Deep sea grab bucket based on electro-hydraulic actuator and engineering mechanical device provided with grab bucket

Abstract

The invention discloses a deep sea grab bucket based on electro-hydraulic actuators and an engineering mechanical device provided with the grab bucket, and relates to the technical field of engineering machinery, the deep sea grab bucket based on the electro-hydraulic actuators comprises a rack, grab bucket bodies and at least two electro-hydraulic actuators, and each grab bucket body is rotationally connected with the rack; the grab bucket body comprises at least two grab bucket bodies, all the electro-hydraulic actuators are fixedly connected with the rack, all the grab bucket bodies are connected with the output end of at least one electro-hydraulic actuator, and the output ends of the electro-hydraulic actuators stretch out and draw back along the axes of the output ends of the corresponding electro-hydraulic actuators so that the corresponding grab bucket bodies can be unfolded outwards or folded inwards. The engineering mechanical device provided with the grab bucket comprises a mechanical body and the deep sea grab bucket based on the electro-hydraulic actuator, and the rack is connected with the mechanical body. According to the invention, the complexity of system pipeline arrangement is reduced, the energy loss of a hydraulic pipeline is reduced, the energy transfer efficiency is improved, and the energy efficiency is higher.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a deep-sea grab bucket based on an electro-hydraulic actuator and an engineering machinery device equipped with the grab bucket. Background Art

[0002] The development of deep-sea television grabs originated from the need for deep-sea resource exploration. As human understanding of deep-sea resources deepens, deep-sea mineral and biological resources have become new exploration hotspots. To meet the needs of deep-sea scientific research and resource exploration, deep-sea sampling equipment must possess high precision, high efficiency, and high stability. As a type of deep-sea sampling equipment, the deep-sea television grab, by combining camera and remote control technologies, enables real-time observation and sampling of seabed geological sedimentary morphology, activity patterns, and biological communities, providing crucial support for deep-sea scientific research.

[0003] Existing deep-sea TV grabs generally consist of an electrical mechanism and a grab mechanism, connected by ropes. These grabs primarily use pure hydraulic power, with separate motors and hydraulic systems driving the grab's opening and closing. Typically, the hydraulic system's motor, pump, control valves, and cylinders are integrated into the grab's underwater equipment. Hydraulic power is transmitted via umbilical cables (including hydraulic lines) to drive the underwater hydraulic cylinders, thus controlling the grab's opening, closing, and movement. Existing deep-sea TV grabs have low integration, requiring complex piping and cable connections for control. This complex piping increases the overall system complexity, leading to difficult maintenance, reduced reliability (increased probability of hydraulic oil leakage), lower hydraulic transmission efficiency, and increased energy consumption. Summary of the Invention

[0004] The purpose of this invention is to provide a deep-sea grab bucket based on an electro-hydraulic actuator and an engineering machinery device equipped with the grab bucket, so as to solve the problems existing in the prior art, reduce the complexity of the system pipeline layout, reduce the energy loss of hydraulic pipelines, improve energy transfer efficiency, and achieve higher energy efficiency.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a deep-sea grab bucket based on electro-hydraulic actuators, comprising a frame, a grab bucket body, and at least two electro-hydraulic actuators, wherein:

[0007] Each of the grab bucket bodies is rotatably connected to the frame;

[0008] The grab body includes at least two grab bodies, each of the electro-hydraulic actuators is fixedly connected to the frame, each grab body is connected to the output end of at least one of the electro-hydraulic actuators, and the output end of the electro-hydraulic actuator can extend or retract the corresponding grab body by extending or retracting along the axis of the corresponding electro-hydraulic actuator output end.

[0009] Preferably, it further includes a control system and an image acquisition device, the image acquisition device being connected to the frame and used to acquire an image of an object opposite the opening of the grab body; the image acquisition device being communicatively connected to the control system, and the electro-hydraulic actuator being signal-connected to the control system; both the control system and the image acquisition device are capable of being communicatively connected to an interactive device.

