CN218708325U - Emergent recovery unit of hydraulic giant is spouted to underwater robot - Google Patents
Emergent recovery unit of hydraulic giant is spouted to underwater robot Download PDFInfo
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- CN218708325U CN218708325U CN202222712186.6U CN202222712186U CN218708325U CN 218708325 U CN218708325 U CN 218708325U CN 202222712186 U CN202222712186 U CN 202222712186U CN 218708325 U CN218708325 U CN 218708325U
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Abstract
The utility model discloses an emergency recovery device of a spray pressure water gun of an underwater robot, which comprises a hydraulic source (P), a spray pressure water gun device provided with a first oil cylinder (4), an energy storage device provided with an energy accumulator (1) and a valve group; the hydraulic source (P) is respectively connected with the first oil cylinder (4) and the energy accumulator (1) through pipelines; the first oil cylinder (4) is connected with the energy accumulator (1) through a pipeline; the valve group is arranged between the pipelines. The utility model discloses an underwater robot spouts emergent recovery unit of pressure squirt has shortened the time window of releasing under emergency and retrieving underwater robot, need constructor to take the risk that the hanging flower basket brought outside the ship board operation in overcoming traditional technology, has improved the security and the reliability of construction to avoided making to spout the pressure squirt because of system's trouble and retrieve the situation emergence that can't retrieve the mother ship deck with underwater robot not in place.
Description
Technical Field
The utility model belongs to submarine cable construction field, concretely relates to underwater robot spouts emergent recovery unit of pressure squirt.
Background
With the increasing of the laying workload of submarine cables and power cables, underwater trenching Robots (ROVs) are often used during laying and back-flushing, the main working part of the trenching robot is a spray pressure water gun, the spray pressure water gun needs to be lowered to a position below 3 m of a sea bed surface when the submarine communication cables and power cables are flushed, the water flow pressure provided by a high-pressure water pump is used for excavating grooves on the sea bed surface, and then the communication cables and power cables are buried.
In the actual past operation process, underwater robot can have when the ditching construction because the hydraulic pressure pipe breaks and leads to hydraulic system to lose pressure or the potential risk that the power supply system trouble leads to control system to lose the electricity, in the construction before, because the pressure-jetting squirt is the state of launching the putting down completely this moment, the recovery of equipment just becomes very difficult when the condition that loses hydraulic pressure and power supply takes place, the expansion of pressure-jetting squirt can influence the normal ship board of equipment and stride across to the deck of mother ship can't be retrieved. The general recovery hydraulic giant is to let constructors take a hanging basket and replace and overhaul hydraulic pipes outside a ship board or lift the hydraulic giant by using a manual hoisting tool, so that the safety of the constructors is difficult to guarantee, and particularly, when the ship shakes seriously in bad weather, the risk is larger.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an underwater robot spouts emergent recovery unit of pressing squirt.
The utility model provides an emergency recovery device of a spray pressure water gun of an underwater robot, which comprises a hydraulic source (P), a spray pressure water gun device provided with a first oil cylinder (4), an energy storage device provided with an energy accumulator (1) and a valve group; the hydraulic source (P) is respectively connected with the first oil cylinder (4) and the energy accumulator (1) through pipelines; the first oil cylinder (4) is connected with the energy accumulator (1) through a pipeline; the valve group is arranged between the pipelines.
