Underwater docking device hydraulic control system

Abstract

The utility model provides an underwater docking device hydraulic control system, including integrated pump station, walking centering mechanism and sealing locking mechanism, the main suction water mouth of integrated pump station is connected with P1 mouth, P2 mouth of walking centering mechanism through 1P mouth, A1 mouth and A11 mouth of walking centering mechanism are connected, B1 mouth and B11 mouth are connected, A2 mouth and A22 mouth are connected, B2 mouth and B22 mouth are connected, the spare suction water mouth of integrated pump station is connected with P3 mouth, P4 mouth of sealing locking mechanism through 2P mouth, A3 mouth and A33 mouth of sealing locking mechanism are connected, B3 mouth and B33 mouth are connected, A4 mouth and A44 mouth are connected, B4 mouth and B44 mouth are connected, 1P mouth is connected with 2P mouth, the total backwater mouth of integrated pump station is connected with T1 mouth, T2 mouth of walking centering mechanism and T3 mouth, T4 mouth of sealing locking mechanism through 1T mouth, in application, walking centering mechanism and sealing locking mechanism are driven through integrated pump station, realize the linkage control of walking centering mechanism and sealing locking mechanism both sides, complete centering sealing, therefore, the construction safety, reliability of the design is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to a hydraulic control system, belonging to the field of hydraulic engineering, in particular to a hydraulic control system for underwater butt joint device. BACKGROUND

[0002] At present, the construction cofferdam commonly used in the field of hydraulic engineering generally adopts crane hoisting and manual laying to form a cofferdam, then the water is pumped out to form a dry operation area, and then the cofferdam construction is carried out. However, due to the wide and heavy structure of the box girder, the traditional laying construction requires strict tonnage of the cooperating crane, and has high requirements for the road space on both sides of the river and the operation technology of the crane operator. Since the cofferdam part needs to be strictly sealed, the cofferdam body needs to be pre-assembled on the shore to ensure the tightening torque of the sealing surface, or it needs to be hoisted to underwater in sections, and then the bolts at the sealing position are tightened by manual diving, which has poor construction safety and reliability.

[0003] The patent application with application number 202221257041.5 and application date May 24, 2022 discloses a cofferdam structure for hydraulic engineering construction of water conservancy and hydropower engineering, which is characterized in that the first cofferdam plate is movably connected with a clamping device on one side, the clamping device is movably connected with a second cofferdam plate on one side, the first cofferdam plate includes a blocking column, the inside of the blocking column is placed with a first combination strip, the outside of the first combination strip is placed with a first fixed block, the inside of the column body is provided with a first clamping groove, the inside of the blocking column is placed with a second combination strip, and the outside of the second combination strip is placed with a second fixed block.

[0004] The cofferdam structure needs to be repeatedly aligned and confirmed to complete the assembly, which not only cannot guarantee the sealing performance of the sealing surface after underwater butt joint, but also cannot guarantee the safety of the underwater operation personnel, and does not solve the defects of poor construction safety and reliability in cofferdam construction.

[0005] The information disclosed in this background section is only intended to increase the understanding of the overall background of the present application and should not be considered as admitting or implying in any form that the information constitutes prior art known to those of ordinary skill in the art. SUMMARY

[0006] The purpose of the present application is to overcome the defects and problems of poor construction safety and reliability in the prior art, and to provide a hydraulic control system for underwater butt joint device with high construction safety and reliability.

[0007] To achieve the above purpose, the technical solution of the present application is: a hydraulic control system for underwater butt joint device, the control system comprises an integrated pump station, a walking centering mechanism and a sealing locking mechanism.

[0008] The main water suction port of the integrated pump station is connected with P1 port and P2 port of the walking centering mechanism through 1P port, A1 port is connected with A11 port, B1 port is connected with B11 port, A2 port is connected with A22 port, and B2 port is connected with B22 port of the walking centering mechanism;

[0009] The standby water suction port of the integrated pump station is connected with P3 port and P4 port of the sealing locking mechanism through 2P port, A3 port is connected with A33 port, B3 port is connected with B33 port, A4 port is connected with A44 port, and B4 port is connected with B44 port of the sealing locking mechanism;

[0010] The 1P port is connected with the 2P port; the total water return port of the integrated pump station is connected with T1 port and T2 port of the walking centering mechanism and T3 port and T4 port of the sealing locking mechanism through 1T port.

[0011] The integrated pump station comprises a main pump station and a standby pump station; the main pump station comprises a main pump, a main filter, a main pressure monitoring assembly and a main stop valve; the main pressure monitoring assembly, the main stop valve, the main pump and the main filter are sequentially arranged on a main water pipeline between the main water suction port and the 1P port;

[0012] The standby pump station comprises a standby pump, a standby filter, a standby pressure monitoring assembly and a standby stop valve; the standby pressure monitoring assembly, the standby stop valve, the standby pump and the standby filter are sequentially arranged on a standby water pipeline between the standby water suction port and the 2P port.

