Deep-sea self-adaptive hydraulic power device and control method

Abstract

The application belongs to the technical field of underwater equipment power, and particularly relates to a deep-sea self-adaptive hydraulic power device and a control method, which comprises a valve cabin, an integrated valve group, a compensation type oil tank, a skin capsule assembly, an oil cylinder one and an oil cylinder two; the compensation type oil tank is internally provided with a pressure-resistant motor and a hydraulic pump, pressure compensation is realized through the skin capsule, hydraulic devices are installed on the hydraulic valve block, protection is realized through the valve cabin cover, a through hole is formed on the hydraulic valve block, the seawater-oil tank-valve cabin pressure is always kept consistent, the system can realize pressure compensation under any sea depth working condition, reduces the pressure difference of the system, and reduces the structural volume of the hydraulic power device.

Description

Technical Field

[0001] This invention belongs to the field of underwater equipment power technology, specifically relating to a deep-sea adaptive hydraulic power device and control method. Background Technology

[0002] Because ROVs and other underwater robots possess strong advanced features and practicality in underwater target detection and verification, marine exploration, environmental monitoring, and marine environmental data collection, countries worldwide are currently vigorously developing underwater robots. For medium and large-sized robots operating in waters at depths of thousands of meters, hydraulic transmission offers certain advantages due to its high power density ratio, providing stronger driving force. In shallow sea environments, motor drives and control valves can be placed in the dry compartment. However, as sea depth increases and external environmental pressure rises, the thickness of traditional dry compartment walls needs to be significantly increased, greatly increasing the system's weight and volume, and its disadvantages gradually become apparent.

[0003] To adapt to the large pressure gradient at different sea depths and reduce the pressure resistance requirements under deep water pressure, system pressure compensation has become the preferred solution. In conventional system pressure compensation schemes, pressure compensators are essential components that perform the function of pressure transmission. However, they must be connected to the modules that need compensation through pipelines. The increase in pipeline joints inevitably leads to the risk of leakage, and decentralized installation occupies a lot of internal space.

[0004] To address the aforementioned drawbacks, this invention proposes a deep-sea adaptive hydraulic power unit and control method that enables the oil tank to also perform pressure compensation. By connecting the motor compartment, valve compartment, and oil tank, adaptive pressure compensation of the system can be achieved at different water depths, greatly reducing the size of the device and the operating pressure difference of the system. Summary of the Invention

[0005] This invention provides the following technical solution: A deep-sea adaptive hydraulic power unit, the hydraulic power unit comprising a valve chamber, an integrated valve group, a compensating oil tank, a bladder assembly, a first cylinder and a second cylinder; The valve compartment includes a valve compartment cover and a watertight communication cable disposed on one end face of the valve compartment cover. The watertight communication cable is used to control the hydraulic valves inside the compartment and to realize the transmission of sensor signals. The integrated valve group includes a hydraulic valve block, on which are provided an oil replenishing relief valve, an accumulator, a throttle valve, hydraulic valve one, hydraulic valve two, hydraulic valve three, hydraulic valve four, pressure sensor one, pressure sensor two, pressure sensor three and pressure sensor four, and a one-way valve at the inlet front end of the accumulator, and the throttle valve is located at the oil port of the hydraulic valve. The compensation type oil tank includes a pressure-resistant motor, a hydraulic pump, and an oil tank wall. One end of the hydraulic pump body is embedded in the hydraulic valve block and connected to the end face of the hydraulic valve block by a screw. The pressure-resistant motor is mounted on the bell-shaped cover by a screw. One end of the hydraulic pump is connected to the pressure-resistant motor via a coupling. The oil tank wall is located outside the pressure-resistant motor. The bladder assembly includes a protective cover and a bladder disposed inside the protective cover. The inside of the bladder is connected to the oil cavity inside the compensating fuel tank. The protective cover has a perforated opening at the rear, and the outside of the bladder is in contact with seawater.

[0006] Furthermore, the other end of the hydraulic pump is located in the oil chamber inside the compensated oil tank, and the oil inlet, outlet and drain of the hydraulic pump are all submerged in the oil chamber.

