Electronic tank for deep-sea underwater robots

Abstract

The present invention discloses an electronic tank for a deep-water underwater robot, belonging to the field of underwater robots. It comprises a cylinder and a bracket assembly; the two ends of the cylinder are sealed by end covers, and the cylinder and the end covers enclose a sealed accommodation space, and the sealed accommodation space is filled with aviation hydraulic oil; the bracket assembly is used to support and fix electronic components, and is arranged in the sealed accommodation space. The present invention is applied to deep-water underwater robots, and solves the problem that the existing electronic tanks for underwater robots cannot take into account the circuit problems caused by the failure of high-pressure resistance, light weight, heat dissipation, and water vapor liquefaction when used at great depths. The electronic tank has the characteristics of high-pressure resistance, light weight, good heat dissipation, high voltage breakdown resistance, and high safety.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, and in particular relates to an electronic tank used for a deep-water underwater robot. Background Art

[0002] Underwater robots are currently being widely used in the fields of economic construction and national defense, and underwater robots that can operate at great depths (depths exceeding 2,000 meters) require more cutting-edge technologies to ensure their stability in high water pressure environments. At present, most of the electronic components used in deep-sea underwater robots are still universal standard industrial electronic components. Therefore, these electronic components can only work stably under dry and temperature conditions under a standard atmospheric pressure. In order to resist high pressure and erosion at great depths, these electronic components will be encapsulated in cylindrical electronic tanks. However, due to the small space and cylindrical shape of the tank, as well as the high temperature, high salt, and high humidity environment encountered during offshore operations, the arrangement and heat dissipation of these electronic components in the tank will encounter many problems. These problems include but are not limited to:

[0003] 1. Lightweight and cost of pressure-resistant tank:

[0004] In a deep-sea environment, the high pressure generated by water is the most difficult problem. In order to resist the high pressure in the deep sea, thick titanium alloy is used to make the cylinder and end cap of the electronic tank suitable for deep-sea electronic tanks. Although the density of titanium alloy is light compared to high-strength steel, the weight of the cylinder and end cap cannot be underestimated for those large electronic tanks. In addition, titanium alloy is expensive, so the electronic tank made of titanium alloy is also expensive.

[0005] 2. Fixing and arrangement of electronic components:

[0006] Since the tank body needs to resist water pressure, in order to eliminate the influence of concentrated stress, there are very few grooves, holes or reinforcing ribs in the wall of the electronic tank. In addition, due to the limitations of the processing technology, it is not possible to make grooves, holes or arrange reinforcing ribs. It is precisely because of this that the electronic components cannot be effectively connected and fixed to the wall of the electronic tank. In addition, due to the cylindrical geometry of the tank body, the electronic components, which are usually square, cannot be arranged along the inner wall of the tank body. If there is no scientific layout, it is easy to waste the already small space in the tank body. However, if the components that only have heat dissipation or support functions occupy too much space in the electronic tank, it will appear to be "overshadowing" and will also hinder the arrangement of electronic components.

[0007] 3. Heat dissipation of electronic components:

[0008] Electronic components are encapsulated in a waterproof tank, but there is no air convection in the tank, and some electronic components generate huge heat, so appropriate heat dissipation methods are required, otherwise it will affect the working efficiency and reliability of the electronic components.

[0009] 4. Circuit problems caused by liquefaction of water vapor in the tank:

[0010] Before launching the underwater robot, it will be debugged on the shore or on the mother ship. In many cases, the electronic tank also needs to be opened for troubleshooting. In a high temperature and high humidity environment (such as the seaside in summer in my country, or the sea surface in tropical areas), water vapor will inevitably enter the electronic tank. However, when the electronic tank is packaged and follows the underwater robot to the deep sea, the low temperature environment of the deep sea (no matter where in the world, the water temperature 2000 meters underwater will be stable between 0-4℃) can easily liquefy the water vapor in the electronic tank, especially adhere to the cylinder wall or other metal structures with fast heat dissipation. The electronic components in the electronic tank are mostly integrated circuits. If there is water attached, it may cause a short circuit in the circuit or a breakdown of the capacitor, which seriously affects the safety and reliability of the electronic components in the tank.

