Hydraulic transmission unit, in particular for deep-sea applications

Abstract

The invention relates to a transmission unit (1) having: - a housing (2) for fluid-tightly encapsulating at least a part of the transmission unit (1), - a rack-and-pinion gear (3) arranged in the housing (2), having at least one rack (4), - a hydraulic drive system (5) arranged in the housing (2), having at least one extruder unit (6) for causing an energy increase of an extrudable working fluid of the hydraulic drive system (5) and at least one chamber (7) in which a piston (8) acting in connection with the rack (4) of the rack-and-pinion gear (3) is movable using the working fluid in order to cause a linear movement of the rack (4), - a rotatable, mechanical adjustment element (9) acting in connection with a pinion (10) of the rack-and-pinion gear (3) and at least sectionally arranged outside the housing (2).

Description

Technical Field

[0001] The present invention relates to a transmission unit, particularly a transmission unit for underwater use, an electro-hydraulic modular system, particularly an electro-hydraulic modular system for underwater use, and the use of at least one transmission unit or system described herein for operating underwater instruments, particularly deep-sea instruments having at least one deep-sea valve, such as a deep-sea ball valve. Background Technology

[0002] Electro-hydraulic actuators are known for use in deep-sea applications, used to move components underwater at depths of up to several thousand meters in the context of oil and gas extraction, mining, scientific research, or infrastructure projects. Thus, for example in offshore oil or gas extraction systems, where process valves are located at greater depths, the volumetric flow of the medium to be extracted can be regulated or shut off.

[0003] Known electro-hydraulic actuators for deep-sea applications are typically designed to perform linear motion to open and close deep-sea valves. However, using these actuators in larger deep-sea valves, such as relatively large ball valves, would require such high (linear) adjustment forces that a space-intensive hydraulic system is needed to provide the correspondingly high hydraulic pressure. This conflicts with the goal of configuring actuators for deep-sea applications as compactly as possible, allowing for easy underwater replacement, for example, by a submersible robot with a limited payload.

[0004] Furthermore, known electro-hydraulic actuators for deep-sea applications integrate electronic components, such as the motor for driving the hydraulic pump. However, it has been shown that these electronic components are among the fastest-wearing or most frequently worn parts of the actuator, and thus largely determine the maximum service life of the electro-hydraulic actuator underwater. Summary of the Invention

[0005] Therefore, the objective of this invention is to at least partially address the shortcomings or problems described in conjunction with the background art. In particular, it is intended to provide an electro-hydraulic actuator for deep-sea applications that can also be used to operate larger deep-sea valves, such as relatively large ball valves, while still achieving a compact construction and increased service life through structural simplicity.

[0006] These tasks are accomplished using the transmission unit and system according to the independent claims. Other configurations of the invention are given in the dependent claims. It should be noted that this specification, in particular with reference to the accompanying drawings, elucidates other details and extensions of the invention that can be combined with the features of the claims.

[0007] A transmission unit facilitates this, having:

[0008] - A housing for fluid-tightly encapsulating at least a portion of the transmission unit.

[0009] - A rack and pinion drive mechanism arranged in the housing, the rack and pinion drive mechanism having at least one rack.

[0010] A hydraulic drive system disposed within the housing, the hydraulic drive system having at least one extruder unit and at least one chamber, the extruder unit being used to increase the energy of the extrudable working fluid of the hydraulic drive system, and a piston activating on the rack of a rack-and-pinion transmission being able to move within the chamber using the working fluid to cause linear motion of the rack.

[0011] - A rotatable, mechanical adjusting element, which is operatively connected to the pinion of a rack and pinion transmission and is at least partially located outside the housing.

[0012] The transmission unit is particularly suitable for use in electro-hydraulic modular systems, which can be the systems described herein. Additionally, the transmission unit can be for underwater use, particularly for deep-sea applications. The latter specifically relates to use at depths of at least one thousand meters or even at least two thousand meters.

[0013] The transmission unit includes a housing for fluid-tightly (liquid-tightly) encapsulating at least a portion of the transmission unit. The housing specifically (completely) encapsulates or surrounds at least the rack and pinion gear mechanism and hydraulic drive system of the transmission unit. In other words, this specifically means that at least the rack and pinion gear mechanism and hydraulic drive system of the transmission unit are (completely) surrounded by the housing and / or sealed or protected from environmental influences by the housing relative to the environment.