[0007] Furthermore, the hydraulic valve block has a through hole that connects the inside of the oil tank wall and the inside of the valve compartment cover. The hydraulic valve block is also equipped with a screw plug and a pipe joint. The valve compartment cover is threadedly connected to the hydraulic valve block and sealed by an O-ring.

[0008] Furthermore, the bell-shaped cover is installed on the end face of the hydraulic valve block by screw three, and the oil tank wall is connected to the hydraulic valve block by screw four and sealed by a sealing ring.

[0009] Furthermore, the bladder is connected to the rear end of the tank wall, the protective cover is installed on the tank wall by mounting screws, and the rear end of the tank wall is equipped with a watertight connector for the motor power cable and a watertight connector for the motor communication cable.

[0010] Furthermore, the compensating oil tank introduces external seawater pressure into the hydraulic system through a bladder. The pressure inside the compensating oil tank is divided into three paths through the pressure sensor via the No. 2 return oil port. The first path acts on the rodless chamber of the first cylinder.

[0011] Furthermore, the second path reaches the rod chamber of the first cylinder through the first hydraulic valve and the throttle valve. At this time, the external and internal pressures of the first cylinder are both seawater pressure, and the internal and external pressures are balanced.

[0012] Furthermore, the third path transmits pressure to the high-pressure oil circuit ① of the hydraulic pump through the one-way valve of the oil replenishment relief valve. The pressure is then transmitted to the oil ports of hydraulic valves 2 and 4 through the one-way valve, accumulator, and pressure sensor 1. The pressure of the return oil circuit ③ is transmitted to the rod-side and rodless-side chambers of cylinder 2 through hydraulic valves 4, 2, and 3.

[0013] A control method for the deep-sea adaptive hydraulic power device, wherein when the pressure-resistant motor starts and the hydraulic system is pressurized, the accumulator is charged and, after reaching the required pressure, overflows through the replenishment relief valve. The accumulator, under the action of the check valve, maintains the pressure. When hydraulic valve one is not activated, the pressure in the rod chamber and rodless chamber of cylinder one is equal. Cylinder one is always extended by the action of the built-in spring. When hydraulic valve one is energized, the pressure in the rod chamber of cylinder one rises, overcoming the spring force, and cylinder one retracts. When hydraulic valve one is de-energized, cylinder one automatically extends and remains extended.

[0014] Furthermore, when hydraulic valves two and three are energized simultaneously, the accumulator pressure acts simultaneously on the rod chamber and rodless chamber of cylinder two. At this time, cylinder two extends against the spring force, hydraulic valve four is energized, cylinder two is depressurized, and its piston rod retracts.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: This invention enables adaptive pressure compensation of hydraulic systems at different water depths. The pressure-resistant motor is installed inside the compensating oil tank, eliminating the need for a separate pressure compensator. The main body of the hydraulic pump is installed inside the valve block, with the suction port and drain port directly connected to the compensating oil tank, eliminating the need for pipeline connections. The hydraulic valve block connects the compensating oil tank and the valve chamber. The compensating oil tank achieves pressure balance between the seawater environment, the oil tank, and the valve chamber, greatly reducing the size of the device and the operating pressure difference of the system, and adapting to the working requirements of different water depths. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the hydraulic system of the deep-sea adaptive hydraulic power device of the present invention; Figure 2 This is the overall layout diagram of the deep-sea adaptive hydraulic power unit of the present invention; Figure 3 This invention relates to an explosion-view deep-sea adaptive hydraulic power device. Figure 1 ; Figure 4 This invention relates to an explosion-view deep-sea adaptive hydraulic power device. Figure 2 .

