A deep seawater hydraulic drive platform

Abstract

The present invention discloses a deep-sea hydraulic drive platform. The deep-sea hydraulic drive platform includes a modular ejection mechanism and an ejection synchronization cylinder group. The modular ejection mechanism includes an equipment translation base, a pin assembly, and a sliding guide rail. The ejection synchronization cylinder group includes a symmetrically installed right-side water hydraulic cylinder and a left-side water hydraulic cylinder, a fixed guide rail, a mounting guide rail, a connecting rod, and a tightening screw. The sliding guide rail slides in conjunction with the fixed guide rail. The axial fixed positions of the water hydraulic cylinders on both sides are provided with base connectors, which are provided on the mounting guide rails. The water hydraulic cylinders are installed and positioned by two sets of round nuts and tightened and positioned by the connecting rods, thereby ensuring the synchronous accuracy of the base displacement. Magnetostrictive sensors are provided in the water hydraulic cylinders on both sides to synchronously output the displacement signal of the equipment translation base. This realizes a hydraulic drive system with good synchronization between the installation and action of the drive elements and convenient and reliable control, thereby reducing the working cost of the deep-sea equipment displacement drive.

Description

Technical Field

[0001] The present invention belongs to the technical field of deep-sea equipment hydraulic drive, and more specifically, relates to a deep-sea water hydraulic drive platform. Background Art

[0002] Deep-sea equipment is the basis for realizing the exploration and development of marine resources, is the key technical equipment for safeguarding national marine rights and interests and the integrity of marine territory, and is a key factor in realizing my country's strategy of becoming a maritime power.

[0003] For deep-sea equipment that is mounted on a vehicle and has large displacement requirements, such as underwater exploration components and underwater operation robotic arms, a hydraulic system is usually required to achieve its overall displacement drive. Large-stroke displacement drive of various deep-sea equipment in a high-pressure seawater environment is a key technology for deep-sea operations.

[0004] Since oil-hydraulic drive components are relatively mature, they are widely used in the field of deep-sea drive. However, the mineral hydraulic oil in the oil-hydraulic drive system is incompatible with the seawater environment, and the use of oil-hydraulic actuators has the problem of oil leakage. Especially for the working conditions of the overall displacement of deep-sea equipment, the drive components have a large stroke, heavy load, large number, and large volume and weight. In this case, the oil-hydraulic drive system with a closed cycle in the water environment needs to be equipped with auxiliary devices such as oil tanks, which increases the overall volume and weight, and may also cause water pollution and affect the development of marine resources. In addition, in the working conditions of the overall displacement of deep-sea equipment, multiple sets of drive components are usually required to maintain stability. How to maintain the installation and operation synchronization of each drive component in the high-pressure seawater environment is also a key issue that needs to be solved. Summary of the Invention

[0005] In response to the defects of the related art, the purpose of the present invention is to provide a deep-sea water hydraulic drive platform, which aims to solve the problem of oil medium leakage in the existing drive system using oil pressure actuators, and the problem that the oil hydraulic drive system needs to be equipped with auxiliary devices such as oil tanks, which increases the overall volume and weight.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a deep-sea hydraulic drive platform, comprising: a modular ejection mechanism and an ejection synchronization cylinder group;

[0007] The modular ejection mechanism includes an equipment translation base, a pin assembly, and a sliding guide rail;

[0008] The push-out synchronous cylinder group includes a symmetrically installed right water hydraulic cylinder and a left water hydraulic cylinder, as well as a connecting rod, a tightening screw, a fixing guide rail and a mounting guide rail;

[0009] The equipment translation base is used to install various types of deep-sea equipment. The pin assembly and the sliding guide rail are fixed on both sides of the equipment translation base. The pin assembly is respectively arranged on the outside of the two sliding guide rails. The pin assembly is respectively connected to the front end of the integrated piston rod arranged inside the right water hydraulic cylinder and the left water hydraulic cylinder; the sliding guide rail slides in cooperation with the fixed guide rail to enable the equipment translation base to move along the fixed guide rail;

[0010] The middle positions of the right water hydraulic cylinder and the left water hydraulic cylinder are both provided with a base connecting piece, the middle portion of the base connecting piece is a circular hole for supporting the cylinder bodies of the two water hydraulic cylinders and improving the bearing capacity of the fixed guide rail, and the base connecting piece is installed and positioned in the axial position by two sets of round nuts; the base connecting piece includes a slide groove mounting base plate and a side boss, the slide groove mounting base plate cooperates with the mounting guide rail, the fixed guide rail is fixedly connected to the side boss, and the fixed guide rail is used to support the modular ejection mechanism; the tightening screw passes through the top through hole of the base connecting piece and is connected with the threaded holes at both ends of the connecting rod, for tightening the right water hydraulic cylinder and the left water hydraulic cylinder in the transverse direction and keeping their longitudinal positions consistent, so that the cylinder body position of the synchronous cylinder group and the displacement of the equipment translation base are always kept synchronized;

[0011] A deep hole for accommodating the measuring rod of the magnetostrictive sensor is machined inside the integrated piston rod. The wiring harness of the magnetostrictive sensor is set at the other end of the right water hydraulic cylinder and the left water hydraulic cylinder for synchronously outputting the displacement signal of the equipment translation base.

[0012] Optionally, the base connecting piece cooperates with the mating surfaces at corresponding positions of the cylinder barrels of the right water hydraulic cylinder and the left water hydraulic cylinder; threads of different specifications are processed on the left and right sides of the mating surface of the cylinder barrel, the first thread is smaller than the mating surface size, and the second thread is larger than the mating surface size, which is used for off-set installation and positioning of the round nut; wherein the mating surface length of the base connecting piece is greater than the mating surface length of the cylinder barrel, so that the round nuts on both sides are fully contacted and positioned.