The valve group comprises a first one-way valve (8); the first non return valve (8) is arranged on a pipeline between the energy accumulator (1) and the hydraulic source (P). The valve group also comprises a first electromagnetic valve (2); the first electromagnetic valve (2) comprises a first valve port (21), a second valve port (23), a third valve port (22) and a fourth valve port (24); the first oil cylinder (4) comprises a cylinder body and an oil cylinder piston rod; the oil cylinder piston rod is arranged in the cylinder body in a sliding mode to form an upper cavity (41) and a lower cavity (42); the hydraulic gun spraying equipment is fixed at the bottom end of the piston rod of the oil cylinder; the first valve port (21) is connected between the first check valve (8) and a pipeline of the hydraulic source (P) through a pipeline; the second valve port (23) is connected with the upper cavity (41) through a pipeline; the third valve port (22) is connected between pipelines connected with the energy accumulator (1) and the lower cavity (42); the fourth valve port (24) is connected with the hydraulic pressure source (P). The valve group also comprises a second one-way valve (6); the second one-way valve (6) is arranged between the energy accumulator (1) and a pipeline connected with the lower cavity (42). The valve group also comprises a second one-way valve (7); the second one-way valve (7) is arranged between the second one-way valve (6) and a pipeline connected with the lower cavity (42). The valve group also comprises a second electromagnetic valve (3); the second electromagnetic valve (3) is connected in parallel to a pipeline connecting the hydraulic source (P) and the upper cavity (41) through a pipeline. The valve group also comprises a manual valve (5); one end of the manual valve (5) is arranged on a pipeline close to the energy accumulator (1), and the other end of the manual valve is connected with an oil return tank (9). The energy accumulator (1) is a piston type energy accumulator; the initial pressure of the accumulator (1) is 30bar; the oil filling pressure of the accumulator (1) is 210bar. The first electromagnetic valve (2) is a three-position four-way electromagnetic valve. The second electromagnetic valve (3) is a two-position two-way electromagnetic valve.
Compared with the prior art, the utility model, shortened the time window of release and recovery underwater robot under emergency, overcome the risk that needs constructor to take the hanging flower basket to bring in the operation outside the ship board among the traditional handicraft, improved the security and the reliability of construction to avoided making the hydraulic giant recovery not in place to retrieve the situation emergence of unable recovery mother's ship deck with underwater robot because of system's trouble.
Drawings
Fig. 1 is a schematic structural view of an emergency recovery device of a water gun for underwater robot spraying pressure provided by the present invention;
fig. 2 is a schematic diagram illustrating a hydraulic flow direction principle of stamping energy storage of the energy accumulator and release of the first oil cylinder in a normal working state provided by the first embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a hydraulic flow direction principle of the accumulator for providing pressure to the first cylinder when the first cylinder is powered off and loses hydraulic power.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 3, the emergency recovery device for a hydraulic gun of an underwater robot provided in this embodiment includes a hydraulic source P, a hydraulic gun device provided with a first cylinder 4, an energy storage device provided with an energy accumulator 1, and a valve bank; the hydraulic source P is respectively connected with the first oil cylinder 4 and the energy accumulator 1 through pipelines; the first oil cylinder 4 is connected with the energy accumulator 1 through a pipeline; the valve group is arranged between the pipelines. The technical personnel in the field can understand that when the system works normally, the hydraulic source P provides hydraulic pressure for the first oil cylinder 4 and the energy accumulator 1 respectively, so that on one hand, the normal work and recovery of the hydraulic gun spraying equipment can be kept, and on the other hand, the energy accumulator 1 is subjected to stamping energy accumulation; when the system outage or lose hydraulic power, the system will unable normal recovery spout pressure squirt equipment, and the high-pressure hydraulic oil through storage in the energy storage ware 1 is carried for first hydro-cylinder 4 and is driven to spout pressure squirt equipment and get back to the regulation position this moment to accomplish the recovery operation, consequently improved greatly and spouted the operation safety of pressure squirt equipment recovery under the trouble condition, simultaneously because of need not the staff and carry out the outboard recovery work of ship, thereby ensured staff's life safety.
Further, the valve group comprises a first one-way valve 8; the first check valve 8 is arranged on the conduit between the accumulator 1 and the hydraulic pressure source P. The technical personnel in the field can understand that the flow direction of the first check valve 8 in this embodiment is the direction from the hydraulic source P to the energy accumulator 1, so that it can be ensured that hydraulic oil can only flow into the energy accumulator 1 in a one-way manner when the system is in normal operation, on one hand, it is ensured that the energy storage equipment is in normal operation for energy storage, until the energy accumulator 1 reaches the oil charging pressure, the energy storage is stopped, and on the other hand, the operation of the hydraulic gun equipment is not disturbed.
