WO2024016430A1

WO2024016430A1 - All-electric drive-based power and control system for submarine tracked operation robot

Info

Publication number: WO2024016430A1
Application number: PCT/CN2022/115760
Authority: WO
Inventors: 张定华; 朱建波; 丁荣军; 涂绍平; 彭勃; 刘浩平; 李仁雄; 杨鸣远; 廖津余; 吴旋; 周要
Original assignee: 上海中车艾森迪海洋装备有限公司
Priority date: 2022-07-21
Filing date: 2022-08-30
Publication date: 2024-01-25
Also published as: CN115042149A

Abstract

Provided is an all-electric drive-based power and control system for a submarine tracked operation robot, comprising: a water surface control system, an underwater electronic compartment (131), and a plurality of electric drive motors (114, 115, 116, 117, 134, 136, 138). The water surface control system is communicationally connected to the underwater electronic compartment (131); the underwater electronic compartment (131) is electrically connected to the electric drive motors (114, 115, 116, 117, 134, 136, 138); the electric drive motors (114, 115, 116, 117, 134, 136, 138) are respectively connected to and drive drive mechanisms of a submarine operation robot (140). A control instruction is issued by the water surface control system, transmitted to the underwater electronic compartment (131) by means of an optical fiber, and then transmitted to an independent electric drive motor (114, 115, 116, 117, 134, 136, 138) by means of the underwater electronic compartment (131). Compared with a valve control mode, the electric control mode has a very high instruction transmission speed, thereby greatly improving the control response speed, thus, real-time adjustment and control of the track speed can be achieved, thereby accurately controlling the locomotion route of the submarine operation robot (140).

Description

A power and control system for a submarine crawler robot based on all-electric drive

Technical field

The invention belongs to the technical field of submarine crawler operating robots, and specifically relates to a power and control system for a submarine crawler operating robot based on all-electric drive.

Background technique

The submarine operating robot is a complex machine system that can undertake a variety of work tasks on the seabed at different depths, involving mechanical, electrical, hydraulic, control, material, hydrodynamic and other technologies. For example, the filling of submarine transoceanic optical cables, the laying of submarine oil pipelines, and the mining of submarine mineral resources are inseparable from submarine operating robots. According to different operating tasks, submarine operating robots can be divided into different structural forms such as crawler self-propelled, towed, and sliding shoe. With the development of science and technology, human beings have entered a new stage in the development and utilization of the ocean. There are more and more functional requirements for submarine operating robots, with deeper and deeper depths, greater power, and more and more complex operating environments.

Most of the current submarine operating robots are self-propelled on crawler tracks. The traveling mechanism, propeller, and operating tools are all driven by the hydraulic system. The underwater operation process is to drive the hydraulic pump after the motor is started. There is a hydraulic valve at the rear end of the hydraulic pump, which controls the hydraulic pressure. The control of the valve controls the drive of the motor, and ultimately realizes the drive control of components such as crawlers, propellers, conveying water pumps, capture water pumps, crushers, and manipulators.

This hydraulic drive method has shortcomings such as low energy utilization, slow control response, environmental pollution, troublesome maintenance and repair, and poor system anti-interference. However, international deep-sea development is developing in the direction of high efficiency, greenness, and intelligence. The hydraulic drive method is obviously unable to meet future development requirements. Therefore, there is an urgent need to develop a new power and control system for submarine operating robots.

Contents of the invention

The technical problem to be solved by the present invention is to provide a power and control system for a submarine crawler operating robot based on all-electric drive, so as to solve at least one of the above-mentioned problems existing in the existing technology.

Based on the above purpose, one or more embodiments of the present application provide a power and control system for a submarine crawler robot based on all-electric drive, which includes: a water surface control system, an underwater electronic cabin, and several electric drive motors. The water surface control system is communicatively connected to the underwater electronic cabin. The underwater electronic cabin is electrically connected to the electric drive motor. The electric drive motor is respectively connected to and drives each driving mechanism of the submarine operating robot.