[0013] Optionally, the front ends of the integrated piston rods in the right water hydraulic cylinder and the left water hydraulic cylinder are both equipped with a ball hinge earring shell, and a ball hinge earring radial bearing is installed in the ball hinge earring shell; the ball hinge earring radial bearing is made of special polymer material and cooperates with the pin assembly to optimize the force on the end of the piston rod and buffer the vibration impact during operation.

[0014] Optionally, the right water hydraulic cylinder includes a sensor sealing chamber, a rodless side working chamber and a rod side working chamber;

[0015] The sensor sealed cavity includes a rear end cover of the right hydraulic cylinder, a sensor watertight connector, a magnetostrictive sensor, and a sensor fixed end cover; the top end of the rear end cover of the right hydraulic cylinder has a through hole, and the sensor watertight connector is disposed in the through hole to connect the wiring harness of the magnetostrictive sensor and output the displacement drive signal of the deep-sea water hydraulic drive platform; the sensor fixed end cover includes an annular boss at the front end and a cover plate at the rear end, the annular boss supporting the rear cover of the magnetostrictive sensor, the cover plate being fixed to the rear end surface of the rear end cover of the right hydraulic cylinder via sensor end cover connecting screws, and the annular boss and the rear end cover of the right hydraulic cylinder are sealed by a sensor cavity external pressure sealing ring to form the sensor sealed cavity;

[0016] The rodless side working chamber includes a right hydraulic cylinder rear end cover, a rear end cover positioning ring, a cylinder barrel and the integrated piston rod; the integrated piston rod is arranged inside the cylinder barrel; the cavity from the intersection of the cylinder barrel and the rear end face of the integrated piston rod to the rear end face of the cylinder barrel, and the front end face of the right hydraulic cylinder rear end cover and the rear end face of the integrated piston rod form the rodless side working chamber; the right hydraulic cylinder rear end cover includes a slide groove mounting base plate and a side boss, which is centrally positioned with the cylinder barrel through the rear end cover positioning ring; the front end face of the right hydraulic cylinder rear end cover is provided with a threaded flange for cooperating with the end cover connecting screw to fix the right hydraulic cylinder rear end cover to the cylinder barrel;

[0017] The rod-side working chamber includes the front end cover of the right hydraulic cylinder, the front end cover positioning ring, the cylinder barrel and the integrated piston rod; the cavity from the intersection of the cylinder barrel and the rear end face of the integrated piston rod to the front end face of the cylinder barrel, together with the rear end face of the integrated piston rod and the right hydraulic cylinder front end cover, forms the rod-side working chamber; the front end cover of the right hydraulic cylinder is centrally positioned with the cylinder barrel by the front end cover positioning ring, and its installation method is consistent with that of the rear end cover of the right hydraulic cylinder;

[0018] A hydraulic joint is provided on the top of the front end cover of the right hydraulic cylinder and the rear end cover of the right hydraulic cylinder; when the high-pressure seawater output by the power source enters the rodless side working chamber through the hydraulic joint, the seawater in the rod side working chamber is directly discharged into the external environment. Due to the existence of external pressure, load and power source output pressure, a certain pressure difference is maintained in the two chambers, thereby pushing the integrated piston rod to extend and output thrust, and vice versa, pushing the integrated piston rod (213) to retract and output tension.

[0019] Optionally, the rodless side working chamber further includes a magnetic isolation gasket, a sensor magnetic ring and a magnetic ring fixing screw;

[0020] The sensor magnetic ring is fixed on the one-piece piston rod near the sensor sealing cavity; the magnetic isolation gasket is installed between the sensor magnetic ring and the one-piece piston rod to prevent the influence of metal magnetic conductive material contact on displacement measurement; the inner hole processing size of the matching magnetic isolation gasket and the measuring rod is smaller than the inner hole size of the sensor magnetic ring, and the magnetic isolation gasket and the sensor magnetic ring are fixed to the one-piece piston rod by four magnetic ring fixing screws and follow the movement; the magnetostrictive sensor is used to measure the displacement change of the sensor magnetic ring on the measuring rod of the magnetostrictive sensor and output a displacement electrical signal.

[0021] Optionally, a supporting piston is provided at the end of the measuring rod, and the supporting piston is connected to the end of the measuring rod via a supporting piston connecting screw and cooperates with the deep hole to support the end of the measuring rod;

[0022] The supporting piston is made of polymer material, and a plurality of through water grooves are left on the surface of the supporting piston.

[0023] Optionally, the sensor sealing cavity further includes a sensor cavity internal pressure sealing ring; the sensor cavity internal pressure sealing ring is arranged in the front end sealing groove of the rear end cover of the right hydraulic cylinder, and the size of the front end sealing groove is smaller than the size of the sealing groove provided by the magnetostrictive sensor.

[0024] Optionally, a piston reciprocating seal and a piston guide ring are provided on the inner surface of the cylinder barrel close to the rear end cover of the right hydraulic cylinder;

[0025] The integrated piston rod separates the rod-side working chamber and the rodless-side working chamber of the water hydraulic cylinder during reciprocating motion through the piston reciprocating seal, and achieves support and coaxial positioning in the cylinder barrel through the piston guide ring.

[0026] Optionally, a floating middle spacer ring and a middle spacer ring guide ring are provided on one end of the integrated piston rod close to the rear end cover of the right hydraulic cylinder; the middle spacer ring and the integrated piston rod are positioned and separated by the middle spacer ring guide ring;

[0027] A piston rod reciprocating seal and a piston rod dust ring are provided in the groove of the front end cover of the right hydraulic cylinder; the integrated piston rod is sealed to the outside of the rod side working chamber in the deep sea environment through the piston rod reciprocating seal and the piston rod dust ring.

