CN115042149A - Submarine crawler operation robot power and control system based on full electric drive - Google Patents

Abstract

The invention provides a submarine crawler operation robot power and control system based on full electric drive, which comprises: the underwater electronic control system is in communication connection with the underwater electronic cabin, the underwater electronic cabin is electrically connected with the electric driving motors, and the electric driving motors are respectively connected with and drive each driving mechanism of the seabed operation robot. The water surface control system sends out a control instruction, the control instruction is transmitted to the underwater electronic cabin through the optical fiber, and the control instruction is transmitted to the independent electric driving motor from the underwater electronic cabin. Compared with a valve control mode, the electric control mode has the advantages that the instruction transmission speed is very high, the control response speed is greatly improved, and the real-time adjustment control on the speed of the crawler belt can be realized, so that the walking track of the seabed working robot can be accurately controlled.

Description

Submarine crawler operation robot power and control system based on full electric drive

Technical Field

The invention belongs to the technical field of submarine crawler operation robots, and particularly relates to a submarine crawler operation robot power and control system based on full electric drive.

Background

The seabed working robot is a complex machine system capable of bearing various work tasks on seabed at different depths, and relates to the technology in various aspects such as machinery, electricity, hydraulic pressure, control, materials, hydrodynamic force and the like. Such as burying of seabed transoceanic optical cables, paving and burying of seabed petroleum pipelines, exploitation of seabed mineral resources and the like without leaving seabed operation robots. According to different operation tasks, the seabed operation robot can be divided into different structural forms such as a crawler self-propelled type, a dragging type and a sliding shoe type. With the development of science and technology, the development and utilization of the ocean by human beings enter a new stage, the requirements on the functions of the seabed operation robot are more and more, the depth is deeper and deeper, the power is more and more large, and the operation environment is more and more complex.

At present, most of seabed working robots adopt a crawler belt self-walking type, a walking mechanism, a propeller and a working tool are driven by a hydraulic system, an underwater working process is that a motor drives a hydraulic pump after being started, a hydraulic valve is arranged at the rear end of the hydraulic pump, the driving of the motor is controlled by controlling the hydraulic valve, and finally the driving control of the crawler belt, the propeller, a conveying water pump, a capture water pump, a crusher, a mechanical arm and other parts is realized.

The hydraulic driving mode has the defects of low energy utilization rate, slow control response, environmental pollution, troublesome maintenance, poor system anti-interference performance and the like, the international deep sea development is developing towards the direction of high efficiency, greenness and intellectualization, and the hydraulic driving mode obviously cannot meet the future development requirement, so that the research and development of a new submarine operation robot power and control system are urgently needed.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a power and control system of a submarine crawler operation robot based on full electric drive, so as to solve at least one of the problems in the prior art.

In view of the above, one or more embodiments of the present application provide a power and control system for a subsea crawler work robot based on full electric drive, the system includes: the underwater electronic control system is in communication connection with the underwater electronic cabin, the underwater electronic cabin is electrically connected with the electric driving motors, and the electric driving motors are respectively connected with and drive each driving mechanism of the seabed operation robot.

Based on the technical scheme of the invention, the following improvements can be made:

optionally, the water surface control system includes a ship distribution board, a distribution container and an umbilical cable winch, the ship distribution board is connected with an input end of the distribution container through a cable, and an output end of the distribution container is connected with an input end of the umbilical cable winch through a photoelectric composite cable.

Optionally, distribution container includes inlet wire switch board, solid-state current limiter, intermediate frequency conversion cabinet, step up transformer and terminal outlet box, the input of inlet wire switch board is connected with boats and ships distribution board's output, the output of inlet wire switch board is connected with the input of solid-state current limiter, and the input of intermediate frequency conversion cabinet is connected to the output of solid-state current limiter, and step up transformer's input is connected to the output of intermediate frequency conversion cabinet, and step up transformer's output connection terminal outlet box.