[0014] Additionally, the transmission unit includes a rack and pinion drive (fully) arranged within the housing, the rack and pinion drive having at least one rack. Preferably, the rack and pinion drive has two racks, which are oriented particularly parallel to each other, wherein a pinion is arranged between and / or meshing with the two racks. The rack and pinion drive allows for advantageous rotational actuation, and thus advantageously contributes to the following: it enables the provision of actuators capable of operating larger deep-sea valves, such as relatively large ball valves. Here, the rack and pinion drive still allows for a compact construction through structural simplicity.

[0015] Additionally, the transmission unit includes a hydraulic drive system (completely) arranged within the housing, the hydraulic drive system having at least one extruder unit and at least one chamber. The extruder unit is used to increase the energy of the extrudable working fluid of the hydraulic drive system. A piston, operatively connected to the rack of a pinion gear transmission, can move within the chamber using the working fluid to cause linear movement of the rack. The extruder unit can be formed, for example, in the form of a hydraulic pump. Furthermore, the extruder unit can include, for example, at least one hydraulic pump, such as an axial piston pump. The extrudable working fluid can be formed, for example, by means of a hydraulic fluid, such as hydraulic oil. At least one chamber and the extruder unit are typically interconnected via hydraulic channels. At least one rack can be connected to the piston on one side or on both sides (at one end or at both ends respectively).

[0016] If the rack is connected to the piston at only one end, a preload element, such as a pressure spring, can be attached to the other end for linear preload of the rack. The number of chambers typically corresponds to the number of pistons.

[0017] Additionally, the transmission unit includes a rotatable, mechanical adjusting element that is operatively connected to the pinion of the rack and pinion transmission and is at least partially disposed outside the housing. For example, the adjusting element can be mechanically and / or torsionally connected to the pinion. The adjusting element can, for example, be a driven shaft of the transmission unit. The adjusting element can be configured to have external teeth in a region of its side surface.

[0018] The drive unit particularly does not include electronic components. Preferably, the drive unit does not include, for example, an electric motor. If the drive unit is integrated into, for example, an electro-hydraulic modular system described herein, the extruder unit can be driven, for example, by an external electric motor, which can be integrated, for example, into a control module that is coupled to the drive unit. The absence of electronic components in the drive unit advantageously contributes to a particularly compact construction and increased service life for the drive unit.

[0019] According to an advantageous configuration, a fluid-tight (liquid-sealed) enclosure is suitable for, or rather, for use of a transmission unit underwater. Preferably, the fluid-tight enclosure is suitable for, or rather, for use of a transmission unit underwater at a depth of at least one kilometer or even at least two kilometers. For this purpose, the housing can be formed, for example, in the form of a pressure vessel and / or equipped with a corresponding sealing device.

[0020] According to another advantageous configuration, at least one extruder unit includes a hydraulic torque regulator for limiting the drive torque of the extruder unit. The hydraulic torque regulator is capable of automatically and hydraulically adjusting the drive torque of the extruder unit. In particular, the torque regulator can limit the (maximum) drive torque. In other words, this specifically means that the hydraulic torque regulator can adjust the drive torque of the transmission (extruder unit) to a particularly constant value, and (substantially) independent of the output torque of the transmission unit (adjustment element). To achieve a constant drive torque, the adjustment angle of the axial piston pump of the extruder unit can be changed, for example, according to the operating pressure of the working fluid, so that the drive torque remains constant. Therefore, the torque regulator advantageously facilitates the following: the transmission unit can also be driven with a relatively small drive torque, but still provide a high output torque for operating relatively large valves. This is particularly possible because the transmission unit can also be driven by a relatively small electric motor or the manipulator of a small deep-sea robot, or even manually.

[0021] According to another advantageous configuration, the transmission unit further comprises a mechanical interface. This interface can be arranged at least partially outside the housing. For example, the interface can extend at least partially from the housing. Furthermore, the interface can be adapted or configured to transmit mechanical work performed externally at the interface to the hydraulic drive system, said mechanical work being used to cause an energy increase in the working fluid. This interface can, for example, be operatively connected or mechanically connected to the extruder unit. This mechanical interface advantageously facilitates the fact that the transmission unit can be without electronic components, because the transmission unit can be driven by an external (electronic) control module via the interface.