[0013] The walking centering mechanism comprises a left walking mechanism and a right walking mechanism; the left walking mechanism comprises a left driving motor and a left motor control valve group; the right walking mechanism comprises a right driving motor and a right motor control valve group;

[0014] The sealing locking mechanism comprises a left limiting assembly and a right locking assembly; the left limiting assembly comprises a limiting hydraulic cylinder group and a limiting hydraulic cylinder control valve group; the right locking assembly comprises a locking hydraulic cylinder group and a locking hydraulic cylinder control valve group.

[0015] The left motor control valve group comprises a motor reversing valve and symmetrically arranged left motor pipeline and right motor pipeline;

[0016] A left bidirectional hydraulic lock, a left safety valve, a left pressure monitoring device and a left quick plug connector are sequentially arranged on the left motor pipeline; a right bidirectional hydraulic lock, a right safety valve, a right pressure monitoring device and a right quick plug connector are sequentially arranged on the right motor pipeline; the left motor pipeline and the right motor pipeline are connected through a first stop valve, and the left safety valve is connected with the right safety valve.

[0017] The A1 port of the motor reversing valve is connected with the A11 port of the left drive motor through the left motor pipeline and the left motor hose in sequence, and the B1 port of the motor reversing valve is connected with the B11 port of the left drive motor through the right motor pipeline and the right motor hose in sequence; the right motor control valve group is identical with the left motor control valve group in structure.

[0018] The limiting water hydraulic cylinder group comprises a plurality of limiting water hydraulic cylinders, and the limiting water hydraulic cylinders comprise a rod cavity and a rodless cavity.

[0019] The rod cavities of the plurality of limiting water hydraulic cylinders are connected through a rod cavity pipeline, and the rodless cavities of the plurality of limiting water hydraulic cylinders are connected through a rodless cavity pipeline; the structure of the locking water hydraulic cylinder group is identical with that of the limiting water hydraulic cylinder group.

[0020] The limiting water hydraulic cylinder control valve group comprises a limiting reversing valve and symmetrically arranged left and right limiting pipelines.

[0021] The left limiting pipeline is sequentially provided with a left limiting bidirectional hydraulic lock, a left limiting safety valve, a left limiting pressure monitoring device and a left limiting quick plug connector; the right limiting pipeline is sequentially provided with a right limiting bidirectional hydraulic lock, a right limiting safety valve, a right limiting pressure monitoring device and a right limiting quick plug connector; the left limiting pipeline and the right limiting pipeline are connected through a second stop valve, and the left limiting safety valve and the right limiting safety valve are connected.

[0022] The A3 port of the limiting reversing valve is connected with the A33 port of the rodless cavity pipeline through the left limiting pipeline and the left hose in sequence, and the B3 port of the limiting reversing valve is connected with the B33 port of the rod cavity pipeline through the right limiting pipeline and the right hose;

[0023] The structure of the locking water hydraulic cylinder control valve group is identical with that of the limiting water hydraulic cylinder control valve group.

[0024] The main water pipeline and the standby water pipeline are connected through a 2T port, and the 2T port is connected with a 1T port; the left motor control valve group, the right motor control valve group, the limiting water hydraulic cylinder control valve group and the locking water hydraulic cylinder control valve group are connected through a 3T port and the 2T port.

[0025] The left drive motor is connected with a left motor water discharge port, and the right drive motor is connected with a right motor water discharge port; quick plug connectors are respectively arranged at the left motor water discharge port, the right motor water discharge port, a main water suction port, a standby water suction port and a total water return port, and the quick plug connectors are respectively connected with the left motor water discharge port, the right motor water discharge port, the main water suction port, the standby water suction port and the total water return port through hoses.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] 1. In the hydraulic control system of the underwater butt joint device, the control system comprises an integrated pump station, a walking centering mechanism and a sealing locking mechanism; the main water suction port of the integrated pump station is connected with the P1 port and the P2 port of the walking centering mechanism through the 1P port, the A1 port is connected with the A11 port, the B1 port is connected with the B11 port, the A2 port is connected with the A22 port, and the B2 port is connected with the B22 port; the standby water suction port of the integrated pump station is connected with the P3 port and the P4 port of the sealing locking mechanism through the 2P port, the A3 port is connected with the A33 port, the B3 port is connected with the B33 port, the A4 port is connected with the A44 port, and the B4 port is connected with the B44 port; the 1P port is connected with the 2P port; the total water return port of the integrated pump station is connected with the T1 port, the T2 port of the walking centering mechanism and the T3 port, the T4 port of the sealing locking mechanism through the 1T port; in the application, the P1 port and the P2 port of the walking centering mechanism are driven by the 1P port of the integrated pump station, and then the A11 port, the B11 port, the A22 port and the B22 port are driven, the linkage control of the two sides of the walking centering mechanism is realized, and the P3 port and the P4 port of the sealing locking mechanism are driven, and then the A33 port, the B33 port, the A44 port and the B44 port are driven, the linkage control of the two sides of the sealing locking mechanism is realized, so that accurate automatic centering splicing is realized, and personnel do not need to dive for torque pre-tightening, so that safety is ensured. Therefore, the application has high construction safety and reliability.