[0028] Optionally, the rod-side working chamber further includes a positioning ring bidirectional seal; the positioning ring bidirectional seal is arranged at the connection between the integrated piston rod, the front end cover of the right hydraulic cylinder and the cylinder barrel.

[0029] In general, the above technical solutions conceived by the present invention, compared with the prior art, provide a deep-sea water hydraulic drive platform with the following main beneficial effects:

[0030] 1. Aiming at the working scenario of large-stroke displacement equipment in deep-sea high-pressure environment, the present invention proposes a deep-sea water hydraulic drive platform, which is directly driven by seawater medium, avoiding the pollution problem caused by oil leakage in traditional oil hydraulic drive. The hydraulic system is connected to the deep-sea environment and can directly absorb and discharge the working medium from the seawater. There is no need for oil tanks to carry oil, which realizes weight reduction and simplification of the overall drive system.

[0031] 2. In order to solve the problem of synchronous installation and positioning of the synchronous cylinder group, the present invention proposes the use of a base connector with a cylinder synchronous connection hole structure. The connector is arranged in the axial fixed position of the cylinder barrels on both sides through round nuts. It can be connected with the connecting rod and the tightening screw to ensure the installation and positioning accuracy of the cylinder bodies on both sides, and the operation is simple. In addition, the front and rear end covers of the hydraulic cylinder and the multiple groups of large base support structures of the synchronous connector reduce the overall deflection of the cylinder body and improve the reliability of the structure.

[0032] 3. To address the mounting challenges of magnetostrictive sensors in long-stroke water hydraulic cylinders, this invention proposes a novel sensor mounting method. By installing a sensor mounting cap at the rear of the sensor, the problem of tangling and tightening the sensor output cable to the watertight connector in deep-sea environments is avoided, simplifying sensor assembly and disassembly. Furthermore, a sealing groove at the front end of the sensor reduces the stress on the mounting cap, and a polymer support piston with a through-water groove installed at the front end of the sensor measuring rod stabilizes the distal end of the sensor rod at long strokes.

[0033] 4. To address the issue of wear affecting measurement accuracy due to changes in the deflection of the measuring rod when the sensor's magnetic ring moves over large strokes relative to the measuring rod, this invention sets the inner hole dimensions of the magnetic isolation gasket and the measuring rod to be slightly smaller than the inner hole dimensions of the sensor's magnetic ring. This transfers any wear to the magnetic isolation gasket, ensuring the sensor's measurement accuracy even when used for extended periods in high-pressure seawater environments.

[0034] 5. To address the machining and installation issues of the front and rear end covers of the hydraulic cylinder with the slide mounting base and side bosses required for the drive platform, this invention proposes a new positioning and assembly solution, which uses end cover locating rings and threaded flanges to achieve center positioning and fixed installation of the end covers and cylinder barrel.

[0035] 6. Regarding the installation of the entire drive platform and various deep-sea equipment, the present invention sets up a modular drive platform structure. The entire drive platform can be directly installed on the carrier through the installation guide rail, and an equipment translation base that can be installed with customized connection modules is designed to achieve compatibility with deep-sea equipment installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the overall structure of a deep-sea hydraulic drive platform provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the structure of a push-out synchronous cylinder group provided in an embodiment of the present invention;

[0038] Figure 3 A schematic top view of the left and right water hydraulic cylinders provided by an embodiment of the present invention;

[0039] Figure 4 A schematic diagram of the structure of a water hydraulic cylinder provided in an embodiment of the present invention;

[0040] Figure 5 A schematic diagram of the fixed end cover structure of a water hydraulic cylinder sensor provided in an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of the sensor support piston structure provided by an embodiment of the present invention;

[0042] Figure 7 A schematic diagram of the threaded flange structure of a water hydraulic cylinder provided by an embodiment of the present invention;

[0043] Figure 8 A schematic diagram of the structure of a positioning ring for a water hydraulic cylinder end cover provided by an embodiment of the present invention;

[0044] Figure 9 This is a schematic structural diagram of the rear end cover of a water hydraulic cylinder provided by an embodiment of the present invention.

[0045] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0046] 1-modular ejection mechanism, 11-equipment translation base, 12-pin shaft assembly, 13-sliding guide rail, 2-ejection synchronization cylinder group, 21-right water hydraulic cylinder, 22-connecting rod, 23-tensioning screw, 24-left water hydraulic cylinder, 25-fixed guide rail, 26-mounting guide rail, 211-ball hinge earring centripetal bearing, 212-ball hinge earring housing, 213-integrated piston rod, 214-right hydraulic cylinder front end cover, 215-hydraulic joint, 216-threaded flange, 217-front end cover positioning ring, 218-end cover connecting screw, 219-cylinder, 220-base connector, 221-round nut, 222-middle spacer, 223-magnetic isolation gasket, 224-sensor magnetic Ring, 225-magnetic ring fixing screw, 226-right hydraulic cylinder rear end cover, 227-sensor watertight connector, 228-magnetostrictive sensor, 229-sensor fixed end cover, 230-sensor end cover connecting screw, 231-sensor cavity external pressure sealing ring, 232-sensor cavity internal pressure sealing ring, 233-rear end cover positioning ring, 234-piston reciprocating seal, 235-piston guide ring, 236-middle spacer guide ring, 237-support piston connecting screw, 238-support piston, 239-positioning ring bidirectional seal, 240-piston rod reciprocating seal, 241-piston rod dust ring, 242-left hydraulic cylinder rear end cover, 243-left hydraulic cylinder front end cover. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0048] The contents involved in the above embodiment are described below in conjunction with a preferred embodiment.

