An integrated valve pack for a flexible water pressure muscle driven vector water jet propulsion system

Abstract

The application provides an integrated valve group for a flexible water pressure muscle driven vector water jet propulsion system, which comprises a valve block body, a pressure difference control valve I, a pressure difference control valve II and a nozzle control valve; the pressure difference control valve I is fixedly installed on a control end surface of the pressure difference control valve I; the pressure difference control valve II is fixedly installed on a control end surface of the pressure difference control valve II; the nozzle control valve is fixedly installed on a nozzle control end surface; and the valve block body is internally provided with a first water inlet channel, a second water inlet channel, a third water inlet channel, a first working channel, a second working channel, a third working channel, a fourth working channel, a fifth working channel, a first water return channel and a second water return channel which are independent of each other. The technical scheme of the application solves the problems of large volume and complex connection pipelines of the valve group composed of pipes in the existing underwater vector water jet propulsion system.

Description

Technical Field

[0001] This invention relates to the field of integrated valve assembly technology, and more particularly to an integrated valve assembly for a vector water jet propulsion system driven by flexible hydraulic muscle. Background Technology

[0002] The underwater vector waterjet propulsion system is a mechanism built on the floating frame of an underwater ROV. This mechanism uses a pump station as the power source for the waterjet vector propulsion system. The overflow valve is located on an external control console, and a nozzle vector adjustment mechanism driven by hydraulic pressure is installed, along with a nozzle deflection vector adjustment mechanism. However, in actual operation, the underwater vector waterjet propulsion system uses a pipe-connected valve group to form the entire valve assembly. This results in a large control loop, complex connecting pipes, difficult installation, inconvenient maintenance, and significant local pressure loss. These drawbacks greatly affect the operating efficiency of the underwater vector waterjet propulsion system. Summary of the Invention

[0003] In view of the technical problems mentioned above, such as the large size, complex connection of various connecting pipes, and large local pressure loss of the valve group composed of the existing underwater vector water jet propulsion system, an integrated valve group for a vector water jet propulsion system driven by flexible water pressure muscle is provided.

[0004] The technical means employed in this invention are as follows:

[0005] An integrated valve assembly for a vector water jet propulsion system driven by flexible hydraulic muscle includes a valve block body, differential pressure control valve I, differential pressure control valve II, and nozzle control valve;

[0006] The valve block body includes six end faces, namely, a power output end face and a power input end face arranged opposite to each other, a differential pressure control valve I control end face and a differential pressure control valve II control end face arranged opposite to each other, and a nozzle control end face and a mounting end face arranged opposite to each other.

[0007] The differential pressure control valve I is fixedly installed on the control end face of the differential pressure control valve I; the differential pressure control valve II is fixedly installed on the control end face of the differential pressure control valve II; the nozzle control valve is fixedly installed on the nozzle control end face;

[0008] The power input end face is provided with a main water inlet and a nozzle load port;

[0009] The power output end face is provided with a first load port of differential pressure control valve I, a second load port of differential pressure control valve I, a first load port of differential pressure control valve II, and a second load port of differential pressure control valve II.

[0010] The differential pressure control valve I is provided with a return water port I on its control end face;

[0011] The differential pressure control valve II is provided with a return water port II on its control end face;

[0012] The differential pressure control valve I is provided with a differential pressure control valve I return water hole, a differential pressure control valve I first outlet water hole, a differential pressure control valve I inlet water hole, and a differential pressure control valve I second outlet water hole;

[0013] The differential pressure control valve II is provided with a differential pressure control valve II return water hole, a differential pressure control valve II first water outlet hole, a differential pressure control valve II inlet hole, and a differential pressure control valve II second water outlet hole;

[0014] The nozzle control valve is provided with a nozzle control valve inlet and a nozzle control valve outlet.

[0015] The valve block body is internally provided with a first water inlet channel, a second water inlet channel, a third water inlet channel, a first working channel, a second working channel, a third working channel, a fourth working channel, a fifth working channel, a first return water channel, and a second return water channel;

[0016] The main water inlet is connected to the inlet of the differential pressure control valve I, the inlet of the differential pressure control valve II, and the inlet of the nozzle control valve through the first water inlet channel, the second water inlet channel, and the third water inlet channel, respectively.