[0017] The markings in the image are as follows: 1-Valve compartment; 2-Integrated valve assembly; 3-Compensating oil tank; 4-Bullet assembly; 101 - Valve hatch cover; 102 - Watertight communication cable; 200-Hydraulic valve block; 201-Replenishing relief valve; 202-Hydraulic valve one; 203-Accumulator; 204-Check valve; 205-Hydraulic valve two; 206-Hydraulic valve three; 207-Hydraulic valve four; 208-Throttle valve; 209-Pressure sensor one; 210-Pressure sensor two; 211-Pressure sensor three; 212-Pressure sensor four; 213-Plug; 214-Pipe fitting; 215-O-ring seal; 301-Pressure-resistant motor; 302-Hydraulic pump; 303-Oil tank wall; 304-Watertight connector for motor power cable; 305-Watertight connector for motor communication cable; 306-Screw 4; 307-Coupling; 308-Bell cover; 309-O-ring seal; 310-Screw 3; 311-Screw 1; 312-Screw 2; 401 - Bag; 402 - Protective shell; 403 - Mounting screw; 501 - Hydraulic Cylinder 1; 502 - Hydraulic Cylinder 2. Detailed Implementation

[0018] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention has been described in conjunction with its preferred embodiments, these embodiments are merely illustrative and not intended to limit the scope of the invention.

[0019] As attached Figure 1-4 As shown, a deep-sea adaptive hydraulic power unit has a cylindrical overall structure and is divided into four cylindrical compartments. The hydraulic power unit includes a valve compartment 1, an integrated valve group 2, a compensating oil tank 3, a bladder assembly 4, a hydraulic cylinder 501 and a hydraulic cylinder 502. The valve compartment 1 includes a valve compartment cover 101 and a watertight communication cable 102 disposed on one side end face of the valve compartment cover 101. The watertight communication cable 102 is used to control the hydraulic valves inside the compartment and to realize the transmission of sensor signals. The integrated valve assembly 2 includes a hydraulic valve block 200, on which are provided an oil-replenishing relief valve 201, an accumulator 203, a throttle valve 208, a hydraulic valve one 202, a hydraulic valve two 205, a hydraulic valve three 206, a hydraulic valve four 207, a pressure sensor one 209, a pressure sensor two 210, a pressure sensor three 211, and a pressure sensor four 212. A one-way valve 204 is provided at the inlet front end of the accumulator 203. The throttle valve 208 is located at the oil port of the hydraulic valve. The oil-replenishing relief valve 201 is a threaded cartridge type, and the one-way valve 204 is a threaded embedded type. The oil-replenishing relief valve 201 is used to limit the outlet pressure of the hydraulic pump 302. When the outlet pressure of the hydraulic pump 302 exceeds the set value, it realizes the overflow. Pressure sensor 1 209, pressure sensor 210, pressure sensor 3 211 and pressure sensor 4 212 are used to read the pressure value of their respective circuits. Check valve 204 prevents pressure backflow in accumulator 203. Accumulator 203 has a pressure-holding function. Hydraulic valve 1 202, hydraulic valve 205, hydraulic valve 3 206 and hydraulic valve 4 207 work together to realize the action of cylinder 1 501 and cylinder 2 502 and the pressure relief of accumulator 203. Throttle valve 208 is used to adjust the extension speed of cylinder 1 501.

[0020] The compensating oil tank 3 includes a pressure-resistant motor 301, a hydraulic pump 302, and an oil tank wall 303. The pressure-resistant motor 301 is a servo motor, and the displacement of the hydraulic pump 302 is changed by controlling the speed. One end of the main body of the hydraulic pump 302 is embedded in the hydraulic valve block 200 and connected to the end face of the hydraulic valve block 200 by a screw 311. The pressure-resistant motor 301 is mounted on the bell-shaped cover 308 by a screw 312. One end of the hydraulic pump 302 is connected to the pressure-resistant motor 301 through a coupling 307. The oil tank wall 303 covers the pressure-resistant motor 301, that is, the pressure-resistant motor 301 is immersed in the oil cavity of the compensating oil tank 3 to isolate it from sea trials corrosion. The oil tank wall 303 is a titanium alloy cavity. The bladder assembly 4 includes a protective cover 402 and a bladder 401 disposed inside the protective cover 402. The bladder 401 is internally connected to the internal oil cavity of the compensating oil tank 3. The protective cover 402 has a hollowed-out opening at the tail. The outside of the bladder 401 is in contact with seawater, allowing seawater to enter and act on the bladder 401. The protective cover 402 mainly serves to protect the bladder 401.

