Hydraulic control system for underwater working equipment

Abstract

The invention provides a hydraulic control system for underwater operation equipment, and belongs to the technical field of hydraulic driving. The hydraulic control system comprises a pump set, a reversing valve and a control valve set, an oil inlet of the reversing valve is connected with an oil outlet of the pump set, an oil return port of the reversing valve is connected with an oil tank, a first working oil port of the reversing valve is connected with a rod cavity of the execution oil cylinder, and a second working oil port of the reversing valve is connected with a second working oil port of the execution oil cylinder. A second working oil port of the reversing valve is connected with a rodless cavity of the execution oil cylinder, and the first working oil port and the second working oil port of the reversing valve are both connected with the control valve set. The control valve set is connected with a rod cavity and a rodless cavity of the execution oil cylinder and used for controlling the execution oil cylinder to output constant acting force when the reversing valve controls the execution oil cylinder to stretch out or retract back. According to the invention, the output torque of the execution oil cylinder is not influenced by water pressure, so that the safety of underwater operation equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the field of hydraulic drive technology, and in particular relates to a hydraulic control system for underwater working equipment. Background Art

[0002] With the continuous deepening of deep-sea exploration and development of marine resources, the performance requirements for underwater operating equipment are increasing. Especially in the fields of underwater construction, subsea oil and gas extraction, deep-sea scientific research, etc., precise control of the position and posture of underwater operating equipment is the key to achieving efficient and safe operations.

[0003] In the related art, when the underwater working equipment is operating, it is usually controlled by a hydraulic control system. The hydraulic control system includes a control valve group and an actuator cylinder. The actuator cylinder is connected to the underwater working equipment. The control valve group is connected to the actuator cylinder to drive the actuator cylinder to extend or retract, and then drive the underwater working equipment to operate through the actuator cylinder.

[0004] However, after the actuator cylinder is connected to the underwater working equipment, the actuator cylinder will move in the water synchronously with the underwater working equipment. After the actuator cylinder moves with the underwater working equipment, the water depth at its location will change, and the water pressure on the actuator cylinder will also change. When the actuator cylinder is in action, the actual output torque of the piston rod will be affected by the different water depths when the piston of the actuator cylinder is extended or retracted. For example, when the piston rod is extended, the actual output torque is the torque after the theoretical output torque of the piston rod overcomes the water pressure, that is, the actual output torque is the theoretical output torque minus the torque corresponding to the water pressure. When the piston rod is retracted, the actual output torque is the theoretical output torque of the piston rod plus the torque corresponding to the water pressure. Therefore, the actual output torque will change depending on the position of the actuator cylinder, which will affect the safety of the underwater working equipment. Summary of the invention

[0005] The embodiment of the present disclosure provides a hydraulic control system for underwater working equipment, which can make the actual output torque of the actuator cylinder not be affected by the water pressure, thereby improving the safety of the underwater working equipment. The technical solution is as follows:

[0006] The disclosed embodiment provides a hydraulic control system for underwater working equipment, the hydraulic control system is used to drive an actuator cylinder to extend or retract, and the actuator cylinder is used to be connected to the underwater working equipment; the hydraulic control system includes a pump group, a reversing valve and a control valve group, the oil inlet of the reversing valve is connected to the oil outlet of the pump group, the oil return port of the reversing valve is connected to the oil tank, the first working oil port of the reversing valve is connected to the rod chamber of the actuator cylinder, the second working oil port of the reversing valve is connected to the rodless chamber of the actuator cylinder, and the first working oil port and the second working oil port of the reversing valve are both connected to the control valve group; the control valve group is respectively connected to the rod chamber and the rodless chamber of the actuator cylinder, and is used to control the actuator cylinder to output a constant force while the reversing valve controls the actuator cylinder to extend or retract.

[0007] In another implementation of the present disclosure, the cross-sectional area of ​​the piston rod of the actuator cylinder is 1 / n of the cross-sectional area of ​​the rodless chamber of the actuator cylinder, wherein n is a positive number greater than 1; the control valve group includes a cartridge valve, a first hydraulically controlled reversing valve and a pressure control unit; the first oil port of the cartridge valve is connected to the oil inlet of the first hydraulically controlled reversing valve, the second oil port of the cartridge valve is connected to the second working oil port of the reversing valve, and the area of ​​the control oil port of the cartridge valve is m times the area of ​​the second oil port of the cartridge valve, wherein m is a positive number not less than 1; the first working oil port of the first hydraulically controlled reversing valve is connected to the rod chamber of the actuator cylinder , the second working oil port of the first hydraulically controlled reversing valve is connected to the rodless chamber of the actuator cylinder, and the oil return port of the first hydraulically controlled reversing valve is connected to the oil tank; the pressure control unit is respectively connected to the oil outlet of the first pump group, the oil tank and the control oil port of the cartridge valve, and the pressure control unit is used to control the actual output oil pressure of the pump group to be the sum of the theoretical output oil pressure of the pump group and the seawater pressure when the actuator cylinder is extended, and to make the control oil port of the cartridge valve connected to the oil tank; or, the pressure control unit is used to control the oil pressure at the control oil port of the cartridge valve to be 1 / nm of the seawater pressure when the actuator cylinder is retracted.