Based on the above technical solution of the present invention, the following improvements can also be made:

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

Optionally, the power distribution container includes an incoming power distribution cabinet, a solid-state current limiter, an intermediate frequency conversion cabinet, a step-up transformer and a terminal outlet box. The input end of the incoming power distribution cabinet is connected to the output of the ship's power distribution board. end connection, the output end of the incoming power distribution cabinet is connected to the input end of the solid-state current limiter, the output end of the solid-state current limiter is connected to the input end of the intermediate frequency conversion cabinet, and the output end of the intermediate frequency conversion cabinet is connected to the input of the step-up transformer terminal, the output terminal of the step-up transformer is connected to the 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, converter cabinet, thyristor switching reactor cabinet, The reactor cabinet, filter and transformer are connected in sequence. The bypass switch is connected between the input end of the starting cabinet and the output end of the transformer. The control cabinet is connected to the starting cabinet, converter and thyristor switching reactor respectively. cabinet connection.

Optionally, the umbilical cable winch includes an umbilical cable winch static junction box, a photoelectric slip ring and an umbilical cable winch rotating junction box. The terminal outlet box is connected to the umbilical cable winch static junction box through a photoelectric composite cable. The umbilical cable winch static junction box is connected to the umbilical cable winch static junction box. One end of the photoelectric slip ring is connected, and the other end of the photoelectric slip ring is connected to the umbilical cable winch rotating junction box.

Optionally, a step-down transformer box and an umbilical cable distribution box are provided between the underwater electronic cabin and the water surface control system. The output end of the water surface control system is connected to the input end of the umbilical cable distribution box. The umbilical cable distribution box The output end of the line box is connected to the input end of the step-down transformer box, and the output end of the step-down transformer box is connected to the input end of the underwater electronic cabin. The umbilical cord distribution box is used to separate different power supplies. The step-down transformer box Used to convert voltage to step down.

Optionally, the output end of the umbilical cable distribution box is connected to an intermediate frequency transformer, and the intermediate frequency transformer is also connected to a rectifier. The intermediate frequency transformer is used to convert three-phase high voltage into two three-phase low voltage. The rectifier output The DC voltage is connected to a low-inductance DC busbar, and the low-inductance DC busbar is connected to the electric drive motor.

Optionally, the electric motor is integrated with a motor driver, an inverter and a voltage sensor. The inverter is connected to a low-inductance DC wooden board, the motor driver is connected to the inverter, and the voltage sensor collects electricity in real time. The input voltage of the drive motor is uploaded to the water surface control system.

Optionally, the underwater electronic cabin is connected to an energy feedback system, and the driving mechanism is connected to a reducer through a coupling. The energy feedback system stores and monitors the energy generated when the submarine operating robot is braking, and then After conversion, it is provided to the underwater electronic cabin to power external devices.

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

The beneficial effect of the present invention is that the present invention provides a power and control system for a fully electric-driven submarine crawler operating robot. In terms of control, control instructions are issued by the water surface control system and transmitted to the underwater electronic cabin through optical fibers. The cabin is then transmitted to an independent electric drive motor. Compared with the valve control method, the electronic control method has a very fast command transmission speed, which greatly improves the control response speed and can realize real-time adjustment and control of the crawler speed, thereby accurately controlling the walking trajectory of the submarine operating robot; the control system has automatic control functions , input target instructions into the control system, such as forward speed, backward speed, turning direction and angle of the work robot, etc., the system automatically calculates and transmits the control instructions to the electric drive motor, and the motor performs different actions according to the control instructions to achieve the target functions of the work robot. .

At the same time, the modular design does not require a large number of oil pipes, the system is simple in composition, does not require frequent oil draining and refilling, facilitates maintenance and inspection, and improves work efficiency. The medium-frequency power supply method can greatly reduce the size and weight of the underwater step-down transformer; it can greatly reduce the use of hydraulic oil, which is beneficial to the protection of the marine ecological environment; it uses self-developed core components to ensure the security of the supply chain; it realizes energy Recycle, reduce energy consumption, and improve energy utilization; and realize real-time monitoring and control of motor voltage to enhance system security; it also solves the problem of line voltage fluctuating due to the influence of load, and has automatic adjustment functions to enhance the system's ability to resist external interference; at the same time Solid-state current limiters greatly improve the system's short-circuit protection performance.

