An ultra-high pressure seawater flushing tool for underwater robots

Abstract

The application relates to a kind of ultra-high pressure seawater flushing tools for underwater robot, piston assembly includes first piston rod, piston sleeve and second piston rod connected in sequence, piston sleeve inside is equipped with reversing valve block and guide block, and reversing valve block is equipped on first piston rod, guide block is equipped on second piston rod, reversing valve block is sleeved on guide block, and second piston rod end surface and reversing valve block form reversing oil cavity, piston sleeve outer wall and shell bush form oil inlet cavity, first control ring port, first limit part, first communication ring port, second limit part, second communication ring port and second control ring port are sequentially arranged on piston sleeve inner wall, wherein first control ring port is communicated with oil inlet cavity, first communication ring port is communicated with drive oil cavity, second communication ring port is communicated with return oil cavity, and second control ring port is communicated with reversing oil cavity.The application does not need electromagnetic reversing valve, and only realizes reversing by pump structure, while improving water pressure, also reduces space occupancy.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, and more specifically to an ultra-high pressure seawater flushing tool for underwater robots. Background Technology

[0002] Underwater robots are key equipment in marine engineering construction and marine scientific research. Seawater washing tools can be used to remove marine organisms and sediment adhering to the surface of underwater robots, which is particularly important for ensuring the long-term operational capability of underwater robots. For example, patent CN101209436A discloses a high-pressure seawater spray gun for operational underwater robots, which includes a hydraulic motor, a high-pressure seawater pump, and other devices. However, existing ultra-high-pressure seawater pumps mainly use electromagnetic reversing valves to control the pump structure's reversing, which results in a relatively high space occupancy rate of the entire seawater pump system inside the underwater robot. Summary of the Invention

[0003] The purpose of this invention is to provide an ultra-high pressure seawater flushing tool for underwater robots. It does not require devices such as electromagnetic reversing valves, but achieves reversal only through a pump structure. It only requires one hydraulic oil to achieve the operation, which increases the water pressure and reduces the space occupied inside the underwater robot.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] An ultra-high pressure seawater flushing tool for underwater robots includes a pump body and a piston assembly. The pump body has a first seawater chamber at one end and a second seawater chamber at the other end. A housing bushing is located inside the pump body. The piston assembly is housed within the housing bushing, and a drive oil chamber is located on one side of the piston assembly, while a return oil chamber is located on the other side. The piston assembly includes a first piston rod, a piston sleeve, and a second piston rod connected in sequence. The free end of the first piston rod passes through the drive oil chamber and is inserted into the first seawater chamber. The free end of the second piston rod passes through the return oil chamber and is inserted into the second seawater chamber. A reversing valve block and a guide block are located inside the piston sleeve. The reversing valve block is located on the first piston rod, and the guide block is located on the second piston rod. The reversing valve block is fitted onto the guide block, and the end of the second piston rod... A reversing oil chamber is formed between the piston sleeve and the reversing valve block, and an oil inlet chamber is formed between the outer wall of the piston sleeve and the housing bushing. The outer wall of the piston sleeve near the first piston rod is provided with a sealing protrusion that separates the driving oil chamber and the oil inlet chamber. The inner wall of the piston sleeve is provided with a first control ring port, a first limiting part, a first connecting ring port, a second limiting part, a second connecting ring port, and a second control ring port in sequence along the axial direction. The reversing valve block limits the displacement through the first limiting part and the second limiting part. The first control ring port is connected to the oil inlet chamber, the first connecting ring port is connected to the driving oil chamber, and the second connecting ring port is connected to the return oil chamber. The first control ring port and the second connecting ring port are both controlled and blocked by the reversing valve block. The second control ring port is connected to the reversing oil chamber, and the second control ring port is provided with a control oil passage that is controlled and blocked by the inner wall of the housing bushing.