[0028] 2. In the hydraulic control system of the underwater butt joint device, the integrated pump station comprises a main pump station and a standby pump station; the main pump station comprises a main pump, a main filter, a main pressure monitoring component and a main stop valve; the main pressure monitoring component, the main stop valve, the main pump and the main filter are sequentially arranged on the main water pipeline between the main water suction port and the 1P port; the standby pump station comprises a standby pump, a standby filter, a standby pressure monitoring component and a standby stop valve; the standby pressure monitoring component, the standby stop valve, the standby pump and the standby filter are sequentially arranged on the standby water pipeline between the standby water suction port and the 2P port; in the application, one main and one standby design is adopted, when the main pump station fails and alarms, the standby pump station is automatically started, so that the failure in the construction process is avoided, the reliability in the construction process is ensured, the safety is improved, and the main pump failure is avoided to cause the components to lose pressure and fall. Therefore, the application has high construction reliability and safety.

[0029] 3, In the hydraulic control system of the underwater butt joint device, the driving motor is connected with the control valve group, the hydraulic cylinder group is connected with the control valve group, and the left motor drain, the right motor drain, the main water suction port, the standby water suction port, the total water return port and the quick connector are connected through the hose; in the application, the whole system is divided into the water and underwater parts through the hose and the quick connector, the water and underwater equipment are connected through the quick connector with the hose, the safety in the construction power process is ensured, the failure rate is reduced, and the use cost can be effectively saved. Therefore, the application has high safety and low use cost. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is the structural schematic diagram of the application.

[0031] Figure 2 It is the structural schematic diagram of the integrated pump station in the application.

[0032] Figure 3 It is the structural schematic diagram of the walking centering mechanism in the application.

[0033] Figure 4 It is the structural schematic diagram of the left motor control valve group in the application.

[0034] Figure 5 It is the structural schematic diagram of the sealing locking mechanism in the application.

[0035] Figure 6 It is the structural schematic diagram of the limit water hydraulic cylinder control valve group in the application.

[0036] Figure 7 It is the structural schematic diagram of the limit water hydraulic cylinder group in the application.

[0037] Figure 8 It is the structural schematic diagram of the underwater centering device in the embodiment 5 of the application.

[0038] Figure 9 It is the structural schematic diagram of the limit locking device in the embodiment 5 of the application.

[0039] Figure 10 It is the structural schematic diagram of the limit water hydraulic cylinder group and the hydraulic rod in the embodiment 5 of the application.

[0040] Figure 11 It is the structural schematic diagram of the locking water hydraulic cylinder group and the hydraulic cylinder body in the embodiment 5 of the application.

[0041] Figure 12 It is the relative position schematic diagram of the locking buckle and the perforation in the embodiment 5 of the application.

[0042] Figure: integrated pump station 1, main suction port 101, standby suction port 102, total backwater port 103, left motor drain port 104, right motor drain port 105, quick connector 106, hose 107, main pump station 11, main pump machine 111, main filter 112, main pressure monitoring assembly 113, main stop valve 114, main water pipeline 115, standby pump station 12, standby pump machine 121, standby filter 122, standby pressure monitoring assembly 123, standby stop valve 124, standby water pipeline 125, walking centering mechanism 2, left walking mechanism 21, left motor hose 210, left drive motor 211, left motor control valve group 212, motor reversing valve 213, left bidirectional hydraulic lock 214, left safety valve 215, left pressure monitoring device 216, left quick connector 217, left motor pipeline 218, right motor hose 220, right walking mechanism 22, right drive motor 221, right motor control valve group 222, first stop valve 223, right bidirectional hydraulic lock 224, right safety valve 225, right pressure monitoring device 226, right quick connector 227, right motor pipeline 228, sealing locking mechanism 3, left limiting assembly 31, left hose 310, limiting water hydraulic cylinder group 311, limiting water hydraulic cylinder 3111, rod cavity 3112, rodless cavity 3113, rod cavity pipeline 3114, rodless cavity pipeline 3115, limiting water hydraulic cylinder control valve group 312, limiting reversing valve 313, left limiting bidirectional hydraulic lock 314, left limiting safety valve 315, left limiting pressure monitoring device 316, left limiting quick connector 317, left limiting pipeline 318, right locking assembly 32, right hose 320, locking water hydraulic cylinder group 321, locking water hydraulic cylinder control valve group 322, second stop valve 323, right limiting bidirectional hydraulic lock 324, right limiting safety valve 325, right limiting pressure monitoring device 326, right limiting quick connector 327, right limiting pipeline 328, left frame 4, right frame 5, limiting and locking device 6, left track 41, right track 42, limiting connecting rod 43, piston rod 44, locking buckle 45, crank 46, hydraulic cylinder body 47, hydraulic rod 48, perforation 51, second rod cavity 3222, second rodless cavity 3223. DETAILED DESCRIPTION

[0043] The application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Reference Figure 1 — Figure 7 An underwater docking device water hydraulic control system, the control system comprises an integrated pump station 1, a walking centering mechanism 2 and a sealing locking mechanism 3.