[0008] In another embodiment of the present disclosure, the pressure control unit includes a pressure regulating device, a second hydraulically controlled reversing valve, a flexible container and a relief valve; the oil inlet of the pressure regulating device is connected to the control oil port of the cartridge valve, the oil outlet of the pressure regulating device is connected to the first working oil port of the second hydraulically controlled reversing valve, the control oil port of the second hydraulically controlled reversing valve is connected to the second working oil port of the reversing valve, the oil inlet of the second hydraulically controlled reversing valve is connected to the flexible container, and the oil return port of the second hydraulically controlled reversing valve is connected to the oil tank; there is oil inside the flexible container, the oil inlet of the relief valve is respectively connected to the oil outlet of the pump group and the oil inlet of the reversing valve, the oil return port of the relief valve is connected to the oil tank, and the control oil port of the relief valve is connected to the second working oil port of the second hydraulically controlled reversing valve; the flexible container can be deformed under the action of water pressure so that the oil inside flows out under the action of water pressure.

[0009] In yet another implementation of the present disclosure, the flexible container is a rubber bag or a leather bag.

[0010] In yet another implementation of the present disclosure, the pressure regulating device is one of a pressure reducing valve, an oil cylinder, and a throttle tube.

[0011] In another embodiment of the present disclosure, the hydraulic control system also includes a hydraulic lock, which includes a first hydraulically controlled one-way valve and a second hydraulically controlled one-way valve, the oil inlet of the first hydraulically controlled one-way valve is respectively connected to the first working oil port of the reversing valve and the first working oil port of the first hydraulically controlled reversing valve, the oil outlet of the first hydraulically controlled one-way valve is connected to the rod chamber of the actuator cylinder, and the control oil port of the first hydraulically controlled one-way valve is connected to the oil inlet of the second hydraulically controlled one-way valve; the oil inlet of the second hydraulically controlled one-way valve is respectively connected to the second oil port of the cartridge valve and the second working oil port of the first hydraulically controlled reversing valve, the oil outlet of the second hydraulically controlled one-way valve is connected to the rodless chamber of the actuator cylinder, and the control oil port of the second hydraulically controlled one-way valve is connected to the oil inlet of the first hydraulically controlled one-way valve.

[0012] In another embodiment of the present disclosure, the hydraulic control system also includes a first one-way valve, which is connected between the reversing valve and the hydraulic lock, the oil inlet of the first one-way valve is connected to the first working oil port of the reversing valve, and the oil outlet of the first one-way valve is connected to the oil inlet of the first hydraulically controlled one-way valve.

[0013] In another embodiment of the present disclosure, the hydraulic control system also includes a second one-way valve, which is connected between the reversing valve and the cartridge valve, the oil inlet of the second one-way valve is connected to the second working oil port of the reversing valve, and the oil outlet of the second one-way valve is connected to the second oil port of the cartridge valve.

[0014] In another embodiment of the present disclosure, the hydraulic control system also includes a third one-way valve, which is connected between the second hydraulically controlled one-way valve and the cartridge valve, the oil inlet of the third one-way valve is connected to the oil outlet of the second hydraulically controlled one-way valve, and the oil outlet of the third one-way valve is respectively connected to the second oil port of the cartridge valve and the oil outlet of the second one-way valve.

[0015] In yet another implementation of the present disclosure, the reversing valve is a three-position four-way electromagnetic proportional reversing valve.

[0016] The technical solution provided by the embodiments of the present disclosure has the following beneficial effects:

[0017] Since the control valve group is connected to the reversing valve, it is used to make the executing cylinder output a constant force when extending or retracting when the executing cylinder is in action. In this way, the control valve group can be used to make the executing cylinder always output a constant force when the reversing valve drives the executing cylinder to extend or retract, thereby making the driving force received by the underwater working equipment when the executing cylinder extends or retracts a stable value, thereby greatly improving the safety of the underwater working equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of a hydraulic control system for underwater working equipment;

[0020] Figure 2 It is a schematic diagram of another hydraulic control system used in underwater working equipment.

[0021] The symbols in the figure mean the following:

[0022] 1. Pump group; 11. Driving pump; 12. Motor;

[0023] 2. Directional valve;

[0024] 3. Control valve group; 31. Cartridge valve; 32. First hydraulically controlled reversing valve; 34. Pressure control unit; 341. Pressure regulating device; 342. Second hydraulically controlled reversing valve; 343. Flexible container; 345. Overflow valve;

[0025] 5. Hydraulic lock; 51. First hydraulically controlled one-way valve; 52. Second hydraulically controlled one-way valve;

[0026] 6. First one-way valve; 7. Second one-way valve; 8. Third one-way valve;

[0027] 100. Execute the cylinder. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0029] The embodiment of the present disclosure provides a hydraulic control system for underwater working equipment, such as Figure 1 As shown, the hydraulic control system is used to drive the actuator cylinder 100 to extend or retract, and the actuator cylinder 100 is used to be connected to the underwater working equipment.

[0030] The hydraulic control system includes a pump group 1, a reversing valve 2 and a control valve group 3. The oil inlet of the reversing valve 2 is connected to the oil outlet of the pump group 1, the oil return port of the reversing valve 2 is connected to the oil tank, and the first working oil port a and the second working oil port b of the reversing valve 2 are both connected to the control valve group 3. The control valve group 3 is respectively connected to the rod chamber and the rodless chamber of the actuator cylinder 100, and is used to control the actuator cylinder 100 to output a constant force when the reversing valve 2 controls the actuator cylinder 100 to extend or retract.

[0031] When the hydraulic control system provided by the embodiment of the present disclosure is used to drive the underwater action equipment, since the hydraulic control system includes a pump group 1 and a reversing valve 2 , oil can be supplied to the reversing valve 2 through the pump group 1 .

[0032] Since the control valve group 3 is connected to the first working oil port and the second working oil port of the reversing valve 2 respectively, and is used to control the actuating cylinder 100 to output a constant force when the actuating cylinder 100 extends or retracts, the control valve group 3 can be used to make the actuating cylinder 100 always output a constant force when the reversing valve 2 drives the actuating cylinder 100 to extend or retract, thereby making the driving force received by the underwater operating equipment when the actuating cylinder extends or retracts a stable value, thereby greatly improving the safety of the underwater operating equipment.