[0006] The pump body includes a first end cover, an intermediate housing, and a second end cover connected in sequence. The intermediate housing has a housing bushing, a first sealing cover, and a second sealing cover inside. The first sealing cover is located between the housing bushing and the first end cover, and the second sealing cover is located between the housing bushing and the second end cover. A driving oil chamber is formed between the piston sleeve and the first sealing cover, and a return oil chamber is formed between the piston sleeve and the second sealing cover. An oil inlet ring groove and a return oil ring groove are provided on the outer wall of the housing bushing. The oil inlet chamber communicates with the oil inlet ring groove, and the return oil chamber communicates with the return oil ring groove. A first seawater chamber is located inside the first end cover, and a second seawater chamber is located inside the second end cover. The first piston rod passes through the first sealing cover and is inserted into the first seawater chamber, and the second piston rod passes through the second sealing cover and is inserted into the second seawater chamber.

[0007] The pump body is provided with a seawater inlet and a seawater outlet. The pump body is provided with a seawater inlet chamber communicating with the seawater inlet and a seawater outlet chamber communicating with the seawater outlet. The first end cover is provided with a first inlet channel and a first outlet channel. The second end cover is provided with a second inlet channel and a second outlet channel. Both the first inlet channel and the second inlet channel are connected to the seawater inlet chamber. Both the first outlet channel and the second outlet channel are connected to the seawater outlet chamber. One-way valves are provided at both ends of the seawater inlet chamber and at both ends of the seawater outlet chamber.

[0008] A seawater filter element is installed on the seawater inlet, the seawater outlet is connected to the water outlet pipe, and a seawater nozzle is provided at the end of the water outlet pipe.

[0009] The pump body is provided with a hydraulic valve block, and the hydraulic valve block is provided with an oil inlet and an oil return port. The hydraulic valve block is provided with an oil inlet channel and an oil return channel inside. The oil inlet is connected to the oil inlet ring groove through the oil inlet channel, and the oil return port is connected to the oil return ring groove through the oil return channel.

[0010] The piston sleeve is provided with a piston sleeve inlet, a first connecting oil hole and a second connecting oil hole. One end of the piston sleeve inlet is connected to the oil inlet chamber and the other end is connected to the first control ring port. One end of the first connecting oil hole is connected to the drive oil chamber and the other end is connected to the first connecting ring port. One end of the second connecting oil hole is connected to the return oil chamber and the other end is connected to the second connecting ring port. The wall of the return oil chamber is provided with a return oil connecting hole that is connected to the return oil ring groove.

[0011] The sealing protrusion is provided with an isolation sealing element.

[0012] The reversing valve block is provided with a valve block slot, the front end of the guide block is inserted into the valve block slot, and the front end of the guide block is provided with a sliding sealing element that makes a sealing sliding contact with the inner wall of the valve block slot.

[0013] The first piston rod has a valve seat at its front end that is connected to the reversing valve block. The valve seat near the second piston rod forms a first limiting surface that cooperates with the first limiting part. The valve block has a slot on its outer wall near the first piston rod that forms a second limiting surface that cooperates with the second limiting part.

[0014] The second piston rod has a piston rod opening at its front end, and the rear end of the guide block is threadedly connected to the piston rod opening.

[0015] The advantages and positive effects of this invention are as follows:

[0016] 1. This invention does not require the use of electromagnetic reversing valves or other devices. It achieves reversing solely through a pump structure and requires only one hydraulic oil path to perform the action. This greatly simplifies the entire system, thereby reducing the space occupied inside the underwater robot. At the same time, installation and control are also simpler, making it highly adaptable.

[0017] 2. The piston assembly of the present invention can realize the reciprocating circulation of water from both sides of the seawater tank. While increasing the water pressure, its structural design is also more compact, reducing the volume of the pump body, thereby further reducing the space occupancy rate of the present invention. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the appearance of the present invention.