[0010] Preferably, each of the electro-hydraulic actuators includes an electric motor, a hydraulic pump, and a hydraulic cylinder, all of which are mounted on the frame. Each hydraulic pump is connected to one of the electric motors, and each electric motor can drive the corresponding hydraulic pump to rotate forward or in reverse. Each hydraulic pump is connected to the hydraulic cylinder, and each hydraulic pump can drive the output shaft of the corresponding hydraulic cylinder to extend or retract along the axis of the corresponding hydraulic cylinder's output shaft. The output shaft of each hydraulic cylinder is rotatably connected to one of the grab bucket bodies, and the output shaft of each hydraulic cylinder can drive the corresponding grab bucket body to expand outward or retract inward by extending or retracting along its own output shaft axis. Each electric motor is signal-connected to the control system.

[0011] Preferably, each of the electro-hydraulic actuators further includes a control valve and a hydraulic valve block. The control valve is installed in the internal flow channel of the hydraulic valve block. The oil inlet and oil outlet of the internal flow channel of the hydraulic valve block are respectively connected to the hydraulic pump and the hydraulic cylinder. The control valve is signal-connected to the control system.

[0012] Preferably, it further includes at least two displacement monitoring devices, each of the hydraulic cylinders is equipped with a displacement monitoring device, and each displacement monitoring device is capable of monitoring the extension and retraction displacement of the output end of the corresponding hydraulic cylinder; each displacement monitoring device is communicatively connected to the control system; the control system is capable of controlling the speed of the motor.

[0013] Preferably, the system further includes at least two pressure monitoring devices, each of the hydraulic cylinders is equipped with a pressure monitoring device, and each pressure monitoring device is used to monitor the pressure at the inlet and outlet of the corresponding hydraulic cylinder; each pressure monitoring device is communicatively connected to the control system.

[0014] Preferably, it also includes lighting equipment, which is connected to the frame.

[0015] Preferably, the electro-hydraulic actuator further includes a flow matching valve and a pressure compensator. The three ports of the flow matching valve are respectively connected to the rod chamber of the hydraulic cylinder, the rodless chamber of the hydraulic cylinder, and the pressure compensator. The pressure compensator stores oil. When the piston of the hydraulic cylinder extends, the oil in the pressure compensator can enter the rodless chamber of the hydraulic cylinder through the flow matching valve. When the piston of the hydraulic cylinder retracts, the oil in the rod chamber of the hydraulic cylinder can enter the pressure compensator through the flow matching valve.

[0016] Preferably, the system further includes a power distribution management system and an underwater transformer, wherein the power distribution management system is connected to the underwater transformer, and the underwater transformer is connected to the electro-hydraulic actuator.

[0017] The present invention also provides an engineering machinery device equipped with a grab bucket, including a mechanical body and the aforementioned deep-sea grab bucket based on an electro-hydraulic actuator, wherein the frame is connected to the mechanical body.

[0018] The present invention achieves the following technical effects compared to the prior art:

[0019] This invention provides a deep-sea grab bucket based on electro-hydraulic actuators and an engineering machinery device equipped with grab buckets. Each grab bucket body is rotatably connected to a frame. The grab bucket body includes at least two grab bucket segments. Each electro-hydraulic actuator is fixedly connected to the frame. Each grab bucket body is connected to the output end of at least one electro-hydraulic actuator. The output end of the electro-hydraulic actuator can extend or retract the corresponding grab bucket body by extending or retracting along the axis of the corresponding electro-hydraulic actuator output end. This invention uses electro-hydraulic actuators to control the opening and closing of the grab bucket body. An electro-hydraulic actuator is an actuator that combines electrical control and hydraulic drive. The electro-hydraulic actuator can achieve high-precision, high-force, or high-torque output by driving a hydraulic system with electrical energy. The electro-hydraulic actuator is a highly integrated "power transmission" system, eliminating the need for the large hydraulic source, complex pipelines, and cables required in existing grab buckets. This ensures the grab bucket's high output force while reducing the number of pipelines on the grab bucket, reducing the complexity of the system pipeline layout, reducing energy loss in hydraulic pipelines, improving energy transfer efficiency, and achieving higher energy efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 Schematic diagram of the deep-sea grab bucket based on electro-hydraulic actuator provided in Example 1 Figure 1;