Description of drawings

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

Figure 2 is a schematic diagram of the power supply and control system of a submarine crawler operating robot based on all-electric drive according to an embodiment of the present invention.

Figure 3 is a frame diagram of a solid-state current limiter based on the power and control system of a fully electric-driven submarine crawler operating robot according to an embodiment of the present invention.

Figure 4 is a system architecture diagram of a submarine crawler operating robot in the prior art.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure more clear, the present disclosure will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this application should have the usual meanings understood by those with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar words used in one or more embodiments of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprising" mean that the elements or things appearing before the word include the elements or things listed after the word and their equivalents, without excluding other elements or things. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to express relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

Referring to Figure 4, as mentioned in the background art section, the hydraulic drive method in the prior art has shortcomings such as low energy utilization, slow control response, environmental pollution, troublesome maintenance and repair, poor system anti-interference, etc., and the hydraulic control accuracy is not high. , the error is large. Hydraulic oil leakage can easily cause pollution to the marine environment. The hydraulic system has a complex structure and many pipelines. The oil needs to be drained during maintenance and inspection. This is not only extremely inconvenient, but also causes environmental pollution. Hydraulic core components such as motors and pumps Hydraulic valves generally use imported products from abroad, which are subject to technical and supply constraints. They have low ability to withstand the influence of ship voltage fluctuations. The line voltage fluctuates greatly due to the load. The voltage is low when the load is heavy and the voltage is high when the load is light, resulting in extremely unstable voltage at the input end of the motor. Stable, the lack of effective voltage stabilization methods seriously affects the service life of underwater motors. Therefore, it has high power supply requirements for ships. Energy is wasted when the submarine operating robot's track is braked, which increases additional energy consumption. It is impossible to accurately obtain the input voltage of the underwater motor in real time. The voltage level makes it impossible to accurately determine whether the motor is over-voltage.

In view of this, one or more embodiments of the present application provide a power and control system for a submarine crawler operating robot based on all-electric drive. Specifically, the control instructions are issued by the surface control system and transmitted to the underwater through optical fibers. The electronic cabin is transmitted from the underwater electronic cabin to an independent electric drive motor.

It can be seen that in one or more embodiments of this application, a power and control system for a submarine crawler robot based on all-electric drive has a very fast command transmission speed compared to the valve control method, which greatly improves the control response speed. , which can realize real-time adjustment and control of the crawler speed, so as to accurately control the walking trajectory of the submarine operating robot; the control system has an automatic control function and inputs target instructions into the control system, such as the forward speed, backward speed, turning direction and angle of the operating robot, etc. , the system automatically calculates and transmits the control instructions to the electric drive motor. The motor performs different actions according to the control instructions to achieve the target function of the work robot.

Referring to Figure 1, a power and control system for a submarine crawler robot based on all-electric drive in one or more embodiments of the present application includes: a water surface control system, an underwater electronic cabin and several electric drive motors. The water surface control system The system is connected through communication with an underwater electronic cabin. The underwater electronic cabin is electrically connected to an electric drive motor. The electric drive motor is connected to and drives each drive mechanism of the submarine operating robot respectively.

In view of the shortcomings of existing submarine operating robots, this embodiment proposes a power and control system for a submarine crawler operating robot based on all-electric drive.

Medium-frequency and high-voltage power supply is used from the water surface to the underwater. After the underwater step-down, rectification, and inversion, the permanent magnet synchronous motor is driven. The permanent magnet synchronous motor directly acts on the object. The energy utilization rate is high, and the comprehensive utilization efficiency can reach more than 90%. . Under the same operating conditions, the use of DC electric drive can reduce the motor power and weight; it can reduce the size of the umbilical cord power supply conductor and reduce the weight of the umbilical cord; it can reduce the capacity of the deck power supply transformer, thereby reducing the weight and volume of the transformer; Can reduce the power demand on the ship's generator.