[0019] Figure 2 for Figure 1 Front view of the pump body

[0020] Figure 3 for Figure 2 Schematic diagram of the internal structure of the pump body in operation Figure 1 ,

[0021] Figure 4 for Figure 2 Schematic diagram of the internal structure of the pump body in operation Figure 2 ,

[0022] Figure 5 for Figure 4 AA view in

[0023] Figure 6 for Figure 5 Enlarged schematic diagram of the piston assembly.

[0024] Figure 7 for Figure 2 Schematic diagram of the internal structure of the pump body in operation Figure 3 ,

[0025] Figure 8 for Figure 2 Schematic diagram of the internal structure of the pump body in operation Figure 4 ,

[0026] Figure 9 for Figure 3 A sectional view of the piston sleeve.

[0027] Figure 10 for Figure 9 BB view in

[0028] Figure 11 for Figure 2 Left view of the pump body

[0029] Figure 12 for Figure 11 CC view in

[0030] Figure 13 for Figure 11 DD view in

[0031] Figure 14 for Figure 11 The EE view in the middle.

[0032] Wherein, 1 is the pump body, 101 is the intermediate shell, 1011 is the seawater inlet chamber, 1012 is the seawater outlet chamber, 1013 is the one-way valve, 102 is the first end cover, 1021 is the first seawater tank, 1022 is the first water inlet channel, 1023 is the first water outlet channel, 103 is the hydraulic valve block, 104 is the seawater outlet, 105 is the oil inlet, 1051 is the oil inlet passage, 1052 is the oil inlet hole, 106 is the oil return port, 1061 is the oil return passage, 1062 is the oil return hole, 107 is the seawater inlet, 108 is the second end cover, 1081 is the second seawater tank, 1082 is the second water inlet channel, 1083 is the second water outlet channel, 2 is the seawater filter element, 3 is the water outlet pipe, 301 is the seawater nozzle, 4 is the second piston rod, 401 is the piston rod opening, 5 is the guide block, 501 is the guide block thread, and 502 is the sliding sealing element. 6 is the reversing valve block, 601 is the valve block slot, 6011 is the second limiting surface, 602 is the valve seat, 6021 is the first limiting surface, 7 is the first piston rod, 8 is the piston sleeve, 801 is the first limiting part, 802 is the second limiting part, 803 is the first connecting ring port, 8031 ​​is the first connecting oil hole, 804 is the sealing protrusion, 8041 is the isolation sealing element, 805 is the second connecting ring port, 8051 is... The second connecting oil hole, 806 is the second control ring port, 8061 is the control oil passage, 807 is the first control ring port, 8071 is the piston sleeve inlet, 9 is the housing bushing, 901 is the oil inlet ring groove, 902 is the oil return ring groove, 9021 is the oil return connecting hole, 10 is the first sealing cover, 11 is the second sealing cover, 12 is the oil inlet chamber, 13 is the reversing oil chamber, 14 is the driving oil chamber, 15 is the gap chamber, and 16 is the oil return chamber. Detailed Implementation

[0033] The invention will now be described in further detail with reference to the accompanying drawings.

[0034] like Figures 1-14 As shown, the present invention includes a pump body 1 and a piston assembly. The pump body 1 includes a first end cap 102, an intermediate housing 101, and a second end cap 108 connected in sequence. The intermediate housing 101 is provided with a housing bushing 9, a first sealing cover 10, and a second sealing cover 11 inside. The first sealing cover 10 is located between the housing bushing 9 and the first end cap 102, and the second sealing cover 11 is located between the housing bushing 9 and the second end cap 108. The outer wall of the housing bushing 9 is provided with an oil inlet ring groove 901 and an oil return ring groove 902. The first end cap 102 is provided with a first seawater chamber 1021 inside, and the second end cap 108 is provided with a second seawater chamber 1081 inside. The piston assembly is located in the housing bushing 9.