[0017] The first outlet of the differential pressure control valve I is connected to the first load port of the differential pressure control valve I through the first working channel;

[0018] The second outlet of the differential pressure control valve I is connected to the second load port of the differential pressure control valve I through the second working channel;

[0019] The first outlet of the differential pressure control valve II is connected to the second load port of the differential pressure control valve II through the third working channel;

[0020] The second outlet of the differential pressure control valve II is connected to the first load port of the differential pressure control valve II through the fourth working channel;

[0021] The nozzle load port is connected to the nozzle control valve outlet through the fifth working channel;

[0022] The differential pressure control valve I has a return water hole that is connected to the return water port I through the first return water channel;

[0023] The differential pressure control valve II's return water hole is connected to the return water port II through the second return water channel.

[0024] Furthermore, the valve block body, the differential pressure control valve I, the differential pressure control valve II, and the nozzle control valve are all made of stainless steel.

[0025] Furthermore, the control end face of the differential pressure control valve I is parallel to the control end face of the differential pressure control valve II. A plane parallel to and equidistant from the control end faces of both valves is used as a reference plane. The center of gravity of the valve block body is located on this reference plane, and the differential pressure control valve I and valve II are symmetrical about this reference plane. The nozzle control valve has a symmetrical structure, and when mounted on the nozzle control end face, it is symmetrical about the reference plane.

[0026] Furthermore, the first load port of differential pressure control valve I, the second load port of differential pressure control valve I, the first load port of differential pressure control valve II, and the second load port of differential pressure control valve II are all equidistant from the center of the power output end face and are arranged in a cross shape.

[0027] Furthermore, the first load port and the second load port of the differential pressure control valve I are symmetrically distributed in the vertical direction about the center of the power output end face; the first load port and the second load port of the differential pressure control valve II are symmetrically distributed in the horizontal direction about the center of the power output end face.

[0028] Furthermore, sealing rings are provided at the first load port of differential pressure control valve I, the second load port of differential pressure control valve I, the first load port of differential pressure control valve II, the second load port of differential pressure control valve II, the main water inlet, the nozzle load port, and the connecting port.

[0029] Furthermore, the return water inlet I and the return water inlet II are connected to the outside; the return water inlet I and the return water inlet II are arranged symmetrically.

[0030] Furthermore, the vector water jet propulsion system includes the integrated valve group, horizontal artificial muscles, vertical artificial muscles, nozzles, and a hydraulic pump;

[0031] The outlet of the hydraulic pump is connected to the main inlet of the integrated valve group;

[0032] The first load port and the second load port of the differential pressure control valve I are respectively connected to the water inlets of the two artificial muscles in the vertical artificial muscle;

[0033] The first load port and the second load port of the differential pressure control valve II are respectively connected to the water inlets of the two artificial muscles in the horizontal artificial muscle;

[0034] The nozzle load port is connected to the nozzle;

[0035] The return water inlet I and the return water inlet II are used to discharge the return water from the differential pressure control valve I and the differential pressure control valve II, respectively.

[0036] Furthermore, the vector water jet propulsion system is also equipped with a filter connected to the hydraulic pump to filter the hydraulic power entering the vector water jet propulsion system; an overflow valve and a spring check valve are provided between the hydraulic pump and the integrated valve group.

[0037] Furthermore, the valve block body has a through hole extending from the power input end face to the power output end face. A support rod is fixedly installed inside the through hole, and the nozzle is fixedly installed on the support rod and installed on one side of the power input end face.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] The integrated valve assembly for a vector water jet propulsion system driven by flexible water pressure muscle provided by this invention uses 304 stainless steel as the component material. It has a simple structure, small size, light weight, and corrosion resistance. The internal flow channels of the valve block body are strictly symmetrical with respect to the left and right centers of gravity. When installed on an underwater propulsion system, it will not affect other components. It solves the problems of large overall volume, complex pipelines, and inconvenient installation and maintenance of valve blocks with tubular connections. At the same time, this invention integrates various control valves on the valve block body, which facilitates the installation of external channels and reduces unnecessary losses to the channels caused by extensive use of tubular connections.

[0040] Based on the above reasons, this invention can be widely promoted in the field of integrated valve groups. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the integrated valve assembly structure described in this invention.