[0022] In this context, it is preferable that the mechanical interface has at least one connector for a (external and / or electronic) control module. The connector for the control module can, for example, include the shaft end of a drive shaft of a transmission unit that is operatively connected to the extruder unit. This shaft end of the drive shaft of the transmission unit can be adjusted or configured for a torsionally resistant connection with the output shaft of the control module.

[0023] Furthermore, in this context, it is advantageous that the mechanical interface forms an element at which an external manipulator can perform mechanical work. Particularly advantageous is that the mechanical interface forms an element, separate from and / or adjacent to the connector for the control module, except for the connector for the control module, at which an external manipulator can perform mechanical work. The external manipulator can be, for example, a gripper of a deep-sea robot and / or the output shaft of the deep-sea robot. However, in addition, a human hand can also be considered as a manipulator, allowing mechanical work to be performed, for example, manually, at the element. Such an element can be formed, for example, by means of the end of a drive shaft of a transmission unit that is operatively connected to the extruder unit. This element, or the end of the drive shaft of the transmission unit, can be adjusted or configured for a torsionally anti-torsional connection with the output shaft of the deep-sea robot. Preferably, the element and the connector for the control module are arranged in a common receiving portion of the interface.

[0024] According to another aspect, an electro-hydraulic modular system is proposed, which is particularly suitable for underwater use. This electro-hydraulic modular system has the following characteristics:

[0025] -The transmission unit described here

[0026] - An electronic control module that can be coupled to the transmission unit, the electronic control module being used to convert electrical energy into mechanical work to be performed at the transmission unit.

[0027] Electro-hydraulic modular systems are particularly suitable for underwater use, especially for deep-sea applications. The latter specifically relates to underwater use at depths of at least one thousand meters or even two thousand meters. These systems can, for example, form deep-sea actuators, which are particularly used for manipulating underwater instruments.

[0028] The control module can be coupled to the drive unit, for example, via an interface. Electrical power can be supplied to the control module, for example, via a submarine cable. The control module can perform mechanical work at the drive unit, particularly at the drive unit's interface. Mechanical work can be performed, for example, in the form of a (constant) torque from the control module's output shaft.

[0029] Modular construction advantageously facilitates the following: the system can be more easily mounted, for example, by a relatively small deep-sea robot, onto underwater instruments. In this context, it is also advantageous that the electronic control module includes all the electronic components of the system, so that in the event of wear and tear on one electronic component, only the control module needs to be replaced, rather than the entire system or the deep-sea actuator.

[0030] According to an advantageous configuration, the control module includes at least one electric motor. The electric motor can be integrated into the control module. The electric motor can be configured to operate at a constant speed. This particularly contributes to the most efficient possible operation of the control module. The electric motor can be connected to the output shaft of the control module, or a portion of the electric motor can form the output shaft.

[0031] According to another advantageous configuration, the system further includes at least one adapter capable of coupling to the adjusting element of the transmission unit. The adapter is particularly suitable for, or designed for, transferring mechanical energy from the adjusting element to the load. The system can include different adapters, thereby allowing the system to be attached to different joint geometries as easily as possible.

[0032] According to another advantageous configuration, the system further includes at least one memory unit that can be attached to the drive unit for storing mechanical energy. This memory unit can be operatively connected to the hydraulic drive system of the drive unit as needed. For example, two such memory units can be attached to the drive unit, each of which is associated with a specific hydraulic circuit of the drive system. For storing mechanical energy, compressible elements, such as gas or springs in a compressed state, can be prepared in the memory unit. At least one memory unit can output the stored mechanical energy to the hydraulic drive system as needed, for example, in the event of emergency valve locking, so as to sufficiently increase the pressure of the working fluid, even in the absence of the drive power of the extruder unit.

[0033] According to another aspect, at least one drive unit or system described herein is proposed for the operation of underwater instruments. The underwater instruments can be, for example, deep-sea instruments used in deep-sea applications, such as oil or gas extraction, to control fluid flow. The underwater instruments can include at least one underwater valve, such as a ball valve, which can be operated by means of the drive unit or system.

[0034] The details, features, and advantageous configurations discussed in connection with this transmission unit can also appear correspondingly in the systems and / or applications presented herein, and vice versa. For this purpose, full reference is made to the statements herein used to characterize the aforementioned features in detail. Attached Figure Description

[0035] The solutions and their technical environment described herein will now be described in detail with reference to the accompanying drawings. It should be noted that the invention should not be limited to the embodiments shown. Unless otherwise explicitly described, it is particularly possible to extract aspects of the facts set forth in the drawings and combine them with other parts and / or concepts from other drawings and / or this specification. The drawings are illustrative and schematic:

[0036] Figure 1 : A cross-sectional view of one implementation variation of the transmission unit described herein.