[0011] In order to solve the heat dissipation problem of electronic components, Chinese patent CN109168304 A discloses that the heat of the electronic components in the cabin is quickly introduced to the fin plate tangent to the inner side of the tank body through the working fluid. However, due to the small actual contact area between the fin plate and the inner side of the tank body, it is questionable whether the heat can be efficiently conducted through the metal solid. In addition, the heat dissipation device in this invention has occupied about 1 / 4 of the volume of the electronic tank, and sacrificing a large amount of space in the electronic tank for heat dissipation seems to be a bit unprofitable. Chinese patent CN114269112A adopts a design similar to the fan + heat dissipation duct of a desktop computer to accelerate the convection speed of the air in the electronic tank, but in the end, the heat dissipation in the electronic tank still requires the air in the electronic tank to be conducted through the tank wall to the low-temperature water outside the tank. In essence, it is mainly dissipated through natural convection, but the speed and efficiency of natural convection are accelerated. In order to solve the circuit problem caused by the liquefaction of water vapor in the tank, the commonly used treatment methods in China are to heat the air in the cabin or add desiccant. For example, Chinese patent CN102350186A uses a mixture of substance A and substance B as a moisture-proof and pressure-maintaining desiccant for instruments with good sealing working in a humid or underwater environment. However, the absorption capacity of the invention is limited and needs to be replaced regularly. In addition, the oxygen generated after absorbing water increases the oxygen concentration in the cabin. If the electronic components in the cabin burn, the higher concentration of oxygen may promote the spread of the fire. Chinese patent CN111717352A discloses an underwater robot automatic drying system controlled by a host computer, which circulates the air in the electronic tank through the rotation of the propeller, and heats and dries the high-humidity water vapor in the heating layer and the drying layer. At the same time, the air pressure in the heated electronic cabin increases, which can also prevent the infiltration of external moisture to a certain extent. However, the desiccant in this invention still needs to be replaced regularly. In addition, for every ten meters of descent underwater, the water pressure around it will increase by one atmospheric pressure. Therefore, the increase in cabin pressure caused by the expansion of heated air in the electronic cabin and the excess oxygen produced in the deep environment cannot offset the increase in water pressure outside the cabin. Furthermore, the high temperature inside the electronic tank will affect the heat dissipation of the electronic components inside the tank and thus affect the stability of its operation. Summary of the invention

[0012] The details of one or more embodiments of the present invention are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent.

[0013] The present invention proposes an electronic tank for an underwater robot at great depths, which solves the circuit problem that the existing electronic tank for underwater robots cannot take into account both high pressure resistance and light weight, heat dissipation, and water vapor liquefaction when used at great depths. The electronic tank has the characteristics of high pressure resistance, light weight, good heat dissipation, protection against high voltage breakdown, and high safety.

[0014] The invention discloses an electronic tank for a deep-sea robot, comprising a cylinder and a bracket assembly; both ends of the cylinder are sealed by end covers, the cylinder and the end cover enclose a sealed accommodation space, and the sealed accommodation space is filled with aviation hydraulic oil; the bracket assembly is used to support and fix electronic components, and is arranged in the sealed accommodation space; the bracket assembly further comprises a fixing plate, a fixing ring, and a bracket; the fixing plate extends axially along the cylinder, the upper portion is used to fix electronic components whose temperature does not exceed 40°C when operating at room temperature without additional heat dissipation, and the lower portion is connected to electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation, and a heat dissipation block is arranged between the electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation and the cylinder; the fixing ring is fixedly connected to the left end of the fixing plate, and the left side is fixedly connected to the inner side of the end cover located on the left side of the cylinder; the bracket is fixedly connected to the right end of the fixing plate, and the outer circumference size is adapted to the inner circumference size of the cylinder to form abutment between the bracket and the cylinder.

[0015] In some embodiments, the bracket assembly also includes a connection conversion plate disposed below the fixed disk, and the electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation are fixedly connected below the connection conversion plate, and a telescopic assembly is provided between the fixed disk and the connection conversion plate, and the fixed disk and the connection conversion plate can be telescopically moved.

[0016] In some embodiments, the telescopic assembly includes a stud and a spring sleeved on the stud.

[0017] In some of the embodiments, an aviation hydraulic oil injection port for injecting the aviation hydraulic oil and an aviation hydraulic oil outlet for outputting the aviation hydraulic oil are formed on the side of the cylinder.

[0018] In some of the embodiments, a propeller is further included which is fixed on the fixed plate.

[0019] In some embodiments, the cylinder is a sandwich structure, with an annular containing space formed between the outer layer and the inner layer, the annular containing space is filled with aviation hydraulic oil, and a plurality of small holes are opened on the inner layer, and the plurality of small holes connect the annular containing space with the sealed containing space.

[0020] In some embodiments, the bracket is a C-shaped bracket, and two sides of the C-shaped bracket are fixedly connected to the fixing plate.