[0049] In response to the problems existing in the prior art, an embodiment of the present invention provides a deep-sea hydraulic drive platform. Water, as a green transmission medium, is easily available in deep-sea environments and has the advantages of safety, low cost, and pollution-free. Hydraulic components using water pressure drive can not only ensure the high load capacity of deep-sea equipment for underwater operations, but also meet the requirements of pollution-free underwater operations. Water hydraulic drive is compatible with the water environment and can directly use the environmental water medium for drive. It does not need to carry a working medium and is convenient for automatic pressure compensation. Therefore, a deep-sea hydraulic drive platform provided by an embodiment of the present invention is mounted on a vehicle in a modular form. The drive element installation and movement synchronization are good, and the water hydraulic drive platform can be installed for different deep-sea operation equipment, which can avoid pollution problems caused by oil leakage. It does not need to carry a drive medium, and the weight reduction and simplification of the overall hydraulic drive system can be achieved. A single drive platform can be applied to multiple equipment installations and provide displacement feedback, reducing the working cost of deep-sea equipment displacement drive.

[0050] like Figure 1 As shown, a deep-sea hydraulic drive platform comprises a modular ejection mechanism 1 and an ejection synchronization cylinder group 2, wherein the modular ejection mechanism 1 comprises an equipment translation base 11, a pin assembly 12, and a sliding guide rail 13. Figure 2 As shown, the push-out synchronous cylinder group 2 includes a right water hydraulic cylinder 21 , a connecting rod 22 , a tightening screw 23 , a left water hydraulic cylinder 24 , a fixing guide rail 25 , and a mounting guide rail 26 .

[0051] like Figure 3 and Figure 4 As shown, the right water hydraulic cylinder 21 includes a ball hinge earring centripetal bearing 211, a ball hinge earring housing 212, an integrated piston rod 213, a front end cover 214 of the right water hydraulic cylinder, a water pressure joint 215, a threaded flange 216, a front end cover positioning ring 217, an end cover connecting screw 218, a cylinder 219, a base connector 220, a round nut 221, a middle spacer 222, a magnetic isolation gasket 223, a sensor magnetic ring 224, a magnetic ring fixing screw 225, a rear end cover 226 of the right water hydraulic cylinder, and a sensor. Watertight connector 227, magnetostrictive sensor 228, sensor fixed end cover 229, sensor end cover connecting screw 230, sensor cavity external pressure seal 231, sensor cavity internal pressure seal 232, rear end cover positioning ring 233, piston reciprocating seal 234, piston guide ring 235, middle spacer guide ring 236, support piston connecting screw 237, support piston 238, positioning ring bidirectional seal 239, piston rod reciprocating seal 240, piston rod dust ring 241.

[0052] The equipment translation base 11 is used to install various types of deep-sea equipment. The pin assembly 12 and the sliding guide rail 13 are fixed to both sides of the equipment translation base 11. The pin assembly 12 is respectively arranged on the outside of the two sliding guide rails 13. The pin assembly 12 is connected to the front end of the integrated piston rod 213 set inside the right water hydraulic cylinder 21 and the left water hydraulic cylinder 24 respectively. The sliding guide rail 13 slides in conjunction with the fixed guide rail 25 to enable the equipment translation base 11 to move along the fixed guide rail 25 for a long stroke.

[0053] The left water hydraulic cylinder 24 and the right water hydraulic cylinder 21 are symmetrically installed and arranged, and the two have the same structure. The axial fixed position of the right water hydraulic cylinder 21 and the left water hydraulic cylinder 24 are both provided with a base connector 220. The middle part of the base connector 220 is a circular hole, which is used to support the cylinder body of the two water hydraulic cylinders and improve the bearing capacity of the fixed guide rail 25. The base connector 220 is installed and positioned in the axial position by two sets of round nuts 221; the base connector 220 includes a slide mounting base and a side boss. The slide mounting base cooperates with the mounting guide rail 26, and the fixed guide rail 25 is fixedly connected to the side boss. The fixed guide rail 25 is used to support the modular ejection mechanism 1; the tightening screw 23 passes through the top through hole of the base connector 220 and is connected to the threaded holes at both ends of the connecting rod 22, which is used to tighten the right water hydraulic cylinder 21 and the left water hydraulic cylinder 24 in the horizontal direction and keep them consistent in the longitudinal position, so that the cylinder body position of the synchronous cylinder group 2 and the displacement of the equipment translation base 11 are always kept synchronized;

[0054] A deep hole for accommodating the measuring rod of the magnetostrictive sensor 228 is machined inside the integrated piston rod 213. The wiring harness of the magnetostrictive sensor 228 is set at the other end of the right water hydraulic cylinder 21 and the left water hydraulic cylinder 24, and is used to synchronously output the displacement signal of the equipment translation base 11.

[0055] After the entire driving platform is installed on the carrier through the installation guide rail 26, as the integrated piston rod 213 of the synchronous cylinder group 2 is extended, it pushes the pin assembly 12 through the ball joint, and drives the various deep-sea equipment on the equipment translation base 11 to perform a large-stroke displacement outward along the fixed guide rail 25, and synchronously outputs the equipment displacement signal through the magnetostrictive sensor 228 in the water hydraulic cylinder. Similarly, when the integrated piston rod 213 of the synchronous cylinder group 2 is retracted, the deep-sea equipment is also synchronously recovered, thereby realizing stable large-stroke displacement drive of the deep-sea equipment in a high-pressure seawater environment.

