EP3612736A1

EP3612736A1 - Electrohydraulic system for use under water, comprising an electrohydraulic actuator

Info

Publication number: EP3612736A1
Application number: EP18717311.7A
Authority: EP
Inventors: Alexandre ORTH; Gottfried Hendrix
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2017-04-19
Filing date: 2018-04-06
Publication date: 2020-02-26
Anticipated expiration: 2038-04-06
Also published as: US20210190099A1; DE102017206596A1; EP3612736B1; WO2018192783A1; US11448243B2

Abstract

The invention relates to an electrohydraulic system (7) for use under water, comprising an electrohydraulic actuator and comprising a container (9), wherein a hydraulic cylinder (15) or a hydraulic motor and a hydraulic machine (25) are provided in an internal space (10) of the container (9), wherein a rotary drive unit (28) and the hydraulic machine (25) are mechanically coupled for a common rotary movement and the hydraulic machine (25) shifts the hydraulic cylinder (15), wherein the rotary drive unit (28) is arranged outside the container (9) and is configured for coupling and decoupling to or from the hydraulic machine (25). The invention also relates to a device with which the electrohydraulic system (7) can be used.

Description

Electrohydraulic system for use under water with a

electrohydraulic actuator

description

The invention relates to an electro-hydraulic system for use under water, especially in deep water, with an electro-hydraulic actuator. The electro-hydraulic actuator is used in particular for operating underwater fittings. The system comprises a container having an interior space provided for forming a volume closed to the environment and provided for receiving a hydraulic pressure fluid. The system further includes a hydraulic cylinder and a hydraulic machine disposed inside the container.

Such types of electrohydraulic systems are primarily used to move an element underwater in water depths of up to several thousand meters in connection with the extraction of oil and gas, mining, scientific research or infrastructure projects. So are z. B. in oil or natural gas production facilities at sea at great depths process valves with which the flow of the medium to be pumped can be controlled or shut off.

An electrohydraulic system may be implemented with an electrohydraulic actuator comprising a container in the interior of which a hydrostatic machine operable at least as a pump and an electric machine mechanically coupled to the hydrostatic machine are arranged. The main drive of the actuator is via an electric motor, which drives the pump and thus adjusts a hydraulic cylinder with a rectilinear movement. The electric motor consumes considerable electrical energy, the z. B. must be introduced via submarine cable. The actuator adjusts z. B. large production fittings of oil or gas wells, which regulate the flow rate. Thus, a process valve manually by a robot such. B. by a remote Operated Vehicle (ROV) or an Autonomous Underwater Vehicle (AUV) can be operated, for. For example, in an emergency, a manual interface is provided on the container from which a rod is coupled with a piston in the cylinder. In the interface, the rod may have a motion thread and cooperate with an internally threaded and axially fixed nut which is rotated to actuate the process valve. A disadvantage of this arrangement is the investment effort. Required here is a large space. In addition, the limited life disturbs. Furthermore, the manual operation of a frequent adjustment of a process valve in operation in the way. In addition, the mechanical arrangement is sensitive to shocks and vibrations that may be caused by the underwater vehicle.

On this basis, it is an object of the present invention to provide an electro-hydraulic system and an apparatus which alleviate or even avoid the disadvantages mentioned. In particular, a compact design, namely a small space and an increased life should be realized in a structurally simple manner. In addition, a frequent adjustment of the actuator is to be made possible in a simple way.

These objects are achieved with an electro-hydraulic system and with a device according to the independent patent claims. Further embodiments of the invention are specified in the dependent claims. It should be noted that the description, in particular in conjunction with the figures, further details and developments of the invention, which can be combined with the features of the claims. For this purpose, an electrohydraulic system for use under water with an electro-hydraulic actuator and with a container, wherein in an interior of the container, a hydraulic cylinder or a hydraulic motor and a hydraulic machine are present. A rotary drive device is mechanically coupled to the hydraulic machine for common rotary motion. The hydraulic machine can adjust the hydraulic cylinder and / or hydraulic motor. The rotary drive device is arranged outside the container and adapted for coupling to the hydraulic machine and for decoupling from the hydraulic machine. The presented here electro-hydraulic system with the electro-hydraulic actuator has the advantage that in a structurally simple way a smaller space with an increased life are combined. In particular, frequent adjustment by the underwater vehicle, for example a robot, is made possible. Finally, unwanted disturbances and vibrations on the hydraulic cylinder, which can occur through the underwater vehicle, are avoided.