[0035] like Figures 1-14As shown, the piston assembly includes a first piston rod 7, a second piston rod 4, and a piston sleeve 8. The rear end of the first piston rod 7 passes through the first sealing cover 10 and is inserted into the first seawater tank 1021. The rear end of the second piston rod 4 passes through the second sealing cover 11 and is inserted into the second seawater tank 1081. The front ends of the first piston rod 7 and the second piston rod 4 are respectively inserted into the corresponding ends of the piston sleeve 8. Figure 6 As shown, the piston sleeve 8 is provided with a guide block 5 and a reversing valve block 6 inside. The reversing valve block 6 is fixed to the front end of the first piston rod 7, and the guide block 5 is fixed to the front end of the second piston rod 4. The reversing valve block 6 is provided with a valve block slot 601, and the guide block 5 is inserted into the valve block slot 601.

[0036] like Figures 3-8 As shown, a driving oil chamber 14 is formed between the piston sleeve 8 and the first sealing cover 10, a return oil chamber 16 is formed between the piston sleeve 8 and the second sealing cover 11, and an oil inlet chamber 12 is formed between the outer wall of the piston sleeve 8 and the housing bushing 9. The piston sleeve 8 has a sealing protrusion 804 at one end near the first piston rod 7, which makes a sealing sliding contact with the inner wall of the housing bushing 9. The driving oil chamber 14 and the oil inlet chamber 12 are separated by the sealing protrusion 804. The oil inlet chamber 12 is connected to the oil inlet ring groove 901. A reversing oil chamber 13 is formed between the end face of the second piston rod 4 and the reversing valve block 6.

[0037] like Figures 9-10 As shown, the inner wall of the piston sleeve 8 is provided with a first control ring opening 807, a first limiting part 801, a first communicating ring opening 803, a second limiting part 802, a second communicating ring opening 805, and a second control ring opening 806 sequentially along the axial direction, wherein... Figure 3 As shown, the displacement of the reversing valve block 6 is limited by the first limiting part 801 and the second limiting part 802. The first control ring port 807 is connected to the oil inlet chamber 12, the first connecting ring port 803 is connected to the drive oil chamber 14, and the second connecting ring port 805 is connected to the return oil chamber 16. Both the first control ring port 807 and the second connecting ring port 805 block the oil inlet through the reversing valve block 6. The return oil chamber 16 is connected to the return oil ring groove 902. The second control ring port 806 is provided with a control oil passage 8061, and the control oil passage 8061 blocks the oil inlet through the inner wall of the housing bushing 9. The second control ring port 806 is connected to the reversing oil chamber 13.

[0038] In this embodiment, the above-mentioned connected structure is specifically as follows: Figures 9-10As shown, the piston sleeve 8 is provided with a piston sleeve inlet 8071, a first connecting oil hole 8031 ​​and a second connecting oil hole 8051. One end of the piston sleeve inlet 8071 is connected to the oil inlet chamber 12 and the other end is connected to the first control ring port 807. One end of the first connecting oil hole 8031 ​​is connected to the drive oil chamber 14 and the other end is connected to the first connecting ring port 803. One end of the second connecting oil hole 8051 is connected to the return oil chamber 16 and the other end is connected to the second connecting ring port 805. The cavity wall of the return oil chamber 16 is provided with a return oil connecting hole 9021 that communicates with the return oil ring groove 902.

[0039] In this embodiment, as Figures 1-2 As shown, the pump body 1 is provided with a seawater inlet 107 and a seawater outlet 104. A seawater filter element 2 is installed on the seawater inlet 107, and the seawater outlet 104 is connected to a water outlet pipe 3. A seawater nozzle 301 is provided at the end of the water outlet pipe 3. Figure 14 As shown, the pump body 1 has a seawater inlet chamber 1011 communicating with the seawater inlet 107 and a seawater outlet chamber 1012 communicating with the seawater outlet 104 on one side of the intermediate housing 101. The first end cap 102 has a first inlet channel 1022 and a first outlet channel 1023, and the second end cap 108 has a second inlet channel 1082 and a second outlet channel 1083. The first inlet channel 1022 and the second inlet channel 1082 communicate with the seawater inlet chamber 1011, and the first outlet channel 1023 and the second outlet channel 1083 communicate with the seawater outlet chamber 1012. This structure enables the injection and output of seawater. Furthermore, to achieve unidirectional seawater flow, such as... Figure 14 As shown, one-way valves 1013 are provided between the two ends of the seawater inlet chamber 1011 and the corresponding end chambers of the inlet channel, and between the two ends of the seawater outlet chamber 1012 and the corresponding end chambers of the outlet channel.