As an example:

Taking the power requirement of underwater working tools as 200kW as an example, if hydraulic drive is used, according to empirical data, the overall efficiency of hydraulic drive is about 65%, then the output power of the hydraulic motor is required to be

The motor's own efficiency is generally 90%, then the input power of the motor is

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

The motor voltage is calculated based on AC3000V, then the rated current of the motor, that is, the umbilical cable transmission current is

If electric drive is used, according to empirical data, the efficiency of the permanent magnet synchronous motor is about 92%, and the input power of the permanent magnet synchronous motor is required to be

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

The rectifier efficiency can reach 96%, then the input capacity of the rectifier, that is, the output capacity of the underwater intermediate frequency step-down transformer is

The efficiency of an intermediate frequency step-down transformer is generally 95%, so the input capacity of the intermediate frequency step-down transformer is

The primary side voltage of the intermediate frequency step-down transformer is calculated based on AC3000V, then the rated current of the primary side of the intermediate frequency step-down transformer, that is, the umbilical cable transmission current is

It can be seen from the above that under the same operating power requirements, the current transported by the line is reduced by 34% when using the electric drive method compared with the hydraulic drive method. The same internal conductor size of the umbilical cable, line loss, water surface boost transformer The power can be significantly reduced accordingly.

As an optional embodiment, the water surface control system includes a ship power distribution board 101, a power distribution container 108 and an umbilical cable winch 109. The ship power distribution board 101 is connected to the input end of the power distribution container 108 through a cable, so The output end of the power distribution container 108 is connected to the input end of the umbilical cable winch 109 through a photoelectric composite cable. The power distribution container 108 includes an incoming power distribution cabinet 102, a solid-state current limiter 103, an intermediate frequency conversion cabinet 104, a step-up transformer 105 and a terminal outlet box 107. The input end of the incoming power distribution cabinet 102 is connected to the ship's power distribution The output end of the board 101 is connected, the output end of the incoming power distribution cabinet 102 is connected to the input end of the solid-state current limiter 103, the output end of the solid-state current limiter 103 is connected to the input end of the intermediate frequency conversion cabinet 104, and the intermediate frequency conversion cabinet 104 The output end is connected to the input end of the step-up transformer 105, and the output end of the step-up transformer 105 is connected to the terminal outlet box 107.

The solid-state current limiter 103 includes 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. The device cabinet 202, the thyristor switching reactor cabinet 203, the filter 204 and the transformer 205 are connected in order. The bypass switch 206 is connected between the input end of the starting cabinet 201 and the output end of the transformer 205. The control cabinet 207 They are respectively connected to the starting cabinet 201, the converter 202 and the thyristor switching reactor cabinet 203.

The umbilical cable winch 103 includes an umbilical cable winch static junction box 110, a photoelectric slip ring 111 and an umbilical cable winch rotating junction box 112. The terminal outlet box 107 is connected to the static junction box 112 through a photoelectric composite cable. The umbilical cable winch static junction box 110 is connected to the umbilical cord winch static junction box 112. One end of the photoelectric slip ring is connected, and the other end of the photoelectric slip ring is connected to the umbilical cable winch rotating junction box.

Referring to Figure 2, ship switchboard 101 generally provides three-phase AC380V 50Hz or AC690V 50Hz, single-phase AC220V 50Hz low-voltage power supply, and some also provide three-phase AC440V 60Hz and single-phase AC240V 60Hz low-voltage power supply. The power provided by the ship's power distribution board 101 enters the power distribution container 108 through the ship's cable, and is first distributed through the incoming power distribution cabinet 102, in which the three-phase AC380V 50Hz or AC690V 50Hz or three-phase AC440V 60Hz power supply is connected to the solid-state current limiter 103. The output end of the solid-state current limiter 103 is connected to the intermediate frequency conversion cabinet 104. The system composition of the solid-state current limiter 103 is shown in Figure 3, which mainly includes 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. Solid-state The current limiter 103 has the functions of limiting system short-circuit current, filtering system harmonics and stabilizing the incoming line voltage, effectively filtering the interference of other ship loads on the power supply of the submarine operating robot, and improving the safety of the power supply system of the submarine operating robot.

