Hydraulic System for Use Under Water with a Hydraulic Actuating Drive

Abstract

A hydraulic system, for use under water with a hydraulic actuating drive, includes a hydraulic cylinder and at least one hydraulic machine. At least one rotary drive device and the hydraulic machine are coupled mechanically for a common rotating movement, and the hydraulic machine adjusts at least the hydraulic cylinder. The hydraulic cylinder has at least three cylinder chambers, and the hydraulic system includes a first hydraulic circuit and a second hydraulic circuit. The hydraulic system for use under water is set up, in particular, with a redundant hydraulic actuating drive for manual (mechanical) actuation.

Claims

1. A hydraulic system for use under water with a hydraulic actuating drive, comprising: a hydraulic cylinder having at least three cylinder chambers; at least one hydraulic machine configured to adjust the hydraulic cylinder; at least one rotary drive device mechanically coupled to the at least one hydraulic machine for a common rotational movements; a first hydraulic circuit; and a second hydraulic circuit, the first and second hydraulic circuits opening into different cylinder chambers of the at least three cylinder chambers.

2. The hydraulic system as claimed in claim 1, wherein: the first hydraulic circuit includes the hydraulic cylinder and a first hydraulic machine of the at least one hydraulic machine, and the second hydraulic circuit includes the hydraulic cylinder and a second hydraulic machine of the at least one hydraulic machine, and the hydraulic cylinder and each hydraulic machine of the at least one hydraulic machine being part of a hydrostatic transmission.

3. The hydraulic system as claimed in claim 1, wherein: the first hydraulic circuit and at least one cylinder chamber of the at least three cylinder chambers are configured as a normal working actuating drive, and the second hydraulic circuit and two further cylinder chambers of the at least three cylinder chambers are configured as an emergency actuating drive.

4. The hydraulic system as claimed in claim 1, wherein the hydraulic cylinder has at least four cylinder chambers.

5. The hydraulic system as claimed in claim 1, wherein two cylinder chambers of the at least three cylinder chambers are decoupled from a working movement of a piston rod of the hydraulic cylinder.

6. The hydraulic system as claimed in claim 1, wherein the hydraulic cylinder is a differential cylinder or a synchronous cylinder.

7. The hydraulic system as claimed in claim 1, wherein the hydraulic cylinder includes a displaceable first piston configured to adjust a process valve.

8. The hydraulic system as claimed in claim 1, wherein the hydraulic cylinder comprises a compression spring configured for restoring the hydraulic cylinder.

9. The hydraulic system as claimed in claim 8, wherein the compression spring is supported at a first end on a cylinder head and a second end on a first piston of the hydraulic cylinder that is configured to adjust a process valve or on a piston element.

10. The hydraulic system as claimed in claim 1, wherein the hydraulic cylinder is configured as a tandem cylinder.

11. The hydraulic system as claimed in claim 1, further comprising: a container defining an interior in which the hydraulic cylinder and the at least one hydraulic machine are arranged.

12. The hydraulic system as claimed in claim 11, wherein the at least one rotary drive device is arranged outside the container and is configured for coupling to the at least one hydraulic machine and decoupling from the at least one hydraulic machine.

13. The hydraulic system as claimed in claim 12, wherein: the at least one rotary drive device includes first and second rotary drive devices arranged outside the container, the second rotary drive device is configured for the normal actuation of the hydraulic cylinder, and the first rotary drive device is configured for emergency actuation of the hydraulic cylinder.

14. The hydraulic system as claimed in claim 1, wherein the hydraulic system is installed on a remote-controlled underwater vehicle.

15. An apparatus configured to be arranged underwater and to control a volumetric flow conveyed of a gaseous or liquid medium, comprising: a process valve that includes a process valve housing, a process valve slide by way of which the volumetric flow can be controlled, and a hydraulic cylinder assigned to the process valve housing, the hydraulic cylinder having at least three cylinder chambers, the process valve slide configured to move the hydraulic cylinder a hydraulic system with a hydraulic actuating drive; at least one hydraulic machine configured to adjust the hydraulic cylinder; at least one rotary drive device arranged on a remote-controlled underwater vehicle, the at least one rotary drive device driving the at least one hydraulic machine; a first hydraulic circuit; and a second hydraulic circuit, the first and second hydraulic circuits opening into different cylinder chambers of the at least three cylinder chambers.