[0037] Figure 2 : A cross-sectional view of another implementation variation of the transmission unit described herein.

[0038] Figure 3 : A cross-sectional view of the extruder unit used for the transmission unit described herein.

[0039] Figure 4 : A perspective view of one implementation variant of the system described herein.

[0040] Figure 5 : Figure 4 A top view of the implementation variant of the system.

[0041] Figure 6 : A perspective view of another implementation variant of the system described herein,

[0042] Figure 7 A cross-sectional view of another implementation variant of the system described herein, and

[0043] Figure 8 Advantageous applications of the transmission units and systems described herein. Detailed Implementation

[0044] Figure 1 and Figure 2 The transmission unit 1 is shown, having a housing 2 and a rack and pinion drive 3 disposed within the housing 2. The housing is used to fluid-tightly encapsulate at least a portion of the transmission unit 1. The rack and pinion drive has at least one rack 4 (exemplarily two racks are present here). Furthermore, the transmission unit 1 has a hydraulic drive system 5 disposed within the housing 2, having at least one extruder unit 6 and at least one chamber 7. The extruder unit is used to increase the energy of the bedruckbar working fluid of the hydraulic drive system 5. A piston 8, operatively connected to the rack and pinion drive 3, is movable within the chamber using the working fluid to induce linear movement of the rack and pinion 4.

[0045] In this context, Figure 1 The illustration shows an implementation variant with two chambers 7 and two pistons 8 for each toothed rod 4. Figure 2 A variant is shown where each rack 4 has a chamber 7, a piston 8, and a preload element 22. Furthermore, the transmission unit 1 has a rotatable, mechanical adjusting element 9, which is operatively connected to the pinion 10 of the rack and pinion transmission 3 and is at least partially located outside the housing 2.

[0046] Drive torque 23 can be provided to extruder unit 6 via mechanical interface 12. Output torque 24 can be provided at mechanical adjustment element 9.

[0047] Preferably, the fluid-sealed encapsulation is suitable for use of the transmission unit 1 in underwater or deep-sea applications.

[0048] Figure 3 Extruder unit 6 is shown, which is exemplarily capable of... Figure 1 or Figure 2 In this application, for example, the extruder unit 6 has an axial piston pump 25 for pressurizing the working fluid. The axial piston pump 25 is driven by a drive torque 23. Additionally, the extruder unit 6 has a hydraulic torque regulator 11 for limiting the drive torque 23 of the extruder unit 6. To achieve a constant drive torque 23, the adjustment angle 26 of the axial piston pump 25 can be changed, for example, according to the operating pressure of the working fluid, so that the drive torque 23 remains constant.

[0049] Figure 4 Exemplarily illustrating that the transmission unit 1 may additionally have, and if necessary, additionally have, a mechanical interface 12, which is at least partially located outside the housing 2 and adapted to transmit mechanical work performed externally at the interface 12 to the hydraulic drive system 5, the mechanical work being used to cause an increase in the energy of the working fluid.

[0050] exist Figure 5 Interface 12 is shown in the top view. It can be seen that this mechanical interface can have at least one connector 13 for the control module 14, and can exemplary additionally form an element 15 at which an external manipulator 16 can perform mechanical work. Furthermore, in Figure 5 For example, a positioning aid 27 is shown, such as an optical marker for orientation, like that of a deep-sea robot 29.

[0051] Figure 6 An electro-hydraulic modular system 17 is illustrated exemplary, particularly for underwater use. This system includes a drive unit 1 as described herein and an electronic control module 14 coupled to the drive unit 1. This electronic control module converts electrical energy into mechanical work to be performed at the drive unit 1. For example, the control module 14 may include at least one electric motor 18 for this purpose. The control module 14 is exemplarily attached to the mechanical interface 12 of the drive unit 1.

[0052] In addition, according to Figure 6System 17 exemplarily has an adapter 19 coupled to the adjusting element 9 of the transmission unit 1. The adapter 19 is particularly used to transfer mechanical energy from the adjusting element 9 to a load, such as a valve.

[0053] Figure 7 It is clarified that system 17 may additionally have at least one memory 20, which can be attached to transmission unit 1 for storing mechanical energy, and which can be operatively connected to the hydraulic drive system 5 of transmission unit 1 as needed. For example, two memories 20 are present here. A spring 28 is provided in each of the memories 20.