Optionally, the solid-state current limiter includes a starting cabinet, a converter cabinet, a thyristor switching reactor cabinet, a filter, a transformer, a bypass switch and a control cabinet, the starting cabinet, the converter cabinet, the thyristor switching reactor cabinet, the filter and the transformer are connected in sequence, the bypass switch is connected between an input end of the starting cabinet and an output end of the transformer, and the control cabinet is respectively connected with the starting cabinet, the converter and the thyristor switching reactor cabinet.

Optionally, the umbilical cable winch comprises an umbilical cable winch static junction box, a photoelectric slip ring and an umbilical cable winch rotary junction box, the terminal outlet box is connected with the umbilical cable winch static junction box through a photoelectric composite cable, the umbilical cable winch static junction box is connected with one end of the photoelectric slip ring, and the other end of the photoelectric slip ring is connected with the umbilical cable winch rotary junction box.

Optionally, a step-down transformer box and an umbilical cable distribution box are arranged between the underwater electronic cabin and the water surface control system, the output end of the water surface control system is connected with the input end of the umbilical cable distribution box, the output end of the umbilical cable distribution box is connected with the input end of the step-down transformer box, the output end of the step-down transformer box is connected with the input end of the underwater electronic cabin, the umbilical cable distribution box is used for separating different power supplies, and the step-down transformer box is used for converting and reducing voltage.

Optionally, the output of umbilical cable branch box is connected with intermediate frequency transformer, intermediate frequency transformer still is connected with the rectifier, intermediate frequency transformer is used for converting the three-phase high pressure into two way three-phase low pressures, rectifier output DC voltage is connected with the female row of low inductance DC, female connection electric drive motor of arranging of low inductance DC.

Optionally, the inside integration of electricity driving motor has motor drive, dc-to-ac converter and voltage sensor, the dc-to-ac converter is connected and is felt the direct current wood tablet lowly, motor drive connects the dc-to-ac converter, voltage sensor gathers the input voltage of electricity driving motor in real time and uploads to surface of water control system.

Optionally, the underwater electronic cabin is connected with an energy feedback system, the driving mechanism is connected with a speed reducer through a coupler, and the energy feedback system stores and monitors the energy generated by the submarine operation robot during braking and supplies power to the underwater electronic cabin for supplying power to the external equipment after conversion.

Optionally, when the electric quantity stored in the energy feedback system is consumed to a set threshold, the electronic switch is arranged to switch the power supply mode to supply power to the step-down transformer box.

The power and control system of the submarine crawler operation robot based on full electric drive has the advantages that the power and control system is controlled to send a control instruction by the water surface control system, the control instruction is transmitted to the underwater electronic cabin through the optical fiber, and the control instruction is transmitted to the independent electric drive motor by the underwater electronic cabin. Compared with a valve control mode, the electronic control mode has the advantages that the instruction transmission speed is very high, the control response speed is greatly improved, the real-time adjustment and control of the track speed can be realized, and therefore the walking track of the seabed working robot can be accurately controlled; the control system has an automatic control function, target instructions such as the forward speed, the backward speed, the turning direction, the turning angle and the like of the working robot are input into the control system, the system automatically calculates, the control instructions are transmitted to the electric driving motor, and the motor executes different actions according to the control instructions to realize the target function of the working robot.

Meanwhile, the modular design is adopted, a large number of oil pipes are not needed, the system is simple in composition, frequent oil discharging and oil filling are not needed, maintenance and overhaul are convenient, and the working efficiency is improved. The volume and the weight of the underwater step-down transformer can be greatly reduced by adopting a medium-frequency power supply mode; the use of hydraulic oil can be greatly reduced, and the marine ecological environment is protected; the safety of a supply chain is guaranteed by utilizing the independently developed core components; energy recovery is realized, energy consumption is reduced, and the energy utilization rate is improved; the real-time monitoring and control of the motor voltage are realized, and the system safety is enhanced; the problem that the line voltage fluctuates due to the influence of a load is solved, the automatic regulation function is realized, and the external interference resistance of the system is enhanced; meanwhile, the solid-state current limiter greatly improves the short-circuit protection performance of the system.

Drawings

Fig. 1 is a system architecture diagram of a power and control system of a submarine crawler operating robot based on full electric drive according to an embodiment of the present invention.

