CN102774483A - Water hydraulic system of multifunctional submersible - Google Patents

Abstract

Translated fromChinese

本发明提供了一种多功能潜器水液压系统，包括动力源、浮力和姿态调节机构以及作业机构，动力源主要包括电机、水压泵和电磁换向阀，所述浮力和姿态调节机构主要包括多个压载水舱和平衡阀；通过对不同水舱注水排水，不仅实现对潜水器的浮力调节，同时实现了纵倾与横倾调节，使浮节调节与纵倾、横倾姿态调节的单一独立系统综合为统一的系统；此外，在各阀的配合作用下，还可驱动作业机构完成水下作业。本发明能够提供不同流量和压力的水源，以满足不同类型作业工具对动力源的要求；同时使浮力与纵倾、横倾调节在不同水深时具有不同性能，即满足大深度的适用性及浅深度的快速响应性。

The invention provides a multifunctional submersible water hydraulic system, including a power source, a buoyancy and attitude adjustment mechanism and an operating mechanism. The power source mainly includes a motor, a hydraulic pump and an electromagnetic reversing valve. The buoyancy and attitude adjustment mechanism mainly includes Including multiple ballast water tanks and balance valves; by filling and draining different water tanks, not only the buoyancy adjustment of the submersible, but also the trim and roll adjustment of the submersible are realized, so that the adjustment of the buoyancy joint is compatible with the adjustment of the pitch and roll attitude. The single independent system of the valve is integrated into a unified system; in addition, under the cooperation of each valve, it can also drive the operating mechanism to complete the underwater operation. The present invention can provide water sources with different flows and pressures to meet the requirements of different types of operating tools for power sources; at the same time, the buoyancy, pitch and heel adjustments have different performances at different water depths, that is, to meet the applicability of large depths and shallow Deep responsiveness.

Description

A kind of multifunctional diving device water hydraulic system

Technical field

The invention belongs to the submersible field, be specifically related to a kind of multifunctional diving device water hydraulic system.

Background technology

Submersible be efficiently explore, the important equipment of scientific investigation, development operation, military detecting and optimal in structure.Submersible need be accomplished different task under water, as wirerope under water, flexible-cable are sheared, cleans with water, polishes, cuts, the job tasks such as loading and unloading of boring and attaching parts, or accomplish sample collecting under water, the task such as lay of equipment.

Submersible sampling back is because the increase of weight or discharge reducing of other equipment back weight, or causes the variation of sea water density owing to the characteristic (pressure, temperature) of aqueous medium; And along with the increase of submerged depth, submersible pressure-resistance structure generation elastic deformation and cause the variation of displacement of volume, these factors all cause the balance of gravity and buoyancy often to be broken.Therefore, have metastable operation attitude at certain depth, need carry out buoyancy and attitude (trim and heel) fine setting it for guaranteeing submersible.Except that the buoyancy of submersible as required the real-time regulated, the attitude angle of submersible also need be carried out real-time regulated, so that submersible is with dive of certain inclination angle or come-up, or guarantees submersible in different waters, condition angle of declinations such as different depth are zero hold position.

Original submersible often adopts separately independently power system completion buoyancy adjustment; Trim, heel are regulated and various job task; Weight, volume and the cost of submersible have been increased; Difference in functionality and demand when therefore, reality requires an Integrated Power System in order to completion submersible underwater operation.

Summary of the invention

The present invention provides a kind of water hydraulic system, the propulsion source of power tool and buoyancy and attitude is regulated the propulsion source of (trim, heel) mechanism and unifies, and realizes that submersible system simplifies, and has improved the reliability and the California bearing ratio of submersible.

A kind of submersible water hydraulic system; Comprise propulsion source, buoyancy and attitude regulating mechanism and Working mechanism; Propulsion source on the one hand with the adjusting of the buoyancy of buoyancy and attitude regulating mechanism cooperation completion submersible and trim, heel, drive Working mechanism on the other hand and fulfil assignment;

Said propulsion source comprises motor, hydraulic pamp, safety valve, electromagnetic switch valve, inlet filter, egress filtering device and solenoid directional control valve; Said buoyancy and trim regulating mechanism comprise more than one ballast chamber, electromagnetic switch valve and balance cock;

The I mouth joint access filter of solenoid directional control valve, the II mouth of solenoid directional control valve connect the III mouth of solenoid directional control valve successively through hydraulic pamp, egress filtering device, balance cock, the IV mouth of solenoid directional control valve connects ballast chamber through electromagnetic switch valve; The exit end attachment security valve of hydraulic pamp and the arrival end of electromagnetic switch valve, the exit end of safety valve and electromagnetic switch valve is connected the arrival end of hydraulic pamp, and the driving end of hydraulic pamp connects motor; The exit end of hydraulic pamp connects Working mechanism through the egress filtering device.