[0022] Figure 2 Schematic diagram of the deep-sea grab bucket based on electro-hydraulic actuator provided in Example 1 Figure 2 (The lower part of the rack is omitted);

[0023] Figure 3 Schematic diagram of the deep-sea grab bucket based on electro-hydraulic actuator provided in Example 1 Figure 3 (The lower part of the frame and the underwater control compartment are omitted);

[0024] Figure 4 A top view of the electro-hydraulic actuator and grab body provided in Example 1;

[0025] Figure 5 Schematic diagram of the electro-hydraulic actuator provided in Example 1 Figure 1 ;

[0026] Figure 6 Schematic diagram of the electro-hydraulic actuator provided in Example 1 Figure 2 ;

[0027] In the diagram: 100. Deep-sea grab bucket based on electro-hydraulic actuator; 1. Frame; 2. Grab bucket body; 3. Electro-hydraulic actuator; 301. Electric motor; 302. Hydraulic pump; 303. Hydraulic cylinder; 304. Hydraulic valve block; 305. Flow matching valve; 306. Pressure compensator; 4. Image acquisition device; 5. Displacement monitoring device; 6. Pressure monitoring device; 7. Lighting equipment; 8. Underwater transformer; 9. Underwater control compartment. Detailed Implementation

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "center," "longitudinal," "transverse," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "clockwise," and "counterclockwise," etc., indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] The purpose of this invention is to provide a deep-sea grab bucket based on an electro-hydraulic actuator and an engineering machinery device equipped with the grab bucket, so as to solve the problems existing in the prior art, reduce the complexity of the system pipeline layout, reduce the energy loss of hydraulic pipelines, improve energy transfer efficiency, and achieve higher energy efficiency.

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example 1

[0034] like Figures 1-5As shown, this embodiment provides a deep-sea grab bucket 100 based on electro-hydraulic actuators, including a frame 1, a grab bucket body, and at least two electro-hydraulic actuators 3, wherein: each grab bucket body is rotatably connected to the frame 1; the grab bucket body includes at least two grab bucket bodies 2, each electro-hydraulic actuator 3 is fixedly connected to the frame 1, each grab bucket body 2 is connected to the output end of at least one electro-hydraulic actuator 3, and the output end of the electro-hydraulic actuator 3 can extend or retract the corresponding grab bucket body 2 by extending or retracting along the axis of the corresponding electro-hydraulic actuator 3 output end. In this embodiment, an electro-hydraulic actuator 3 is used to control the opening and closing of the grab bucket body. The electro-hydraulic actuator 3 is an actuator that combines electrical control and hydraulic drive. The electro-hydraulic actuator 3 can achieve high precision, high force or high torque output by driving the hydraulic system with electric energy. The electro-hydraulic actuator 3 is a highly integrated "power transmission" system, which eliminates the huge hydraulic source, complex pipelines and cables required in existing grab buckets. It can not only ensure the large output force of the grab bucket, but also reduce the number of pipelines on the grab bucket, reduce the complexity of the system pipeline layout, reduce the energy loss of hydraulic pipelines, improve energy transfer efficiency, and achieve higher energy efficiency.