[0040] In this embodiment, as Figures 1-2 As shown, the pump body 1 is provided with a hydraulic valve block 103, and the hydraulic valve block 103 is provided with an oil inlet 105 and an oil return port 106, as follows. Figures 13-14 As shown, the hydraulic valve block 103 is provided with an oil inlet channel 1051 and an oil return channel 1061 inside. The oil inlet 105 is connected to the oil inlet ring groove 901 through the oil inlet channel 1051, and the oil return port 106 is connected to the oil return ring groove 902 through the oil return channel 1061. The intermediate housing 101 is provided with an oil inlet hole 1052 and an oil return hole 1062 that are connected to each other.

[0041] like Figures 5-6As shown, in this embodiment, sealing elements (such as sealing rings) are provided on the inner and outer walls of the first sealing cover 10 and the inner and outer walls of the second sealing cover 11 to ensure the sealing of adjacent cavities.

[0042] like Figure 3 As shown, in this embodiment, the sealing protrusion 804 is provided with an isolation sealing element 8041 (such as a sealing ring) to ensure the isolation and sealing of the drive oil chamber 14 and the oil inlet chamber 12.

[0043] like Figure 6 As shown, in this embodiment, the front end of the first piston rod 7 is provided with a valve seat 602 connected to the reversing valve block 6, and the valve seat 602 near the second piston rod 4 forms a first limiting surface 6021 that cooperates with the first limiting part 801. The front end of the second piston rod 4 is provided with a piston rod opening 401, and the rear end of the guide block 5 is provided with a guide block thread 501 that is threadedly connected to the piston rod opening 401. The front end of the guide block 5 is provided with a sliding sealing element 502 (such as a sealing ring) that is in sealing sliding contact with the inner wall of the valve block slot 601 of the reversing valve block 6. The outer wall of the valve block slot 601 near the first piston rod 7 forms a second limiting surface 6011 that cooperates with the second limiting part 802.

[0044] The working principle of this invention is as follows:

[0045] The present invention may include the following state processes during operation:

[0046] State 1: such as Figure 3 As shown, the first limiting part 801 on the inner wall of the piston sleeve 8 abuts against the first limiting surface 6021 on the reversing valve block 6. At this time, Figures 9-10 The first control ring port 807 shown is blocked from entering oil by the reversing valve block 6, thus disconnecting it. Meanwhile, the control oil passage 8061 is blocked from entering oil by the inner wall of the housing bushing 9, thus disconnecting it. At this time, external pressure oil flows into the housing through the inlet ring groove 901 and the inlet chamber 12 in sequence. Figure 9 In the piston sleeve inlet 8071 shown, since the first control ring port 807 is blocked, the pressure oil directly acts on the sealing protrusion 804 of the piston sleeve 8 and drives the piston sleeve 8 to move to the right. The piston sleeve 8 drives the first piston rod 7 and the second piston rod 4 to move to the right, and causes the first seawater tank 1021 on the right side to start to be pressurized, its volume decreases and seawater is discharged, while the second seawater tank 1081 on the left side increases in volume and seawater is injected. On the other hand, the piston sleeve 8 drives the reversing valve block 6 to move to the right together through the cooperation of the first limiting part 801 and the first limiting surface 6021. During the movement, the reversing valve block 6 can maintain the blocking state of the first control ring port 807 until the control oil passage 8061 enters the oil inlet chamber 12 to achieve oil inlet communication. The present invention enters state two.