Description

[0023] The invention and the technical environment will be described in greater detail in the following text on the basis of figures. Here, identical components are labeled by way of identical designations. The illustrations are diagrammatic and are not provided in order to illustrate size ratios. The explanations which are stated in respect of individual details of a figure can be extracted and can be combined freely with facts from other figures or from the preceding description, unless something different necessarily results for a person skilled in the art and/or a combination of this type is explicitly prohibited here. In the figures, in a diagrammatic manner:

[0024] FIG. 1 shows a side view of the apparatus in the case of a closed process valve with a hydraulic cylinder with three cylinder chambers, one cylinder chamber being assigned to a displaceable piston, and two cylinder chambers being assigned to a stationary piston,

[0025] FIG. 2 shows the hydraulic cylinder according to FIG. 1 in detail on an enlarged scale,

[0026] FIG. 3 shows one embodiment of the hydraulic cylinder with five cylinder chambers, two cylinder chambers being assigned to a first displaceable piston, one cylinder chamber being assigned to a displaceable piston element, and two cylinder chambers being assigned to a stationary piston,

[0027] FIG. 4 shows an embodiment as in FIG. 3, but two cylinder chambers are assigned to a second displaceable piston,

[0028] FIG. 5 shows an embodiment as in FIG. 3, but two cylinder chambers are assigned to a displaceable piston element,

[0029] FIG. 6 shows an embodiment as in FIG. 3, but two cylinder chambers are assigned in each case to a displaceable grommet,

[0030] FIG. 7 shows an embodiment as in FIG. 3, but two cylinder chambers are assigned in each case to a displaceable sealing washer,

[0031] FIG. 8 shows an embodiment as in FIG. 3, but two cylinder chambers are assigned to a third displaceable piston,

[0032] FIG. 9 shows a circuit diagram of a hydraulic system with a hydraulic cylinder which is configured as a tandem cylinder with three cylinder chambers and two hydraulic circuits, and

[0033] FIG. 10 shows the hydraulic cylinder according to FIG. 9 in detail on an enlarged scale.

[0034] The exemplary embodiments which are shown in the figures of a hydraulic system have, in accordance with FIG. 1, a process valve 1 with a process valve housing 2, through which a process valve channel 3 runs which is continued at its orifices by way of tubes (not shown) and in which a gaseous or liquid medium flows from the seabed to a part of a drilling rig which protrudes out of the sea, or to a drill ship. The direction of flow is to be indicated by way of the arrow 4.

[0035] A cavity is configured in the process valve housing 2, which cavity crosses the process valve channel 3 and in which cavity a process valve slide 5 with a throughflow opening 6 can be moved transversely with respect to the longitudinal direction of the process valve channel 3. In the state according to FIG. 1, the process valve channel 3 and the throughflow opening 6 in the process valve slide 5 do not overlap one another. The process valve 1 is therefore closed. In a state which is not shown, the throughflow opening 6 and the process valve channel 3 overlap one another largely. The process valve 1 is almost completely open. A process valve of the indicated type and of the described use is firstly to be capable of being actuated in a controlled manner and secondly is also to contribute to the safety, by assuming a position rapidly and reliably in the case of a disruption, which position corresponds to a safe state. In the present case, said safe state is a closed process valve.

[0036] The process valve 1 is actuated by way of a compact hydraulic system 7 which is arranged under water directly on the process valve 1. It is sufficient that only one electric cable 8 leads from the hydraulic system 7, for example, to the sea surface or another superordinate electric controller which is situated under water.

[0037] The hydraulic system 7 which is shown as an exemplary embodiment has a container 9 which is fastened on an open side to the process valve housing 2, with the result that there is an interior 10 which is closed off with respect to the surroundings and is filled with a hydraulic pressure fluid as working medium. For fastening to the process valve housing 2, the container 9 has an inner flange on its open side, by way of which inner flange it is screwed to the process valve housing 2. A peripheral seal 11 is arranged radially outside the screw connections between the inner flange of the container 9 and the process valve housing 2, which seal 11 is inserted into a peripheral groove of the process valve housing 2.