[0035] In some specific embodiments, the system further includes a control system and an image acquisition device 4. The image acquisition device 4 is connected to the frame 1 and is used to acquire images of objects opposite the opening of the grab bucket body. The image acquisition device 4 is communicatively connected to the control system, and the electro-hydraulic actuator 3 is signal-connected to the control system. Both the control system and the image acquisition device 4 can be used to communicate with an interactive device. In a preferred embodiment, the image acquisition device 4 is a high-definition camera system, and the interactive device is a computer. The image acquisition device 4 is used to acquire images of seabed organisms and sediments, and displays them through the interactive device. Based on the acquired images, the operator can send operation commands to the control system through the interactive device to control the deep-sea grab bucket 100 based on the electro-hydraulic actuator. For example, during the descent of the deep-sea grab bucket 100 based on the electro-hydraulic actuator, the grab bucket body remains in an open state. When approaching the seabed (usually 3 to 5 meters away from the seabed), the operator can observe the geological type of the seabed or target objects through the image acquisition device 4. Once the target is identified, the operator issues control commands through the computer. Control commands are transmitted to the underwater control system of the grab bucket via a 10,000-meter optical cable. The control system then activates the electro-hydraulic actuator 3, causing the grab bucket body 2 to close, thus successfully grabbing the target object.

[0036] In some specific embodiments, each electro-hydraulic actuator 3 includes an electric motor 301, a hydraulic pump 302, and a hydraulic cylinder 303. Each electric motor 301, hydraulic pump 302, and hydraulic cylinder 303 are mounted on the frame 1. Each hydraulic pump 302 is connected to an electric motor 301, and each electric motor 301 can drive the corresponding hydraulic pump 302 to rotate forward or backward. Each hydraulic pump 302 is connected to a hydraulic cylinder 303, and each hydraulic pump 302 can drive the output shaft of the corresponding hydraulic cylinder 303 to extend or retract along the axis of its output shaft. The output shaft of each hydraulic cylinder 303 is rotatably connected to a grab bucket body 2, and the output shaft of each hydraulic cylinder 303 can drive the corresponding grab bucket body 2 to expand outward or retract inward by extending or retracting along its own output shaft axis. Each electric motor 301 is signal-connected to the control system. Preferably, both ends of the hydraulic cylinder 303 are rotatably connected to the frame 1 and the grab bucket body 2, respectively. The control system can control the start and stop of the electro-hydraulic actuator 3, and can send control signals such as target position and output speed of the electro-hydraulic actuator 3 to control the motor 301; the motor 301 drives the hydraulic pump 302 to operate, and the hydraulic pump 302 draws oil from the oil tank and pressurizes it to generate high-pressure oil.

[0037] In some specific embodiments, each electro-hydraulic actuator 3 further includes a control valve and a hydraulic valve block 304. The control valve is installed in the internal flow channel of the hydraulic valve block 304. The oil inlet and outlet of the internal flow channel of the hydraulic valve block 304 are respectively connected to the hydraulic pump 302 and the hydraulic cylinder 303. The control valve is connected to the control system signal. The hydraulic valve block 304 is machined with a threaded hole for mounting the control valve (such as a servo valve). The internal flow channel of the hydraulic valve block 304 allows the oil inlet and outlet of the control valve to be connected to the hydraulic pump 302 and the hydraulic cylinder 303 respectively. The control valve adjusts the valve core opening according to the electrical signal of the control system to precisely control the flow rate (speed) and direction (direction of movement) of the oil, thereby achieving precise control of the pressure in both chambers of the hydraulic cylinder 303. High-pressure oil pushes the piston of the hydraulic cylinder 303 to produce linear displacement. The force / torque output by the hydraulic cylinder 303 is determined by the oil pressure × the effective working area of ​​the piston, which can achieve high-load drive.

[0038] In some specific embodiments, at least two displacement monitoring devices 5 are also included. Each hydraulic cylinder 303 is equipped with a displacement monitoring device 5, and each displacement monitoring device 5 can monitor the extension and retraction displacement of the output end of the corresponding hydraulic cylinder 303. Each displacement monitoring device 5 is communicatively connected to the control system. The control system can control the speed of the motor 301.