Fig. 2 is a power supply principle diagram of a power and control system of a submarine crawler operating robot based on full electric drive according to an embodiment of the invention.

Fig. 3 is a block diagram of a solid state current limiter of a power and control system of a subsea crawler work robot based on full electric drive in accordance with an embodiment of the present invention.

Fig. 4 is a system architecture diagram of a prior art subsea crawler work robot.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the present application does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Referring to fig. 4, as mentioned in the background section, the hydraulic driving method in the prior art has the disadvantages of low energy utilization rate, slow control response, environmental pollution, troublesome maintenance and repair, poor system anti-interference performance, etc., and the hydraulic control precision is not high, the error is large, the leakage of hydraulic oil easily causes pollution to the marine environment, the hydraulic system has a complex structure and numerous pipelines, the oil needs to be discharged during maintenance and repair, which is not only very inconvenient, but also causes environmental pollution, the hydraulic core components such as motor, pump and hydraulic valve are generally imported products, which are restricted in technology and supply, the ship voltage fluctuation resistance is low, the line voltage is greatly influenced by the load, the load is low, the load is light, the voltage is high, the voltage at the input end of the motor is unstable, an effective voltage stabilizing method is lacked, and the service life of the underwater motor is seriously influenced, therefore, the requirement on ship power supply is high, energy waste is caused when the crawler of the seabed operation robot brakes, extra energy consumption is increased, the voltage of the underwater motor input end cannot be accurately obtained in real time, and whether the motor is in overvoltage or not cannot be accurately judged.

In view of the above, one or more embodiments of the present application provide a power and control system for a subsea crawler operation robot based on full electric drive, and specifically, a control command is sent by a surface control system, transmitted to an underwater electronic cabin through an optical fiber, and transmitted to an independent electric drive motor by the underwater electronic cabin.

Therefore, compared with a valve control mode, the power and control system of the submarine crawler operation robot based on full electric drive has the advantages that the command transmission speed of the electric control mode is very high, the control response speed is greatly improved, the real-time adjustment and control of the crawler speed can be realized, and the walking track of the submarine operation robot can be accurately controlled; the control system has an automatic control function, target instructions such as the forward speed, the backward speed, the turning direction, the turning angle and the like of the working robot are input into the control system, the system automatically calculates, the control instructions are transmitted to the electric driving motor, and the motor executes different actions according to the control instructions to realize the target function of the working robot.

Referring to fig. 1, a power and control system for a subsea crawler work robot based on full electric drive according to one or more embodiments of the present application comprises: the underwater electronic control system is in communication connection with the underwater electronic cabin, the underwater electronic cabin is electrically connected with the electric driving motors, and the electric driving motors are respectively connected with and drive each driving mechanism of the seabed operation robot.

The embodiment is directed at current seabed work robot not enough, provides a seabed track work robot power and control system based on full electricity drives.

The medium-frequency high-voltage power supply is adopted from the water surface to the underwater, the permanent magnet synchronous motor is driven after voltage reduction, rectification and inversion under the underwater, the permanent magnet synchronous motor directly acts on an object, the energy utilization rate is high, and the comprehensive utilization efficiency can reach more than 90%. Under the same working condition, the power of the motor can be reduced by adopting a direct current driving mode, and the weight of the motor is reduced; the size of the umbilical cable power supply conductor can be reduced, and the weight of the umbilical cable is reduced; the capacity of a deck power supply transformer can be reduced, so that the weight and the volume of the transformer are reduced; the power requirements for the marine generator may be reduced.