[0045] The main water suction port 101 of the integrated pump station 1 is connected with the P1 port and the P2 port of the walking centering mechanism 2 through the 1P port, the A1 port is connected with the A11 port, the B1 port is connected with the B11 port, the A2 port is connected with the A22 port, and the B2 port is connected with the B22 port of the walking centering mechanism 2;

[0046] The standby water suction port 102 of the integrated pump station 1 is connected with the P3 port and the P4 port of the sealing locking mechanism 3 through the 2P port, the A3 port is connected with the A33 port, the B3 port is connected with the B33 port, the A4 port is connected with the A44 port, and the B4 port is connected with the B44 port of the sealing locking mechanism 3;

[0047] The 1P port is connected with the 2P port; the total water return port 103 of the integrated pump station 1 is connected with the T1 port, the T2 port of the walking centering mechanism 2, and the T3 port, the T4 port of the sealing locking mechanism 3 through the 1T port.

[0048] The integrated pump station 1 comprises a main pump station 11 and a standby pump station 12; the main pump station 11 comprises a main pump 111, a main filter 112, a main pressure monitoring assembly 113, and a main stop valve 114; the main pressure monitoring assembly 113, the main stop valve 114, the main pump 111, and the main filter 112 are sequentially arranged on the main water pipeline 115 between the main water suction port 101 and the 1P port;

[0049] The standby pump station 12 comprises a standby pump 121, a standby filter 122, a standby pressure monitoring assembly 123, and a standby stop valve 124; the standby pressure monitoring assembly 123, the standby stop valve 124, the standby pump 121, and the standby filter 122 are sequentially arranged on the standby water pipeline 125 between the standby water suction port 102 and the 2P port.

[0050] The walking centering mechanism 2 comprises a left walking mechanism 21 and a right walking mechanism 22; the left walking mechanism 21 comprises a left driving motor 211 and a left motor control valve group 212; the right walking mechanism 22 comprises a right driving motor 221 and a right motor control valve group 222;

[0051] The sealing locking mechanism 3 comprises a left limiting assembly 31 and a right locking assembly 32; the left limiting assembly 31 comprises a limiting water hydraulic cylinder group 311 and a limiting water hydraulic cylinder control valve group 312; the right locking assembly 32 comprises a locking water hydraulic cylinder group 321 and a locking water hydraulic cylinder control valve group 322.

[0052] The left motor control valve group 212 comprises a motor reversing valve 213 and symmetrically arranged left motor pipelines 218 and right motor pipelines 228;

[0053] The left motor pipeline 218 is sequentially provided with a left bidirectional hydraulic lock 214, a left safety valve 215, a left pressure monitoring device 216 and a left quick plug connector 217; the right motor pipeline 228 is sequentially provided with a right bidirectional hydraulic lock 224, a right safety valve 225, a right pressure monitoring device 226 and a right quick plug connector 227; the left motor pipeline 218 and the right motor pipeline 228 are connected through a first stop valve 223, and the left safety valve 215 is connected with the right safety valve 225.

[0054] The A1 port of the motor reversing valve 213 is sequentially connected with the A11 port of the left drive motor 211 through the left motor pipeline 218, the left motor hose 210; the B1 port of the motor reversing valve 213 is sequentially connected with the B11 port of the left drive motor 211 through the right motor pipeline 228, the right motor hose 220; the right motor control valve group 222 is consistent with the left motor control valve group 212 in structure.

[0055] The limiting water hydraulic cylinder group 311 includes a plurality of limiting water hydraulic cylinders 3111, and the limiting water hydraulic cylinder 3111 includes a rod cavity 3112 and a rodless cavity 3113.

[0056] The rod cavities 3112 of the plurality of limiting water hydraulic cylinders 3111 are connected through a rod cavity pipeline 3114, and the rodless cavities 3113 of the plurality of limiting water hydraulic cylinders 3111 are connected through a rodless cavity pipeline 3115; the structure of the locking water hydraulic cylinder group 321 is consistent with that of the limiting water hydraulic cylinder group 311.

[0057] The limiting water hydraulic cylinder control valve group 312 includes a limiting reversing valve 313 and symmetrically arranged left limiting pipeline 318 and right limiting pipeline 328.

[0058] The left limiting pipeline 318 is sequentially provided with a left limiting bidirectional hydraulic lock 314, a left limiting safety valve 315, a left limiting pressure monitoring device 316 and a left limiting quick plug connector 317; the right limiting pipeline 328 is sequentially provided with a right limiting bidirectional hydraulic lock 324, a right limiting safety valve 325, a right limiting pressure monitoring device 326 and a right limiting quick plug connector 327; the left limiting pipeline 318 and the right limiting pipeline 328 are connected through a second stop valve 323, and the left limiting safety valve 315 is connected with the right limiting safety valve 325.