[0021] The liquid medium in the inner chamber of the compensating oil tank 3 is hydraulic oil. Seawater pressure is introduced into the compensating oil tank 3 through the bladder 401, and the pressure inside the oil tank is always equal to the external seawater pressure. At the same time, the bladder 401 also needs to compensate for the difference in oil volume generated when the actuators, namely cylinder 501 and cylinder 502, are activated. A watertight cable is installed on the inner wall of the compensating oil tank 3 for power supply and control of the pressure-resistant motor 301. The compensating oil tank 3 acts as a traditional pressure compensator for the pressure-resistant motor 301, reducing the size and complexity of the hydraulic system.

[0022] The hydraulic valve block 200 is cylindrical with its cylindrical surface exposed in the seawater medium. A hydraulic connector is installed on the cylindrical surface. One end face of the hydraulic valve block 200 forms a dry compartment with the valve cover 101 to isolate it from the seawater, while the other end face serves as an oil tank wall, forming a closed shell with the oil tank wall 303. Each end face is sealed by a sealing ring.

[0023] Specifically, the other end of the hydraulic pump 302 is located in the oil cavity inside the compensating oil tank 3. The oil inlet, outlet, and drain of the hydraulic pump 302 are all submerged in the oil cavity. The hydraulic pump 302 is a cartridge pump. The main body of the hydraulic pump 302 is installed inside the hydraulic valve block 200, while the oil inlet, outlet, and drain of the hydraulic pump 302 are directly exposed in the oil cavity of the compensating oil tank 3. This eliminates the need for pipelines, reduces the system volume, and protects the hydraulic pump 302 from seawater. Furthermore, the pressure at the oil inlet, outlet, and drain of the hydraulic pump 302 is the same as the seawater pressure, enabling the hydraulic pump 302 to start without pressure differential.

[0024] Specifically, the hydraulic valve block 200 has a through hole that connects the inside of the oil tank wall 303 and the inside of the valve cover 101. At this time, the inside of the valve cover 101 is at the oil tank pressure. The oil tank pressure is consistent with the external seawater pressure due to pressure compensation. Therefore, the valve cover 101 does not need to withstand the external seawater pressure. The internal components are connected to the external control system through the watertight communication cable 102. The hydraulic valve block 200 is also provided with a screw plug 213 and a pipe joint 214. The valve cover 101 is threadedly connected to the hydraulic valve block 200 and sealed by an O-ring 215 to prevent seawater from seeping in.

[0025] Specifically, the bell-shaped cover 308 is installed on the end face of the hydraulic valve block 200 by screw three 310, and the oil tank wall 303 is connected to the hydraulic valve block 200 by screw four 306 and sealed by sealing ring 309.

[0026] Specifically, the bladder 401 is connected to the rear end of the tank wall 303, the protective cover 402 is installed on the tank wall 303 by mounting screws 403, and the rear end of the tank wall 303 is equipped with a watertight connector 304 for motor power cable and a watertight connector 305 for motor communication cable. The watertight connector 304 for motor power cable provides power to the pressure-resistant motor 301, and the watertight connector 305 for motor communication cable provides communication control for the pressure-resistant motor 301.

[0027] Specifically, the compensating oil tank 3 introduces external seawater pressure into the hydraulic system through the bladder 401. In the non-working state, the pressure inside the compensating oil tank 3 is divided into three paths through the pressure sensor 211 via the return oil port ②. The first path acts on the rodless chamber of the cylinder 501.

[0028] Specifically, the second path reaches the rod chamber of the cylinder 501 through the hydraulic valve 202 and the throttle valve 208. At this time, the external and internal pressures of the cylinder 501 are both seawater pressure, and the internal and external pressures are balanced.