[0039] In some specific embodiments, at least two pressure monitoring devices 6 are also included. Each hydraulic cylinder 303 is equipped with a pressure monitoring device 6, which is used to monitor the pressure at the inlet and outlet of the corresponding hydraulic cylinder 303. Each pressure monitoring device 6 is communicatively connected to the control system. The sensors monitor the actuator status (such as displacement and pressure) in real time and feed it back to the control system. The control system dynamically adjusts the output (such as motor speed and control valve opening) by comparing the target value with the actual monitored value to ensure high-precision control.

[0040] In some specific embodiments, a lighting device 7 is also included. The lighting device 7 is connected to the frame 1 and can provide light for the image acquisition device 4, ensuring that the image acquisition device 4 can acquire a relatively clear image.

[0041] In some specific embodiments, the electro-hydraulic actuator 3 further includes a flow matching valve 305 and a pressure compensator 306. The three ports of the flow matching valve 305 are respectively connected to the rod chamber of the hydraulic cylinder 303, the rodless chamber of the hydraulic cylinder 303, and the pressure compensator 306. The pressure compensator 306 stores oil. When the piston of the hydraulic cylinder 303 extends, the oil in the pressure compensator 306 can enter the rodless chamber of the hydraulic cylinder 303 through the flow matching valve 305. When the piston of the hydraulic cylinder 303 retracts, the oil in the rod chamber of the hydraulic cylinder 303 can enter the pressure compensator 306 through the flow matching valve 305. Specifically: The hydraulic valve block 304 has threaded holes for mounting the flow matching valve 305 and the pressure compensator 306; the rod-side and rodless-side chambers of the hydraulic cylinder 303 are connected through the internal flow channel of the hydraulic valve block 304, and the flow matching valve 305 is located on this internal flow channel. The rod-side and rodless-side chambers of the hydraulic cylinder 303 are connected to the hydraulic pump 302 through the internal flow channel of the hydraulic valve block 304. The flow matching valve 305 is used to adjust the mismatched flow caused by the asymmetrical hydraulic cylinder 303 in the hydraulic circuit. It can divert excess hydraulic circuit flow to the pressure compensator 306, or divert hydraulic oil from the pressure compensator 306 to the hydraulic circuit lacking flow.

[0042] In some specific embodiments, the pressure compensator 306 includes a compensating oil bladder, an oil bladder cover, a clamping ring, and an oil bladder flange. A threaded hole is machined on the hydraulic valve block 304 for connecting to the oil bladder flange. The compensating oil bladder is fastened to the oil bladder flange by the clamping ring. The compensating oil bladder contains hydraulic oil and is connected to the flow matching valve 305 through the internal flow channel of the hydraulic valve block 304, thereby connecting to the hydraulic circuit corresponding to the electro-hydraulic actuator 3. The outside of the compensating oil bladder is in contact with the water environment. The oil bladder cover is inserted into the oil bladder flange and covers the compensating oil bladder to limit its volume. As the underwater environmental pressure changes, the compensating oil bladder contracts and expands within the oil bladder cover, respectively enabling the pressure compensator 306 to supply oil to the hydraulic circuit and the hydraulic circuit to fill the pressure compensator 306 with oil, thereby controlling the balance between the hydraulic circuit oil pressure and the external water environment pressure.

[0043] In some specific embodiments, a power distribution management system and an underwater transformer 8 are also included. The power distribution management system is connected to the underwater transformer 8, and the underwater transformer 8 is connected to the electro-hydraulic actuator 3. The power distribution management system (PDU) plays a crucial role in power distribution and management. It is responsible for transmitting the main power supply to the underwater transformer 8 and providing overload protection, short-circuit protection, voltage stabilization, and regulation. The underwater transformer 8 is used to convert the ship's onboard high-voltage power supply into the voltage required by components such as the electro-hydraulic actuator 3.

[0044] In some specific embodiments, it also includes a shipboard deck unit, which includes a deck power supply system and a deck control unit. The deck power supply system is connected to the power distribution management system and is used to supply power to all electrical components such as the electro-hydraulic actuator 3, the control system, the image acquisition device 4, the displacement monitoring device 5, and the pressure monitoring device 6. The deck control unit is communicatively connected to the control system and is used to transmit control signals to the control system.