[0059] The A3 port of the limiting reversing valve 313 is sequentially connected with the A33 port of the rodless cavity pipeline 3115 through the left limiting pipeline 318, the left hose 310; the B3 port of the limiting reversing valve 313 is connected with the B33 port of the rod cavity pipeline 3114 through the right limiting pipeline 328, the right hose 320;

[0060] The structure of the locking water hydraulic cylinder control valve group 322 is consistent with that of the limiting water hydraulic cylinder control valve group 312.

[0061] The main water pipeline 115 and the standby water pipeline 125 are connected through a 2T port, and the 2T port is connected with a 1T port; the left motor control valve group 212, the right motor control valve group 222, the limit water hydraulic cylinder control valve group 312 and the locking water hydraulic cylinder control valve group 322 are connected through a 3T port and a 2T port.

[0062] The left drive motor 211 is connected with the left motor drain port 104, and the right drive motor 221 is connected with the right motor drain port 105; the left motor drain port 104, the right motor drain port 105, the main water suction port 101, the standby water suction port 102 and the total water return port 103 are respectively provided with quick plug connectors 106, and the quick plug connectors 106 are respectively connected with the left motor drain port 104, the right motor drain port 105, the main water suction port 101, the standby water suction port 102 and the total water return port 103 through hoses 107.

[0063] The principle of the application is as follows:

[0064] The water hydraulic control system designed by taking water as the working medium can reduce the pollution caused by the construction operation and protect the water environment.

[0065] The water hydraulic control system of the underwater docking device can adopt remote control or local manual control, the remote control system can realize remote operation of the equipment, and the local manual control is to operate the equipment in an emergency working condition.

[0066] Embodiment 1:

[0067] Referring to Figure 1 — Figure 7 A water hydraulic control system of an underwater docking device, the control system comprises an integrated pump station 1, a walking centering mechanism 2 and a sealing locking mechanism 3; the main water suction port 101 of the integrated pump station 1 is connected with the P1 port and the P2 port of the walking centering mechanism 2 through a 1P port, the A1 port and the A11 port of the walking centering mechanism 2 are connected, the B1 port and the B11 port are connected, the A2 port and the A22 port are connected, and the B2 port and the B22 port are connected; the standby water suction port 102 of the integrated pump station 1 is connected with the P3 port and the P4 port of the sealing locking mechanism 3 through a 2P port, the A3 port and the A33 port of the sealing locking mechanism 3 are connected, the B3 port and the B33 port are connected, the A4 port and the A44 port are connected, and the B4 port and the B44 port are connected; the 1P port and the 2P port are connected; the total water return port 103 of the integrated pump station 1 is connected with the T1 port and the T2 port of the walking centering mechanism 2 and the T3 port and the T4 port of the sealing locking mechanism 3 through a 1T port.

[0068] In the application, when the underwater centering operation is carried out, first, the high-pressure water enters the P1 port and the P2 port of the walking centering mechanism 2 through the 1P port of the integrated pump station 1, and the DT1 and the DT3 are operated to be powered at the same time, the valve group of the walking centering mechanism 2 works at the left position, the B11 port and the B22 port enter the water, and the A11 port and the A22 port exit the water, so as to drive the walking centering mechanism 2 to move forward, when retreating, the valve group of the walking centering mechanism 2 works at the right position, the A11 port and the A22 port enter the water, and the B11 port and the B22 port exit the water; during the movement, the docking center may be deviated, if deviated to the left, it is necessary to adjust to the right, at this time, the DT3 is powered off or the DT4 is powered on, the walking speed on the left is kept to be higher than the walking speed on the right, so as to realize the right turning action of the whole box girder structure; if deviated to the right, it is necessary to adjust to the left, at this time, the DT1 is powered off or the DT2 is powered on, the walking speed on the right is kept to be higher than the walking speed on the left, so as to realize the left turning action of the whole box girder structure.

[0069] When the locking and sealing operation is carried out, first, the DT6 is powered on, the high-pressure water enters the rodless cavity of the limiting hydraulic cylinder group 311 through the 1P port of the integrated pump station 1, and then drives the limiting mechanism to realize the limiting action, then the DT8 is powered on, the high-pressure water enters the rodless cavity of the locking hydraulic cylinder group 321 through the 1P port of the integrated pump station, and drives the locking mechanism to realize the locking action.