[0038] The container 9 is pressure-compensated with respect to the ambient pressure which prevails under water (seawater region 12). To this end, a diaphragm 14 is clamped in tightly in an opening in the container wall in the case of a pressure compensator 13. Holes are situated in the cover, with the result that the space between the diaphragm 14 and the cover is part of the surroundings and is filled with seawater. The interior 10 is therefore shielded against the surroundings by way of the diaphragm 14. On its first face which faces the interior 10, the diaphragm 14 is loaded by the pressure in the interior 10 and, on its second face which faces the cover and is approximately equally as large as the first face, is loaded by the pressure which prevails in the surroundings, and always attempts to assume a position and shape, in which the sum of all the forces which act on it is zero.

[0039] There is a hydraulic cylinder 15 with a cylinder housing 16 in the interior 10 of the container 9, which cylinder housing 16 is closed on the end side by way of a cylinder base 17 and a cylinder head 18, with a piston 19 which can be displaced in the interior of the cylinder housing 16 in the longitudinal direction of the cylinder housing (as shown in FIG. 2) and with a first displaceable piston rod 24 which is connected fixedly to the piston 19, protrudes on one side away from the piston 19, and passes through the cylinder head 18 in a manner which is sealed and guided in a way which is not shown in greater detail. The gap between the piston rod 24 and the cylinder head is sealed by way of two seals (not shown) which are arranged at an axial spacing from one another in the cylinder head 18. The process valve slide 5 is fastened to the free end of the piston rod 24. Furthermore, there is a second displaceable piston rod 25 which is connected fixedly to the piston 19, protrudes away from the piston 19 toward the other side, is guided in a sealed manner and passes through a first cylinder inner wall 39.1 and through a second cylinder inner wall 39.2. The interior of the cylinder housing 16 is divided by way of the piston 19 into a cylinder base-side first cylinder chamber 32 and into a cylinder head-side spring chamber 37, the volumes of which are dependent on the position of the piston 19. 19.1 denotes a first end face of the piston 19, and 19.2 denotes a second end face of the piston 19. 23.1 denotes a first end face of the piston rod 23, and 23.2 denotes a second end face of the piston rod 23.

[0040] A compression spring 38 is accommodated in the spring chamber 37, which compression spring 38 surrounds the piston rod 24 coaxially and is clamped in between the cylinder head 18 and the piston 19, that is to say loads the piston 19 in a direction, in which the piston rod 24 is retracted and the process valve slide 5 is moved in order to close the process valve 1.

[0041] According to FIG. 2, that end region 25.1 of the second displaceable piston rod 25 which faces the cylinder base is configured (in part) as a hollow cylinder with a hollow cylinder wall 25.2 and a hollow cylinder base 25.3, opposite which a closing first cover element 42 with a circularly annular cross section lies. A stationary piston 22 (which is connected to the cylinder housing 16) is situated in the inner cavity of the hollow cylinder, from the first end face 22.1 of which piston 22 a stationary piston rod 28 extends, starting from and penetrating the opening of the cover element 42, as far as the cylinder base 17. 65 denotes a first cylinder inner cavity, and 66 denotes a second cylinder inner cavity.

[0042] The hydraulic cylinder 15 has three cylinder chambers, namely a first cylinder chamber 32, a fourth cylinder chamber 35 and a fifth cylinder chamber 36. The two cylinder chambers 35 and 36 are part of a hydraulic bridging arrangement for an emergency, whereas the cylinder chamber 32 serves for the normal working operation of the hydraulic cylinder 15. In this way, an emergency actuating drive is integrated into a three-chamber cylinder. The two cylinder chambers 35 and 36 in addition to the cylinder chamber 32 are provided for the hydraulic emergency actuating drive which can be actuated mechanically from the outside. 44 and 45 denote channels in the stationary piston rod 28, which channels convey hydraulic fluid into and out of the cylinder chambers 35 and 36. A and B denote direction arrows for the movement directions of the piston rod 23. The movement directions A and B apply in the same way to the displaceable piston 19 which is connected fixedly to the piston rod 23, and the end region 25.1 which is connected fixedly to the piston rod 23.