Further, the valve group also comprises a first electromagnetic valve 2; the first solenoid valve 2 comprises a first port 21, a second port 23, a third port 22 and a fourth port 24; the first oil cylinder 4 comprises a cylinder body and an oil cylinder piston rod; the piston rod of the oil cylinder is arranged in the cylinder body in a sliding manner to form an upper cavity 41 and a lower cavity 42; the hydraulic gun spraying equipment is fixed at the bottom end of the piston rod of the oil cylinder; the first valve port 21 is connected between the first check valve 8 and the pipeline of the hydraulic source P through a pipeline; the second valve port 23 is connected with the upper cavity 41 through a pipeline; the third valve port 22 is connected between the pipelines connected with the accumulator 1 and the lower cavity 42; the fourth valve port 24 is connected to the hydraulic pressure source P. The technical personnel in the field can understand that when the system loses power or loses hydraulic pressure, because of hydraulic source P can't be to the required operating pressure of hydraulic gun equipment output, the oil charge pressure of energy storage ware 1 is greater than the system pressure when outage or losing hydraulic pressure this moment, consequently exports highly compressed hydraulic oil through energy storage ware 1 cavity 42 downwards for thereby it moves upwards to drive hydraulic gun equipment to spout to make the hydro-cylinder piston rod move up, thereby retrieves hydraulic gun equipment.
Further, the valve group also comprises a second one-way valve 6; the second check valve 6 is arranged between the pipelines connecting the energy accumulator 1 and the lower cavity 42. As can be understood by those skilled in the art, the flow direction of the second check valve 6 is the direction in which the energy accumulator 1 flows into the first oil cylinder 4, and when the system works normally, hydraulic oil of the hydraulic oil cylinder is prevented from entering the energy accumulator 1, so that the pressure of the first oil cylinder is not enough, and the equipment is damaged or cannot work normally.
Further, the valve group also comprises a second one-way valve 7; the second check valve 7 is arranged between the second check valve 6 and the pipeline connected with the lower cavity 42. It will be appreciated by those skilled in the art that the second check valve 7 is used to limit the flow of the accumulator 1 through the first cylinder 4, preventing the circuit from having too much inertia and causing oscillations in the system and consequent damage to the equipment.
Further, the valve group also comprises a second electromagnetic valve 3; the second solenoid valve 3 is connected in parallel to a pipeline connecting the hydraulic source P and the upper chamber 41 through a pipeline. The skilled in the art can understand that the second electromagnetic valve 3 is normally closed when being powered on and normally open when being powered off, so when the system is powered off, on one hand, the first electromagnetic valve 2 is prevented from being disabled, hydraulic oil of the upper cavity 41 cannot flow back to the hydraulic source P through the fourth valve port 24, the pipeline is broken due to high pressure, on the other hand, the hydraulic oil of the upper cavity 41 is accelerated to flow back to the oil tank through the second electromagnetic valve 3, the time for recovering the pressure spraying water gun device in an emergency situation is shortened, and the safety and the reliability of construction are further improved.
Further, the valve group also comprises a manual valve 5; one end of the manual valve 5 is arranged on a pipeline close to the energy accumulator 1, and the other end of the manual valve is connected with an oil return tank 9. It will be appreciated by those skilled in the art that the manual valve 5 is used for servicing the system or for deck testing.
Further, the energy accumulator 1 is a piston type energy accumulator; the initial pressure of the accumulator 1 is 30bar; the flushing pressure of the accumulator 1 is 210bar.
Further, the first solenoid valve 2 is a three-position four-way solenoid valve.