Preferably, the rotary drive device is used for mechanical emergency adjustment of the hydraulic cylinder. Suitably, the rotary drive device is used for continuous adjustment) ment of the hydraulic cylinder.

Advantageously, the hydraulic cylinder is a differential cylinder. Preferably, the hydraulic cylinder is a synchronous cylinder.

Suitably, the hydraulic cylinder is formed with a longitudinally displaceable piston for adjusting a process valve.

Preferably, the hydraulic cylinder comprises a helical compression spring for returning the hydraulic cylinder.

20

Preferably, at least one solenoid valve is arranged such that in case of failure of the electric current, the second cylinder chamber of the hydraulic cylinder is hydraulically relieved.

It may be expedient that an electrical interface is provided and set up for the emergency stop in such a way that it (only) actuates the safety valves and monitors the condition via the (provided) sensors (displacement sensor, position detector, pressure sensors, temperature sensors, etc .)

Seat valves or check valves and / or hydraulically lockable valves can be arranged such that when the rotary drive device is uncoupled, the position of the hydraulic cylinder remains (essentially) unchanged or is maintained. At least one pressure limiting valve may be provided, which is arranged and arranged such that the maximum hydraulic system pressure can be effectively limited.

Preferably, the hydraulic machine is designed as a hydrostatic transmission. Preferably, the hydraulic machine is operable as a hydraulic pump.

The rotary drive device expediently comprises an electric motor. The electric motor can be provided outside the container (in the seawater area). It is possible to provide a separate electric motor within the container as an additional drive.

Advantageously, a remote-controlled underwater vehicle comprises the rotary drive device. The rotary drive device is preferably a torque tool of an underwater robot. Preferably, a coupling device is present between the rotary drive device and the hydraulic machine.

According to a further aspect, an apparatus for arrangement under water and for controlling a conveyable volume flow of a gaseous or liquid medium is proposed, which is designed with a process valve. The process valve has a process valve housing, a process valve spool, with which the volume can be controlled. Further, a hydraulic cylinder is provided which is associated with the process valve housing and movable with the process valve spool. The device also has an electrohydraulic system with an electrohydraulic actuator, wherein a rotary drive device is disposed on a remote controlled submersible that drives a hydraulic pump that adjusts the hydraulic cylinder. Advantageously, a rotary hydraulic motor is used instead of the hydraulic cylinder. With regard to the description of the structure or the function of the electro-hydraulic system, reference can be made to the further descriptions.

The invention and the technical environment will be explained in more detail with reference to figures. The same components are identified by the same reference numerals. The illustrations are schematic and not intended to illustrate size relationships. The explanations given with reference to individual details of a figure are extre- rahierbar and freely combinable with facts from other figures or the above description, unless something else necessarily results for a person skilled in the art or such a combination is explicitly prohibited here. They show schematically:

1 shows a side view of the device with the process valve closed;

2 shows a block diagram with rotary drive device, torque transmission and hydraulic machine,

3 shows a block diagram as in FIG. 2, but with a coupling device, FIG.

4 shows a first embodiment with an inner main drive for a hydraulic cylinder without compression spring,

5 shows a second embodiment with internally arranged main drive for a hydraulic cylinder with compression spring and

6 shows a third embodiment without internally arranged main drive for a hydraulic cylinder.

1, a process valve 1 with a process valve housing 2, through which a process valve passage 3 passes, which is continued at its mouths through pipes, not shown, and in which a gaseous or liquid medium from Seabed to a protruding from the sea part of a derrick or to a drilling ship flows. The flow direction is indicated by the arrow 4.