[0043] A hydraulic machine 48 which can be operated as a pump with two conveying directions is also situated in the interior 10 of the container 9. The hydraulic machine 48 has a first pressure and suction connector 52 and a second pressure and suction connector 53. Pressure fluid which is sucked in during operation as a pump can be conveyed by the hydraulic machine 48 via the pressure connector 52 to the cylinder chambers. Conversely, pressure fluid can be extracted from the cylinder chambers via the hydraulic machine 48 (in this regard, see FIG. 9).

[0044] A rotary drive device 54 is coupled mechanically to the hydraulic machine 48 for a common rotating movement, for example via a shaft 56. The shaft 56 transmits the torque from the rotary drive device 28 to the hydraulic machine 48. The rotary drive device 54 is situated outside the container 9. It is encompassed, for example, by a remote-controlled underwater vehicle 72 (ROV) or a robot, and preferably has an electric motor as rotary drive device 54.

[0045] In order that the process valve 1 can be actuated by way of a robot, such as, for example, by way of an ROV, there is an interface 57 on the container 9, starting from which interface 57 the shaft 56 is coupled to the hydraulic machine 48 in the interior 10.

[0046] FIG. 1 shows, in a simplified manner, the second independent hydraulic circuit 69, which is shown in detail in FIG. 9, as an emergency actuating drive. In the case of the embodiment according to FIG. 1, the first hydraulic circuit 68 which is shown in FIG. 9 can be used as normal working actuating drive. As an alternative (in a way which is not shown), the working actuating drive can be realized by way of a combination of the hydraulic pump with an additional electric motor (not shown).

[0047] There are in each case five cylinder chambers in the embodiment according to FIGS. 3 to 8, that is to say a first cylinder chamber 32, a second cylinder chamber 33, a third cylinder chamber 34, a fourth cylinder chamber 35 and a fifth cylinder chamber 36. The two cylinder chambers 35 and 36 are part of a hydraulic bridging arrangement for an emergency, whereas the cylinder chambers 32, 33 and 34 are provided for the normal working operation of the hydraulic cylinder 15. All variants of the five cylinder chambers can be used for hydraulic cylinder 15 with three cylinder chambers (see FIGS. 2 and 9). In all the exemplary embodiments according to FIGS. 1 to 9, there are in each case a first cylinder chamber 32, a fourth cylinder chamber 35 and a fifth cylinder chamber 36. In the exemplary embodiments according to FIGS. 3 to 8, there are in each case additionally a second cylinder chamber 33 and a third cylinder chamber 34 which serve for the normal working operation of the hydraulic cylinder 15.

[0048] FIG. 3 shows an embodiment of the hydraulic cylinder 15 with five cylinder chambers 32, 33, 34, 35, 36, two cylinder chambers 32, 33 being assigned to a first displaceable piston 19, one cylinder chamber 34 being assigned to a displaceable piston element 29, and two cylinder chambers 35, 36 being assigned to the stationary piston 22. The cylinder chamber 34 is delimited by way of a first hollow piston 29.2 and a third cylinder inner wall 39.3. The displaceable piston element 29 consists of a hollow-cylindrical composite element 29.1, to the two end regions of which in each case a first hollow piston 29.2 and a second hollow piston 29.3 are attached, the openings of which are penetrated coaxially by the first displaceable piston rod 24. The piston element 29 can be displaced in a sealed manner on the piston rod 24 in the direction of the arrows C and D. 24.1 denotes a collar-shaped attachment on the piston rod 24 which, in the case of movement of the piston rod 24 in the directions A and B, is capable of moving the piston element 29 in the directions C and D by way of engagement with the hollow piston 29.1 and 29.2.

[0049] FIG. 4 illustrates an embodiment, in the case of which two cylinder chambers 35, 36 are assigned to a second displaceable piston 20. In this way, a differential cylinder is formed, in the case of which the two pressurized active faces on the piston 20, that is to say the first end face 20.1 and the second end face 20.2, are of different size.