[0043] Figure 2 This is a schematic diagram of the integrated valve assembly structure described in this invention.

[0044] Figure 3 This is a schematic diagram of the vector water jet propulsion system described in this invention.

[0045] Figure 4 This is a schematic diagram of the nozzle control end face structure described in this invention.

[0046] Figure 5 This is a schematic diagram of the mounting end face structure described in this invention.

[0047] Figure 6 This is a schematic diagram of the power output end face structure described in this invention.

[0048] Figure 7 This is a schematic diagram of the power input end face structure described in this invention.

[0049] Figure 8 This is a schematic diagram of the control end face structure of the differential pressure control valve I described in this invention.

[0050] Figure 9 This is a schematic diagram of the control end face structure of the differential pressure control valve II described in this invention.

[0051] In the diagram: 1. Valve block body; 2. Differential pressure control valve I; 3. Differential pressure control valve II; 4. Nozzle control valve; 5. Horizontal artificial muscle; 6. Vertical artificial muscle; 7. Spring check valve; 8. Nozzle; 9. Relief valve; 10. Hydraulic pump; 11. Filter; 101. Main inlet; 102. Nozzle load port; 103-112. Connecting port; 113. First load port of differential pressure control valve I; 114. First load port of differential pressure control valve II; 115. Second load port of differential pressure control valve II; 116. Second load port of differential pressure control valve I; 117. Through... Holes; 118-121, Threaded Hole III; 122-125, Threaded Hole II; 126-129, Threaded Hole I; 130, First Process Hole; 131, Second Process Hole; 132, Third Process Hole; 133, Fourth Process Hole; 134, Fifth Process Hole; 135, Sixth Process Hole; 136, Return Port I; 137, Seventh Process Hole; 138, Eighth Process Hole; 139, Ninth Process Hole; 140, Tenth Process Hole; 141, Eleventh Process Hole; 142, Twelfth Process Hole; 143, Return Port II; 144, Thirteenth Process Hole. Detailed Implementation

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0055] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0056] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0057] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0058] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0059] Example 1

[0060] like Figures 1 to 9 As shown, the present invention provides an integrated valve group for a flexible water pressure muscle-driven vector water jet propulsion system, which can be installed on an underwater vector water jet propulsion system to assist in controlling its movement, including a valve block body 1, a differential pressure control valve I 2, a differential pressure control valve II 3, and a nozzle control valve 4;

[0061] The valve block body 1 includes six end faces, namely, a power output end face and a power input end face arranged opposite to each other, a differential pressure control valve I control end face and a differential pressure control valve II control end face arranged opposite to each other, and a nozzle control end face and a mounting end face arranged opposite to each other.

[0062] The differential pressure control valve I2 is fixedly installed on the control end face of the differential pressure control valve I; the differential pressure control valve II3 is fixedly installed on the control end face of the differential pressure control valve II; the nozzle control valve 4 is fixedly installed on the nozzle control end face; the valve block body 1 can be fixedly installed on the frame of the vector propulsion system through the mounting end face;

[0063] The power input end face is provided with a main water inlet 101 and a nozzle load port 102;

[0064] The power output end face is provided with a first load port 113 of differential pressure control valve I, a second load port 116 of differential pressure control valve I, a first load port 114 of differential pressure control valve II, and a second load port 115 of differential pressure control valve II;

[0065] The differential pressure control valve I is provided with a return water port I136 on its control end face;

[0066] The differential pressure control valve II is provided with a return water port II143 on its control end face;

[0067] The differential pressure control valve I2 is provided with a differential pressure control valve I return water hole (T port), a differential pressure control valve I first outlet water hole (B port), a differential pressure control valve I inlet water hole (P port), and a differential pressure control valve I second outlet water hole (A port);

[0068] The differential pressure control valve II 3 is provided with a differential pressure control valve II return water hole (T port), a differential pressure control valve II first outlet water hole (B port), a differential pressure control valve II inlet water hole (P port), and a differential pressure control valve II second outlet water hole (A port);

[0069] The nozzle control valve 4 is provided with a nozzle control valve inlet (P port) and a nozzle control valve outlet (A port);

[0070] The valve block body 1 is internally provided with a first water inlet channel, a second water inlet channel, a third water inlet channel, a first working channel, a second working channel, a third working channel, a fourth working channel, a fifth working channel, a first return water channel, and a second return water channel;

[0071] The main water inlet 101 is connected to the inlet of the differential pressure control valve I, the inlet of the differential pressure control valve II, and the inlet of the nozzle control valve through the first water inlet channel, the second water inlet channel, and the third water inlet channel, respectively.