By way of illustration:

taking the underwater operation tool power requirement as 200kW as an example, if a hydraulic driving mode is adopted and the comprehensive efficiency of hydraulic driving is about 65% according to empirical data, the output power of the hydraulic motor is required to be 200kW

The efficiency of the motor is generally 90%, and the input power of the motor is

The motor power factor is generally 0.85, and the motor input capacity is

The voltage of the motor is calculated according to AC3000V, and the rated current of the motor, namely the transmission current of the umbilical cable is

If the electric driving mode is adopted, according to empirical data, the efficiency of the permanent magnet synchronous motor is about 92 percent, the input power of the permanent magnet synchronous motor is required to be

The power factor of the permanent magnet synchronous motor is generally 0.9, and the input capacity of the motor is

The efficiency of the rectifier can reach 96 percent, and the input capacity of the rectifier, namely the output capacity of the underwater intermediate frequency step-down transformer is

The efficiency of the medium-frequency step-down transformer is generally 95%, and the input capacity of the medium-frequency step-down transformer is

The primary voltage of the intermediate frequency step-down transformer is calculated according to AC3000V, and the primary rated current of the intermediate frequency step-down transformer, namely the transmission current of the umbilical cable is

It can be seen from the above that, under the same operating power requirement, compared with the hydraulic driving mode, the electric driving mode reduces the current transmitted by the line by 34%, and the size of the internal conductor of the umbilical cable, the line loss and the power of the water surface step-up transformer can be correspondingly and greatly reduced.

As an alternative embodiment, the surface control system includes a ship distribution board 101, a distribution container 108 and an umbilical winch 109, the ship distribution board 101 is connected to the input end of the distribution container 108 through a cable, and the output end of the distribution container 108 is connected to the input end of the umbilical winch 109 through a photoelectric composite cable. Distribution container 108 includes inlet wire switch board 102, solid-state current limiter 103, intermediate frequency inverter cabinet 104, step up transformer 105 and terminal outgoing line box 107, inlet wire switch board 102's input is connected with boats and ships panel 101's output, inlet wire switch board 102's output is connected with solid-state current limiter 103's input, and intermediate frequency inverter cabinet 104's input is connected to solid-state current limiter 103's output, and step up transformer 105's input is connected to intermediate frequency inverter cabinet 104's output, and step up transformer 105's output connection terminal outgoing line box 107.

The solid-state current limiter 103 comprises a starting cabinet 201, a converter cabinet 202, a thyristor-switched reactor cabinet 203, a filter 204, a transformer 205, a bypass switch 206 and a control cabinet 207, wherein the starting cabinet 201, the converter cabinet 202, the thyristor-switched reactor cabinet 203, the filter 204 and the transformer 205 are connected in sequence, the bypass switch 206 is connected between the input end of the starting cabinet 201 and the output end of the transformer 205, and the control cabinet 207 is respectively connected with the starting cabinet 201, the converter 202 and the thyristor-switched reactor cabinet 203.

The umbilical cable winch 103 comprises an umbilical cable winch static junction box 110, a photoelectric slip ring 111 and an umbilical cable winch rotary junction box 112, the terminal outlet box 107 is connected with the static junction box 112 through a photoelectric composite cable, the umbilical cable winch static junction box 110 is connected with one end of the photoelectric slip ring, and the other end of the photoelectric slip ring is connected with the umbilical cable winch rotary junction box.

Referring to fig. 2, the ship distribution board 101 generally provides a three-phase AC380V 50Hz or AC690V 50Hz, single-phase AC220V 50Hz low voltage power supply, and sometimes also provides a three-phase AC440V 60Hz and single-phase AC240V 60Hz low voltage power supply. The power provided by the ship distribution board 101 enters the distribution container 108 through the ship cable, and is distributed through the incoming distribution cabinet 102, wherein the three-phase AC380V 50Hz or AC690V 50Hz or three-phase AC440V 60Hz power is connected to the solid-state current limiter 103. The output end of the solid-state current limiter 103 is connected with the intermediate frequency conversion cabinet 104. The solid-state current limiter 103 is composed as shown in fig. 3, and mainly comprises a starting cabinet 201, a converter cabinet 202, a thyristor switching reactor cabinet 203, a filter 204, a transformer 205, a bypass switch 206 and a control cabinet 207, wherein the solid-state current limiter 103 has the functions of limiting system short-circuit current, filtering system harmonic waves and stabilizing incoming line voltage, effectively filters interference of power consumption of other loads of a ship on power supply of a seabed operation robot, and improves safety of a power supply system of the seabed operation robot.