[0033] Figure 2 This is another schematic diagram of a hydraulic control system for underwater equipment. Figure 2 Optionally, the reversing valve 2 is a three-position four-way proportional reversing valve.

[0034] In the above implementation, the three-position four-way proportional directional valve can steplessly adjust the valve core position of the directional valve 2 so as to make the moving speed of the actuator cylinder 100 constant.

[0035] In this embodiment, when the valve core of the reversing valve is in Figure 2When the oil inlet p of the reversing valve 2 is connected to the first working oil port a, and the oil return port t of the reversing valve 2 is connected to the second working oil port b. At this time, the oil enters the rod chamber of the actuator cylinder 100 through the first working oil port a of the reversing valve 2, driving the actuator cylinder 100 to retract. At the same time, the oil in the rodless chamber of the actuator cylinder 100 flows back to the oil tank after passing through the control valve group 3.

[0036] On the contrary, when the valve core of the reversing valve 2 is in Figure 2 When it is in the right position, the oil inlet p of the reversing valve 2 is connected with the second working oil port b, and the oil return port t of the reversing valve 2 is connected with the first working oil port a. At this time, the oil enters the control valve group 3 through the second working oil port b of the reversing valve 2, and then enters the rodless chamber of the actuator cylinder 100 after passing through the control valve group 3, driving the actuator cylinder 100 to extend.

[0037] In this embodiment, the valve core of the reversing valve 2 can be located in the middle position in addition to the left position and the right position. When the valve core of the reversing valve 2 is in the middle position, the oil inlet p, the oil return port t, the first working oil port a and the second working oil port b of the reversing valve 2 are all interconnected, and the high-pressure oil entering the reversing valve 2 directly flows back to the oil tank, and the actuator cylinder 100 does not move.

[0038] Optionally, the cross-sectional area of ​​the piston rod of the actuator cylinder 100 is 1 / n of the cross-sectional area of ​​the rodless cavity of the actuator cylinder, where n is a positive number greater than 1.

[0039] The control valve group 3 includes a cartridge valve 31, a first hydraulically controlled reversing valve 32 and a pressure control unit 34. The first oil port a of the cartridge valve 31 is connected to the oil inlet port p of the first hydraulically controlled reversing valve 32, the second oil port b of the cartridge valve 31 is connected to the second working oil port b of the reversing valve 2, and the area of ​​the control oil port x of the cartridge valve 31 is m times the area of ​​the second oil port b of the cartridge valve 31. Wherein, m is a positive number greater than 1.

[0040] The first working oil port a of the first hydraulically controlled reversing valve 32 is connected to the rod chamber of the actuator cylinder 100. The second working oil port b of the first hydraulically controlled reversing valve 32 is connected to the rodless chamber of the actuator cylinder 100. The oil return port t of the first hydraulically controlled reversing valve 32 is connected to the oil tank.

[0041] The first hydraulically controlled reversing valve 32 is configured such that when the pressure in its control chamber is greater than the elastic force of the spring in its spring chamber, the first working oil port a, the second working oil port b and the oil inlet port p of the first hydraulically controlled reversing valve 32 are all connected (that is, Figure 2The corresponding valve core of the first hydraulically controlled reversing valve 32 is in the left position). When the pressure in its own control chamber is not greater than the elastic force of the spring in its own spring chamber, the oil return port t and the oil inlet port p of the first hydraulically controlled reversing valve 32 are connected, and the first working oil port a and the second working oil port b of the first hydraulically controlled reversing valve 32 are disconnected from each other and are not connected to the oil inlet port P or the oil return port t (that is, Figure 2 The valve core of the corresponding first hydraulically controlled reversing valve 32 is located in the right position).

[0042] The pressure control unit 34 is respectively connected to the oil outlet of the first pump group 1, the oil tank and the control oil port of the cartridge valve 31. The pressure control unit 34 is used to control the actual output oil pressure of the pump group 1 to be the sum of the theoretical output oil pressure of the pump group 1 and the seawater pressure when the actuator cylinder 100 is extended, and to make the control oil port of the cartridge valve 31 communicate with the oil tank. Alternatively, the pressure control unit 34 can control the oil pressure at the control oil port of the cartridge valve 31 to be 1 / nm of the seawater pressure when the actuator cylinder 100 is retracted.

[0043] In the above implementation, when the valve core of the reversing valve 2 is in the right position, the oil return port t of the reversing valve 2 is connected to the second working oil port b, and the oil inlet p of the reversing valve 2 is connected to the first working oil port a. At this time, after the high-pressure oil output by the pump group 1 passes through the second working oil port b of the reversing valve 2, a part of the oil enters the control oil port x of the first hydraulic control reversing valve 32. The first hydraulic control reversing valve 32 works in the left position. The oil inlet p of the first hydraulic control reversing valve 32 is connected to the first working oil port a and the second working oil port b respectively. After the high-pressure oil output by the pump group 1 passes through the second working oil port b of the reversing valve 2, another part of the oil (that is, the oil in the main oil circuit) flows to the cartridge valve 31, and the oil in the control oil port x of the cartridge valve 31 is unloaded to the oil tank through the pressure control unit 34. The oil in the main oil circuit passes through the second oil port b of the cartridge valve 31 to open the cartridge valve 31. After passing through the first oil port a of the cartridge valve 31, the oil enters the first hydraulically controlled reversing valve 32. The oil flows to the rod chamber and the rodless chamber of the actuator cylinder 100 through the oil inlet p of the first hydraulically controlled reversing valve 32. Since the cross-sectional area A0 of the piston rod of the actuator cylinder is equal to 1 / n of the cross-sectional area A1 of the rodless chamber (that is, it satisfies: A0 = A1 / n), the oil will enter the rodless chamber, pushing the piston rod of the actuator cylinder 100 to move outward, and at the same time, the oil in the rod chamber of the actuator cylinder flows to the rodless chamber of the actuator cylinder 100 through the first hydraulically controlled reversing valve 32. At this time, the actual effective area when the actuator cylinder 100 is extended is the cross-sectional area A0 of the piston rod.