Further, the second electromagnetic valve 3 is a two-position two-way electromagnetic valve.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. An emergency recovery device of a spray pressure water gun of an underwater robot is characterized by comprising a hydraulic source (P), spray pressure water gun equipment provided with a first oil cylinder (4), energy storage equipment provided with an energy accumulator (1) and a valve group; the hydraulic source (P) is respectively connected with the first oil cylinder (4) and the energy accumulator (1) through pipelines; the first oil cylinder (4) is connected with the energy accumulator (1) through a pipeline; the valve group is arranged between the pipelines.
2. The emergency recovery device of an underwater robotic spray gun as claimed in claim 1, wherein said valve block comprises a first check valve (8); the first non return valve (8) is arranged on a pipeline between the accumulator (1) and the hydraulic source (P).
3. The emergency recovery device of an underwater robotic spray gun as claimed in claim 2, characterized in that said valve group further comprises a first solenoid valve (2); the first electromagnetic valve (2) comprises a first valve port (21), a second valve port (23), a third valve port (22) and a fourth valve port (24); the first oil cylinder (4) comprises a cylinder body and an oil cylinder piston rod; the oil cylinder piston rod is arranged in the cylinder body in a sliding mode to form an upper cavity (41) and a lower cavity (42); the hydraulic gun spraying equipment is fixed at the bottom end of the piston rod of the oil cylinder; the first valve port (21) is connected between the first check valve (8) and a pipeline of the hydraulic source (P) through a pipeline; the second valve port (23) is connected with the upper cavity (41) through a pipeline; the third valve port (22) is connected between pipelines connected with the energy accumulator (1) and the lower cavity (42); the fourth valve port (24) is connected with the hydraulic source (P).
4. The emergency recovery device of an underwater robotic spray gun as claimed in claim 3, wherein said valve block further comprises a second check valve (6); the second one-way valve (6) is arranged between the energy accumulator (1) and a pipeline connected with the lower cavity (42).
5. The emergency recovery device of an underwater robotic spray gun as claimed in claim 4, wherein said valve block further comprises a second check valve (7); the second one-way valve (7) is arranged between the second one-way valve (6) and a pipeline connected with the lower cavity (42).
6. The emergency recovery device of an underwater robotic spray gun as claimed in claim 5, wherein said valve block further comprises a second solenoid valve (3); the second electromagnetic valve (3) is connected in parallel to a pipeline connecting the hydraulic source (P) and the upper cavity (41) through a pipeline.
7. The emergency recovery device of an underwater robotic spray gun as claimed in claim 6, wherein said valve block further comprises a manual valve (5); one end of the manual valve (5) is arranged on a pipeline close to the energy accumulator (1), and the other end of the manual valve is connected with an oil return tank (9).
8. The emergency recovery device of a water gun as claimed in claim 7, characterized in that said accumulator (1) is a piston accumulator; the initial pressure of the accumulator (1) is 30bar; the oil filling pressure of the accumulator (1) is 210bar.
9. The emergency recovery device of the underwater robotic hydraulic gun as claimed in claim 8, wherein said first solenoid valve (2) is a three-position four-way solenoid valve.
10. The emergency recovery device of a water pistol sprayed by an underwater robot as claimed in claim 9, characterized in that said second solenoid valve (3) is a two-position two-way solenoid valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222712186.6U CN218708325U (en) | 2022-10-14 | 2022-10-14 | Emergent recovery unit of hydraulic giant is spouted to underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222712186.6U CN218708325U (en) | 2022-10-14 | 2022-10-14 | Emergent recovery unit of hydraulic giant is spouted to underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218708325U true CN218708325U (en) | 2023-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222712186.6U Active CN218708325U (en) | 2022-10-14 | 2022-10-14 | Emergent recovery unit of hydraulic giant is spouted to underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218708325U (en) |
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2022
- 2022-10-14 CN CN202222712186.6U patent/CN218708325U/en active Active
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