In the process valve housing 2, a cavity is formed which traverses the process valve channel 3 and in which a process valve spool 5 with a flow opening 6 is movable transversely to the longitudinal direction of the process valve channel 3. In the state according to FIG. 1, the process valve channel 3 and the flow opening 6 in the process valve spool 5 do not overlap. The process valve is therefore closed. In a (not shown) state, the flow opening 6 and the process valve channel 3 overlap substantially. The process valve 1 is almost completely open. A process valve of the type shown and the use described should be able to be operated on the one hand in a controlled manner and on the other hand contribute to safety by quickly and reliably assuming a position corresponding to a safe state in the event of a malfunction. In the present case, this safe state is a closed process valve.

The process valve 1 is actuated by a compact electro-hydraulic system 7, which is arranged under water directly on the process valve 1. It suffices that only one electrical cable 8 leads from the electrohydraulic system 7 to the ocean surface or another subordinate electrical control under water.

The electrohydraulic system 7 shown as an embodiment has a container 9 which is attached to an open side of the process valve housing 2, so that an enclosed to the environment interior 10 is present, which is filled with a hydraulic pressure fluid as working fluid. For attachment to the process valve housing 2, the container 9 has on its open side an inner flange with which it is screwed to the process valve housing 2. Radially outside the screw connections between the inner flange of the container 9 and the process valve housing 2, a circumferential seal 11 is arranged, which is inserted into a circumferential groove of the process valve housing 2. The container 9 is pressure-compensated with respect to the ambient pressure prevailing underwater (seawater region 12). For this purpose, a membrane 14 is tightly clamped at a pressure compensator 13 in an opening in the container wall. There are holes in the lid so that the space between the diaphragm 14 and lid is part of the environment and filled with seawater. Through the membrane 14 so the interior 10 is sealed off from the environment. The membrane 14 is acted upon by the pressure prevailing in the environment at its first surface facing the inner space 10 and by the pressure in the inner space 10 and at its second surface facing the lid, which is approximately the same size as the first surface always to assume a position and form in which the sum of all forces acting on it is zero.

In the interior 10 of the container 9, a hydraulic cylinder 15 is provided with a cylinder housing 16 which is closed at the end by a cylinder bottom 17 and a cylinder head 18, with a displaceable in the interior of the cylinder housing 16 in the longitudinal direction of the cylinder housing 16 piston 19 and one with the piston 19 firmly connected and on one side of the piston 19 projecting first piston rod 20, the sealed and guided in a manner not shown passed through the cylinder head 18 passes. Sealed the gap between the piston rod 20 and the cylinder head 18 by two (not shown) in the cylinder head 18 at an axial distance from each other arranged seals. At the free end of the piston rod 20 of the process valve spool 5 is attached. Furthermore, a firmly connected to the piston 19 and on the other side away from the piston 19 second piston rod 21 is present, which is guided sealed and passes through the cylinder bottom 17. By the piston 19, the interior of the cylinder housing 16 is subdivided into a cylinder-head-side first cylinder chamber 22 and a bottom-side second cylinder chamber 23, the volume of which depends on the position of the piston 19.

In the cylinder chamber 22, a helical compression spring 24 is housed, which surrounds the piston rod 20 and is clamped between the cylinder head 18 and the piston 19, the piston 19 thus biased in a direction in which the piston rod 20 retracted and the process valve spool 5 for closing the process valve 1 is moved.