[0072] The first outlet of the differential pressure control valve I is connected to the first load port 113 of the differential pressure control valve I through the first working channel;

[0073] The second outlet of the differential pressure control valve I is connected to the second load port 116 of the differential pressure control valve I through the second working channel;

[0074] The first outlet of the differential pressure control valve II is connected to the second load port 115 of the differential pressure control valve II through the third working channel;

[0075] The second outlet of the differential pressure control valve II is connected to the first load port 114 of the differential pressure control valve II through the fourth working channel;

[0076] The nozzle load port 102 is connected to the nozzle control valve outlet through the fifth working channel;

[0077] The differential pressure control valve I return water hole is connected to the return water port I136 through the first return water channel;

[0078] The differential pressure control valve II's return water hole is connected to the return water port II143 through the second return water channel.

[0079] Furthermore, the mounting end face is provided with a ninth process hole 139, a tenth process hole 140, an eleventh process hole 141 and a twelfth process hole 142;

[0080] The power input end face is provided with a fifth process hole 134 and a sixth process hole 135;

[0081] The power output end face is provided with a first process hole 130, a second process hole 131, a third process hole 132 and a fourth process hole 133;

[0082] The differential pressure control valve I is provided with a seventh process hole 137 and an eighth process hole 138 on its control end face;

[0083] The differential pressure control valve II has a thirteenth process hole 144 on its control end face;

[0084] The first working channel is formed by the connected fourth process hole 133 and the seventh process hole 137;

[0085] The second working channel is formed by the fifth process hole 134, the ninth process hole 139, the eighth process hole 138 and the eleventh process hole 141 connected in sequence;

[0086] The third working channel is formed by the connected first process hole 131 and the twelfth process hole 142;

[0087] The fourth working channel is formed by the sixth process hole 135, the thirteenth process hole 144, and the tenth process hole 140 connected in sequence;

[0088] The first return water channel is formed by the third process hole 132;

[0089] The second return water channel is formed by the first process hole 130;

[0090] The process holes provided in this invention facilitate the processing of the valve block body 1 to obtain each channel. After the integrated valve group described in this application is assembled, each process hole is plugged with a screw plug.

[0091] Furthermore, the valve block body 1, the differential pressure control valve I 2, the differential pressure control valve II 3, and the nozzle control valve 4 are all made of stainless steel.

[0092] Furthermore, the control end face of the differential pressure control valve I is parallel to the control end face of the differential pressure control valve II. Taking a plane that is parallel to and equidistant from the control end faces of the differential pressure control valve I and the control end faces of the differential pressure control valve II as a reference plane, the center of gravity of the valve block body 1 is located on the reference plane. The differential pressure control valve I 2 and the differential pressure control valve II 3 are symmetrical about the reference plane, thereby ensuring that when the integrated valve group is applied to a vector water jet propulsion system with symmetrical left and right heights, the center of gravity will not shift and affect the control accuracy of the entire system.

[0093] Furthermore, the nozzle control valve 4 has a symmetrical structure, and when the nozzle control valve 4 is installed on the nozzle control end face, it is symmetrical about the reference surface.

[0094] Furthermore, the arrangement of the 10 internal channels of the valve block body 1 does not affect the fact that the center of gravity of the valve block body 1 is located on the reference plane.

[0095] Furthermore, the first load port 113 of the differential pressure control valve I, the second load port 116 of the differential pressure control valve I, the first load port 114 of the differential pressure control valve II, and the second load port 115 of the differential pressure control valve II are all equidistant from the center of the power output end face and are arranged in a cross shape.

[0096] Furthermore, the first load port 113 and the second load port 116 of the differential pressure control valve I are symmetrically distributed about the center of the power output end face in the vertical direction; the first load port 114 and the second load port 115 of the differential pressure control valve II are symmetrically distributed about the center of the power output end face in the horizontal direction.