[0029] Specifically, the third path transmits pressure to the high-pressure oil circuit ① of the hydraulic pump 302 through the one-way valve of the oil replenishment overflow valve 201. The pressure is transmitted to the oil ports of hydraulic valve 205 and hydraulic valve 4 207 through the one-way valve 204, accumulator 203 and pressure sensor 1 209. The pressure of the return oil circuit ③ is transmitted to the rod chamber and rodless chamber of cylinder 2 502 through hydraulic valve 4 207, hydraulic valve 2 205 and hydraulic valve 3 206.

[0030] Therefore, when the hydraulic system is not in operation, the internal pressure of the entire hydraulic system pipeline is always equal to the external seawater pressure, which can adapt to pressure changes at different sea depths.

[0031] A control method for the deep-sea adaptive hydraulic power device, wherein when the pressure-resistant motor 301 starts and the hydraulic system is pressurized, the accumulator 203 is charged. After reaching the pressure, it overflows through the oil replenishment overflow valve 201. The accumulator 203 maintains the pressure under the action of the check valve 204. The hydraulic valve 202 is not activated, and the pressure in the rod chamber and rodless chamber of the cylinder 501 is equal. The cylinder 501 is always extended by the action of the built-in spring. When the hydraulic valve 202 is energized, the pressure in the rod chamber of the cylinder 501 rises, overcoming the spring force, and the cylinder 501 retracts. When the hydraulic valve 202 is de-energized, the cylinder 501 automatically extends and remains extended.

[0032] Specifically, when hydraulic valve 205 and hydraulic valve 206 are energized simultaneously, the pressure of accumulator 203 acts simultaneously on the rod chamber and rodless chamber of cylinder 2 502. At this time, cylinder 2 502 extends against the spring force, hydraulic valve 4 207 is energized, cylinder 2 502 is depressurized, and its piston rod retracts. Due to the action of the spring inside the rod chamber, cylinder 2 502 is always in the retracted state. After the accumulator 203 is pressurized, the pressure-resistant motor 301 can be shut off as needed, and the pressure of accumulator 203 is maintained to prevent cylinder 2 502 from being activated due to misoperation.

[0033] Once the accumulator 203 is fully charged, the task is cancelled, and hydraulic valve 207 can be opened to release the pressure.

[0034] This invention enables system pressure compensation of the hydraulic system under any sea depth conditions, achieves zero pressure difference start-up of the hydraulic pump 302, reduces system pressure difference during operation, and makes the system work smoothly.

[0035] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A deep-sea adaptive hydraulic power unit, characterized in that: The hydraulic power unit includes a valve chamber (1), an integrated valve group (2), a compensating oil tank (3), a bladder assembly (4), a first cylinder (501), and a second cylinder (502). The valve compartment (1) includes a valve compartment cover (101) and a watertight communication cable (102) disposed on one side end face of the valve compartment cover (101). The watertight communication cable (102) is used to control the hydraulic valves inside the compartment and to realize the transmission of sensor signals. The integrated valve group (2) includes a hydraulic valve block (200), on which are provided an oil replenishing relief valve (201), an accumulator (203), a throttle valve (208), a hydraulic valve one (202), a hydraulic valve two (205), a hydraulic valve three (206), a hydraulic valve four (207), a pressure sensor one (209), a pressure sensor two (210), a pressure sensor three (211), and a pressure sensor four (212). A check valve (204) is provided at the inlet front end of the accumulator (203), and the throttle valve (208) is provided at the oil port of the hydraulic valve. The compensation type oil tank (3) includes a pressure-resistant motor (301), a hydraulic pump (302), and an oil tank wall (303). One end of the main body of the hydraulic pump (302) is embedded in the hydraulic valve block (200) and connected to the end face of the hydraulic valve block (200) by a screw (311). The pressure-resistant motor (301) is mounted on the bell-shaped cover (308) by a screw (312). One end of the hydraulic pump (302) is connected to the pressure-resistant motor (301) through a coupling (307). The oil tank wall (303) covers the pressure-resistant motor (301). The bladder assembly (4) includes a protective cover (402) and a bladder (401) disposed inside the protective cover (402). The bladder (401) is internally connected to the internal oil cavity of the compensating oil tank (3). The protective cover (402) has a hollowed-out opening at the tail. The outside of the bladder (401) is in contact with seawater.

