: controlling the rotating speed of the servo motor, controlling the switching frequency of the control valve group, and adjusting the size of the throttle hole of the throttle valve.

[0073] In order to further illustrate the mechanical arm seawater hydraulic system provided by the present application, the following will be described in detail in combination with Figure 2 FIG. 1. Specifically, the mechanical arm seawater hydraulic system comprises a power source (1, 2.1-2.2, 3.1-3.2, 4.1-4.2, 5.1-5.2), a control valve group (7.1-7.12, 8, 9) and an execution element (10, 11), and the specific working condition is as follows:

[0074] (1) The execution element comprises a linear element and a rotating element; the linear element can also convert linear motion into rotary motion through a multi-link mechanism. The rotating element comprises a swing cylinder and a motor, the swing cylinder realizes 0-180° swing, and the motor controls continuous rotation of the end gripper.

[0075] ​(2) Adjust the pressure of the safety valve to 1 MPa (ensure that there is pressure to make the system pipeline full of water), adjust the back pressure valve to 0, open the first and second plunger pumps, and then open the first and second switch valves 5.1, 5.2 and the three-position four-way high-speed switch valves 7.1-7.12, the purpose is to make the system pipeline full of hydraulic water medium, after a period of time, close the first and second switch valves 5.1, 5.2 and the three-position four-way high-speed switch valves 7.1-7.12, only one of the first and second plunger pumps needs to be opened. Adjust the pressure of the back pressure valve 3.2 to the ambient pressure, and adjust the pressure of the safety valve 3.1 to the ambient pressure plus a little bit of working pressure, considering the pressure loss through the pipeline and various elements. During the working process, when all the joints are in a static state, the back pressure may slowly decrease due to local leakage, at this time the pressure sensor 6 feeds back to the second switch valve 5.2 connected to the second plunger pump that has been opened, so that it opens, when the pressure recovers to the required back pressure, the second switch valve 5.2 closes, when one of the plunger pumps fails or the flow is not enough, the other plunger pump is opened, and the two pumps complement each other.

[0076] (3) By controlling the simultaneous opening and closing of the valves on the diagonal of the three-position four-way high-speed switch valves 7.1-7.12, the flow direction is controlled, and then the advance and retreat of the actuator 11 and the clockwise and counterclockwise rotation of the actuator 10 are controlled. The displacement and angle sensors carried by the actuators 10, 11 can also obtain linear velocity and angular velocity information after conversion. By comparing with the preset speed information, through the PID controller, the servo motor or control valve group is controlled, and finally the linear velocity or angular velocity control is realized, or the manual adjustment of the one-way throttle valve 8 is realized. The speed control is realized through the oil return throttling speed regulation.

[0077] (4) When the system work is completed, the second plunger pump is closed, and then the pressures of the safety valve 3.1 and the back pressure valve 3.2 are adjusted to 0, and the pressure relief is completed.

[0078] (5) The power element plunger pump is used to provide pressure water to each joint of the mechanical arm to drive the movement of each joint to complete the work, and at the same time can press the return flow path to ensure that the hydraulic pipe of the return flow path is not collapsed, which includes a servo motor, a first plunger pump, a second plunger pump, a safety valve 3.1, a back pressure valve 3.2, a pulsation elimination accumulator 4.1, an energy storage accumulator 4.2, a pressure sensor 6, switch valves 5.1 and 5.2. When the pressure of the return flow path is stable, the switch valve electromagnet loses power, and the valve is closed. When the pressure sensor detects the back pressure of the return flow path and the opening pressure of the back pressure valve 3.2, it feeds back to the servo motor corresponding to the plunger pump that has not been opened, so that the plunger pump is opened, the corresponding switch valve is opened to charge the back pressure, and when the back pressure rises to the required pressure, the opened switch valve is closed, and the corresponding plunger pump stops running.

[0079] (6) Control valve group is used for controlling the flow direction and flow of high pressure water, and further controlling the movement direction and movement speed of each joint of the mechanical arm. The control valve group includes a three-position four-way reversing valve for controlling the flow direction of high pressure water, and the flow can be controlled by controlling the opening and closing speed of the on-off valve. A high-speed on-off valve is connected with a throttle valve and a hydraulic lock, and when the flow control range of the high-speed on-off valve cannot meet the requirements, the flow can be controlled by adjusting the throttle valve, and the hydraulic lock ensures that the high-speed on-off valve is locked when in the middle position.