[0050] FIG. 5 illustrates an embodiment, two cylinder chambers 35, 36 being assigned to the displaceable piston element 29. In order to form the cylinder chambers 35, 36, a cylinder inner chamber dividing wall 40 is provided which is present between the housing wall of the cylinder housing 16 and the composite element 29.1 and the hollow pistons 29.2 and 29.3. A third cylinder inner cavity 67 is formed at the base-side end of the piston rod 23, which third cylinder inner cavity 67 is enclosed by a cup-shaped second cover element 43.

[0051] FIG. 6 represents an embodiment, two cylinder chambers 35 and 36 being assigned in each case to a grommet 30.1 and 30.2, respectively, which can be displaced in the direction of the arrows E, F. The grommets 30.1 and 30.2 are arranged coaxially and in a sealed manner with respect to the first piston rod 24 and with respect to the second piston rod 25, respectively. The cylinder chambers 35 and 36 are formed between the grommets 30.1 and 30.2 and the opposite cylinder inner walls 39 and 39.2, respectively.

[0052] FIG. 7 shows an embodiment which is similar to FIG. 6, in the case of which, instead of the grommets 30.1 and 30.2, there are, however, two hollow-cylindrical sealing washers 31.1 and 31.2 which can be displaced in the direction of the arrows G and H.

[0053] FIG. 8 illustrates an embodiment, in the case of which two cylinder chambers 35 and 36 are assigned to a third displaceable piston 21. On one side, a fourth displaceable piston rod 27 emanates from the piston 21, which fourth displaceable piston rod 27 is connected to the second hollow piston 29.3. A cylinder tube 41 is arranged in the spring chamber 37, in the inner cavity of which cylinder tube 41 the piston 21 can be displaced together with the piston element 29 in the direction of the arrows C and D. 46 and 47 denote channels for the throughflow of hydraulic fluid into the cylinder chambers 35 and 36, respectively.

[0054] FIG. 9 illustrates a circuit diagram of a hydraulic system with the hydraulic cylinder 15 which is configured as a tandem cylinder, and three cylinder chambers 32, 35 and 36 (see FIG. 10) and two hydraulic circuits 68 and 69. The circuit 68 is an open circuit with the second hydraulic machine 49 which is configured as a pump with a constant displacement volume of one conveying direction and one rotational direction. The pump has a pressure connector 50 and a suction connector 51. 61 to 64 denote directional seat valves, and 70.1 and 70.2 denote check valves without pressure drop. The circuit 69 is a closed circuit with the first hydraulic machine 48 which is configured as a pump with two conveying directions. The pump has a first pressure and suction connector 52 and a second pressure and suction connector 53. 58 and 59 denote hydraulic shut-off valves, and 60 denotes a hydraulic accumulator, for example a piston accumulator. 70.3 and 70.4 denote check valves without pressure drop, and 71.1 and 71.2 denote check valves with pressure drop.

[0055] 26 denotes a third displaceable piston rod.

[0056] In the case of the first (open) circuit 68, the volumetric flow flows from the outflow side of the hydraulic cylinder 15 to a container (not shown). In the case of the second (closed) circuit 69, the volumetric flow is fed from the outflow side of the hydraulic cylinder 15 directly again to the suction line of the pump; the volumetric flow which flows back is identical to the volumetric flow which flows in. The two circuits 68 and 69 in each case form a hydrostatic transmission, comprising the hydraulic cylinder and the hydraulic machines 48 and 49 which are configured as a pump.

[0057] Two rotary drive devices 54, 55 are arranged outside the container 9, the second rotary drive device 55 being set up as a normal working actuating drive for the hydraulic cylinder 15, and the first rotary drive device 54 being set up as an emergency actuating drive for the hydraulic cylinder 15.

[0058] In the case of the design variants which are shown in FIGS. 3 to 8, there are five cylinder chambers 32, 33, 34, 35, 36 and a spring chamber 37 with a compression spring 38. In the embodiment which is shown in FIG. 10, three cylinder chambers 32, 35, 36 and a spring chamber with a compression spring 38 are provided. In accordance with one embodiment (not shown), the configuration according to FIG. 10 can be modified in such a way that there are four cylinder chambers, that is to say that the spring chamber 37 is set up without a compression spring 38 as a further (fourth) cylinder chamber.