[0070] Embodiment 2

[0071] The basic content is the same as that in embodiment 1, and the difference lies in that:

[0072] The integrated pump station 1 comprises a main pump station 11 and a standby pump station 12; the main pump station 11 comprises a main pump 111, a main filter 112, a main pressure monitoring assembly 113 and a main stop valve 114; the main pressure monitoring assembly 113, the main stop valve 114, the main pump 111 and the main filter 112 are sequentially arranged on the main water pipeline 115 between the main water suction port 101 and the 1P port; the standby pump station 12 comprises a standby pump 121, a standby filter 122, a standby pressure monitoring assembly 123 and a standby stop valve 124; the standby pressure monitoring assembly 123, the standby stop valve 124, the standby pump 121 and the standby filter 122 are sequentially arranged on the standby water pipeline 125 between the standby water suction port 102 and the 2P port.

[0073] In the application, the main pump station 11 and the standby pump station 12 are redundantly designed, the structures of the two are consistent, and they are not started at the same time, when a low-pressure alarm occurs, the other pump group is immediately switched to take over the operation, so as to ensure that the construction can be normally operated.

[0074] Embodiment 3

[0075] The basic content is the same as that in embodiment 2, and the difference lies in that:

[0076] The walking centering mechanism 2 comprises a left walking mechanism 21 and a right walking mechanism 22; the left walking mechanism 21 comprises a left driving motor 211 and a left motor control valve group 212; the right walking mechanism 22 comprises a right driving motor 221 and a right motor control valve group 222; the sealing locking mechanism 3 comprises a left limiting assembly 31 and a right locking assembly 32; the left limiting assembly 31 comprises a limiting hydraulic cylinder group 311 and a limiting hydraulic cylinder control valve group 312; the right locking assembly 32 comprises a locking hydraulic cylinder group 321 and a locking hydraulic cylinder control valve group 322.

[0077] In application, the walking centering mechanism 2 is designed as the symmetrical left walking mechanism 21 and the right walking mechanism 22, the left driving motor 211 and the right driving motor 221 drive the track to realize underwater walking, differential control is realized through differential control of the left and right motors, the requirement of turning is achieved, the limiting hydraulic cylinder group 311 and the locking hydraulic cylinder group 321 drive the automatic limiting and locking mechanism, mechanical limiting and sealing locking functions are realized through extension and retraction of the limiting hydraulic cylinder group 311 and the locking hydraulic cylinder group 321, and the requirement of underwater box girder structure sealing is achieved.

[0078] Embodiment 4:

[0079] The basic content is the same as that in embodiment 3, except that:

[0080] The A1 port of the motor reversing valve 213 is connected to the A11 port of the left driving motor 211 in sequence through the left motor pipeline 218, the left motor hose 210 and the left motor hose 210; the B1 port of the motor reversing valve 213 is connected to the B11 port of the left driving motor 211 in sequence through the right motor pipeline 228, the right motor hose 220 and the left motor hose 210; the right motor control valve group 222 and the left motor control valve group 212 are consistent in structure; the left driving motor 211 is connected to the left motor water outlet 104, and the right driving motor 221 is connected to the right motor water outlet 105; the left motor water outlet 104, the right motor water outlet 105, the main water suction port 101, the standby water suction port 102 and the total water return port 103 are respectively provided with quick connectors 106, and the quick connectors 106 are respectively connected to the left motor water outlet 104, the right motor water outlet 105, the main water suction port 101, the standby water suction port 102 and the total water return port 103 through hoses 107.

[0081] In the application, the whole system is set as the underwater equipment part and the water surface equipment part, the underwater equipment part includes the left drive motor 211, the right drive motor 221, the limiting hydraulic cylinder group 311, the locking hydraulic cylinder group 321, the left motor hose 210, the right motor hose 220, the left hose 310, the right hose 320, the hose 107, etc., the water surface equipment part includes the integrated pump station 1, the left motor control valve group 212, the right motor control valve group 222, the limiting hydraulic cylinder control valve group 312, the locking hydraulic cylinder control valve group 322, etc.; the water surface equipment and the underwater equipment are connected through the quick plug connector with the hose, which guarantees the efficient splicing between the equipment, and the electric control equipment is arranged in the dry area, which guarantees the safety of the construction electricity, and effectively avoids the water damage of the electric control equipment, and reduces the use cost.

[0082] Embodiment 5:

[0083] The basic content is the same as that in embodiment 4, except that:

[0084] Referring to Figures 8-12 , the underwater centering device includes the left frame 4 and the right frame 5, the lower left part of the left frame 4 is provided with the left track 41, the lower right part of the right frame 5 is provided with the right track 42, the left drive motor 211 is connected with the left track 41, and the right drive motor 221 is connected with the right track 42; the limiting and locking device 6 is arranged on the left frame 4 or the right frame 5; the limiting and locking device 6 includes the limiting connecting rod 43, the piston rod 44, the locking buckle 45, the crank 46, the hydraulic cylinder body 47 and the hydraulic rod 48, the limiting hydraulic cylinder group 311 is connected with the hydraulic rod 48, the locking hydraulic cylinder group 321 is connected with a plurality of hydraulic cylinder bodies 47, and the piston rod 44 is fixed on the left frame 4 or the right frame 5.