[0044] Since the pressure control unit 34 can control the actual output oil pressure of the pump group 1 to be the sum of the theoretical oil pressure of the pump group 1 and the seawater pressure when the cylinder 100 is extended, the actual output oil pressure of the pump group 1 is the theoretical oil pressure plus the seawater pressure (i.e., P 理 +P 海水). At this time, the oil pressure of the cylinder 100 is P 理 +P 海水 .

[0045] Since the effective area of ​​the oil chamber in the actuator cylinder multiplied by the working pressure is the output force of the actuator cylinder, that is, the output force of the actuator cylinder is A0×(P 理 +P 海水 ).

[0046] When the piston rod of the actuator cylinder extends, it needs to overcome the external water pressure. The external water pressure force is:

[0047] A0×P 海水 ;

[0048] The actual output force of the actuator cylinder satisfies the following formula:

[0049] F 输出 =A0×(P 理 +P 海水 )-A0×P 海水 =A0× 理 ; (1)

[0050] Among them, F 输出 is the output force of the actuator cylinder; A0 is the cross-sectional area of ​​the piston rod; P 理 is the theoretical output oil pressure of pump group 1; P 海水 The water pressure of sea water.

[0051] When the valve core of the reversing valve 2 is in the left position, the oil of the pump group 1 flows to the first working oil port a through the oil inlet port P of the reversing valve 2, and enters the rod chamber of the actuator cylinder 100. The actuator cylinder 100 retracts. The oil in the rodless chamber of the actuator cylinder 100 reaches the second oil port b of the cartridge valve 31, overcomes the back pressure of the control oil port x of the cartridge valve 31, and flows back to the oil tank through the first hydraulically controlled reversing valve 32.

[0052] Since the first oil port a of the cartridge valve 31 is connected to the oil tank through the first hydraulically controlled reversing valve 32, the pressure at the first oil port a of the cartridge valve 31 is 0. At this time, if the cartridge valve 31 wants to open, the oil pressure at the second oil port b of the cartridge valve 31 must be equal to the oil pressure at the control oil port x of the cartridge valve 31.

[0053] Therefore, the cartridge valve 31 satisfies the following formula:

[0054] P b ×S b =P x ×S x ; (2)

[0055] Among them, Sb is the area of ​​the second oil port b of the cartridge valve 31; Pb is the oil pressure of the second oil port b of the cartridge valve 31; Px is the oil pressure of the control oil port x of the cartridge valve 31; Sx is the area of ​​the control oil port x of the cartridge valve 31.

[0056] Since the area Sx of the control oil port x of the cartridge valve 31 is equal to m times the area Sb of the second oil port b, that is, Sx=mSb. Therefore, formula (2) can be converted into:

[0057] P b =mP x ; (3)

[0058] And because the pressure control unit 34 controls the oil pressure at the control oil port of the cartridge valve 31 to be 1 / nm of the seawater pressure when the actuator oil cylinder 100 is retracted, that is, at this time, the oil pressure at the control oil port x of the cartridge valve 31 is 1 / nm of the seawater pressure, that is to say;

[0059] P x =P 海水 / nm.

[0060] Therefore, formula (3) can be transformed into formula (4):

[0061]

[0062] Since the second oil port b of the cartridge valve 31 is connected to the rodless chamber in the actuator cylinder 100 , the oil pressure of the second oil port b of the cartridge valve 31 is equal to the oil pressure of the rodless chamber in the actuator cylinder 100 .

[0063] The output force of the actuator cylinder is the pressure of the rod chamber minus the pressure of the rodless chamber:

[0064]

[0065] Among them, F 输出 is the output force of the actuator cylinder; A0 is the cross-sectional area of ​​the piston rod; A1 is the area of ​​the rodless cavity; P 理 is the theoretical output oil pressure of pump group 1; P 海水 The water pressure of sea water.

[0066] Since A1=nA0, formula (5) can be transformed into the following formula (6):

[0067]

[0068] When the piston rod of the actuator cylinder retracts, it will be subjected to external water pressure. The external water pressure force is A0×P 海水 Therefore, the actual output force of the actuator cylinder satisfies the following formula:

[0069] F 实际输出=A0(P 理 -P 海水 )+A0P 海水 =A0×P 理 ; (7)

[0070] It can be seen that when the actuator cylinder is extended or retracted, the actual output force is A0P 理 .

[0071] In this embodiment, the theoretical output oil pressure of the pump group 1 refers to the oil pressure at the output end of the pump group 1. The actual output oil pressure of the pump group 1 refers to the oil pressure in the actuator cylinder 100 after the oil output from the pump group 1 enters the actuator cylinder 100 when the actuator cylinder 100 is extended or retracted.

[0072] In this embodiment, the area Sx of the control oil port x of the cartridge valve 31 mentioned above is equal to m times the area Sb of the second oil port b, where Sx and Sb both refer to the flow area of ​​the corresponding oil port.