Further, said egress filtering device connects balance cock and Working mechanism after connecting the preferential flow divider valve of the adjustable unsteady flow amount of long-range driving again.

Further, said egress filtering device connects balance cock and Working mechanism through flow divider valve.

Further, said Working mechanism comprises Reciprocatory operation unit, rotary-type operation unit and manipulator unit.

Further, said Reciprocatory operation unit comprises blwr, second solenoid directional control valve and the Reciprocatory power tool that order is joined.

Further, insaid load chamber 1, be provided with level sensor and pressure sensor, be provided with pressure sensor at the exit end of said hydraulic pamp.

Technique effect of the present invention is embodied in:

Before the submersible under-water operation; Carry out the attitude adjusting of buoyancy and trim, heel earlier and carry out under-water operation then; The present invention unifies the propulsion source of power tool and manipulator and the propulsion source of buoyancy and attitude control system; The realization submersible system simplifies, and helps improving the reliability and the California bearing ratio of submersible simultaneously.

Buoyancy and attitude regulating mechanism comprise a plurality of ballast chambers; Structure space and control needs according to the device of diving can be arranged water tank at diverse location; Through water filling draining action to different water tanks; Not only realize the buoyancy adjustment to submersible, realized trim, heel adjusting simultaneously, the single autonomous system that adjusting of floating joint and trim, heel are regulated comprehensively is unified system.

Hydraulic pamp in the propulsion source uses controllable capacity pump, and when shallow water, delivery pressure is lower, increases the hydraulic pamp inclination angle, and delivery rate is increased, thereby makes submersible when diving, have high response characteristic; When the abyssal zone, delivery pressure is higher, reduces the hydraulic pamp inclination angle, and delivery rate is reduced, and is implemented under the identical power conditions, and buoyancy and pitch conditioning system are to the comformability of the depth of water.

The present invention is a working medium with the aqueous medium of submersible working environment, compares the oil pressure buoyancy regulating system, has the following advantages: 1) environmental friendliness, and the environmental pollution of having avoided the working medium seepage to cause helps improving the sheltering of device of diving; 2) working medium is an ambient medium, does not have the contaminated danger of working medium environment, thereby helps improving the reliability of system; 3) reduced fuel tank and pipeline, need not to store working medium, thereby the system of simplifying has reduced system weight and volume.4) remove skin and assisted, helped the comformability of the big degree of depth of buoyancy regulating system.

Water hydraulic of the present invention system can provide the water source of different flow and pressure through the effect of controllable capacity pump and blwr, to satisfy the requirement of dissimilar power tools to propulsion source; Have different performance when making buoyancy be adjusted in the different depth of water simultaneously, promptly satisfy the fast-response of the applicability and the shallow degree of depth of the big degree of depth with attitude.

The present invention can be provided with the preferential flow divider valve of the adjustable unsteady flow amount of long-range driving as required in the outlet of propulsion source; Make system can control the flow on buoyancy attitude regulating mechanism and Working mechanism both sides according to operating mode; Satisfying the needs of tool operation and buoyancy and attitude control simultaneously, thereby further improved the comformability of this system.

Description of drawings

Fig. 1 is a submersible water hydraulic system construction drawing of the present invention.

Fig. 2 is the structural representation after Fig. 1 sets up the preferential flow divider valve of the adjustable unsteady flow amount of long-range driving.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the present invention is further described.

As shown in Figure 1, the water hydraulic system comprises propulsion source, submersible buoyancy and attitude control system, power tool and system among the embodiment.

Propulsion source is used for waterballast water tank 1,4 is annotated draining, and the adjusting of the buoyancy of realization submersible and trim, heel provides penstock drives mechanical hand and instrument to fulfil assignment to power tool and system simultaneously.It compriseselectrical motor 15,hydraulic pamp 14,safety valve 13,electromagnetic switch valve 12,pressure sensor 16, inlet filter 9,egress filtering device 17 and solenoid directional control valve 10.Solenoiddirectional control valve 10 is a three position four-way directional control valve, when propulsion source is not worked, and the electromagnet dead electricity, this electromagnetic valve is in meta.