[0056] Furthermore, in order to improve the load-bearing capacity of the fixed guide rail 25 and the overall installation stability of the water hydraulic cylinder, multiple groups of base connectors 220 are arranged in the middle position of the right water hydraulic cylinder 21. Preferably, two groups of base connectors 220 are used in this embodiment, which divide the right water hydraulic cylinder 21 into three equal parts. The base connectors 220 are all provided with a slide groove mounting base plate and a side boss. The base connectors 220 cooperate with the mating surfaces at the corresponding positions of the cylinder barrel 219. Different specifications of threads are processed on the left and right sides of the mating surface of the cylinder barrel 219 respectively, ensuring that the thread size on one side is slightly smaller than the mating surface size and the thread size on the other side is slightly larger than the mating surface size, thereby achieving the off-set installation positioning of the round nut 221. The base connector 220 is installed and positioned by two groups of top-locking round nuts 221 of different specifications. The length of the mating surface of the base connector 220 is designed to be slightly longer than the length of the mating surface at the corresponding position of the cylinder barrel, thereby ensuring that the round nuts 221 on both sides can fully contact and position.

[0057] The technical solution of the embodiment of the present invention is to install pin shaft assemblies and sliding guide rails on both sides of the translation base, and the sliding guide rails cooperate with the fixed guide rails to achieve sliding. The fixed guide rails are connected to the cylinder bosses on both sides. The water hydraulic cylinders on both sides cooperate with the installation guide rails through the base connector to achieve relative installation, and are tightened and positioned by the connecting rod, thereby ensuring the synchronization accuracy of the base displacement. In addition, high-pressure seawater is used as the transmission medium, thereby avoiding the problem of oil medium leakage in the drive system using oil hydraulic actuators, and the problem that the oil hydraulic drive system needs to be equipped with auxiliary devices such as oil tanks, which increases the overall volume and weight. A hydraulic drive system with good synchronization between the installation and action of the drive elements, a simple drive system structure, smooth and efficient large-stroke displacement action, and convenient and reliable control is achieved, thereby reducing the working cost of the displacement drive of deep-sea equipment.

[0058] Furthermore, a ball hinge earring housing 212 is installed at the front end of the piston rod of the left water hydraulic cylinder 24 and the right water hydraulic cylinder 21, and a ball hinge earring radial bearing 211 is installed in the ball hinge earring housing 212. In order to ensure the normal operation of the ball hinge connection in the deep sea environment, the ball hinge earring radial bearing 211 is made of special polymer materials and cooperates with the pin assembly 12, thereby optimizing the force on the end of the piston rod and effectively buffering the vibration impact during operation.

[0059] Furthermore, through holes are processed on the tops of the base connectors 220 of the left water hydraulic cylinder 24 and the right water hydraulic cylinder 21, and corresponding threaded holes are processed on both ends of the connecting rod 22. The tightening screws 23 pass through the through holes on the top of the base connector 220 and are connected to the threaded holes on both ends of the connecting rod 22. When the left water hydraulic cylinder 24 and the right water hydraulic cylinder 21 are respectively moved to the designated positions through the slide grooves provided on the mounting guide rails 26 and connected to the mounting guide rails 26 through bolts, the cylinder bodies of the left water hydraulic cylinder 24 and the right water hydraulic cylinder 21 are tightened in the transverse direction by the tightening screws 23, and the cylinder bodies are made consistent in the longitudinal position by the arrangement of the connecting rods 22, so that the cylinder body positions of the push-out synchronization cylinder group 2 are always kept synchronized, thereby ensuring the stability of the displacement drive of the modular push-out mechanism 1.

[0060] Furthermore, the left water hydraulic cylinder 24 and the right water hydraulic cylinder 21 are connected to the fixed guide rail 25 through the front and rear end covers and the side bosses of the base connector 220. The fixed guide rail 25 supports the overall structure of the modular ejection mechanism 1. The sliding guide rail 13 is connected to the equipment translation base 11 by bolts and cooperates with the fixed guide rail 25. The pin assembly 12 is fixed on the equipment translation base 11 and is connected to the ball hinge earrings on both sides of the ejection synchronization cylinder group 2 through the pin.

[0061] like Figure 3 As shown, the only different parts of the left water hydraulic cylinder 24 compared to the right water hydraulic cylinder 21 are the left hydraulic cylinder rear end cover 242 and the left hydraulic cylinder front end cover 243 with symmetrically arranged side bosses, and both the front and rear end covers are provided with a slide mounting base and side bosses.

[0062] Furthermore, the interior of the right hydraulic cylinder 21 can be divided into three chambers: a sensor sealing chamber, a rodless side working chamber, and a rod side working chamber. The sensor sealing chamber is primarily composed of the right hydraulic cylinder rear end cap 226, a sensor fixed end cap 229, a magnetostrictive sensor 228, and a sensor watertight connector 227. The top of the right hydraulic cylinder rear end cap 226 has a through hole, into which the sensor watertight connector 227 is disposed, connecting the wiring harness of the magnetostrictive sensor 228. The magnetostrictive sensor 228 outputs the platform's displacement drive signal in a high-pressure seawater environment through the connection to the sensor watertight connector 227. The watertight connector 227 has a maximum pressure resistance of 140 MPa, effectively preventing high-pressure seawater from entering the sensor sealing chamber.