[0045] In some specific embodiments, an underwater control compartment 9 is provided on the frame 1. The underwater control compartment 9 is connected to two power DC-DC conversion modules (preferably 300VDC modules). The output terminals of the DC-DC conversion modules are connected to the motor 301 of the electro-hydraulic actuator 3 to control the electro-hydraulic actuator 3 to perform operations. The power of each channel is not less than 1.5kW.

[0046] In some specific embodiments, the control system is located in the underwater control compartment 9. The control system has a CAN communication function and can communicate with the host computer via CAN. On the host computer interface, control commands such as start and stop can be issued, and control signals such as target position and output speed of electro-hydraulic actuator 3 can be sent to control the motor 301. In addition, the host computer can receive position and status signals fed back by hydraulic cylinder 303.

[0047] In a preferred embodiment, a surface transformer is also included, preferably installed on the deck. The surface transformer is electrically connected to the deck power supply system and to the power distribution management system. Power is transmitted to the underwater transformer 8 via the power distribution management system and a fiber optic composite cable, thereby connecting the power supply to the hydraulic control compartment. Based on the electrical requirements of components such as the electro-hydraulic actuator 3, a 5kW underwater transformer 8 is installed on the deep-sea grab bucket 100 based on the electro-hydraulic actuator. The parameters of the surface transformer are (380V-3000V), i.e., the high-voltage side voltage is 3000V and the low-voltage side voltage is 380V; the parameters of the underwater transformer 8 are (3000V-220V, 5KVA), with a high-voltage side voltage of 3000V, a low-voltage side voltage of 220V, and a rated capacity of 5kVA.

[0048] In some specific embodiments, there are two grab bucket bodies 2, and the opening and closing of the two grab bucket bodies 2 enables the grab bucket body to grab and release. The frame 1 has external dimensions of 2000x1800x2000mm (length×width×height); the opening area of ​​the grab bucket body is 2m². 2 .

[0049] In some specific embodiments, the output stroke of the hydraulic cylinder matches the output stroke of the electro-hydraulic actuator 3, and then they are respectively installed on the bracket of the frame 1, compatible with the pre-drilled mounting and positioning pin holes on the bracket. The power distribution management system provides 300V DC and communication electrical signals. The hydraulic cylinders 303 of the two electro-hydraulic actuators 3 are simultaneously driven by the electrical signals to realize the opening and closing action of the grab body 2; the parameters of the hydraulic cylinder 303 are: cylinder diameter 63mm, rod diameter 40mm, and stroke 220mm.

[0050] In some specific embodiments, a protective frame is provided on the frame 1, and the image acquisition device 4 is installed inside the protective frame, which is used to protect the image acquisition device 4. A hanging device is provided on the top of the frame 1 for hoisting the entire system.

[0051] In some specific embodiments, the deep-sea grab 100 based on an electro-hydraulic actuator provided in this embodiment is a television grab. The environmental adaptability, sealing performance, pressure resistance, communication function, fault monitoring, motion function, and control performance of the deep-sea grab 100 based on an electro-hydraulic actuator provided in this embodiment must meet the working requirements of a television grab. The electro-hydraulic actuator 3 must be compatible with the television grab, satisfying the opening and closing functions of the grab body and the closing function of the television grab under rated grabbing force, preventing problems such as sample leakage due to the grab body failing to close tightly after grabbing. The power supply system of the shipborne deck unit and the transformer of the television grab must meet the voltage and power requirements of the electro-hydraulic actuator 3. The deep-sea grab 100 based on an electro-hydraulic actuator provided in this embodiment retains the advantages of high output force and high pressure resistance based on hydraulic transmission, while also having higher reliability and output force compared to a fully electric drive method.

[0052] Example 2

[0053] This embodiment provides an engineering machinery device equipped with a grab bucket, including a mechanical body and a deep-sea grab bucket 100 based on an electro-hydraulic actuator as described in Embodiment 1, with the frame 1 connected to the mechanical body.