[0021] In some embodiments, a symmetrical boss is provided on the inner side of the annular structure of the C-shaped bracket, and a groove is formed in the middle of the boss and the fixing plate is inserted therein.

[0022] In some embodiments, the cylinder is made of aluminum alloy; the fixing plate, the fixing ring, and the bracket are made of engineering plastics.

[0023] In some embodiments, a hole is opened on the connection conversion plate, a first end of the stud is connected to the fixing plate, and a second end opposite to the first end is inserted into the hole opened on the connection conversion plate and limited by a limiting member.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention provides an electronic tank for a deep-sea underwater robot. By filling aviation hydraulic oil in a sealed accommodation space, the pressure resistance of a cylinder body and the heat dissipation performance are improved, while the circuit problem caused by the liquefaction of water vapor in the cylinder body is avoided. By limiting the structure of a bracket assembly and adopting a circumferential supporting form, the reasonable layout and stable fixation of electronic components in the cylinder body are achieved, while the electronic components are better dissipated and the heat dissipation efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 A schematic diagram of the structure of an electronic tank for a deep-sea underwater robot provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of heat dissipation of an electronic tank for a deep-sea underwater robot provided by an embodiment of the present invention;

[0029] Figure 3 A schematic cross-sectional view of a cylinder of an electronic tank for a deep-sea underwater robot provided by an embodiment of the present invention;

[0030] Figure 4 Another schematic diagram of the structure of the electronic tank for a deep-sea underwater robot provided by an embodiment of the present invention;

[0031] Description of the drawings: 1. Cylinder; 2. End cover; 3. Fixed plate; 4. Fixed ring; 5. Bracket; 6. Connection conversion plate; 7. Telescopic assembly; 8. Aviation hydraulic oil injection port; 9. Aviation hydraulic oil outlet; 10. Propeller; 11. Heat sink; 12. Stud; 13. Small hole; 14. Limiting piece. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0033] Obviously, the drawings described below are only some examples or embodiments of the present invention. For ordinary technicians in this field, the present invention can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed by the present invention, some changes in design, manufacturing or production based on the technical content disclosed by the present invention are just conventional technical means, and should not be understood as insufficient content disclosed by the present invention.

[0034] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present invention may be combined with other embodiments without conflict.