The intermediate frequency conversion cabinet 104 converts the input power of three-phase AC380V 50Hz or AC690V 50Hz or three-phase AC440V 60Hz into three-phase AC380V 400Hz or AC690V 400Hz or three-phase AC440V 400Hz. The use of intermediate frequency power supply can greatly reduce the cost of water surface and underwater power conversion equipment. size and weight, thereby reducing space usage. The output end of the intermediate frequency conversion cabinet 104 has a sine wave filter and is connected to the step-up transformer 105.

The intermediate frequency step-up transformer 105 converts the three-phase AC380V 400Hz or AC690V 400Hz or the three-phase AC440V 400Hz output from the intermediate frequency frequency conversion cabinet into the three-phase AC3300V~AC10000V 400Hz. The use of high-voltage transmission can greatly reduce the loss of the line and reduce the external cost of the photoelectric composite umbilical cable. diameter and weight. The output end of the intermediate frequency step-up transformer 105 is connected to the terminal outlet box 107 in the power distribution container 108.

Single-phase AC220V 50Hz or single-phase AC240V 60Hz is output from the UPS in the incoming power distribution cabinet. The UPS can maintain output voltage stability when the ship's power grid fluctuates, improve power supply security, and avoid damage to underwater equipment. The UPS output is connected to the step-up transformer 106. The step-up transformer 106 converts the input single-phase AC220V 50Hz or single-phase AC240V 60Hz power into single-phase AC3100V 50Hz or single-phase AC3100V 60Hz. The use of high-voltage transmission can significantly reduce line losses. The output end of the step-up transformer 106 is connected to the terminal outlet box 107 in the distribution container 108 .

The terminal outlet box 107 is connected to the umbilical cable winch static junction box 110 of the umbilical cable winch 109 through a photoelectric composite cable. The photoelectric composite cable can simultaneously transmit three-phase AC3300V ~ AC10000V 400Hz, single-phase AC3100V 50Hz or single-phase AC3100V 60Hz and optical fiber communication. , transfer in the static junction box 110 of the umbilical cable winch, and then enter the photoelectric slip ring 111. The connection end of the photoelectric slip ring 111 and the static junction box 110 of the umbilical cable winch is fixed, and the other end is connected to the rotor junction box 112, and the rotor wiring The connection with the photoelectric composite armored umbilical cable is completed in the box 112 . The photoelectric slip ring 111 and the rotor junction box 112 rotate synchronously as the drum of the umbilical cable winch 109 rotates.

As an optional embodiment, a step-down transformer box 129 and an umbilical cable distribution box 130 are provided between the underwater electronic cabin 131 and the water surface control system. The output end of the water surface control system is connected to the umbilical cable distribution box. 130, the output end of the umbilical cable distribution box 130 is connected to the input end of the step-down transformer box 129, and the output end of the step-down transformer box 129 is connected to the input end of the underwater electronic cabin 131. The umbilical cord distribution box 130 is used In order to separate different power supplies, the step-down transformer box 129 is used to convert and step down the voltage.

The photoelectric composite armored umbilical cable is wound on the umbilical cable winch 109, and is connected to the submarine operating robot 140 after passing over the pulley on the A frame 113 through the umbilical cable winch 109. A frame 113 is equipped with a swing stopper, which is locked with the submarine operating robot 140 on the deck. At this time, the swing stopper bears the weight of the submarine working robot 140, and automatically unlocks after the submarine working robot 140 enters the water at a certain depth. Since the submarine operating robot 140 is equipped with buoyancy materials and is lighter in water, the photoelectric composite armored umbilical cable bears the weight of the submarine operating robot 140 at this time.