[0063] Since the common underwater signal output method is to first lead out the loose wires of the magnetostrictive sensor 228 and connect them to the loose wires of the watertight connector 227 socket, and then rotate and tighten the watertight connector 227, this connection method will cause the connected wire harness to tighten and entangle itself as the connector rotates. The tightening and entanglement of the wire harness may not only hinder the threaded rotation connection of the connector, but also may break during the tightening process, making it impossible to output the signal. In this case, if Figure 5 As shown, a sensor mounting and fixing structure consisting of a sensor fixing end cap 229 has been designed. The sensor fixing end cap 229 includes a front annular boss and a rear cover. The annular boss supports the rear cover of the magnetostrictive sensor 228. The inner hole of the boss is designed to avoid the sensor's pressure-sensitive position, adopting a mounting and fixing structure. The cover is fixed to the rear end face of the right hydraulic cylinder rear end cap 226 via sensor end cap connecting screws 230. The annular boss and the right hydraulic cylinder rear end cap 226 are sealed by a sensor cavity external pressure sealing ring 231, forming a sensor sealed cavity. First, connect the watertight connector 227 to the right hydraulic cylinder rear end cap 226, and connect the loose wires inside the sensor sealed cavity. Then, align the loose wire bundle with the wire groove of the front annular boss before installing the sensor sealing end cap 229. This avoids the problems caused by tightening and tangling the wire bundle and also optimizes the sensor assembly and disassembly steps.

[0064] The measuring stroke and front and rear blind zone lengths of the magnetostrictive sensor 228 can be customized. The magnetostrictive sensor 228 outputs a displacement electrical signal by measuring the displacement change of the sensor magnetic ring 224 fixed on the integrated piston rod 213 on the measuring rod of the magnetostrictive sensor 228. A magnetic isolation gasket 223 is installed between the sensor magnetic ring 224 and the integrated piston rod 213 to prevent the influence of metal magnetic conductive material contact on displacement measurement. The magnetic isolation gasket 223 and the sensor magnetic ring 224 are fixed to the integrated piston rod 213 by four magnetic ring fixing screws 225 and follow the movement. A deep hole for accommodating the sensor measuring rod is processed in the integrated piston rod 213, and the end of the measuring rod of the magnetostrictive sensor 228 has an M4 threaded hole.

[0065] like Figure 6 As shown, in order to prevent the deflection problem of the measuring rod end caused by a large range, a support piston 238 is provided to support the measuring rod end. The support piston 238 is connected to the measuring rod end of the magnetostrictive sensor 228 through the support piston connecting screw 237 and cooperates with the deep hole. The support piston 238 is processed with a polymer material, and a plurality of through grooves are left on its surface to facilitate smooth sliding in the deep hole.

[0066] Furthermore, in order to prevent the measurement accuracy from being affected by wear caused by changes in the deflection of the measuring rod when the sensor magnetic ring 224 is displaced relative to the measuring rod, the inner hole processing size of the magnetic isolation gasket 223 and the measuring rod is set to be slightly smaller than the inner hole size of the sensor magnetic ring 224, so that the possible wear is transferred to the magnetic isolation gasket 223, thereby ensuring the measurement accuracy of the sensor when used for a long time in a high-pressure seawater environment.

[0067] Furthermore, to reduce the internal pressure of the high-pressure seawater on the sensor fixed end cover 229 during the operation of the hydraulic cylinder, the position of the pressure seal ring 232 in the sensor cavity is moved from the seal groove provided by the magnetostrictive sensor 228 to the front seal groove arranged on the rear end cover 226 of the right hydraulic cylinder. This reduces the pressure area of ​​the high-pressure seawater on the sensor by 2 / 3, effectively reducing the force on the sensor fixed end cover 229, and thus optimizing the size and number of the sensor end cover connecting screws 230.

[0068] Furthermore, the rodless side working chamber includes the rear end cover 226 of the right hydraulic cylinder, the rear end cover positioning ring 233, the cylinder barrel 219 and the integrated piston rod 213. Figure 7 、 Figure 8 and Figure 9 As shown, the rear end cover 226 of the right hydraulic cylinder is designed with a slide mounting base and a side boss. In order to improve the rationality of the structure and reduce the difficulty of processing, the corresponding rear end cover positioning ring 233 is used to achieve center positioning with the cylinder barrel 219, and the threaded flange 216 is used to achieve fixed installation with the cylinder barrel. The front and rear ends of the cylinder barrel 219 are processed with external threads slightly larger than the flange thread length, so that when the threaded flange 216 is installed, there is a rotation margin to align with the threaded hole of the end cover. Two sealing grooves are respectively opened on the rear end cover positioning ring 233 to effectively prevent external high-pressure seawater from entering the hydraulic cylinder from both sides.

[0069] Furthermore, the rod-side working chamber includes the right hydraulic cylinder front end cap 214, the front end cap locating ring 217, the cylinder barrel 219, and the integrated piston rod 213. The integrated piston rod 213 separates the rod-side working chamber from the rodless working chamber during reciprocating motion via a piston reciprocating seal 234. The piston rod 213 is supported and positioned coaxially within the cylinder barrel 219 via a piston guide ring 235. Furthermore, when the hydraulic cylinder's piston reaches its maximum stroke, the distance from the midpoint of the guide support surface on the right hydraulic cylinder front end cap 214 to the midpoint of the piston head guide support surface on the integrated piston rod 213 is referred to as the minimum guide length. If the guide length is too short, the initial deflection of the hydraulic cylinder caused by the clearance gap will increase, affecting its performance and stability. Taking into account the design of the piston rod support guide device under large stroke conditions, a floating middle ring 222 is provided on the integrated piston rod 213. The middle ring 222 and the integrated piston rod 213 are positioned and separated by the middle ring guide ring 236, thereby meeting the load requirements of the guide device. The front end cover 214 of the right hydraulic cylinder is centrally positioned with the cylinder barrel 219 through the corresponding front end cover positioning ring 217. Its installation method is consistent with the rear end cover 226 of the right hydraulic cylinder. The integrated piston rod 213 is sealed to the outside of the rod cavity in a deep sea environment through the piston rod reciprocating seal 240 and the piston rod dust ring 241 installed in the groove of the front end cover 214 of the right hydraulic cylinder.