The intermediate frequency conversion cabinet 104 converts the three-phase AC380V 50Hz or AC690V 50Hz or three-phase AC440V 60Hz input power into three-phase AC380V 400Hz or AC690V 400Hz or three-phase AC440V 400Hz, and the size and the weight of the electric energy conversion equipment on the water surface and under the water can be greatly reduced by adopting intermediate frequency power supply, so that the space occupation is reduced. The output end of the intermediate frequency conversion cabinet 104 is provided with a sine wave filter and is connected with a step-up transformer 105.

The medium-frequency boosting transformer 105 converts three-phase AC380V 400Hz or AC690V 400Hz or three-phase AC440V 400Hz output by the medium-frequency conversion cabinet into three-phase AC 3300V-AC 10000V 400Hz, and the loss of a line can be greatly reduced by adopting high-voltage transmission, so that the outer diameter and the weight of the photoelectric composite umbilical cable are reduced. The output of the intermediate frequency step-up transformer 105 is connected to a terminal outlet box 107 in the distribution container 108.

The single-phase AC220V 50Hz or single-phase AC240V 60Hz is output from the UPS of the incoming line power distribution cabinet, the UPS can keep the output voltage stable under the condition that the power grid of the ship fluctuates, the power supply safety is improved, and underwater equipment is prevented from being damaged. The UPS output is connected with a step-up transformer 106, the step-up transformer 106 converts the input single-phase AC220V 50Hz or single-phase AC240V 60Hz power supply into single-phase AC3100V 50Hz or single-phase AC3100V 60Hz, and the loss of the line can be greatly reduced by adopting high-voltage transmission. The output of the step-up transformer 106 is connected to a terminal outlet box 107 in the distribution container 108.

The terminal outlet box 107 is connected to an umbilical cable winch static connection box 110 of an umbilical cable winch 109 through a photoelectric composite cable, the photoelectric composite cable can simultaneously transmit three-phase AC 3300V-AC 10000V 400Hz, single-phase AC3100V 50Hz or single-phase AC3100V 60Hz and optical fiber communication, transfer is carried out in the umbilical cable winch static connection box 110, then the umbilical cable static connection box enters a photoelectric slip ring 111, the photoelectric slip ring 111 is fixed with the umbilical cable winch static connection box 110 in a connection end, the other end of the photoelectric slip ring is connected with a rotor connection box 112, and connection with a photoelectric composite armored umbilical cable is completed in the rotor connection box 112. The opto-electronic slip ring 111 and the rotor connection box 112 rotate synchronously as the drum of the umbilical winch 109 rotates.

As an optional embodiment, a step-down transformer box 129 and an umbilical cable distribution box 130 are arranged between the underwater electronic cabin 131 and the surface control system, an output end of the surface control system is connected to an input end of the umbilical cable distribution box 130, an output end of the umbilical cable distribution box 130 is connected to an input end of the step-down transformer box 129, an output end of the step-down transformer box 129 is connected to an input end of the underwater electronic cabin 131, the umbilical cable distribution box 130 is used for separating different power supplies, and the step-down transformer box 129 is used for converting and reducing voltage.

The photoelectric composite armored umbilical cable is wound on the umbilical cable winch 109, spans the pulley on the A frame 113 through the umbilical cable winch 109 and then is connected with the seabed operation robot 140. The A frame 113 is provided with a swing stopper, the swing stopper is locked with the seabed working robot 140 on a deck, the weight of the seabed working robot 140 is borne by the swing stopper, the seabed working robot 140 is automatically unlocked at a certain depth after entering water, the seabed working robot 140 is provided with a buoyancy material, the weight of the seabed working robot 140 is light in water, and the photoelectric composite armored umbilical cable bears the weight of the seabed working robot 140.

As an optional embodiment, the output end of the umbilical cable distribution box 130 is connected to a medium frequency transformer 132, the medium frequency transformer 132 is further connected to a rectifier 133, the medium frequency transformer 132 is configured to convert a three-phase high voltage into two three-phase low voltages, the rectifier 133 outputs a dc voltage and is connected to a low inductance dc bus, and the low inductance dc bus is connected to an electric drive motor.