Buoyancy and attitude control system are used for submersible buoyancy and trim, heel are regulated, and the quantity ofballast chamber 1,4 can be confirmed as required; Present embodiment is two; With each ballast tank supporting level sensor 2,3, pressure sensor 5,6,electromagnetic switch valve 7,8 arranged.In addition, buoyancy and attitude control system comprisebalance cock 11.

The power tool system is used to accomplish the different task under water of submersible, comprisesReciprocatory power tool 20, rotary-type power tool 22 andmanipulator 24, andelectromagnetic switch valve 19,21,23 control the Reciprocatory instrument respectively, rotary-type power tool and manipulator.Wherein the Reciprocatory power tool is connected withblwr 18 through electromagnetic switch valve.

According to submersible dive or come-up, lean forward, hypsokinesis, "Left"-deviationist and Right deviation etc. specifically need, and can realize the adjusting at buoyancy and inclination angle to different water tank water fillings or draining.The quantity of ballast chamber is provided with according to the requirement of the device attitude control of diving, one, may command buoyancy, former and later two, may command trim then, about two, may command heel then.Buoyancy and attitude control all realize through controlling the draining of different ballast chambers notes.

When certain ballast tank needed water filling, needing water filling withballast tank 1 was example, the position work of solenoiddirectional control valve 10 left side;Electromagnetic switch valve 12 is opened, and electromagnetic switch valve 7 is opened, startingsubmersible machine 15;Hydraulic pamp 14 is started working under the driving of motor; After treating that hydraulic pamp starts steadily,electromagnetic switch valve 12 is closed, and system builds pressure.At this moment, through inlet filter 9, solenoiddirectional control valve 10 flow tohydraulic pamp 14 to seawater from marine environment, and after the hydraulic pamp pressurization, penstock is throughegress filtering device 17, andbalance cock 11, solenoiddirectional control valve 10, electromagnetic switch valve 7 flow intoballast tank 1 realization water filling.When level sensor detects water injection rate when reaching the submersible desirable value,electrical motor 15 is shut down, and electromagnetic valve switch valve 7 and solenoiddirectional control valve 10 are closed then.

When certain ballast tank needed draining, needing draining withballast tank 1 was example, solenoiddirectional control valve 10 right position work;Electromagnetic switch valve 12 is opened, and electromagnetic switch valve 7 is opened, startingsubmersible machine 15;Hydraulic pamp 14 is started working under the driving of motor; After treating that hydraulic pamp starts steadily,electromagnetic switch valve 12 is closed, and system builds pressure.At this moment, seawater flows out fromballast tank 1, through electromagnetic switch valve 7, and solenoiddirectional control valve 10,hydraulic pamp 14,egress filtering device 17,balance cock 11, solenoiddirectional control valve 10, inlet filter 9 makes seawater enter marine environment, realizes the draining of ballast tank 1.When level sensor detects displacement when reaching the submersible desirable value,electrical motor 15 is shut down, and electromagnetic valve switch valve 7 and solenoiddirectional control valve 10 are closed then.

Annotating drainage procedure,balance cock 11 plays the flow control effect.Its principle of work is that the balance port ofbalance cock 11 is connected the inlet ofhydraulic pamp 14 respectively, outlet with entering the mouth; The outlet ofbalance cock 11 is through solenoiddirectional control valve 10; Electromagnetism is drivenvalve 7 or 8 and is linked to each other with ballast chamber, and when the balance port of balance cock, it is poor to form certain pressure between the inlet; Balance cock just can be opened, and difference of pressure forms inevitable pressurization formation after hydraulic pamp is opened.Promptly annotate of the flow decision of the flow of draining byhydraulic pamp 14, irrelevant deeply with the sea, thus realize annotating the controlled of drain discharge.

Selected hydraulic pamp is a controllable capacity pump, and when then being implemented in shallow water, delivery pressure is lower, increases the hydraulic pamp inclination angle, and delivery rate is increased, thereby makes submersible when diving, have high response characteristic; When the abyssal zone, delivery pressure is higher, reduces the hydraulic pamp inclination angle, and delivery rate is reduced, and is implemented under the identical power conditions, and buoyancy and attitude control system are to the comformability of the depth of water.