[0070] Furthermore, various types of deep-sea equipment can be installed on the equipment translation base 11. According to the connection requirements of different deep-sea equipment, different connection modules can be customized with one end connected to the basic structure of the base and the other end connected to the deep-sea equipment to achieve good compatibility of the driving platform.

[0071] In short, the drive platform can match the displacement stroke conditions and installation dimensions of various deep-sea equipment, and can be modularly designed according to the installation requirements of different deep-sea equipment. It only needs to install different connection modules on the equipment translation base to achieve compatible installation of multiple equipment. The overall installation of the drive platform can be achieved by setting the installation guide rail size and fixing it with the carrier. At the same time, the drive platform uses a set of magnetostrictive displacement sensors to realize the feedback positioning function of the displacement parameters, which is convenient and reliable to control.

[0072] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A deep seawater hydraulic drive platform, characterized in that: include: A modular ejection mechanism (1) and an ejection synchronization cylinder group (2); The modular ejection mechanism (1) includes a translation base (11), a pin assembly (12), and a sliding guide rail (13); The push-out synchronous cylinder group (2) comprises a symmetrically mounted right water hydraulic cylinder (21) and a left water hydraulic cylinder (24), as well as a connecting rod (22), a tightening screw (23), a fixing guide rail (25) and a mounting guide rail (26); The equipment translation base (11) is used to install various types of deep-sea equipment. The pin assembly (12) and the sliding guide rail (13) are fixed on both sides of the equipment translation base (11). The pin assembly (12) is respectively arranged on the outside of the two sliding guide rails (13). The pin assembly (12) is respectively connected to the front end of the integrated piston rod (213) arranged inside the right water hydraulic cylinder (21) and the left water hydraulic cylinder (24); the sliding guide rail (13) slides in cooperation with the fixed guide rail (25) to enable the equipment translation base (11) to move along the fixed guide rail (25); A base connector (220) is provided at the middle of the right water hydraulic cylinder (21) and the left water hydraulic cylinder (24). The middle of the base connector (220) is a circular hole for supporting the cylinder bodies of the two water hydraulic cylinders and improving the bearing capacity of the fixed guide rail (25). The base connector (220) is installed and positioned in the axial position by two sets of round nuts (221). The base connector (220) includes a slide mounting base plate and a side boss. The slide mounting base plate cooperates with the mounting guide rail (26). The fixed guide rail (25) is fixed to the base of the right water hydraulic cylinder (21). The fixed guide rail (25) is fixedly connected to the side boss, and the fixed guide rail (25) is used to support the modular ejection mechanism (1); the tightening screw (23) passes through the top through hole of the base connector (220) and is connected to the threaded holes at both ends of the connecting rod (22), and is used to tighten the right water hydraulic cylinder (21) and the left water hydraulic cylinder (24) in the transverse direction and keep them in the same longitudinal position, so that the cylinder position of the synchronous cylinder group (2) and the displacement of the equipment translation base (11) are always kept synchronous; The right water hydraulic cylinder (21) includes a sensor sealing cavity, and the sensor sealing cavity includes a right water hydraulic cylinder rear end cover (226), a sensor watertight connector (227), a magnetostrictive sensor (228), and a sensor fixed end cover (229); A deep hole for accommodating a measuring rod of the magnetostrictive sensor (228) is machined inside the integrated piston rod (213), and a wiring harness of the magnetostrictive sensor (228) is arranged at the other end of the right water hydraulic cylinder (21) and the left water hydraulic cylinder (24) for synchronously outputting a displacement signal of the equipment translation base (11).

2. The deep sea water hydraulic drive platform according to claim 1, characterized in that: The base connecting member (220) is matched with the matching surfaces of the cylinder barrels (219) of the right water hydraulic cylinder (21) and the left water hydraulic cylinder (24); threads of different specifications are processed on the left and right sides of the matching surface of the cylinder barrel (219), the first thread is smaller than the matching surface size, and the second thread is larger than the matching surface size, and is used for the off-set installation and positioning of the round nut (221); wherein the matching surface length of the base connecting member (220) is greater than the matching surface length of the cylinder barrel (219), so that the round nuts (221) on both sides are completely contacted and positioned.

3. The deep sea water hydraulic drive platform according to claim 1, characterized in that: The front ends of the integrated piston rods (213) in the right water hydraulic cylinder (21) and the left water hydraulic cylinder (24) are both equipped with ball hinge earring housings (212), and the ball hinge earring radial bearings (211) are installed in the ball hinge earring housings (212); the ball hinge earring radial bearings (211) are made of special polymer materials and cooperate with the pin assembly (12) to optimize the force applied to the piston rod end and buffer vibration impact during operation.