[0073] Optionally, the pressure control unit 34 includes a pressure regulating device 341, a second hydraulically controlled reversing valve 342, a flexible container 343 and a relief valve 345. The first oil port of the pressure regulating device 341 is connected to the control oil port of the cartridge valve 31, the second oil port of the pressure regulating device 341 is connected to the first working oil port of the second hydraulically controlled reversing valve 342, the control oil port of the second hydraulically controlled reversing valve 342 is connected to the second working oil port of the reversing valve 2, the oil inlet of the second hydraulically controlled reversing valve 342 is connected to the flexible container 343, and the oil return port of the second hydraulically controlled reversing valve 342 is connected to the oil tank. The oil inlet of the relief valve 345 is respectively connected to the oil outlet of the pump group 1 and the oil inlet of the reversing valve 2, the oil return port of the relief valve 345 is connected to the oil tank, and the control oil port of the relief valve 345 is connected to the second working oil port of the second hydraulically controlled reversing valve 342. The flexible container 343 contains oil inside, and the flexible container 343 can be deformed under the action of water pressure so that the oil inside flows out under the action of water pressure.

[0074] The second hydraulically controlled reversing valve 342 is configured such that when the pressure in its control chamber is greater than the elastic force of the spring in its spring chamber, the second working oil port b of the second hydraulically controlled reversing valve 342 is connected to the oil inlet port p, and the first working oil port a is connected to the oil return port t (that is, Figure 2 When the pressure in the control chamber of the second hydraulically controlled reversing valve 342 is not greater than the elastic force of the spring in its spring chamber, the second working oil port b of the first hydraulically controlled reversing valve 32 is connected to the oil return port t, and the first working oil port a is connected to the oil inlet port p (that is, Figure 2In the above implementation, the pressure regulating device 341 is used to reduce the pressure. The cooperation of the second hydraulically controlled reversing valve 342 and the flexible container 343 is used to introduce the seawater pressure into the system. The overflow valve 345 is used to limit the pressure of the system, that is, to control the theoretical output oil pressure of the pump group 1.

[0075] In this embodiment, for the convenience of calculation, n=2, m=1, and the oil pressure of the second oil port of the pressure regulating device 341 is equal to half of the oil pressure of the first oil port.

[0076] Exemplarily, the pressure regulating device 341 is one of a pressure reducing valve, an oil cylinder, a throttle tube, etc. As long as the ratio between the oil pressures of the first oil port and the second oil port in the pressure regulating device 341 can be 1:nm.

[0077] When the pressure regulating device 341 is a cylinder, the ratio of the oil pressure at the first oil port and the second oil port in the pressure regulating device 341 can be 1:nm by designing the ratio of the effective area of ​​the rodless chamber to the effective area of ​​the rod chamber to be n:m. The first oil port in the pressure regulating device 341 is the output end of the rod chamber, and the second oil port is the output end of the rodless chamber.

[0078] The pressure control unit 34 is set to the above structure. When the actuator cylinder 100 is extended, the internal oil of the flexible container 343 flows to the control oil port x of the relief valve 345 through the second hydraulic control reversing valve 342 under the action of seawater pressure. Therefore, the maximum oil pressure at the oil inlet a of the relief valve 345 is the set pressure of its own spring chamber plus the seawater pressure. The maximum oil pressure at the oil inlet a of the relief valve 345 is the rated oil pressure of the output of the pump group 1 entering the actuator cylinder 100. Therefore, the rated oil pressure of the actuator cylinder 100 is the sum of the set pressure of the relief valve 345 and the seawater pressure. That is, when the pressure control unit 34 is extended (after the actuator cylinder 100 is extended, the corresponding oil pressure is also the rated oil pressure, and the thrust provided by the actuator cylinder 100 is the maximum value), the actual output oil pressure of the pump group 1 is the sum of the theoretical output oil pressure of the pump group 1 and the seawater pressure. Furthermore, since the control oil port of the cartridge valve 31 flows back to the oil tank after passing through the second hydraulically controlled reversing valve 342 , the control oil port of the cartridge valve 31 is connected to the oil tank.

[0079] When the actuator cylinder 100 retracts, the oil in the rodless chamber of the actuator cylinder 100 reaches the second oil port b of the cartridge valve 31, overcomes the back pressure of the control oil port x of the cartridge valve 31, and flows back to the oil tank through the first hydraulically controlled reversing valve 32. Under the action of seawater pressure, the internal oil of the flexible container 343 is connected to the control oil port x of the cartridge valve 31 through the second hydraulically controlled reversing valve 342 and the pressure regulating device 341. Since the ratio of the oil pressure of the first oil port to the oil pressure of the second oil port in the pressure regulating device 341 is 1 / nm. And the oil pressure at the control oil port in the cartridge valve 31 is the same as the oil pressure at the second oil port (because the area of ​​the control oil port in the cartridge valve 31 is m times the area of ​​the second oil port, and m=1, so the area of ​​the control oil port in the cartridge valve 31 is the same as the area of ​​the second oil port, and the oil pressure of the first oil port is 0). The oil pressure of the control oil port x of the cartridge valve 31 is P 海水 It can be seen that setting the pressure control unit 34 to the above structure can meet the above requirements.

[0080] In other examples, the pressure control unit 34 may also be other structures, for example, the pressure control unit 34 is a combination of a control valve, a relief valve, and a pressure regulating device. When the cylinder 100 is extended, the control oil port of the cartridge valve 31 is connected to the oil tank through the control valve, and the output pressure of the pump group 1 is regulated by the relief valve. When the cylinder 100 is retracted, the oil pressure at the control oil port of the cartridge valve 31 is controlled by the pressure regulating device to be 1 / nm of the seawater pressure.

[0081] Optionally, the flexible container 343 is a rubber bag or a leather bag. In this way, the flexible container 343 can be deformed quickly under the water pressure, and the oil inside can be squeezed out.