As an optional embodiment, the output end of the umbilical cable distribution box 130 is connected to an intermediate frequency transformer 132. The intermediate frequency transformer 132 is also connected to a rectifier 133. The intermediate frequency transformer 132 is used to convert three-phase high voltage into two Three-phase low voltage circuit, the rectifier 133 outputs a DC voltage and is connected to a low-inductance DC busbar, and the low-inductance DC busbar is connected to the electric drive motor.

The photoelectric composite armored umbilical cable is connected to the umbilical cable distribution box 130 of the submarine operating robot 140. Different power supplies are separated in the umbilical cable distribution box 130. The three-phase AC3300V~AC10000V 400Hz power supply is connected to the three-winding intermediate frequency transformer 132. The winding medium frequency step-down transformer 132 converts the input three-phase AC3300V~AC10000V 400Hz high-voltage power into two three-phase AC504V low-voltage power. Underwater transformers are generally installed in oil-filled tanks to solve the problem of pressure resistance. They have complex structures, require large fuel tanks, are troublesome to repair and maintain, and are not friendly to the marine ecological environment. The medium frequency step-down transformer 132 of this embodiment is installed in a self-resistant pressure box, and does not need to be filled with hydraulic oil inside, eliminating the need for a supporting hydraulic compensation system. The external wiring of the medium frequency step-down transformer box adopts plug-in type, which solves the problems of electrical insulation, sealing and waterproofing. Hollow cooling pipes are arranged in the high and low voltage side windings of the medium frequency step-down transformer 132. The cooling pipes pass through the box shell and communicate with the outside. When the submarine operating robot 140 advances, the temperature of the transformer windings is cooled by the flow of seawater in the cooling pipes. At the same time, the transformer A cooling fan is installed at the bottom to evenly distribute the winding temperature throughout the box. It can also be radiated to the outside through the shell in contact with seawater, using seawater for natural cooling.

The rectifier 133 is a 12-pulse diode rectifier with high power factor and low harmonic content. The underwater rectifier 133 is generally installed in an oil-filled box to solve the pressure resistance problem. The structure is complex, requires a large fuel tank, makes maintenance troublesome, and is not friendly to the marine ecological environment. The rectifier 133 of this embodiment is installed in a self-pressure-resistant box, and does not need to be filled with hydraulic oil, eliminating the need for a supporting hydraulic compensation system. The external wiring of the rectifier 133 box adopts plug-in type, which solves the problems of electrical insulation, sealing and waterproofing. The heat dissipation plate of the rectifier 133 is in direct contact with seawater, and the seawater is used to cool the rectifier. The rectifier 133 rectifies the input AC504V and outputs DC680V to the low-inductance DC busbar. 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 to the step-down transformer box 129 from the umbilical cable distribution box 130, and the single-phase AC3000V 50Hz or single-phase AC3000V 60Hz is converted into single-phase AC220V 50Hz or single-phase AC in the step-down transformer box 129. Phase AC240V 60Hz, and then converted to AC110V, DC5V, DC10V, DC12V, DC24V and other required power supplies through the underwater electronic cabin 131. The external connection between the step-down transformer box 129 and the underwater electronic cabin 131 adopts plug-in cables.

Electric drive motors

114, 115, 116, 117, 134, 136, and 138 are all high-power AC motors with integrated motor drivers and inverters. They are connected to the DC680V low-inductance DC busbar of the rectifier 133 using plug-in watertight cables. The inverter converts DC680V into AC480V power supply to the

electric drive motors

114, 115, 116, 117, 134, 136, and 138. The input DC voltage of the motor is monitored and uploaded to the control system in real time by the sensor, and the control system performs unified protection and control.

As an optional embodiment, the underwater electronic cabin is connected to an energy feedback system 128, and the driving mechanism is connected to a reducer 120 through a coupling. The energy feedback system 128 uses the energy generated when the submarine operating robot is braking. Storage and power monitoring, and after conversion, it is provided to the underwater electronic cabin to power external devices.