[0080] It should be noted that the four two-position high-speed on-off valves are combined in the present application, and the diagonal valves are controlled to be opened and closed simultaneously in the use process, so as to play a role of a three-position four-way reversing valve. The flow at the outlet of the valve can be controlled by controlling the opening and closing frequency of the on-off valve. The hydraulic lock can maintain pressure when the joint with a larger load is static, and prevent the movement of the joint caused by the internal leakage of the high-speed on-off valve. The inlet and outlet of the execution element are provided with a flat gap type one-way throttle valve, and the flow can be controlled by adjusting the extension length of the valve core, and the backflow throttling speed control is performed.

[0081] Further, the present application can control the output flow and further control the speed of the execution element by three ways of servo motor pump control, valve control and throttle valve control, and the execution element is provided with a displacement or angle sensor to form a displacement or angle closed loop control, so that the control is more accurate and reliable.

[0082] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A seawater hydraulic power unit for deep-sea operations, characterized in that, include: The system includes a first servo motor, a second servo motor, a first switching valve, a second switching valve, and a first water outlet, a second water outlet, and a return flow path, all of which are connected to the marine environment. A first plunger pump and a first servo motor connected thereto are installed on the first water outlet line, and a second plunger pump and a second servo motor connected thereto are installed on the second water outlet line; the plunger pump is used to draw seawater from the marine environment and output it to the working end to provide power to the working end; the servo motor is used to drive the corresponding plunger pump to work. The first water outlet and the second water outlet complement each other in deep-sea operations. When deep-sea operations are carried out, the first servo motor and / or the second servo motor are controlled to start working. The return path is used to re-output the remaining flow from the working end during deep-sea operations back to the ocean; a pressure sensor and a back pressure valve are sequentially installed on the return path; The first water outlet is connected to the return path via the first switching valve, and the second water outlet is connected to the return path via the second switching valve, and the first water outlet and the second water outlet are connected; the switching valve is used to control the on / off connection between the corresponding water outlet and the return path; Specifically, when the pressure sensor detects that the pressure on the return path is lower than the opening pressure of the back pressure valve: When only one servo motor is working, the non-working servo motor is triggered to start working and the corresponding switching valve is opened to pressurize the return path until the opening pressure of the back pressure valve is reached, and then the corresponding switching valve is closed. When two servo motors are working simultaneously, open any one of the switching valves to pressurize the return path until the opening pressure of the back pressure valve is reached, then close the opened switching valve. The return path is also equipped with an energy storage device, which initially stores energy to buffer the pressure in the return path when the seal of the return path fails, so as to prolong the pressure holding time. The pressure sensor is also used to charge the energy storage device by the plunger pump corresponding to the switched valve when it senses that the pressure on the return path is lower than the opening pressure of the back pressure valve. The first or second water outlet is also equipped with a pulse reduction accumulator to eliminate flow and pressure pulsations in the first and second plunger pumps.

2. The seawater hydraulic power device according to claim 1, characterized in that, It also includes a safety valve; the safety valve is connected between the first water outlet and the return path, or between the second water outlet and the return path, and is used to connect the first water outlet, the second water outlet and the return path to unload when the pressure of the first water outlet or the second water outlet is higher than its preset pressure.

3. A seawater hydraulic system for a robotic arm, characterized in that, Includes the robotic arm working end and the seawater hydraulic power device as described in any one of claims 1-2; The robotic arm's working end is used for deep-sea operations powered by a seawater hydraulic power unit.

4. The seawater hydraulic system according to claim 3, characterized in that, The robotic arm working end includes: an actuator and its corresponding control valve group; The control valve group is used to control the magnitude and direction of the seawater flow rate output by the seawater hydraulic power unit, thereby controlling the corresponding actuators to perform deep-sea operations.

5. The seawater hydraulic system according to claim 4, characterized in that, The operating speed of the actuator is controlled by one or more of the following methods: controlling the rotational speed of the servo motor, controlling the switching frequency of the control valve group, and adjusting the size of the throttle orifice of the throttle valve.

6. The seawater hydraulic system according to any one of claims 4-5, characterized in that, The control valve assembly includes a three-position four-way switch valve, a throttle valve, and a hydraulic lock connected in sequence.

7. The seawater hydraulic system according to any one of claims 4-5, characterized in that, The actuators are multiple and include linear and rotary elements; each actuator is used to simulate a joint on a robotic arm and is controlled by a corresponding control valve group.

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