[0047] State 2: When the control oil passage 8061 enters the oil inlet chamber 12, as... Figure 4 and Figures 9-10 As shown, the pressurized oil in the inlet chamber 12 enters the second control ring port 806 through the control oil passage 8061, and then enters the reversing oil chamber 13 formed between the end face of the second piston rod 4 and the reversing valve block 6, pushing the reversing valve block 6 to move to the right. At this time, a gap cavity 15 is formed between the reversing valve block 6 and the guide block 5. When the first control ring port 807 is no longer blocked by the reversing valve block 6, it achieves communication with the piston sleeve inlet 8071, that is, it achieves communication with the inlet chamber 12, and the invention enters state three. Additionally, as... Figure 4 As shown, during the above process, after the reversing valve block 6 moves to the right, it will also block the second connecting ring port 805, that is, block the connection with the oil return chamber 16, and the present invention enters state three.

[0048] State 3: After the first control loop port 807 is connected, such as Figures 5-6 As shown, pressurized oil enters the drive oil chamber 14 sequentially through the first control ring port 807, the second connecting ring port 803, and the first connecting oil hole 8031. Due to the restriction of the first limiting part 801 and the second limiting part 802, the second connecting ring port 803 remains open and is not blocked from oil entry by the reversing valve block 6. Figure 6 As shown, at this time, the reversing valve block 6 is subjected to pressure oil on both the left and right sides of the central recess. However, because the valve seat 602 increases the area on the right side of the central recess of the reversing valve block 6, the reversing valve block 6 will move to its rightmost extreme position. Additionally, as shown... Figure 5 As shown, the pressurized oil in the inlet chamber 12 and the pressurized oil in the drive chamber 14 also act on both sides of the piston sleeve 8. However, since the contact area between the drive chamber 14 and the piston sleeve 8 is larger than the contact area between the inlet chamber 12 and the piston sleeve 8, that is, the pressure applied to the piston sleeve 8 by the drive chamber 14 in the left direction is greater than the pressure applied to the piston sleeve 8 in the right direction by the inlet chamber 12, the entire piston assembly no longer moves to the right. As the amount of pressurized oil injected into the drive chamber 14 increases, the entire piston assembly begins to move to the left. In this way, the second seawater tank 1081 on the left side begins to be pressurized, its volume decreases, and seawater is discharged. The first seawater tank 1021 on the right side increases in volume and injects seawater. When the piston assembly moves to the left to the set position, the control oil passage 8061 is disengaged from the inlet chamber 12 and is blocked again by the inner wall of the shell bushing 9. The present invention enters state four.

[0049] State 4: After the control oil passage 8061 is blocked by the inner wall of the housing bushing 9 and is in a disconnected state, the piston sleeve 8 drives the first piston rod 7 and the second piston rod 4 to move to the left on the one hand, and drives the reversing valve block 6 to move to the left synchronously through the cooperation of the second limiting part 802 and the second limiting surface 6011. At the same time, since the reversing oil chamber 13 is still full of oil and will not be compressed, the reversing valve block 6 can ensure the continuous oil injection state in the driving oil chamber 14 until the piston assembly moves to the left to the set position. Then the control oil passage 8061 enters the return oil chamber 16 and becomes connected again. The present invention enters State 5.

[0050] State 5: such as Figure 7 As shown, since the control oil passage 8061 enters the return oil chamber 16 and becomes connected again, the pressure oil in the reversing oil chamber 13 will enter the return oil chamber 16 through the second control ring port 806 and the control oil passage 8061. The reversing oil chamber 13 is no longer filled with oil, and the reversing valve block 5 begins to move to the left until the reversing valve block 5 disconnects the first control ring port 807 again, and the invention enters state six. In addition, during the above process, as Figure 8 As shown, the second connecting ring port 805 is also open. At this time, the pressure oil in the middle recess of the reversing valve block 5 can be completely discharged into the return oil chamber 16 through the second connecting oil hole 8051.