The

electric drive motors

114, 115, 116 and 117 are connected to the

reducers

120, 121, 122 and 123 through couplings. The

reducers

120, 121, 122 and 123 drive the right front wheel 124 and the right rear wheel 125 through the gearbox shaft. Each motor of the left front wheel 126 and the left rear wheel 127 can be controlled independently, which can realize the forward, backward, turn, acceleration, deceleration, stop and other functions of the submarine operating robot on the seabed in a more flexible, precise and efficient manner. Only four electric drive motors are shown in the attached figure, which can be configured as needed in actual applications.

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

When the submarine operating robot is braking, its braking energy is stored in the energy feedback system 128 through the DC680V low-inductance DC busbar. The energy feedback system 128 processes and converts the braking energy into AC220V and supplies it 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, and its electric power can be monitored in real time. It is set with an electric power alarm signal. Before the stored electric power is consumed, it can be switched to the step-down transformer box 129 for power supply through an electronic switch.

It can be understood that in this embodiment, the

underwater thrusters

118 and 119 integrate electric drive motors and propellers. The electric drive motors are high-power AC motors, with internally integrated motor drivers and inverters, and use plug-in watertight cables. Connected to the DC680V low-inductance DC bus of the rectifier 133, the inverter converts DC680V into AC480V power supply to the

underwater thrusters

118 and 119. The

thrusters

118 and 119 can be independently controlled and work during the lowering and recovery stages of the undersea working robot 140 to stabilize the direction and posture of the undersea working robot 140 and prevent the undersea working robot 140 from rotating under the action of ocean currents. Only two thrusters are shown in the figure. In actual applications, they can be configured as needed. The thrusters can be installed horizontally or vertically.

The electric motor 134 drives the capture pump 135, using hydraulic power to lift and capture seabed minerals. A concentration sensor is installed at the mineral capture inlet. The control system can automatically control the output of the electric motor 134 in real time based on the capture concentration, thereby adjusting the output of the capture pump 135.

The electric motor 136 drives the transport pump 137 to transport the captured seabed minerals to the crusher 139. A concentration sensor and a mineral size sensor are installed in the transport channel. The control system can automatically control the output of the electric motor 136 in real time according to the transport concentration, thereby adjusting Deliver the output of water pump 137.

The electric motor 138 drives the crusher 139 to crush the input minerals into prescribed sizes and then collect the minerals to the ship on the water surface through the conveying system.

And as an alternative, DC high voltage can be used to transmit electrical energy directly from the splint to the water.

In addition, the power distribution cabinet, frequency conversion cabinet, starting cabinet, converter cabinet, control cabinet, thyristor switching reactor cabinet, etc. mentioned in this example are a complete set of functions as described in the embodiment. Integrated equipment, the cabinet has a complete circuit structure with known functions of the integrated equipment. Moreover, the electric motors, transformers, etc. used in this embodiment are all used in underwater environments and have waterproof and moisture-proof functions.

The patent of this invention only shows one working mode. Electric motors can also be used to drive working tools in cutting, excavation, cutter and suction modes as needed.

It will be understood by those skilled in the art that the above-mentioned device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the drawings.

Those of ordinary skill in the art should understand that the discussion of any above embodiments is only illustrative, and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the spirit of the present disclosure, the above embodiments or Technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments of the present application as described above, which are not detailed in the details for the sake of simplicity. provided in.

The embodiment(s) herein are intended to embrace all such alternatives, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments in this application shall be included in the protection scope of this disclosure.