[0097] The purpose of the load port distribution method proposed in this invention is to facilitate the establishment of a linear relationship between the nozzle deflection angle and the elongation and compression of the artificial muscle. The elongation and compression of the artificial muscle are related to the pressure change. The cross-shaped distribution method facilitates the establishment of a relationship between the pressure change and the nozzle deflection angle.

[0098] Furthermore, the control end face of the differential pressure control valve I is also provided with threaded holes I126-129, and the differential pressure control valve I2 is fixedly installed on the control end face of the differential pressure control valve I by bolts I that match the threaded holes I126-129;

[0099] The differential pressure control valve II control end face is also provided with threaded holes II122-125, and the differential pressure control valve II3 is fixedly installed on the differential pressure control valve II control end face by bolts II that match the threaded holes II122-125;

[0100] The nozzle control end face is also provided with threaded holes Ⅲ118~121, and the nozzle control valve 4 is fixedly installed on the nozzle control end face by bolts Ⅲ that match the threaded holes Ⅲ118~121;

[0101] The differential pressure control valve I2, the differential pressure control valve II3, and the nozzle control valve 4 can be assembled on the valve block body 1 by means of threaded connection, which can facilitate quick assembly.

[0102] Furthermore, the control end face of the differential pressure control valve I is also provided with communication ports 103 to 106 for connecting the first water inlet channel with the water inlet of the differential pressure control valve I, the first working channel with the first water outlet of the differential pressure control valve I, the second working channel with the second water outlet of the differential pressure control valve I, and the first return water channel with the return water outlet of the differential pressure control valve I;

[0103] The control end face of the differential pressure control valve II is also provided with communication ports 107 to 110 for connecting the second water inlet channel with the water inlet of the differential pressure control valve II, the third working channel with the first water outlet of the differential pressure control valve II, the fourth working channel with the second water outlet of the differential pressure control valve II, and the second return water channel with the return water outlet of the differential pressure control valve II.

[0104] The nozzle control end face is also provided with communication ports 111 to 112 for connecting the third water inlet channel with the water inlet of the nozzle control valve and the fifth working channel with the water outlet of the nozzle control valve.

[0105] Furthermore, sealing rings are provided at the first load port 113 of the differential pressure control valve I, the second load port 116 of the differential pressure control valve I, the first load port 114 of the differential pressure control valve II, the second load port 115 of the differential pressure control valve II, the main water inlet 101, the nozzle load port 102, and the connecting ports 103 to 112. The sealing rings are used to prevent water leakage.

[0106] Furthermore, the return water inlet I 136 and the return water inlet II 143 are connected to the outside, and the return water during the operation of the vector water jet propulsion system can be directly discharged through the return water inlet I 136 and the return water inlet II 143; the return water inlet I 136 and the return water inlet II 143 are symmetrically arranged, which can ensure that the stability of the vector propulsion system is not affected when the return water is discharged outside the vector water jet propulsion system.

[0107] Furthermore, the vector water jet propulsion system includes the integrated valve group, the horizontal artificial muscle 5, the vertical artificial muscle 6, the nozzle 8, and the hydraulic pump 10;

[0108] The outlet of the hydraulic pump 10 is connected to the main inlet 101 of the integrated valve group;

[0109] The horizontal artificial muscle 5, the vertical artificial muscle 6, and the nozzle 8 are respectively used to provide propulsion force in the x, y, and z directions in the three-dimensional coordinate system for the vector water jet propulsion system;

[0110] The first load port 113 and the second load port 116 of the differential pressure control valve I are respectively connected to the water inlets of the two artificial muscles in the vertical artificial muscle 6;

[0111] The first load port 114 and the second load port 115 of the differential pressure control valve II are respectively connected to the water inlets of the two artificial muscles in the horizontal artificial muscle 5.

[0112] The nozzle load port 102 is connected to the nozzle 8;

[0113] The return water inlet I 136 and the return water inlet II 143 are used to discharge the return water from the differential pressure control valve I and the differential pressure control valve II, respectively.

[0114] Furthermore, the vector water jet propulsion system is also equipped with a filter 11 connected to the hydraulic pump 10, for filtering the hydraulic power entering the vector water jet propulsion system.