The photoelectric composite armored umbilical cable is connected to an umbilical cable distribution box 130 of the seabed operation robot 140, different power supplies are separated in the umbilical cable distribution box 130, a three-phase AC 3300V-AC 10000V 400Hz power supply is connected to a three-winding medium-frequency transformer 132, and the three-winding medium-frequency step-down transformer 132 converts input three-phase AC 3300V-AC 10000V 400Hz high-voltage electricity into two-path three-phase AC504V low-voltage electricity. The underwater transformer generally solves the problem of voltage resistance by being arranged in an oil-filled box body, has a complex structure, needs to be matched with a large-volume oil tank, is troublesome to overhaul and maintain, and is not friendly to marine ecological environment. The intermediate frequency step-down transformer 132 of the embodiment is installed in the self-pressure-resistant tank body, and liquid pressure oil does not need to be filled inside the intermediate frequency step-down transformer, so that a matched hydraulic compensation system is omitted. The intermediate frequency step-down transformer box all adopts the plug-in to the external connection, has solved electrical insulation and waterproof seal problem. Hollow cooling pipes are uniformly arranged in high-low voltage side windings of the intermediate frequency step-down transformer 132, the cooling pipes penetrate through a box shell to be communicated with the outside, the temperature of the windings of the transformer is cooled through the flowing of seawater in the cooling pipes in the advancing process of the seabed working robot 140, meanwhile, a cooling fan is arranged at the bottom of the transformer, the winding temperature is uniformly dispersed in the whole box body, the winding temperature can be dispersed outwards through a shell in contact with the seawater, and natural cooling is carried out by utilizing the seawater.

The rectifier 133 is a 12-pulse diode rectifier, with high power factor and low harmonic content. The underwater rectifier 133 generally solves the problem of voltage resistance by being installed in an oil-filled tank body, has a complex structure, needs to be matched with a large-volume oil tank, is troublesome to overhaul and maintain, and is not friendly to the marine ecological environment. The rectifier 133 of the present embodiment is installed in the self-pressure-resistant tank, and no hydraulic oil is required to be filled inside, so that a matched hydraulic compensation system is omitted. The rectifier 133 case all adopts the plug-in to the external connection, has solved electrical insulation and waterproof seal problem. The rectifier 133 is directly contacted with seawater to cool the rectifier. The rectifier 133 rectifies the input AC504V and outputs DC680V to the low-inductance DC busbar, and the low-inductance DC busbar is connected to the motor through a watertight cable with a plug-in connector.

The single-phase AC3000V 50Hz or single-phase AC3000V 60Hz power supply is connected into a step-down transformer box 129 from an umbilical cable distribution box 130, the single-phase AC3000V 50Hz or single-phase AC3000V 60Hz or single-phase AC220V 50Hz or single-phase AC240V 60Hz is converted in the step-down transformer box 129, and then the single-phase AC3000V Hz or single-phase AC3000V Hz or single-phase AC240V Hz power supply is converted into other required power supplies such as AC110V, DC5V, DC10V, DC12V and DC24V through an underwater electronic cabin 131. The step-down transformer box 129 and the underwater electronic cabin 131 are externally connected by using a plug-in cable.

Optionally, the inside integration of electricity driving motor has motor drive, dc-to-ac converter and voltage sensor, the dc-to-ac converter is connected and is felt the direct current wood tablet lowly, motor drive connects the dc-to-ac converter, voltage sensor gathers the input voltage of electricity driving motor in real time and uploads to surface of water control system.

The electric drive motors 114, 115, 116, 117, 134, 136 and 138 are all high-power alternating current motors, motor drivers and inverters are integrated inside, a plug-in watertight cable is connected to a DC680V low-inductance DC bus bar of the rectifier 133, the inverter converts DC680V into AC480V power supply to provide the electric drive motors 114, 115, 116, 117, 134, 136 and 138, and motor input DC voltage is monitored in real time by a sensor and uploaded to a control system and is uniformly protected and controlled by the control system.