[0082] Optionally, the control system further includes a hydraulic lock 5, which includes a first hydraulically controlled one-way valve 51 and a second hydraulically controlled one-way valve 52. The oil inlet of the first hydraulically controlled one-way valve 51 is respectively connected to the first working oil port of the reversing valve 2 and the first working oil port of the first hydraulically controlled reversing valve 32, the oil outlet of the first hydraulically controlled one-way valve 51 is connected to the rod chamber of the actuator cylinder 100, and the control oil port of the first hydraulically controlled one-way valve 51 is connected to the oil inlet of the second hydraulically controlled one-way valve 52. The oil inlet of the second hydraulically controlled one-way valve 52 is respectively connected to the second oil port of the cartridge valve 31 and the second working oil port of the first hydraulically controlled reversing valve 32, the oil outlet of the second hydraulically controlled one-way valve 52 is connected to the rodless chamber of the actuator cylinder 100, and the control oil port of the second hydraulically controlled one-way valve 52 is connected to the oil inlet of the first hydraulically controlled one-way valve 51.

[0083] In the above implementation, the first hydraulically controlled one-way valve 51 and the second hydraulically controlled one-way valve 52 can form a hydraulic lock, so that when the executing cylinder 100 is not moving, the oil in the rodless chamber and the rod chamber in the executing cylinder 100 can be locked to prevent the executing cylinder 100 from releasing pressure and causing safety accidents in the underwater working equipment.

[0084] Optionally, the hydraulic control system also includes a first one-way valve 6, which is connected between the reversing valve 2 and the hydraulic lock 5, the oil inlet of the first one-way valve 6 is connected to the first working oil port of the reversing valve 2, and the oil outlet of the first one-way valve 6 is connected to the oil inlet of the first hydraulically controlled one-way valve 51.

[0085] In the above implementation, the first one-way valve 6 is used to limit the direction of the oil in the oil circuit between the reversing valve 2 and the hydraulic lock 5 , so that the oil can only flow from the reversing valve to the hydraulic lock 5 .

[0086] Optionally, the hydraulic control system also includes a second one-way valve 7, which is connected between the reversing valve 2 and the cartridge valve 31, the oil inlet of the second one-way valve 7 is connected to the second working oil port of the reversing valve 2, and the oil outlet of the second one-way valve 7 is connected to the second oil port b of the cartridge valve 31.

[0087] In the above implementation, the second one-way valve 7 is used to limit the direction of the oil in the oil circuit between the reversing valve 2 and the cartridge valve 31 , so that the oil can only flow from the reversing valve 2 to the second oil port b of the cartridge valve 31 .

[0088] Optionally, the hydraulic control system also includes a third one-way valve 8, which is connected between the second hydraulically controlled one-way valve 52 and the cartridge valve 31, the oil inlet of the third one-way valve 8 is connected to the oil outlet of the second hydraulically controlled one-way valve 52, and the oil outlet of the third one-way valve 8 is respectively connected to the second oil port of the cartridge valve 31 and the oil outlet of the second one-way valve 7.

[0089] In the above implementation, the third one-way valve 8 is used to limit the direction of the oil in the oil circuit between the second hydraulic one-way valve 52 and the cartridge valve 31, so that the oil can only flow from the second hydraulic one-way valve 52 to the second oil port b of the cartridge valve 31.

[0090] Optionally, the pump assembly 1 includes a driving pump 11 and a motor 12, an output end of the motor 12 is connected to the driving pump 11, and an oil suction port of the driving pump 11 is connected to an oil tank.

[0091] In the above implementation, the motor 12 is used to drive the driving pump 11 to rotate. The driving pump 11 is used to output the oil in the oil tank to the reversing valve.

[0092] The following briefly introduces the working process of the hydraulic system provided by the embodiment of the present disclosure:

[0093] (1) A process of outputting a constant force when the piston rod of the oil cylinder 100 is extended:

[0094] When the reversing valve 2 switches from the middle position to the right position, the oil of the pump group 1 passes through the reversing valve 2, and a small amount of oil flows to the control oil port x of the first hydraulically controlled reversing valve 32 and the control oil port x of the second hydraulically controlled reversing valve 342. At this time, the first hydraulically controlled reversing valve 32 and the second hydraulically controlled reversing valve 342 are both working in the left position. The oil inlet p of the second hydraulically controlled reversing valve 342 is connected to the second working oil port b, and the first working oil port a is connected to the oil return port t. The oil inlet p of the first hydraulically controlled reversing valve 32 is connected to the first working oil port a and the second working oil port b respectively. The oil in the main oil circuit opens the second non-return valve 7 and flows to the cartridge valve 31. The control oil port x of the cartridge valve 31 is unloaded into the oil tank through the pressure regulating device 341 and the first working oil port a of the second hydraulically controlled reversing valve 342. The oil in the main oil circuit opens the cartridge valve 31 through the second oil port b of the cartridge valve 31, and flows to the working ports a and b of the hydraulic lock 5 through the oil inlet p of the first hydraulically controlled reversing valve 32. The first hydraulically controlled non-return valve 51 and the second hydraulically controlled non-return valve 52 of the hydraulic lock 5 are both opened under the high-pressure oil.

[0095] Since the cross-sectional area A0 of the piston rod of the actuator oil cylinder 100 is equal to 1 / n of the cross-sectional area A1 of the rodless chamber, and n=2, the effective area A1 of the rodless chamber of the actuator oil cylinder 100 is twice the effective area A2 of the rod chamber. Under the same oil pressure, the larger the area, the greater the force. Therefore, the oil will enter the rodless chamber and push the piston rod of the actuator oil cylinder 100 to move outward. At the same time, the oil in the rod chamber of the actuator oil cylinder 100 flows back to the rodless chamber of the actuator oil cylinder 100 through the hydraulic lock 5 and the first hydraulic control reversing valve 32 to speed up the extension of the piston rod. At this time, when the actuator oil cylinder 100 extends, the effective area of ​​the piston rod is A1-A2=A2=A0.