When submersible buoyancy and attitude regulate finish after, when submersible need carry out under-water operation, the position work of solenoiddirectional control valve 10 left side;Electromagnetic switch valve 12 is opened, and theelectromagnetic switch valve 7 or 8 that links to each other with ballast tank is closed, startingsubmersible machine 15;Hydraulic pamp 14 is started working under the driving of motor, treat that hydraulic pamp starts steadily after,electromagnetic switch valve 12 is closed; System builds pressure, controls the solenoiddirectional control valve 19,21 of each operation unit; 23 open high pressure water drive power tool or manipulator work individually or simultaneously according to the operation needs.With rotary-type operation unit is example, and through inlet filter 9, solenoiddirectional control valve 10 flow tohydraulic pamp 14 to seawater from marine environment; After the hydraulic pamp pressurization; Penstock is throughegress filtering device 17, and solenoiddirectional control valve 21, driven in rotationtype power tool 22 fulfil assignment after solenoiddirectional control valve 21 is arranged to the ocean.

Because the rotary-type power tool 22 thatReciprocatory power tool 20 by Driven by Hydraulic Cylinder, is compared by motor driven needs bigger hydraulic coupling, and less to the need flow, thereby before the Reciprocatory power tool, has increased self booster 18.Concrete working process is that the first pressurised seawater of hydraulic pamp is through blwr 18 superchargings, then through solenoiddirectional control valve 19 driving Reciprocatory power tool operations.Supercharging pressure can be realized through the blwr of selecting different rate of supercharginges.

For improving the comformability of this multifunctional water pressing system; Outlet athydraulic pamp 14 has increased the preferentialflow divider valve 25 of the adjustable unsteady flow amount of long-range driving as shown in Figure 2; To satisfy the needs of tool operation and buoyancy and attitude control simultaneously; And can control the flow on both sides, thereby further improved the comformability of this system according to operating mode.

Those skilled in the art will readily understand; The above is merely preferred embodiment of the present invention; Not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.

Claims (6)

1. a submersible water hydraulic system comprises propulsion source, buoyancy and attitude regulating mechanism; And Working mechanism; It is characterized in that, propulsion source on the one hand with the adjusting of the buoyancy of buoyancy and attitude regulating mechanism cooperation completion submersible and trim, heel, drive Working mechanism on the other hand and fulfil assignment;

Said propulsion source comprise motor (15), hydraulic pamp (14), safety valve (13), electromagnetic switch valve (12, inlet filter (9), egress filtering device (17) and solenoid directional control valve (10); Said buoyancy and trim regulating mechanism comprise more than one ballast chamber (1), electromagnetic switch valve (7) and balance cock (11);

The I mouth joint access filter (9) of solenoid directional control valve (10); The II mouth of solenoid directional control valve (10) connects the III mouth of solenoid directional control valve (10) successively through hydraulic pamp (14), egress filtering device (17), balance cock (11), the IV mouth of solenoid directional control valve (10) connects ballast chamber (1) through electromagnetic switch valve (7); The exit end attachment security valve (13) of hydraulic pamp (14) and the arrival end of electromagnetic switch valve (12); Safety valve (13) is connected the arrival end of hydraulic pamp (14) with the exit end of electromagnetic switch valve (12), the driving end of hydraulic pamp (14) connects motor (15); The exit end of hydraulic pamp (14) connects Working mechanism through egress filtering device (17).

2. submersible water hydraulic according to claim 1 system is characterized in that, said egress filtering device (17) connects balance cock (11) and Working mechanism after connecting the long-range driving preferential flow divider valve of adjustable unsteady flow amount (25) again.

3. submersible water hydraulic according to claim 1 system is characterized in that, said egress filtering device (17) connects balance cock (11) and Working mechanism through flow divider valve.

4. submersible water hydraulic according to claim 1 system is characterized in that said Working mechanism comprises Reciprocatory operation unit, rotary-type operation unit and manipulator unit.

5. submersible water hydraulic according to claim 4 system is characterized in that, said Reciprocatory operation unit comprises blwr (18), second solenoid directional control valve (19) and the Reciprocatory power tool (20) that order is joined.

6. according to any described submersible water hydraulic system of claim 1 to 5, it is characterized in that, in said load chamber (1), be provided with level sensor and pressure sensor, be provided with pressure sensor at the exit end of said hydraulic pamp.

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