As an alternative embodiment, the underwater electronic cabin is connected with an energy feedback system 128, the driving mechanism is connected with the speed reducer 120 through a coupling, and the energy feedback system 128 stores and monitors the energy generated when the seabed working robot brakes, and the energy is converted and provided to the underwater electronic cabin to supply power to the external equipment.

The electric driving motors 114, 115, 116 and 117 are connected with the speed reducers 120, 121, 122 and 123 through shaft couplings, the speed reducers 120, 121, 122 and 123 drive the right front wheel 124, the right rear wheel 125, the left front wheel 126 and the left rear wheel 127 through gear box shafts, and each motor can be independently controlled, so that the functions of advancing, retreating, turning, accelerating, decelerating, stopping and the like of the seabed operation robot on the seabed can be realized more flexibly, accurately and efficiently. Only 4 electric driving motors are illustrated in the drawing, and the practical application can be configured according to the requirement.

As an alternative embodiment, when the amount of electricity stored in the energy feedback system is consumed to a set threshold, the electronic switch is set to switch the power supply mode to supply power to the step-down transformer box.

When the seabed operation robot brakes, the braking energy is stored in the energy feedback system 128 through the DC680V low-inductance DC bus bar, and the energy feedback system 128 processes and converts the braking energy into AC220V which is provided to the underwater electronic cabin 131 for underwater equipment. The control system of the energy feedback system 128 can accurately calculate the stored electric energy, the electric quantity of the stored electric energy can be monitored in real time, an electric quantity alarm signal is set, and the electric quantity can be switched to the step-down transformer box 129 for supplying power through an electronic switch before the stored electric quantity is consumed.

It will be appreciated that in this embodiment, underwater thrusters 118 and 119 are integrated with electric drive motors and propellers, with the electric drive motors being high power AC motors, with internal integrated motor drives and inverters, with DC680V low inductance DC busbars connected to rectifier 133 using plug-in watertight cables, and with the inverters converting DC680V to AC480V power for underwater thrusters 118 and 119. The thrusters 118 and 119 are independently controlled to operate during the lowering and retrieving stages of the sub-sea operation robot 140, and serve to stabilize the orientation and posture of the sub-sea operation robot 140 and prevent the sub-sea operation robot 140 from rotating under the action of the ocean currents. Only 2 thrusters are illustrated in the figure, and can be configured as required in practical application, and the installation mode of the thrusters can be horizontal installation or vertical installation.

The electric driving motor 134 drives the capture water pump 135 to lift and capture the submarine minerals by water power, a concentration sensor is installed at the mineral capture inlet, and the control system can automatically control the output of the electric driving motor 134 in real time according to the capture concentration, thereby adjusting the output of the capture water pump 135.

The electric drive motor 136 drives the conveying water pump 137 to convey the captured submarine minerals to the crusher 139, a concentration sensor and a mineral size sensor are installed in the conveying channel, and the control system can automatically control the electric drive motor 136 to output in real time according to the conveying concentration, so that the output of the conveying water pump 137 is adjusted.

The electric drive motor 138 drives the crusher 139 to crush the incoming mineral to a specified size and then to collect the mineral through the conveyor system onto the surface vessel.

And alternatively, the electric energy can be directly transmitted from the splint to the underwater by adopting direct current high voltage.

In addition, the power distribution cabinet, the frequency conversion cabinet, the starting cabinet, the converter cabinet, the control cabinet, the thyristor switched reactor cabinet and the like mentioned in the present example are used as a whole set of integrated equipment with the functions as described in the embodiments, and the cabinet has a complete circuit structure with known functions of the integrated equipment. And the electric drive motor, the transformer and the like adopted in the embodiment are used in an underwater environment, and have waterproof and moistureproof functions.

The patent of the invention only shows one mode of operation mode, and can also drive the operation tools with modes of cutting, digging, cutter suction and the like by using an electric drive motor according to requirements.

The skilled person will appreciate that the apparatus described above may also comprise only the components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments in this application as described above, which are not provided in detail for the sake of brevity.