[0115] Furthermore, an overflow valve 9 and a spring check valve 7 are provided between the hydraulic pump 10 and the integrated valve group.

[0116] Furthermore, the main water inlet 101 is provided with an internal thread for installing a pipeline connected to the hydraulic pump 10.

[0117] Furthermore, the valve block body 1 has a through hole 117 extending from the power input end face to the power output end face. A support rod is fixedly installed inside the through hole 117, and the nozzle 8 is fixedly installed on the support rod. The support rod is used to provide installation and positioning for the nozzle 8, and the nozzle 8 is installed on one side of the power input end face.

[0118] Furthermore, the first load port 113 of the differential pressure control valve I, the second load port 116 of the differential pressure control valve I, the first load port 114 of the differential pressure control valve II, the second load port 115 of the differential pressure control valve II, the main water inlet 101, and the nozzle load port 102 are all provided with connecting parts, which are adapters.

[0119] The working process of the vector waterjet propulsion system using the integrated valve group described in this application is as follows:

[0120] The hydraulic power source of the vector water jet propulsion system, after being filtered by filter 11, enters the integrated valve group through the main inlet 101 via hydraulic pump 10. The hydraulic power source entering the valve block body 1 flows in the following directions:

[0121] The water enters through the first inlet channel into the inlet of differential pressure control valve I, then into differential pressure control valve I 2. A portion then flows from the first outlet of differential pressure control valve I through the first working channel into the first load port 113 of differential pressure control valve I, ultimately entering one of the two muscles of the vertical artificial muscle 6 in the vector water jet propulsion system. The other portion flows from the second outlet of differential pressure control valve I through the second working channel into the second load port 116 of differential pressure control valve I, ultimately entering the other muscle of the pair of vertical artificial muscles 6 in the vector water jet propulsion system. The vertical artificial muscle 6 utilizes a hydraulic power source to provide propulsion.

[0122] The water enters the differential pressure control valve II through the second inlet channel, then into the differential pressure control valve II 3. A portion then flows from the first outlet of the differential pressure control valve II through the third working channel into the second load port 115 of the differential pressure control valve II, ultimately entering one of the two muscles of the horizontal artificial muscle 5 in the vector water jet propulsion system. Another portion flows from the second outlet of the differential pressure control valve II through the fourth working channel into the first load port 114 of the differential pressure control valve II, ultimately entering the other muscle of the horizontal artificial muscle 5 in the vector water jet propulsion system. The horizontal artificial muscle 5 utilizes a hydraulic power source to provide propulsion.

[0123] The water enters the nozzle control valve through the third inlet channel, then enters the nozzle control valve, and finally enters the nozzle load port 102 through the fifth working channel from the nozzle control valve outlet, and finally enters the nozzle 8 of the vector water jet propulsion system. The nozzle 8 uses a hydraulic source to provide propulsion.

[0124] When differential pressure control valve I2 is working, the return water generated enters the return water port I136 through the first return water channel from the return water hole of differential pressure control valve I and is discharged outside the system; when differential pressure control valve II3 is working, the return water generated enters the return water port II143 through the second return water channel from the return water hole of differential pressure control valve II and is discharged outside the system.

[0125] The differential pressure control valve I2 can control the movement of the valve core by providing voltage through a voice coil motor, thereby controlling the opening degree of the second outlet (port A) and the first outlet (port B) of the differential pressure control valve I, thus controlling the pressure and flow rate of the water passing through the second outlet (port A) and the first outlet (port B) of the differential pressure control valve I, thereby controlling the flow rate through the first load port 113 and the second load port 116 of the differential pressure control valve I, thereby controlling the extension and contraction of a pair of artificial muscles 6 connected to the load ports in the vertical direction, and thus controlling the vertical movement of the underwater vector propulsion system.

[0126] The differential pressure control valve 3 uses a voice coil motor to provide voltage to control the movement of the valve core, thereby controlling the opening of the second outlet (port A) and the first outlet (port B) of the differential pressure control valve II. This controls the pressure and flow rate of the water passing through the second outlet (port A) and the first outlet (port B) of the differential pressure control valve II, thereby controlling the flow rate through the first load port 114 and the second load port 115 of the differential pressure control valve II. This, in turn, controls the extension and contraction of a pair of artificial muscles 5 connected to the load ports in the horizontal direction, thereby controlling the horizontal movement of the underwater vector propulsion system.