In the interior 10 of the container 9 is also a hydraulic machine 25, which is operable as a pump with two conveying directions. The hydraulic machine 25 has a pressure port 26 and a suction port 27, which is open to the interior 10. From the hydromachine 25, pressurized fluid drawn in from the interior 10 during operation can be conveyed via the pressure connection 26 to the cylinder chamber 23. Conversely, pressurized fluid can be displaced from the cylinder chamber 23 via the hydraulic machine 25 into the interior 10 of the container 9. In this sense, in the embodiment, the cylinder chamber 23, the second cylinder chamber. In a corresponding manner, pressurized fluid sucked by the hydraulic machine 25 during operation as a pump from the interior 10 can be conveyed via the pressure connection 26 to the cylinder chamber 22; conversely, pressurized fluid can be displaced from the cylinder chamber 22 via the hydraulic machine 25 into the interior 10 of the container 9. For this purpose, corresponding valves are provided, see Fig. 4 to 6. With the hydraulic machine 25, a rotary drive means 28 is mechanically coupled for a common rotating movement, for. B. via a shaft 29. The shaft 29 transmits torque from the rotary drive device 28 to the hydraulic machine 25. The rotary drive device 28 is located outside of the container 9. It is z. From a remote controlled underwater vehicle 31 (ROV) or a robot comprises and has as rotary drive means 28 preferably an electric motor.

So that the process valve 1 by a robot, such. B. by an ROV, can be operated on the container 9, an interface 32 is provided, starting from the interior 10, the shaft 29 is coupled to the hydraulic machine 25.

FIG. 2 schematically illustrates the torque transmission 30 between the rotary drive device 28 and the hydraulic machine 25. Reference numeral 31 denotes a remote-controlled underwater vehicle which comprises the rotary drive device 28.

FIG. 3 schematically illustrates that the rotary drive device 28 is set up for coupling to and from the hydraulic machine 25. For this purpose, between the rotary drive device 28 and the hydraulic machine 25, a coupling device 33, for. As a clutch provided. The means for the rotary drive of the hydraulic machine 25 are designed so that the tightness of the interior 10 is ensured to the outer seawater area 12.

4 shows a first embodiment with (optionally) internally arranged main drive 34 (automated cylinder drive) for a hydraulic cylinder 15 without a pressure spring. The Hydrozy- linder 15 (actuator) works without spring-loaded opening and closing function. There is a hydrostatic transmission for the straight working hydraulic cylinder 15 available. The rotary drive device 28 on the underwater vehicle 31 (see FIGS. 2 and 3) generates a torque that drives the hydraulic machine 25 (hydraulic pump). 33 denotes the coupling device (connection coupling). The hydraulic machine 25 adjusts the hydraulic cylinder 15. For an emergency operation for extending and retracting the process valve spool 5 (see FIG. 1), the first cylinder chamber 22 shoots or opens the external process valve 1 (see FIG. 1). Furthermore, in the interior 10 of the container 9 are present: suction valves 37.1, 37.2, check valves 38.1, 38.2, hydraulically lockable valves 39.1, 39.2 and a pressure-limiting valve 41st

The embodiment of FIG. 4 is structurally simple, space-saving, robust and offers low risk against penetrating seawater. Alternatively, another pump may be used with an electric motor powered by electrical energy. 5 illustrates a second embodiment with an internally arranged main drive 34 for a hydraulic cylinder 15, but with a helical compression spring 24 in the first cylinder chamber 22. In FIG. 5, in addition to the helical compression spring 24, in addition to FIG. Hydraulically lockable valve 39.3 and solenoid valve 40 (normally open). This training includes a safety closure for the process valve 1 when the function of the helical compression spring 24 is impaired or fails, z. B. at a break or the like. FIG. 6 illustrates a third embodiment (somewhat simplified with respect to FIG. 5) without a main drive disposed internally (see position 34 in FIGS. 4 and 5) for a hydraulic cylinder 15. The drive function for the hydraulic cylinder 15 is effected only via the external rotary drive device 28 with the hydraulic machine 25. This training is suitable both for emergency adjustment and - if necessary - for continuous adjustment during operation of the hydraulic cylinder 15. By eliminating the main drive 34, this embodiment is extremely compact and requires only low electrical energy consumption. Electrical energy within the electro-hydraulic system is only needed for safety signals and sensors. The electrical energy for the rotary drive device 28 located outside the container 9 is independent of the energy consumption of the components within the container 9. The electrical interface shown above includes only the emergency stop for operating the safety valves and the sensor signals (position encoder, pressures).