4. The deep sea water hydraulic drive platform according to claim 1, characterized in that: The right water hydraulic cylinder (21) comprises a sensor sealing chamber, a rodless side working chamber and a rod side working chamber; The sensor sealing cavity comprises a rear end cover (226) of the right hydraulic cylinder, a sensor watertight connector (227), a magnetostrictive sensor (228) and a sensor fixed end cover (229); the top end of the rear end cover (226) of the right hydraulic cylinder has a through hole, the sensor watertight connector (227) is arranged in the through hole, connected to the wiring harness of the magnetostrictive sensor (228), and outputs the displacement drive signal of the deep sea water hydraulic drive platform; the sensor fixed end cover (229) comprises a front annular boss and a rear cover plate, the annular boss supports the rear cover of the magnetostrictive sensor (228), the cover plate is fixed to the rear end face of the rear end cover (226) of the right hydraulic cylinder via a sensor end cover connecting screw (230), the annular boss and the rear end cover (226) of the right hydraulic cylinder are sealed via a sensor cavity external pressure sealing ring (231), forming the sensor sealing cavity; The rodless side working chamber includes a rear end cover (226) of the right hydraulic cylinder, a rear end cover positioning ring (233), a cylinder barrel (219) and the integrated piston rod (213); the integrated piston rod (213) is arranged inside the cylinder barrel (219); the cavity from the intersection of the cylinder barrel (219) and the rear end face of the integrated piston rod (213) to the rear end face of the cylinder barrel (219) is connected to the front end face of the rear end cover (226) of the right hydraulic cylinder and the integrated piston rod (213). The rear end face of the plug rod (213) forms the rodless side working chamber; the rear end cover (226) of the right hydraulic cylinder includes a slide groove mounting base plate and a side boss, and is centrally positioned with the cylinder barrel (219) through the rear end cover positioning ring (233); a threaded flange (216) is provided on the front end face of the rear end cover (226) of the right hydraulic cylinder for cooperating with the end cover connecting screw (218) to fix the rear end cover (226) of the right hydraulic cylinder to the cylinder barrel (219); The rod-side working chamber comprises a front end cover (214) of the right hydraulic cylinder, a front end cover positioning ring (217), the cylinder barrel (219) and the integrated piston rod (213); a cavity from the intersection of the cylinder barrel (219) and the rear end face of the integrated piston rod (213) to the front end face of the cylinder barrel (219) forms the rod-side working chamber together with the rear end face of the integrated piston rod (213) and the right hydraulic cylinder front end cover (214); the right hydraulic cylinder front end cover (214) is centrally positioned with the cylinder barrel (219) by the front end cover positioning ring (217), and its installation method is consistent with that of the right hydraulic cylinder rear end cover (226); A hydraulic joint (215) is provided on the top of the front end cover (214) of the right hydraulic cylinder and the rear end cover (226) of the right hydraulic cylinder; when the high-pressure seawater output by the power source enters the rodless side working chamber through the hydraulic joint (215), the seawater in the rod side working chamber is directly discharged into the external environment. Due to the existence of external pressure, load and power source output pressure, a certain pressure difference is maintained in the two chambers, thereby pushing the integrated piston rod (213) to extend and output thrust, and vice versa, pushing the integrated piston rod (213) to retract and output tension.

5. The deep sea water hydraulic drive platform according to claim 4, characterized in that: The rodless side working chamber further includes a magnetic isolation gasket (223), a sensor magnetic ring (224), and a magnetic ring fixing screw (225); The sensor magnetic ring (224) is fixed on the one-piece piston rod (213) near the sensor sealing chamber; the magnetic isolation gasket (223) is installed between the sensor magnetic ring (224) and the one-piece piston rod (213) to prevent the influence of the contact of the metal magnetic conductive material on the displacement measurement; the inner hole processing size of the matching inner hole of the magnetic isolation gasket (223) and the measuring rod is smaller than the inner hole size of the sensor magnetic ring (224); the magnetic isolation gasket (223) and the sensor magnetic ring (224) are fixed on the one-piece piston rod (213) by four magnetic ring fixing screws (225) and follow the movement; the magnetostrictive sensor (228) is used to measure the displacement change of the sensor magnetic ring (224) on the measuring rod of the magnetostrictive sensor (228) and output a displacement electrical signal.

6. The deep sea water hydraulic drive platform according to claim 5, characterized in that: A supporting piston (238) is provided at the end of the measuring rod. The supporting piston (238) is connected to the end of the measuring rod via a supporting piston connecting screw (237) and cooperates with the deep hole to support the end of the measuring rod. The supporting piston (238) is made of polymer material, and a plurality of through-water grooves are left on its surface.

7. The deep sea water hydraulic drive platform according to claim 4, characterized in that: The sensor sealing cavity further includes a sensor cavity internal pressure sealing ring (232); the sensor cavity internal pressure sealing ring (232) is arranged in a front end sealing groove of the rear end cover (226) of the right hydraulic cylinder, and the size of the front end sealing groove is smaller than the size of the inherent sealing groove of the magnetostrictive sensor (228).

8. The deep sea water hydraulic drive platform according to claim 4, characterized in that: A piston reciprocating seal (234) and a piston guide ring (235) are provided on the inner surface of the cylinder barrel (219) close to the rear end cover (226) of the right hydraulic cylinder; The integrated piston rod (213) separates the rod-side working chamber and the rodless-side working chamber of the water hydraulic cylinder during reciprocating motion through the piston reciprocating seal (234), and realizes support and coaxial positioning in the cylinder barrel (219) through the piston guide ring (235).

9. The deep sea water hydraulic drive platform according to claim 4, characterized in that: A floating middle spacer ring (222) and a middle spacer ring guide ring (236) are provided on one end of the integrated piston rod (213) close to the rear end cover (226) of the right hydraulic cylinder; the middle spacer ring (222) and the integrated piston rod (213) are positioned and separated by the middle spacer ring guide ring (236); A piston rod reciprocating seal (240) and a piston rod dust ring (241) are provided in the groove of the front end cover (214) of the right hydraulic cylinder; the integrated piston rod (213) is sealed against the outside of the rod-side working chamber in a deep-sea environment by the piston rod reciprocating seal (240) and the piston rod dust ring (241).

10. The deep sea water hydraulic drive platform according to claim 4, characterized in that: The rod-side working chamber further comprises a positioning ring bidirectional seal (239); the positioning ring bidirectional seal (239) is arranged at the connection between the integrated piston rod (213), the front end cover (214) of the right hydraulic cylinder, and the cylinder barrel (219).

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