[0035] Unless otherwise defined, the technical terms or scientific terms involved in the present invention shall have the usual meanings understood by persons with ordinary skills in the technical field to which the present invention belongs. The words "one", "a", "a", "the" and the like involved in the present invention do not indicate a quantity limitation and may indicate the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in the present invention are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in the present invention are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in the present invention refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" may indicate: A exists alone, A and B exist at the same time, and B exists alone. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0036] The embodiment of the present invention provides an electronic tank for a deep-sea underwater robot. Figure 1 , 4 FIG. 1 is a schematic diagram of the structure of an electronic tank for a deep-sea underwater robot according to an embodiment of the present invention. Figure 1 , 4As shown, the electronic tank for a deep-sea robot at least includes a cylinder 1 and a bracket assembly; both ends of the cylinder 1 are sealed by an end cover 2, and the cylinder 1 and the end cover 2 enclose a sealed accommodation space, and the sealed accommodation space is filled with aviation hydraulic oil; the bracket assembly is used to support and fix the electronic components, and is arranged in the sealed accommodation space; the bracket assembly further includes a fixing plate 3, a fixing ring 4, and a bracket 5; the fixing plate 3 extends axially along the cylinder 1, and the upper part is used to fix the electronic components whose temperature does not exceed 40°C when operating at room temperature without additional heat dissipation, and the lower part is connected to the electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation, and a heat dissipation block 11 is provided between the electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation and the cylinder 1; the fixing ring 4 is fixedly connected to the left end of the fixing plate 3, and the left side is fixedly connected to the inner side of the end cover 2 located on the left side of the cylinder 1; the bracket 5 is fixedly connected to the right end of the fixing plate 3, and the outer circumference size is adapted to the inner circumference size of the cylinder 1 to form an abutment between the bracket 5 and the cylinder 1. Among them, optionally, the cylinder 1 is made of aluminum alloy. It should be noted that the existing tank body is hollow inside and maintains a state of atmospheric pressure. When the pressure of the external water environment is large, there is a very large pressure difference between the inside and outside of the tank body, so the tank body needs to use a metal with high strength. Among them, titanium alloy and martensitic nickel steel are both high-strength compression metals. At the same time, because titanium alloy has a smaller density and corrosion resistance, it is more favored. However, the cost of titanium alloy is also high. The cylinder body of the present invention is made of aluminum alloy material, and the inside of the tank body is filled with aviation hydraulic oil instead of a hollow state. Because the liquid is not easily compressed, even if the pressure of the external water environment is large, the pressure of the liquid inside the tank body will increase accordingly, and the pressure difference between the inside and outside of the tank body is very small. Therefore, there is no excessive requirement for the strength of the tank body material. As long as the tank body material itself is dense, it will not cause deformation of the tank body. The aluminum alloy material itself is a metal material, and the ordinary aluminum alloy manufacturing process will not cause cavitation inside it, so it is relatively dense. At the same time, aluminum alloy also has the characteristics of low density and corrosion resistance. Moreover, the cost of aluminum alloy is much lower than that of titanium alloy. Therefore, the cylinder body of the present invention adopts aluminum alloy material, which not only has the characteristic of reducing cost, but also meets the requirements of compressive strength of the tank body under great water depth. Optionally, the fixing plate 3, the fixing ring 4, and the bracket 5 are made of engineering plastics. The cylinder body 1 is made of aluminum alloy material with relatively small thickness. When installed and placed, the end cover 2 is used to fix the fixing ring 4 and install the watertight connector. The bracket 5 is used to hold the fixing plate 3, the fixing ring 4 and the electronic components fixed thereon. The fixing plate 3 and the fixing ring 4 are used for fixing and rooting the electronic components. The heat dissipation block 11 directly transfers the heat of the electronic components with a temperature exceeding 40°C when operating at room temperature without additional heat dissipation to the inner wall of the cylinder body 1 through the method of conduction heat dissipation, and the heat of the inner wall of the cylinder body 1 is directly conducted to the outer wall of the cylinder through the metal of the cylinder wall, and then the heat is dissipated through the convection between the outer wall and the deep sea water.Among them, the watertight connector is a conventional watertight connector, and its installation method is mature and applied in related fields. The electronic tank for deep-sea underwater robots not only improves the pressure resistance of the cylinder 1, but also improves the heat dissipation performance by filling the sealed containing space with aviation hydraulic oil, and at the same time avoids the circuit problems caused by the liquefaction of water vapor in the cylinder 1. It should be noted that the use of aviation hydraulic oil will not affect the functions of electronic components. The reason is that the dangers of the operation of electronic components in any environment mainly come from two aspects, including: short circuits caused by accidents, which are generally caused by impurities or conductor short circuits; and melting or even burning caused by heat accumulation generated by high temperature; for the former, any hydraulic oil is an organic matter, and there are no free ions and free electrons in the liquid, so there is no possibility of conductivity, good insulation performance, and high breakdown voltage. It is also because there are no free ions and free electrons. Hydraulic oil is not a medium for electrochemical corrosion, and any corrosion The corrosion process requires the exchange of electrons to proceed. In addition, since the electronic components in the electronic cabin are fixed and the propeller is propelled by a brushless motor, there will be no friction between metals to produce metal powder, which will cause the electronic components in the cabin to short-circuit after touching the metal powder; for the latter, the water temperature at a depth of less than 2000 meters underwater will remain constant in the range of 0-4°C, so it is an excellent cold source, and the present invention also aims to better conduct heat in the tank with the outside world, thereby reducing the risk of melting caused by heat accumulation. In addition, since the tank is filled with hydraulic oil without oxygen, even if the electronic components or hydraulic oil reach the ignition point but lack of oxygen to support combustion, it will not cause a fire; by limiting the structure of the bracket assembly and adopting a circumferential support form, the reasonable layout and stable fixation of the electronic components in the cylinder 1 are achieved, and at the same time it is beneficial to better heat dissipation of the electronic components and improves the heat dissipation efficiency. In order to ensure the lightweight and pressure resistance of the cylinder 1 and to ensure that the electronic components are not damaged, when in use, the sealed accommodation space is first filled with aviation hydraulic oil, and then the cylinder 1 is pressurized to 2-3 atmospheres and maintained at this pressure for 24 hours, so that the aviation hydraulic oil can penetrate into the cavities and air pockets inside the electronic components.