[0051] State 6: External pressure oil flows into the oil inlet chamber 12 through the oil inlet ring groove 901 and applies pressure to the sealing protrusion 804. The oil in other chambers is return oil. Therefore, when the pressure oil in the oil inlet chamber 12 is large enough, it will drive the piston sleeve 8 to move to the right again. When the control oil passage 8061 is disengaged from the return oil chamber 16 and blocked again by the inner wall of the housing bushing 9, the first control ring port 807 is also blocked from entering the oil by the reversing valve block 6. The pump body 1 returns to state 1 and then repeats the above process.

[0052] This invention does not require devices such as electromagnetic reversing valves. It achieves reversing solely through a pump structure and requires only one hydraulic oil path to perform the action. While providing higher water pressure, the entire system is also greatly simplified, thereby reducing the space occupied inside the underwater robot.

Claims

1. A high-pressure seawater flushing tool for underwater robots, characterized in that: The system includes a pump body (1) and a piston assembly. One end of the pump body (1) has a first seawater chamber (1021), and the other end has a second seawater chamber (1081). A housing bushing (9) is located inside the pump body (1). The piston assembly is housed within the housing bushing (9). The piston assembly has a drive oil chamber (14) on one side and a return oil chamber (16) on the other side. The piston assembly includes a first piston rod (7), a piston sleeve (8), and a second piston rod (4) connected in sequence. The free end of the first piston rod (7) passes through the drive oil chamber. 14) The piston rod (4) is inserted into the first seawater tank (1021). The free end of the second piston rod (4) passes through the return oil chamber (16) and is inserted into the second seawater tank (1081). The piston sleeve (8) is provided with a reversing valve block (6) and a guide block (5). The reversing valve block (6) is located on the first piston rod (7), and the guide block (5) is located on the second piston rod (4). The reversing valve block (6) is fitted onto the guide block (5). A reversing oil chamber (13) is formed between the end face of the second piston rod (4) and the reversing valve block (6). The outer wall of the piston sleeve (8) is connected to the shell. An oil inlet chamber (12) is formed between the body bushings (9), and a sealing protrusion (804) is provided on the outer wall of the piston sleeve (8) near the end of the first piston rod (7) to separate the drive oil chamber (14) and the oil inlet chamber (12). A first control ring port (807), a first limiting part (801), a first connecting ring port (803), a second limiting part (802), a second connecting ring port (805), and a second control ring port (806) are sequentially provided along the axial direction on the inner wall of the piston sleeve (8). The reversing valve block (6) passes through the first limiting part (801) and the first... The two limiting parts (802) limit the displacement. The first control ring port (807) is connected to the oil inlet chamber (12), the first connecting ring port (803) is connected to the drive oil chamber (14), and the second connecting ring port (805) is connected to the return oil chamber (16). The first control ring port (807) and the second connecting ring port (805) are both controlled and blocked by the reversing valve block (6). The second control ring port (806) is connected to the reversing oil chamber (13), and the second control ring port (806) is provided with a control oil passage (8061) that is controlled and blocked by the inner wall of the housing bushing (9).

2. The ultra-high pressure seawater flushing tool for underwater robots according to claim 1, characterized in that: The pump body (1) includes a first end cap (102), an intermediate housing (101), and a second end cap (108) connected in sequence. The intermediate housing (101) contains a housing bushing (9), a first sealing cap (10), and a second sealing cap (11). The first sealing cap (10) is located between the housing bushing (9) and the first end cap (102), and the second sealing cap (11) is located between the housing bushing (9) and the second end cap (108). A driving oil chamber (14) is formed between the piston sleeve (8) and the first sealing cap (10), and a return oil chamber (15) is formed between the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) and the piston sleeve (8) are connected in sequence. 6) The outer wall of the shell bushing (9) is provided with an oil inlet ring groove (901) and an oil return ring groove (902), and the oil inlet chamber (12) is connected to the oil inlet ring groove (901), and the oil return chamber (16) is connected to the oil return ring groove (902). The first end cover (102) is provided with a first seawater chamber (1021), and the second end cover (108) is provided with a second seawater chamber (1081). The first piston rod (7) passes through the first sealing cover (10) and is inserted into the first seawater chamber (1021), and the second piston rod (4) passes through the second sealing cover (11) and is inserted into the second seawater chamber (1081).