Claims

A power and control system for a fully electric-driven submarine crawler operating robot, which is characterized by including: a water surface control system, an underwater electronic cabin and a number of electric drive motors. The water surface control system is communicatively connected to the underwater electronic cabin, so The underwater electronic cabin is electrically connected to an electric drive motor, and the electric drive motor is respectively connected to and drives each drive mechanism of the submarine operating robot.
A power and control system for a fully electric-driven submarine crawler operating robot as claimed in claim 1, wherein the water surface control system includes a ship distribution board, a distribution container and an umbilical cable winch. The electric board is connected to the input end of the power distribution container through a cable, and the output end of the power distribution container is connected to the input end of the umbilical cable winch through a photoelectric composite cable.
A power and control system for a submarine crawler operating robot based on all-electric drive according to claim 2, characterized in that the power distribution container includes an incoming power distribution cabinet, a solid-state current limiter, a medium frequency conversion cabinet, a booster Transformer and terminal outlet box, the input end of the incoming line distribution cabinet is connected to the output end of the ship's distribution board, the output end of the incoming line distribution cabinet is connected to the input end of the solid-state current limiter, and the solid-state current limiter The output end is connected to the input end of the intermediate frequency conversion cabinet, the output end of the intermediate frequency conversion cabinet is connected to the input end of the step-up transformer, and the output end of the step-up transformer is connected to the terminal outlet box.
A power and control system for a fully electric-driven submarine crawler operating robot as claimed in claim 3, wherein the solid-state current limiter includes a starting cabinet, a converter cabinet, a thyristor switching reactor cabinet, and a filter cabinet. converter, transformer, bypass switch and control cabinet. The startup cabinet, converter cabinet, thyristor switching reactor cabinet, filter and transformer are connected in order. The bypass switch is connected to the input end of the startup cabinet and the transformer. Between the output terminals, the control cabinet is connected to the starting cabinet, converter and thyristor switching reactor cabinet respectively.
A power and control system for a submarine crawler operating robot based on all-electric drive according to claim 4, wherein the umbilical cable winch includes an umbilical cable winch static junction box, a photoelectric slip ring and an umbilical cable winch rotating junction box. , the terminal outlet box is connected to the umbilical cable winch static junction box through a photoelectric composite cable, the umbilical cable winch static junction box is connected to one end of the photoelectric slip ring, and the other end of the photoelectric slip ring is connected to the umbilical cable winch rotating junction box.
A power and control system for a submarine crawler operating robot based on all-electric driving as claimed in claim 1, characterized in that a step-down transformer box and an umbilical cable branch are provided between the underwater electronic cabin and the water surface control system. box, the output end of the water surface control system is connected to the input end of the umbilical cable distribution box, the output end of the umbilical cable distribution box is connected to the input end of the step-down transformer box, and the output end of the step-down transformer box is connected to the underwater electronic cabin. At the input end, the umbilical cord distribution box is used to separate different power sources, and the step-down transformer box is used to convert and step down the voltage.
A power and control system for a fully electric-driven submarine crawler operating robot as claimed in claim 6, characterized in that an intermediate frequency transformer is connected to the output end of the umbilical cable distribution box, and a rectifier is also connected to the intermediate frequency transformer. , the intermediate frequency transformer is used to convert three-phase high voltage into two-way three-phase low voltage, the rectifier outputs a DC voltage and is connected to a low-inductance DC busbar, and the low-inductance DC busbar is connected to the electric drive motor.
A power and control system for a submarine aluminum foil bag operating robot based on the whole area as claimed in claim 7, characterized in that the electric drive motor is internally integrated with a motor driver, an inverter and a voltage sensor, and the inverter Connect the low-inductance DC wooden sign, the motor driver is connected to the inverter, and the voltage sensor collects the input voltage of the electric drive motor in real time and uploads it to the water surface control system.
A power and control system for a fully electric-driven submarine crawler robot as claimed in claim 1, wherein the underwater electronic cabin is connected to an energy feedback system, and the driving mechanism is connected to a reducer through a coupling. The energy feedback system stores and monitors the energy generated when the submarine operating robot is braking, and after conversion, it is provided to the underwater electronic cabin to power external devices.
A power and control system for a fully electric-driven submarine crawler operating robot as claimed in claim 9, characterized in that when the power stored in the energy feedback system is consumed to a set threshold, an electronic switch is set to switch the power supply mode to: Powered by a step-down transformer box.