[0127] For nozzle control valve 4, the valve core movement can be controlled by providing voltage through a voice coil motor. A proportional directional valve can be used. When in use, only the nozzle control valve inlet (P port) and nozzle control valve outlet (A port) are used. The opening of port A is controlled by controlling the movement of the valve core, thereby controlling the pressure and flow rate entering the nozzle load port 102, thereby controlling the pressure and flow rate of the nozzle, and thus controlling the propulsion force of the underwater vector propulsion system.

[0128] The integrated valve assembly provided by this invention for a flexible hydraulic muscle-driven vector water jet propulsion system is applicable to underwater vector propulsion systems. It uses 304 stainless steel as the component material, has a simple structure, small size, light weight, and corrosion resistance. In the design, the internal flow channels of the valve block body are strictly symmetrical with respect to the left and right centers of gravity, so that it will not affect other components when installed on an underwater propulsion system. It solves the problems of large overall volume, complex pipelines, and inconvenient installation and maintenance of valve blocks with tubular connections. At the same time, this invention integrates various control valves on the main valve body, which facilitates the design and installation of external channels and reduces unnecessary losses caused by extensive use of tubular connections.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated valve assembly for a flexible hydraulic muscle-driven vector water jet propulsion system, characterized in that, Includes valve block body, differential pressure control valve I, differential pressure control valve II and nozzle control valve; The valve block body includes six end faces, namely, a power output end face and a power input end face arranged opposite to each other, a differential pressure control valve I control end face and a differential pressure control valve II control end face arranged opposite to each other, and a nozzle control end face and a mounting end face arranged opposite to each other. The differential pressure control valve I is fixedly installed on the control end face of the differential pressure control valve I; the differential pressure control valve II is fixedly installed on the control end face of the differential pressure control valve II; the nozzle control valve is fixedly installed on the nozzle control end face; The power input end face is provided with a main water inlet and a nozzle load port; the power output end face is provided with a first load port of differential pressure control valve I, a second load port of differential pressure control valve I, a first load port of differential pressure control valve II, and a second load port of differential pressure control valve II; the control end face of differential pressure control valve I is provided with a return water port I; the control end face of differential pressure control valve II is provided with a return water port II. The differential pressure control valve I is provided with a differential pressure control valve I return water hole, a differential pressure control valve I first outlet water hole, a differential pressure control valve I inlet water hole, and a differential pressure control valve I second outlet water hole; The differential pressure control valve II is provided with a differential pressure control valve II return water hole, a differential pressure control valve II first water outlet hole, a differential pressure control valve II inlet hole, and a differential pressure control valve II second water outlet hole; The nozzle control valve is provided with a nozzle control valve inlet and a nozzle control valve outlet. The valve block body is internally provided with a first water inlet channel, a second water inlet channel, a third water inlet channel, a first working channel, a second working channel, a third working channel, a fourth working channel, a fifth working channel, a first return water channel, and a second return water channel; The main water inlet is connected to the inlet of the differential pressure control valve I, the inlet of the differential pressure control valve II, and the inlet of the nozzle control valve through the first water inlet channel, the second water inlet channel, and the third water inlet channel, respectively. The first outlet of the differential pressure control valve I is connected to the first load port of the differential pressure control valve I through the first working channel; The second outlet of the differential pressure control valve I is connected to the second load port of the differential pressure control valve I through the second working channel; The first outlet of the differential pressure control valve II is connected to the second load port of the differential pressure control valve II through the third working channel; The second outlet of the differential pressure control valve II is connected to the first load port of the differential pressure control valve II through the fourth working channel; The nozzle load port is connected to the nozzle control valve outlet through the fifth working channel; The differential pressure control valve I has a return water hole that is connected to the return water port I through the first return water channel; The differential pressure control valve II's return water hole is connected to the return water port II through the second return water channel.

2. The integrated valve assembly for a flexible hydraulic muscle-driven vector water jet propulsion system according to claim 1, characterized in that, The valve block body, differential pressure control valve I, differential pressure control valve II, and nozzle control valve are all made of stainless steel.