[0054] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A deep-sea grab bucket based on an electro-hydraulic actuator, characterized in that: Includes a frame, a grab bucket body, and at least two electro-hydraulic actuators, wherein: Each of the grab bucket bodies is rotatably connected to the frame; The grab body includes at least two grab bodies, each of the electro-hydraulic actuators is fixedly connected to the frame, each grab body is connected to the output end of at least one of the electro-hydraulic actuators, and the output end of the electro-hydraulic actuator can extend or retract the corresponding grab body by extending or retracting along the axis of the corresponding electro-hydraulic actuator output end.

2. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 1, characterized in that: It also includes a control system and an image acquisition device. The image acquisition device is connected to the frame and is used to acquire an image of an object opposite the opening of the grab body. The image acquisition device is communicatively connected to the control system, and the electro-hydraulic actuator is signal-connected to the control system. Both the control system and the image acquisition device can be used to communicate with an interactive device.

3. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 2, characterized in that: Each electro-hydraulic actuator includes an electric motor, a hydraulic pump, and a hydraulic cylinder, all of which are mounted on the frame. Each hydraulic pump is connected to an electric motor, and each electric motor can drive the corresponding hydraulic pump to rotate forward or in reverse. Each hydraulic pump is connected to a hydraulic cylinder, and each hydraulic pump can drive the output shaft of the corresponding hydraulic cylinder to extend or retract along the axis of the corresponding hydraulic cylinder's output shaft. The output shaft of each hydraulic cylinder is rotatably connected to a grab bucket body, and the output shaft of each hydraulic cylinder can drive the corresponding grab bucket body to expand outward or retract inward by extending or retracting along its own output shaft axis. Each electric motor is signal-connected to the control system.

4. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 3, characterized in that: Each of the electro-hydraulic actuators further includes a control valve and a hydraulic valve block. The control valve is installed in the internal flow channel of the hydraulic valve block. The oil inlet and oil outlet of the internal flow channel of the hydraulic valve block are respectively connected to the hydraulic pump and the hydraulic cylinder. The control valve is signal-connected to the control system.

5. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 3, characterized in that: It also includes at least two displacement monitoring devices, each of the hydraulic cylinders is equipped with a displacement monitoring device, and each displacement monitoring device can monitor the extension and retraction displacement of the output end of the corresponding hydraulic cylinder; each displacement monitoring device is communicatively connected to the control system; the control system can control the speed of the motor.

6. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 3, characterized in that: It also includes at least two pressure monitoring devices, each of the hydraulic cylinders is equipped with a pressure monitoring device, and each pressure monitoring device is used to monitor the pressure at the inlet and outlet of the corresponding hydraulic cylinder; each pressure monitoring device is communicatively connected to the control system.

7. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 1, characterized in that: It also includes lighting equipment, which is connected to the frame.

8. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 3, characterized in that: The electro-hydraulic actuator also includes a flow matching valve and a pressure compensator. The three ports of the flow matching valve are respectively connected to the rod chamber of the hydraulic cylinder, the rodless chamber of the hydraulic cylinder, and the pressure compensator. The pressure compensator stores oil. When the piston of the hydraulic cylinder extends, the oil in the pressure compensator can enter the rodless chamber of the hydraulic cylinder through the flow matching valve. When the piston of the hydraulic cylinder retracts, the oil in the rod chamber of the hydraulic cylinder can enter the pressure compensator through the flow matching valve.

9. The deep-sea grab bucket based on an electro-hydraulic actuator according to claim 1, characterized in that: It also includes a power distribution management system and an underwater transformer, wherein the power distribution management system is connected to the underwater transformer, and the underwater transformer is connected to the electro-hydraulic actuator.

10. An engineering machinery device equipped with a grab bucket, characterized in that: The device includes a mechanical body and a deep-sea grab bucket based on an electro-hydraulic actuator as described in any one of claims 1 to 9, wherein the frame is connected to the mechanical body.

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