[0085] In the application, first, high pressure water enters the P1 port of the left motor control valve group 212 and the P2 port of the right motor control valve group 222 through the 1P port of the integrated pump station 1, and the DT1 and DT3 of the motor reversing valve 213 are simultaneously powered, the left motor control valve group 212 and the right motor control valve group 222 are in the left position, the B11 port of the left drive motor 211 and the B22 port of the right drive motor 221 enter water, and the A11 port of the left drive motor 211 and the A22 port of the right drive motor 221 exit water, so as to drive the left track 41 and the right track 42 to move forward relatively, drive the left frame 4 and the right frame 5 to approach and center, and in the application, the middle frame can be added between the left frame 4 and the right frame 5 as needed; during the movement, the docking center may be offset, if the left is offset, the right needs to be adjusted, at this time, DT3 is powered off or DT4 is powered on, the walking speed of the left track 41 is kept higher than that of the right track 42, so as to realize the right turning action of the mechanical frame 4; if the right is offset, the left needs to be adjusted, at this time, DT1 is powered off or DT2 is powered on, the walking speed of the right track 42 is kept higher than that of the left track 41, so as to realize the left turning action of the mechanical frame 4.

[0086] The side surface of the left frame 4 and the right frame 5 is provided with a corresponding perforation 51, after the left frame 4 and the right frame 5 are centered and approached, the locking buckle 45 penetrates the perforation 51 in parallel with the axis of the perforation 51, during the locking and sealing operation, first, DT6 of the limiting reversing valve 313 is powered on, high pressure water enters the rodless cavity 3113 of the limiting hydraulic cylinder group 311 through the 1P port of the integrated pump station 1, the rodless cavity 3113 drives the rod cavity 3112 to drive the hydraulic rod 48 to elongate, and then drives the limiting connecting rod 43 to move, the limiting connecting rod 43 drives a plurality of cranks 46 to rotate and a plurality of locking buckles 45 to rotate synchronously, so that the locking buckle 45 and the axis of the perforation 51 are perpendicular and intersect, cannot retreat and come out, limiting operation is realized, then DT8 is powered on, high pressure water enters the second rodless cavity 3223 of the locking hydraulic cylinder group 321 through the 1P port of the integrated pump station, the second rodless cavity 3223 drives the second rod cavity 3222 to drive the hydraulic cylinder body 47 to elongate, since the piston rod 44 of the hydraulic cylinder body 47 is fixed, the hydraulic cylinder body 47 elongates and drives the locking buckle 45 to tighten the left frame 4 and the right frame 5, and sealing operation is realized.

[0087] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above embodiments, but any equivalent modification or change made by those skilled in the art according to the disclosed content of the present application shall be included in the protection scope recorded in the claims.

Claims

1. An underwater docking device hydraulic control system, comprising: The control system uses water source as working medium, comprising integrated pump station (1), walking centering mechanism (2) and sealing locking mechanism (3); The main water suction port (101) of the integrated pump station (1) is connected with the P1 port and the P2 port of the walking centering mechanism (2) through the 1P port, the A1 port is connected with the A11 port, the B1 port is connected with the B11 port, the A2 port is connected with the A22 port, and the B2 port is connected with the B22 port of the walking centering mechanism (2); The standby water suction port (102) of the integrated pump station (1) is connected with the P3 port and the P4 port of the sealing locking mechanism (3) through the 2P port, the A3 port is connected with the A33 port, the B3 port is connected with the B33 port, the A4 port is connected with the A44 port, and the B4 port is connected with the B44 port of the sealing locking mechanism (3); The 1P port is connected with the 2P port, and the total water return port (103) of the integrated pump station (1) is connected with the T1 port, the T2 port of the walking centering mechanism (2) and the T3 port, the T4 port of the sealing locking mechanism (3) through the 1T port; The integrated pump station (1) comprises a main pump station (11) and a standby pump station (12), the main pump station (11) comprises a main pump (111), a main filter (112), a main pressure monitoring assembly (113) and a main stop valve (114), the main pressure monitoring assembly (113), the main stop valve (114), the main pump (111) and the main filter (112) are sequentially arranged on the main water pipeline (115) between the main water suction port (101) and the 1P port; The standby pump station (12) comprises a standby pump (121), a standby filter (122), a standby pressure monitoring assembly (123) and a standby stop valve (124), the standby pressure monitoring assembly (123), the standby stop valve (124), the standby pump (121) and the standby filter (122) are sequentially arranged on the standby water pipeline (125) between the standby water suction port (102) and the 2P port; The main pump station (11) and the standby pump station (12) are redundantly designed and are not started at the same time; The walking centering mechanism (2) comprises a left walking mechanism (21) and a right walking mechanism (22), the left walking mechanism (21) comprises a left driving motor (211) and a left motor control valve group (212), and the right walking mechanism (22) comprises a right driving motor (221) and a right motor control valve group (222); The sealing locking mechanism (3) comprises a left limiting assembly (31) and a right locking assembly (32), the left limiting assembly (31) comprises a limiting hydraulic cylinder group (311) and a limiting hydraulic cylinder control valve group (312), and the right locking assembly (32) comprises a locking hydraulic cylinder group (321) and a locking hydraulic cylinder control valve group (322). When the locking and sealing operation is performed, first, the DT6 of the limiting hydraulic cylinder control valve group (312) is powered on, high-pressure water enters the rodless cavity of the limiting hydraulic cylinder group (311) through the 1P port of the integrated pump station (1), and then pushes the limiting mechanism to realize the limiting action. Then, the DT8 of the locking hydraulic cylinder control valve group (322) is powered on, high-pressure water enters the rodless cavity of the locking hydraulic cylinder group (321) through the 1P port of the integrated pump station, and drives the locking mechanism to realize the locking action.