3. The integrated valve assembly for a vector waterjet propulsion system driven by flexible hydraulic muscles according to claim 1, characterized in that, The control end face of differential pressure control valve I is parallel to the control end face of differential pressure control valve II. A plane that is parallel to and equidistant from the control end faces of differential pressure control valve I and differential pressure control valve II is used as a reference plane. The center of gravity of the valve block body is located on the reference plane. The differential pressure control valve I and differential pressure control valve II are symmetrical about the reference plane. The nozzle control valve has a symmetrical structure. When the nozzle control valve is installed on the nozzle control end face, it is symmetrical about the reference plane.

4. The integrated valve assembly for a flexible hydraulic muscle-driven vector water jet propulsion system according to claim 1, characterized in that, The first load port of differential pressure control valve I, the second load port of differential pressure control valve I, the first load port of differential pressure control valve II, and the second load port of differential pressure control valve II are all equidistant from the center of the power output end face and are arranged in a cross shape.

5. The integrated valve assembly for a vector waterjet propulsion system driven by flexible hydraulic muscles according to claim 1, characterized in that, The first load port and the second load port of the differential pressure control valve I are symmetrically distributed in the vertical direction about the center of the power output end face; the first load port and the second load port of the differential pressure control valve II are symmetrically distributed in the horizontal direction about the center of the power output end face.

6. The integrated valve assembly for a vector waterjet propulsion system driven by flexible hydraulic muscles according to claim 1, characterized in that, The control end face of the differential pressure control valve I is also provided with communication ports for connecting the first water inlet channel with the water inlet of the differential pressure control valve I, the first working channel with the first water outlet of the differential pressure control valve I, the second working channel with the second water outlet of the differential pressure control valve I, and the first return water channel with the return water outlet of the differential pressure control valve I; The control end face of the differential pressure control valve II is also provided with communication ports for connecting the second water inlet channel with the water inlet of the differential pressure control valve II, the third working channel with the first water outlet of the differential pressure control valve II, the fourth working channel with the second water outlet of the differential pressure control valve II, and the second return water channel with the return water outlet of the differential pressure control valve II. The nozzle control end face is also provided with communication ports for connecting the third water inlet channel to the water inlet of the nozzle control valve and the fifth working channel to the water outlet of the nozzle control valve. Sealing rings are provided at the first load port of differential pressure control valve I, the second load port of differential pressure control valve I, the first load port of differential pressure control valve II, the second load port of differential pressure control valve II, the main water inlet, the nozzle load port, and the connecting port.

7. The integrated valve assembly for a flexible hydraulic muscle-driven vector water jet propulsion system according to claim 1, characterized in that, The return water inlet I and the return water inlet II are connected to the outside; the return water inlet I and the return water inlet II are arranged symmetrically.

8. The integrated valve assembly for a vector waterjet propulsion system driven by flexible hydraulic muscles according to claim 1, characterized in that, The vector water jet propulsion system includes the integrated valve group, horizontal artificial muscles, vertical artificial muscles, nozzles, and a hydraulic pump; The outlet of the hydraulic pump is connected to the main inlet of the integrated valve group; The first load port and the second load port of the differential pressure control valve I are respectively connected to the water inlets of the two artificial muscles in the vertical artificial muscle; The first load port and the second load port of the differential pressure control valve II are respectively connected to the water inlets of the two artificial muscles in the horizontal artificial muscle. The nozzle load port is connected to the nozzle; The return water inlet I and the return water inlet II are used to discharge the return water from the differential pressure control valve I and the differential pressure control valve II, respectively.

9. The integrated valve assembly for a vector waterjet propulsion system driven by flexible hydraulic muscle according to claim 8, characterized in that, The vector water jet propulsion system is also equipped with a filter connected to the hydraulic pump to filter the hydraulic power entering the vector water jet propulsion system; an overflow valve and a spring check valve are provided between the hydraulic pump and the integrated valve group.

10. The integrated valve assembly for a vector waterjet propulsion system driven by flexible hydraulic muscle according to claim 8, characterized in that, The valve block body has a through hole extending from the power input end face to the power output end face. A support rod is fixedly installed inside the through hole. The nozzle is fixedly installed on the support rod and is installed on one side of the power input end face.

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