[0054] Figure 8 The use of the transmission unit 1, or system 17, described herein for manipulating underwater instrument 21 is illustrated exemplarily. Underwater instrument 21 exemplarily comprises three deep-sea valves 30, each operable via system 17. Two transmission units in transmission unit 1 are respectively operated by control module 14 of system 17. Transmission unit 1 shown on the right can be operated, for example, by manipulator 16 of deep-sea robot 29.

[0055] List of reference numerals

[0056] 1 Transmission Unit

[0057] 2 shells

[0058] 3-tooth pinion transmission device

[0059] 4-tooth rod

[0060] 5 drive system

[0061] 6 extruder units

[0062] 7 chambers

[0063] 8-piston

[0064] 9 Adjustment Components

[0065] 10 small gears

[0066] 11 Torque Regulator

[0067] 12 interfaces

[0068] 13 connectors

[0069] 14 control modules

[0070] 15 components

[0071] 16 manipulators

[0072] 17 system

[0073] 18 electric motors

[0074] 19 adapter

[0075] 20 memory

[0076] 21 Underwater Instruments

[0077] 22 Preload Components

[0078] 23 drive torque

[0079] 24 output torque

[0080] 25 Axial Piston Pump

[0081] 26 Adjust the angle

[0082] 27 Positioning Auxiliary Devices

[0083] 28 springs

[0084] 29 Submersible Robots

[0085] 30 Deep Sea Valve

Claims

1. A transmission unit (1), wherein the transmission unit has: - Housing (2), said housing for fluid-tightly encapsulating at least a portion of the transmission unit (1), - A rack and pinion drive (3) arranged in the housing (2), the rack and pinion drive having at least one rack (4). - A hydraulic drive system (5) arranged in the housing (2) has at least one extruder unit (6) and at least one chamber (7). The extruder unit is used to increase the energy of the working fluid that can be extruded by the hydraulic drive system (5). A piston (8) operatively connected to the rack (4) of the rack and pinion transmission device (3) is able to move in the chamber when the working fluid is used to cause linear movement of the rack (4). - A rotatable, mechanical adjusting element (9), which is operatively connected to the pinion (10) of the rack and pinion transmission (3) and is arranged at least partially outside the housing (2). in, The transmission unit also has a mechanical interface (12) which is arranged at least partially outside the housing (2) and is adapted to transmit mechanical work done externally at the interface (12) to the hydraulic drive system (5), the mechanical work being used to cause an increase in the energy of the working fluid; The mechanical interface has at least one connector (13) for a control module (14), the control module having an electric motor configured to rotate the at least one connector to perform mechanical work outside the housing; The housing is configured to form a fluid-tight encapsulation of at least one toothed rod, at least one extruder unit, and at least one chamber of the hydraulic drive system.

2. The transmission unit (1) according to claim 1, wherein, The fluid-sealed encapsulation is suitable for use of the transmission unit (1) underwater.

3. The transmission unit (1) according to claim 1 or 2, wherein, The at least one extruder unit (6) includes a hydraulic torque regulator (11) for limiting the drive torque (23) of the extruder unit (6).

4. The transmission unit (1) according to claim 1, wherein, The mechanical interface (12) forms an element (15), and an external manipulator (16) is able to perform mechanical work at the element.

5. An electro-hydraulic modular system (17), said electro-hydraulic modular system being particularly suitable for underwater use, said electro-hydraulic modular system having: The transmission unit (1) according to any one of claims 1 to 4 above. An electronic control module (14) is coupled to the transmission unit (1) and is used to convert electrical energy into mechanical work to be done at the transmission unit (1).

6. The system (17) according to claim 5, wherein, The control module (14) includes at least one electric motor (18).

7. The system (17) according to claim 5 or 6, wherein the system further comprises at least one adapter (19) capable of being coupled to the adjustment element (9) of the transmission unit (1).

8. The system (17) according to claim 5 or 6, the system further having at least one memory (20) that can be attached to the transmission unit (1), the memory being used to store mechanical energy, and the memory being operatively connected to the hydraulic drive system (5) of the transmission unit (1) as needed.

9. Use of at least one transmission unit (1) according to any one of claims 1 to 4 or a system (17) according to any one of claims 5 to 8 for operating an underwater instrument (21).

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