[0096] The internal oil of the flexible container 343 flows to the control oil port x of the relief valve 345 through the second hydraulically controlled reversing valve 342 under the action of seawater pressure. Therefore, the maximum oil pressure at the oil inlet a of the relief valve 345 is the set pressure of its own spring chamber plus the seawater pressure. The maximum oil pressure at the oil inlet a of the relief valve 345 is the oil pressure of the output of the pump group 1 entering the actuator cylinder 100. Therefore, the rated oil pressure of the actuator cylinder 100 is the sum of the set pressure of the relief valve 345 and the seawater pressure, that is:

[0097] P 溢 +P 海水 ; (8)

[0098] Among them, P 溢 is the set oil pressure of the relief valve 345; 海水 The sea water pressure.

[0099] The output force of the actuator cylinder 100 is the product of the effective area of ​​the oil chamber and the working pressure, that is, the maximum output force of the actuator cylinder 100 is:

[0100] A2(P 溢 +P 海水 ); (9)

[0101] When the piston rod of the actuator cylinder 100 extends, it needs to overcome the external water pressure, and the external water pressure force is A2×P 海水 , the actual thrust of the actuator cylinder 100 when extending is:

[0102] A×(P 溢 +P 海水 )-A2×P 海水 =A2×P 溢 ; (10)

[0103] When the reversing valve returns to the middle position from the right position, the control oil port x of the second hydraulically controlled reversing valve 342 and the control oil port x of the first hydraulically controlled reversing valve 32 flow back to the oil tank through the reversing valve to unload. This time, both the first hydraulically controlled reversing valve 32 and the second hydraulically controlled reversing valve 342 are reset.

[0104] (2) A process of outputting a constant force when the piston rod of the oil cylinder 100 is retracted:

[0105] When the reversing valve 2 switches from the middle position to the left position, the oil of the pump group 1 flows to the first working oil port a through the oil inlet P of the reversing valve, flows to the hydraulic lock 5 through the first non-return valve 6, and the oil flows to the rod chamber of the actuator cylinder 100 through the first hydraulically controlled non-return valve 51 of the hydraulic lock 5. At the same time, the second hydraulically controlled non-return valve 52 of the hydraulic lock 5 is opened, and the actuator cylinder 100 retracts under the action of the oil pressure in the rod chamber. The oil in the rodless chamber of the actuator cylinder 100 reaches the second oil port b of the cartridge valve 31 through the second hydraulically controlled non-return valve 52 and the third non-return valve 8 of the hydraulic lock 5, overcomes the back pressure of the control oil port x of the cartridge valve 31, and flows back to the oil tank through the first hydraulically controlled reversing valve 32.

[0106] The internal oil of the flexible container 343 is connected to the control oil port x of the cartridge valve 31 through the second hydraulically controlled reversing valve 342 and the pressure regulating device 341 under the action of seawater pressure. Therefore, the pressure of the control oil port x of the cartridge valve 31 is:

[0107] P 海水 / nm; (11)

[0108] In this embodiment, n=2, m=1, that is, P 海水 / 2.

[0109] According to the condition of opening the cartridge valve 31, the oil pressure at the second oil port b of the cartridge valve 31 is P 海水 / 2. The oil pressure of the second oil port of the cartridge valve 31 is equal to the oil pressure of the rodless chamber in the actuator cylinder 100. The oil pressure of the rodless chamber in the actuator cylinder 100 is P 海水 / 2.

[0110] The control oil port x of the relief valve 345 is connected to the oil tank through the second hydraulic control reversing valve 342. At this time, the oil pressure of the actuator cylinder 100 is the relief valve set pressure, that is, P 溢 .

[0111] The output force of the actuator cylinder 100 is the product of the oil pressure in the rod chamber and the effective area of ​​the oil chamber minus the product of the effective area of ​​the rodless chamber and the oil pressure in the rodless chamber, that is, the output force of the actuator cylinder 100 is:

[0112] A2×P 溢 -A1×P 海水 / 2=A2×(P 溢 -P 海水 ); (12)

[0113] When the piston rod of the actuator cylinder retracts, it will be subjected to external water pressure. The external water pressure force is A2×P 海水 , the actual output force of the actuator cylinder 100 is:

[0114] A2×(P 溢 -P 海水 )+A2×P 海水 =A2×P 溢 ; (13)

[0115] After the above analysis, the actual output force of the cylinder 100 during the extension and retraction is A2×P 海水 , the output force is the same and is not affected by external water pressure. The actuator cylinder 100 can adapt to the influence of changes in seawater depth.

[0116] The above description is only an optional embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A hydraulic control system for underwater working equipment, characterized in that: The hydraulic control system is used to drive the actuator cylinder (100) to extend or retract, and the actuator cylinder (100) is used to be connected to underwater operation equipment; The hydraulic control system comprises a pump group (1), a reversing valve (2) and a control valve group (3); the oil inlet of the reversing valve (2) is connected to the oil outlet of the pump group (1); the oil return port of the reversing valve (2) is connected to the oil tank; the first working oil port and the second working oil port of the reversing valve (2) are both connected to the control valve group (3); The control valve group (3) is respectively connected to the rod chamber and the rodless chamber of the actuator cylinder (100) and is used to control the actuator cylinder (100) to output a constant force while the reversing valve (2) controls the actuator cylinder (100) to extend or retract.