2. The deep-sea adaptive hydraulic power unit according to claim 1, characterized in that: The other end of the hydraulic pump (302) is located in the oil cavity inside the compensated oil tank (3), and the oil inlet, outlet and drain of the hydraulic pump (302) are all submerged in the oil cavity.

3. The deep-sea adaptive hydraulic power unit according to claim 1, characterized in that: The hydraulic valve block (200) has a through hole that connects the inside of the oil tank wall (303) and the inside of the valve cover (101). The hydraulic valve block (200) is also provided with a screw plug (213) and a pipe joint (214). The valve cover (101) is threadedly connected to the hydraulic valve block (200) and sealed by an O-ring (215).

4. A deep-sea adaptive hydraulic power unit according to claim 1, characterized in that: The bell-shaped cover (308) is installed on the end face of the hydraulic valve block (200) by screw three (310), and the oil tank wall (303) is connected to the hydraulic valve block (200) by screw four (306) and sealed by sealing ring (309).

5. A deep-sea adaptive hydraulic power unit according to claim 1, characterized in that: The bladder (401) is connected to the rear end of the tank wall (303), and the protective cover (402) is installed on the tank wall (303) by mounting screws (403). The rear end of the tank wall (303) is equipped with a watertight connector (304) for the motor power cable and a watertight connector (305) for the motor communication cable.

6. A deep-sea adaptive hydraulic power unit according to claim 1, characterized in that: The compensating oil tank (3) introduces external seawater pressure into the hydraulic system through the bladder (401). The pressure inside the compensating oil tank (3) is divided into three paths through the pressure sensor three (211) via the No. ② return oil port. The first path acts on the rodless chamber of the oil cylinder one (501).

7. A deep-sea adaptive hydraulic power unit according to claim 6, characterized in that: The second path reaches the rod chamber of the first cylinder (501) through the first hydraulic valve (202) and the throttle valve (208). At this time, the external and internal pressures of the first cylinder (501) are both seawater pressure, and the internal and external pressures are balanced.

8. A deep-sea adaptive hydraulic power unit according to claim 7, characterized in that: The third path transmits pressure to the high-pressure oil circuit ① of the hydraulic pump (302) through the one-way valve of the oil replenishment overflow valve (201). The pressure is transmitted to the oil ports of hydraulic valve 2 (205) and hydraulic valve 4 (207) through the one-way valve (204), accumulator (203) and pressure sensor 1 (209). The pressure of the return oil circuit ③ is transmitted to the rod chamber and rodless chamber of cylinder 2 (502) through hydraulic valve 4 (207), hydraulic valve 2 (205) and hydraulic valve 3 (206).

9. A control method for a deep-sea adaptive hydraulic power unit according to any one of claims 1-8, characterized in that: When the pressure-resistant motor (301) starts the hydraulic system to pressurize, the accumulator (203) is charged. After reaching the pressure, it overflows through the oil replenishment relief valve (201). The accumulator (203) maintains the pressure under the action of the check valve (204). The hydraulic valve (202) does not move. The pressure in the rod chamber and rodless chamber of the cylinder (501) is equal. The cylinder (501) is always extended by the action of the built-in spring. When the hydraulic valve (202) is energized, the pressure in the rod chamber of the cylinder (501) rises, overcoming the spring force, and the cylinder (501) retracts. When the hydraulic valve (202) is de-energized, the cylinder (501) automatically extends and remains in place.

10. The control method for a deep-sea adaptive hydraulic power device according to claim 9, characterized in that: When hydraulic valve two (205) and hydraulic valve three (206) are energized at the same time, the pressure of accumulator (203) acts simultaneously on the rod chamber and rodless chamber of cylinder two (502). At this time, cylinder two (502) extends against the spring force, hydraulic valve four (207) is energized, cylinder two (502) is depressurized, and its piston rod retracts.

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