2. The underwater docking device hydraulic control system according to claim 1, characterized in that: the left motor control valve group (212) comprises a motor reversing valve (213) and symmetrically arranged left motor pipeline (218) and right motor pipeline (228); the left motor pipeline (218) is sequentially provided with a left bidirectional hydraulic lock (214), a left safety valve (215), a left pressure monitoring device (216), and a left quick plug connector (217); the right motor pipeline (228) is sequentially provided with a right bidirectional hydraulic lock (224), a right safety valve (225), a right pressure monitoring device (226), and a right quick plug connector (227); the left motor pipeline (218) and the right motor pipeline (228) are connected through a first shut-off valve (223), and the left safety valve (215) and the right safety valve (225) are connected.

3. The underwater docking device hydraulic control system according to claim 2, characterized in that: the A1 port of the motor reversing valve (213) is sequentially connected to the left motor pipeline (218), the left motor hose (210), and the A11 port of the left drive motor (211); the B1 port of the motor reversing valve (213) is sequentially connected to the right motor pipeline (228), the right motor hose (220), and the B11 port of the left drive motor (211); the right motor control valve group (222) and the left motor control valve group (212) are structurally identical.

4. The underwater docking device hydraulic control system according to claim 3, characterized in that: the limiting hydraulic cylinder group (311) comprises a plurality of limiting hydraulic cylinders (3111), and each limiting hydraulic cylinder (3111) comprises a rod cavity (3112) and a rodless cavity (3113); the rod cavities (3112) of the plurality of limiting hydraulic cylinders (3111) are connected through a rod cavity pipeline (3114), and the rodless cavities (3113) of the plurality of limiting hydraulic cylinders (3111) are connected through a rodless cavity pipeline (3115); the structure of the locking hydraulic cylinder group (321) is identical to that of the limiting hydraulic cylinder group (311).

5. The underwater docking device hydraulic control system according to claim 4, characterized in that: the limiting hydraulic cylinder control valve group (312) comprises a limiting reversing valve (313) and symmetrically arranged left limiting pipeline (318) and right limiting pipeline (328); The left limiting pipeline (318) is sequentially provided with a left limiting bidirectional hydraulic lock (314), a left limiting safety valve (315), a left limiting pressure monitoring device (316) and a left limiting quick connector (317); the right limiting pipeline (318) is sequentially provided with a right limiting bidirectional hydraulic lock (324), a right limiting safety valve (325), a right limiting pressure monitoring device (326) and a right limiting quick connector (327); the left limiting pipeline (318) and the right limiting pipeline (328) are connected through a second stop valve (323), and the left limiting safety valve (315) is connected with the right limiting safety valve (325).

6. The underwater docking device hydraulic control system according to claim 5, characterized in that: The A3 port of the limiting reversing valve (313) is sequentially connected with the left limiting pipeline (318), the left hose (310) and the A33 port of the rodless cavity pipeline (3115); the B3 port of the limiting reversing valve (313) is connected with the right limiting pipeline (328), the right hose (320) and the B33 port of the rod cavity pipeline (3114); The locking hydraulic cylinder control valve group (322) and the limiting hydraulic cylinder control valve group (312) have the same structure.

7. The underwater docking device hydraulic control system according to claim 6, characterized in that: The main water pipeline (115) and the standby water pipeline (125) are connected through a 2T port, and the 2T port is connected with a 1T port; the left motor control valve group (212), the right motor control valve group (222), the limiting hydraulic cylinder control valve group (312) and the locking hydraulic cylinder control valve group (322) are connected through a 3T port and a 2T port.

8. The underwater docking device hydraulic control system according to claim 7, characterized in that: The left drive motor (211) is connected with a left motor drain port (104), and the right drive motor (221) is connected with a right motor drain port (105); the left motor drain port (104), the right motor drain port (105), a main water suction port (101), a standby water suction port (102) and a total water return port (103) are respectively provided with a quick connector (106), and the quick connectors (106) are respectively connected with the left motor drain port (104), the right motor drain port (105), the main water suction port (101), the standby water suction port (102) and the total water return port (103) through hoses (107).

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