LIST OF DESIGNATIONS

[0059] 1 Process valve

[0060] 2 Process valve housing

[0061] 3 Process valve channel

[0062] 4 Arrow

[0063] 5 Process valve slide

[0064] 6 Throughflow opening

[0065] 7 Hydraulic system

[0066] 8 Cable

[0067] 9 Container

[0068] 10 Interior of 9

[0069] 11 Seal

[0070] 12 Seawater region

[0071] 13 Pressure compensator

[0072] 14 Diaphragm

[0073] 15 Hydraulic cylinder

[0074] 16 Cylinder housing

[0075] 17 Cylinder base

[0076] 18 Cylinder head

[0077] 19 First displaceable piston

[0078] 19.1 First end face of 19

[0079] 19.2 Second end face of 19

[0080] 20 Second displaceable piston

[0081] 20.1 First end face of 20

[0082] 20.2 Second end face of 20

[0083] 21 Third displaceable piston

[0084] 22 Stationary piston

[0085] 22.1 First end face of 22

[0086] 22.2 Second end face of 22

[0087] 23 Piston rod

[0088] 23.1 First end face of 23

[0089] 23.2 Second end face of 23

[0090] 24 First displaceable piston rod

[0091] 24.1 Attachment on 24

[0092] 25 Second displaceable piston rod

[0093] 25.1 End region of 25

[0094] 25.2 Hollow cylinder wall

[0095] 25.3 Hollow cylinder base

[0096] 26 Third displaceable piston rod

[0097] 27 Fourth displaceable piston rod

[0098] 28 Stationary piston rod

[0099] 29 Displaceable piston element

[0100] 29.1 Composite element

[0101] 29.2 First hollow piston

[0102] 29.3 Second hollow piston

[0103] 30.1 First displaceable grommet

[0104] 30.2 Second displaceable grommet

[0105] 31.1 First displaceable sealing washer

[0106] 31.2 Second displaceable sealing washer

[0107] 32 First cylinder chamber

[0108] 33 Second cylinder chamber

[0109] 34 Third cylinder chamber

[0110] 35 Fourth cylinder chamber

[0111] 36 Fifth cylinder chamber

[0112] 37 Spring chamber

[0113] 38 Compression spring

[0114] 39 Cylinder inner wall

[0115] 39.1 First cylinder inner wall

[0116] 39.2 Second cylinder inner wall

[0117] 39.3 Third cylinder inner wall

[0118] 40 Cylinder inner chamber dividing wall

[0119] 41 Cylinder tube

[0120] 42 First cover element

[0121] 43 Second cover element

[0122] 44 First channel

[0123] 45 Second channel

[0124] 46 Third channel

[0125] 47 Fourth channel

[0126] 48 First hydraulic machine

[0127] 49 Second hydraulic machine

[0128] 50 Pressure connector

[0129] 51 Suction connector

[0130] 52 First pressure or suction connector

[0131] 53 Second pressure or suction connector

[0132] 54 First rotary drive device

[0133] 55 Second rotary drive device

[0134] 56 Shaft

[0135] 57 Interface

[0136] 58 First hydraulically closable valve

[0137] 59 Second hydraulically closable valve

[0138] 60 Hydraulic accumulator

[0139] 61 First directional seat valve

[0140] 62 Second directional seat valve

[0141] 63 Third directional seat valve

[0142] 64 Fourth directional seat valve

[0143] 65 First cylinder inner cavity

[0144] 66 Second cylinder inner cavity

[0145] 67 Third cylinder inner cavity

[0146] 68 First circuit

[0147] 69 Second circuit

[0148] 70.1 First check valve without pressure drop

[0149] 70.2 Second check valve without pressure drop

[0150] 70.3 Third check valve without pressure drop

[0151] 70.4 Fourth check valve without pressure drop

[0152] 71.1 First check valve with pressure drop

[0153] 71.2 Second check valve with pressure drop

[0154] 72 Remote-controlled underwater vehicle