It is intended that the one or more embodiments of the present application embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit or scope of the disclosure are intended to be included within the scope of the disclosure.

Claims (10)

1. The utility model provides a seabed track work robot power and control system based on electricity drives entirely, characterized by includes: the underwater electronic control system is in communication connection with the underwater electronic cabin, the underwater electronic cabin is electrically connected with the electric driving motors, and the electric driving motors are respectively connected with and drive each driving mechanism of the seabed operation robot.

2. The power and control system of claim 1, wherein the surface control system comprises a ship distribution board, a power distribution container and an umbilical winch, the ship distribution board is connected with the input end of the power distribution container through a cable, and the output end of the power distribution container is connected with the input end of the umbilical winch through a photoelectric composite cable.

3. The power and control system of claim 2, wherein the distribution container comprises an incoming line distribution cabinet, a solid-state current limiter, a medium frequency inverter cabinet, a step-up transformer and a terminal outlet box, wherein an input end of the incoming line distribution cabinet is connected with an output end of the ship distribution board, an output end of the incoming line distribution cabinet is connected with an input end of the solid-state current limiter, an output end of the solid-state current limiter is connected with an input end of the medium frequency inverter cabinet, an output end of the medium frequency inverter cabinet is connected with an input end of the step-up transformer, and an output end of the step-up transformer is connected with the terminal outlet box.

4. The power and control system of claim 3, wherein the solid-state current limiter comprises a starting cabinet, a converter cabinet, a thyristor-switched reactor cabinet, a filter, a transformer, a bypass switch and a control cabinet, the starting cabinet, the converter cabinet, the thyristor-switched reactor cabinet, the filter and the transformer are connected in sequence, the bypass switch is connected between an input end of the starting cabinet and an output end of the transformer, and the control cabinet is respectively connected with the starting cabinet, the converter and the thyristor-switched reactor cabinet.

5. The power and control system of the submarine track operation robot based on full electric drive according to claim 4, wherein the umbilical winch comprises an umbilical winch static junction box, a photoelectric slip ring and an umbilical winch rotary junction box, the terminal outlet box is connected with the umbilical winch static junction box through a photoelectric composite cable, the umbilical winch static junction box is connected with one end of the photoelectric slip ring, and the other end of the photoelectric slip ring is connected with the umbilical winch rotary junction box.

6. The power and control system of claim 1, wherein a step-down transformer box and an umbilical cable distribution box are arranged between the underwater electronic cabin and the water surface control system, an output end of the water surface control system is connected with an input end of the umbilical cable distribution box, an output end of the umbilical cable distribution box is connected with an input end of the step-down transformer box, an output end of the step-down transformer box is connected with an input end of the underwater electronic cabin, the umbilical cable distribution box is used for separating different power supplies, and the step-down transformer box is used for converting and reducing voltage.

7. The power and control system of claim 6, wherein the output end of the umbilical cable distribution box is connected with a medium frequency transformer, the medium frequency transformer is further connected with a rectifier, the medium frequency transformer is used for converting a three-phase high voltage into two three-phase low voltages, the rectifier outputs a direct current voltage and is connected with a low-inductance direct current bus bar, and the low-inductance direct current bus bar is connected with an electric drive motor.

8. The robot power and control system for the whole-region based seabed aluminum foil bag operation as claimed in claim 7, wherein the electric drive motor is internally integrated with a motor driver, an inverter and a voltage sensor, the inverter is connected with the low-induction DC wood board, the motor driver is connected with the inverter, and the voltage sensor collects the input voltage of the electric drive motor in real time and uploads the input voltage to the water surface control system.

9. The power and control system of claim 1, wherein the underwater electronic cabin is connected with an energy feedback system, the driving mechanism is connected with a speed reducer through a coupling, and the energy feedback system stores and monitors the energy generated by the underwater robot during braking, and supplies the energy to the underwater electronic cabin to supply power to the external equipment after conversion.

10. The power and control system of claim 9, wherein the step-down transformer tank is powered by an electronic switch when the amount of electricity stored in the energy feedback system is consumed to a predetermined threshold.

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