2. The hydraulic control system according to claim 1, characterized in that: The cross-sectional area of ​​the piston rod of the actuator cylinder (100) is 1 / n of the cross-sectional area of ​​the rodless chamber of the actuator cylinder, wherein n is a positive number greater than 1; The control valve group (3) comprises a cartridge valve (31), a first hydraulically controlled reversing valve (32) and a pressure control unit (34); The first oil port of the cartridge valve (31) is connected to the oil inlet of the first hydraulically controlled reversing valve (32), the second oil port of the cartridge valve (31) is connected to the second working oil port of the reversing valve (2), and the area of ​​the control oil port of the cartridge valve (31) is m times the area of ​​the second oil port of the cartridge valve (31), wherein m is a positive number not less than 1; The first working oil port of the first hydraulically controlled reversing valve (32) is connected to the rod chamber of the actuating cylinder (100), the second working oil port of the first hydraulically controlled reversing valve (32) is connected to the rodless chamber of the actuating cylinder (100), and the oil return port of the first hydraulically controlled reversing valve (32) is connected to the oil tank; The pressure control unit (34) is respectively connected to the oil outlet of the first pump group (1), the oil tank and the control oil port of the cartridge valve (31), and the pressure control unit (34) is used to control the actual output oil pressure of the pump group (1) to be the sum of the theoretical output oil pressure of the pump group (1) and the seawater pressure when the actuator cylinder (100) is extended, and to make the control oil port of the cartridge valve (31) communicate with the oil tank; Alternatively, the pressure control unit (34) is used to control the oil pressure at the control oil port of the cartridge valve (31) to be 1 / nm of the seawater pressure when the actuator cylinder (100) is retracted.

3. The hydraulic control system according to claim 2, characterized in that: The pressure control unit (34) comprises a pressure regulating device (341), a second hydraulically controlled reversing valve (342), a flexible container (343) and a relief valve (345); The first oil port of the pressure regulating device (341) is connected to the control oil port of the cartridge valve (31), the second oil port of the pressure regulating device (341) is connected to the first working oil port of the second hydraulically controlled reversing valve (342), the control oil port of the second hydraulically controlled reversing valve (342) is connected to the second working oil port of the reversing valve (2), the oil inlet of the second hydraulically controlled reversing valve (342) is connected to the flexible container (343), and the oil return port of the second hydraulically controlled reversing valve (342) is connected to the oil tank; The oil inlet of the overflow valve (345) is respectively connected to the oil outlet of the pump group (1) and the oil inlet of the reversing valve (2), the oil return port of the overflow valve (345) is connected to the oil tank, and the control oil port of the overflow valve (345) is connected to the second working oil port of the second hydraulically controlled reversing valve (342); The flexible container (343) contains oil inside, and the flexible container (343) can be deformed under the action of water pressure so that the oil inside flows out under the action of water pressure.

4. The hydraulic control system according to claim 3, characterized in that: The flexible container (343) is a rubber bag or a leather bag.

5. The hydraulic control system according to claim 3, characterized in that: The pressure regulating device (341) is one of a pressure reducing valve, an oil cylinder, and a throttle tube.

6. The hydraulic control system according to claim 2, characterized in that: The hydraulic control system further comprises a hydraulic lock (5), wherein the hydraulic lock (5) comprises a first hydraulically controlled one-way valve (51) and a second hydraulically controlled one-way valve (52). The oil inlet of the first hydraulically controlled one-way valve (51) is respectively connected to the first working oil port of the reversing valve (2) and the first working oil port of the first hydraulically controlled reversing valve (32); the oil outlet of the first hydraulically controlled one-way valve (51) is connected to the rod chamber of the actuator cylinder (100); and the control oil port of the first hydraulically controlled one-way valve (51) is connected to the oil inlet of the second hydraulically controlled one-way valve (52); The oil inlet of the second hydraulically controlled one-way valve (52) is respectively connected to the second oil port of the cartridge valve (31) and the second working oil port of the first hydraulically controlled reversing valve (32); the oil outlet of the second hydraulically controlled one-way valve (52) is connected to the rodless chamber of the actuator cylinder (100); and the control oil port of the second hydraulically controlled one-way valve (52) is connected to the oil inlet of the first hydraulically controlled one-way valve (51).

7. The hydraulic control system according to claim 6, characterized in that: The hydraulic control system further comprises a first one-way valve (6), the first one-way valve (6) being connected between the reversing valve (2) and the hydraulic lock (5), the oil inlet of the first one-way valve (6) being connected to the first working oil port of the reversing valve (2), and the oil outlet of the first one-way valve (6) being connected to the oil inlet of the first hydraulically controlled one-way valve (51).

8. The hydraulic control system according to claim 6, characterized in that: The hydraulic control system further comprises a second one-way valve (7), wherein the second one-way valve (7) is connected between the reversing valve (2) and the cartridge valve (31), an oil inlet of the second one-way valve (7) is connected to a second working oil port of the reversing valve, and an oil outlet of the second one-way valve (7) is connected to a second oil port of the cartridge valve (31).

9. The hydraulic control system according to claim 8, characterized in that: The hydraulic control system further comprises a third one-way valve (8), wherein the third one-way valve (8) is connected between the second hydraulically controlled one-way valve (52) and the cartridge valve (31), wherein an oil inlet of the third one-way valve (8) is connected to an oil outlet of the second hydraulically controlled one-way valve (52), and an oil outlet of the third one-way valve (8) is respectively connected to a second oil port of the cartridge valve (31) and an oil outlet of the second one-way valve (7).

10. The hydraulic control system according to any one of claims 1 to 9, characterized in that: The reversing valve (2) is a three-position four-way electromagnetic proportional reversing valve.

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