LIST OF REFERENCE NUMBERS

1 process valve

2 process valve housing

3 process valve channel

4 arrow

5 process valve spool

6 flow opening

7 electrohydraulic system

8 cables

9 containers

10 interior of 9

11 seal

12 seawater area

13 pressure compensator

14 membrane

15 hydraulic cylinders

16 cylinder housing

17 cylinder bottom

18 cylinder head

19 pistons

20 first piston rod

21 second piston rod

22 first cylinder chamber

23 second cylinder chamber

24 helical compression spring

25 hydraulic machine

26 pressure connection

27 suction connection

28 rotary drive device

29 wave

30 torque transmission

31 remote controlled underwater vehicle interface

coupling device

Main drive of 15

hydraulic pump

electric motor

suction

check valve

Check valve hydraulically lockable valve hydraulically lockable valve hydraulically lockable valve

magnetic valve

Pressure relief valve

Claims

claims

1. Electrohydraulic system (7) for use under water with an electrohydraulic actuator and with a container (9), wherein in an interior (10) of the container (9), a hydraulic cylinder (15) or a hydraulic motor and a hydraulic machine ( 25), wherein a rotary drive means (28) and the hydraulic machine (25) are mechanically coupled for common rotary motion and the hydraulic machine (25) adjusts at least the hydraulic cylinder (15) or hydraulic motor, the rotary drive means (28) being external to the container (9) arranged and for a coupling to the hydraulic machine (25) and a decoupling from the

Hydromachine (25) is set up.

2. Electrohydraulic system according to claim 1, wherein the rotary drive means (28) for adjusting the hydraulic cylinder (15) is used.

3. Electro-hydraulic system according to one of the preceding claims, wherein the hydraulic cylinder (15) is a differential cylinder or a Gleichgangzylinder.

4. Electrohydraulic system according to one of the preceding claims, wherein the hydraulic cylinder (15) with a displaceable piston (19) for adjusting a process valve (1) is formed.

5. Electrohydraulic system according to one of the preceding claims, wherein the hydraulic cylinder (15) comprises a helical compression spring (24) for resetting the hydraulic cylinder (15).

6. Electrohydraulic system according to one of the preceding claims, wherein at least one solenoid valve (40) is arranged such that in case of failure of the electric current, the second cylinder chamber (23) of the hydraulic cylinder (15) is hydraulically relieved.

7. Electrohydraulic system according to one of the preceding claims, wherein at least at least one check valve (38.1, 38.2) or at least one hydraulically lockable valve (39.1, 39.2, 39.3) be arranged such that in Abkop- pelung the rotary drive device (28), the position of the hydraulic cylinder (15) remains unchanged.

8. Electrohydraulic system according to one of the preceding claims, wherein at least one pressure relief valve (41) is provided, which is arranged and arranged such that the maximum hydraulic system pressure is effectively limited

9. Electrohydraulic system according to one of the preceding claims, wherein the hydraulic machine (25) is designed as a hydrostatic transmission or hydraulic pump.

10. Electrohydraulic system according to one of the preceding claims, wherein the rotary drive device (28) comprises an electric motor (36).

11. An electro-hydraulic system according to any one of the preceding claims, wherein a remote-controlled underwater vehicle (31) comprises the rotary drive means (28).

12. Electrohydraulic system according to one of the preceding claims, wherein between the rotary drive device (28) and the hydraulic machine (25) has a coupling device (33) is present.

13. Device for arrangement under water and for controlling a conveyable volume flow of a gaseous or liquid medium with a process valve (1) with a process valve housing (2), a process valve spool (5) with which the volume is controllable, and with a hydraulic cylinder (15 ) associated with the process valve housing (2) and movable with the process valve spool (5), the device having an electrohydraulic system (7) with an electrohydraulic actuator and rotary drive means (28) mounted on a remote controlled submersible (31) a hydraulic machine (25) drives, which adjusts the hydraulic cylinder (15).

14. The device according to claim 13, wherein instead of the hydraulic cylinder (15) a rotary hydraulic motor is provided.