3. The ultra-high pressure seawater flushing tool for underwater robots according to claim 2, characterized in that: The pump body (1) is provided with a seawater inlet (107) and a seawater outlet (104). The pump body (1) is provided with a seawater inlet chamber (1011) communicating with the seawater inlet (107) and a seawater outlet chamber (1012) communicating with the seawater outlet (104). The first end cap (102) is provided with a first water inlet channel (1022) and a first water outlet channel (1023). The second end cap (108) is provided with a second water inlet channel (1082) and a second water outlet channel (1083). The first water inlet channel (1022) and the second water inlet channel (1082) are both connected to the seawater inlet chamber (1011). The first water outlet channel (1023) and the second water outlet channel (1083) are both connected to the seawater outlet chamber (1012). One-way valves (1013) are provided at both ends of the seawater inlet chamber (1011) and at both ends of the seawater outlet chamber (1012).

4. The ultra-high pressure seawater flushing tool for underwater robots according to claim 3, characterized in that: A seawater filter element (2) is installed on the seawater inlet (107), the seawater outlet (104) is connected to the water outlet pipe (3), and a seawater nozzle (301) is provided at the end of the water outlet pipe (3).

5. The ultra-high pressure seawater flushing tool for underwater robots according to claim 2, characterized in that: The pump body (1) is provided with a hydraulic valve block (103), and the hydraulic valve block (103) is provided with an oil inlet (105) and an oil return port (106). The hydraulic valve block (103) is provided with an oil inlet channel (1051) and an oil return channel (1061) inside. The oil inlet (105) is connected to the oil inlet ring groove (901) through the oil inlet channel (1051), and the oil return port (106) is connected to the oil return ring groove (902) through the oil return channel (1061).

6. The ultra-high pressure seawater flushing tool for underwater robots according to claim 1, characterized in that: The piston sleeve (8) is provided with a piston sleeve inlet (8071), a first connecting oil hole (8031) and a second connecting oil hole (8051). One end of the piston sleeve inlet (8071) is connected to the oil inlet chamber (12) and the other end is connected to the first control ring port (807). One end of the first connecting oil hole (8031) is connected to the drive oil chamber (14) and the other end is connected to the first connecting ring port (803). One end of the second connecting oil hole (8051) is connected to the return oil chamber (16) and the other end is connected to the second connecting ring port (805). The wall of the return oil chamber (16) is provided with a return oil connecting hole (9021) and a return oil ring groove (902).

7. The ultra-high pressure seawater flushing tool for underwater robots according to claim 1, characterized in that: The sealing protrusion (804) is provided with an isolation sealing element (8041).

8. The ultra-high pressure seawater flushing tool for underwater robots according to claim 1, characterized in that: The reversing valve block (6) is provided with a valve block slot (601), the front end of the guide block (5) is inserted into the valve block slot (601), and the front end of the guide block (5) is provided with a sliding sealing element (502) that is in sealing sliding contact with the inner wall of the valve block slot (601).

9. The ultra-high pressure seawater flushing tool for underwater robots according to claim 8, characterized in that: The first piston rod (7) has a valve seat (602) at its front end that is connected to the reversing valve block (6). The valve seat (602) near the second piston rod (4) forms a first limiting surface (6021) that cooperates with the first limiting part (801). The valve block slot (601) near the first piston rod (7) forms a second limiting surface (6011) that cooperates with the second limiting part (802).

10. The ultra-high pressure seawater flushing tool for underwater robots according to claim 8, characterized in that: The second piston rod (4) has a piston rod opening (401) at its front end, and the rear end of the guide block (5) is threadedly connected to the piston rod opening (401).

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