[0037] Specifically, the tank is filled with hydraulic oil with insulating properties. Due to the fact that liquids are not easily compressed, hydraulic balance is maintained inside and outside the electronic tank at great depths, so the tank body will not be deformed due to the difference in internal and external pressures. In addition, another reason why electronic components are not resistant to high hydraulic pressures is that there are many tiny air pockets and cavities in the raw materials of electronic components. These cavities and air pockets will be destroyed under external pressure and are therefore not resistant to high hydraulic pressures. However, the aviation hydraulic oil in the sealed accommodation space of the present invention will be injected first and then slowly pressurized to penetrate the hydraulic oil into the air pockets and cavities of the raw materials of the electronic components, so that these materials can also form a balance of internal and external pressures at the microscopic level, thereby solving the problem of electronic components being vulnerable to high pressures; in order to solve the heat dissipation problem of electronic components, such as Figure 2 As shown, this embodiment mainly uses conduction and convection to dissipate heat. For electronic components with high heat dissipation requirements, conduction heat dissipation is used to solve the problem: specifically, the heat dissipation block 11 is used to make the electronic components with large heat dissipation directly conduct to the cold source outside the tank through the metal. This conduction heat dissipation efficiency is the highest, and because the oil-filled design can make the cylinder wall of the tank relatively thin, the heat dissipation speed is also improved. For electronic components with low heat dissipation requirements, conduction heat dissipation is used to solve the problem: in addition, the film-convection coefficient between solid and liquid is much higher than the coefficient between solid and gas, so the heat dissipation of oil-immersed electronic components is obviously better than its heat dissipation in the air. Low-temperature aviation hydraulic oil is a liquid with low viscosity and low freezing point (as low as -40°C), so there is no need to worry about its solidification and reduced fluidity in a low-temperature environment. In addition, since the tank is filled with hydraulic oil, the water vapor in the tank has been discharged, and there will be no problem of water vapor liquefying on the metal parts in the tank when encountering low temperatures. In addition, with regard to the fixation and layout of electronic components, the main frame (bracket assembly) of this embodiment is a fixed plate 3, a fixed ring 4 and a bracket 5. The fixing ring 4 is connected to the end cover 2 by bolts. At the end away from the end cover 2, the outer side of the annular structure of the bracket 5 fits the inner side of the cylinder 1. Therefore, the freedom of the main frame is restricted by the bracket 5 in the radial direction, and the freedom is restricted by the fixing plate 3 and the fixing ring 4 in the circumferential direction and the axis, ensuring that the main frame and the electronic tank remain relatively still.

[0038] Furthermore, the bracket assembly also includes a connection conversion plate 6 disposed below the fixed disk 3. The electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation are fixedly connected below the connection conversion plate 6. A telescopic assembly 7 is disposed between the fixed disk 3 and the connection conversion plate 6, and the fixed disk 3 and the connection conversion plate 6 can be telescopically moved. Optionally, the telescopic assembly 7 includes a stud 12 and a spring sleeved on the stud. A hole is opened on the connection conversion plate 6, the first end of the stud 12 is connected to the fixed disk 3, and the second end opposite to the first end is inserted into the opening opened on the connection conversion plate 6 and limited by a limiter 14. Among them, the stud 12 is an internal threaded hexagonal copper stud, which is used to connect the limiting track of the conversion plate 6, and the spring is used to tightly press the fixed combination on the connection conversion plate 6 against the inner wall of the cylinder 1; the connection conversion plate 6 is used to fix electronic components whose temperature exceeds 40°C when operating at room temperature without additional heat dissipation. The elastic support of the spring in the telescopic assembly 7 can change the eccentric distance of the spring during assembly to facilitate installation. During operation, the spring can push the heat sink 11 against the inner wall of the cylinder 1 to achieve a good heat dissipation effect. Specifically, the main telescopic structure of the telescopic assembly 7 of the present invention is a spring to achieve a flexible connection. When operating underwater at a great depth, the tank body will be slightly deformed even if it is filled with aviation hydraulic oil. Due to the existence of the spring structure, even if the tank body is slightly deformed, the heat sink 11 in direct contact with the tank body will appropriately compress or stretch the spring according to the deformation degree of the inner wall of the tank body to achieve better heat dissipation without affecting the electronic components. Specifically, the electronic component integrated circuit board that needs heat dissipation is fastened to the connection conversion plate 6 by a combination of nuts and bolts. The four corners of the connection conversion plate 6 have openings facing outward to facilitate the insertion of the internal thread hexagonal copper column, and the internal thread hexagonal copper column is connected to the fixed disk 3 by bolts, and the spring is sheathed on the outer side of the internal thread hexagonal copper column to form an elastic connection between the connection conversion plate 6 and the fixed disk 3, and the elastic connection is limited by bolts and gaskets. The electronic component heat sink 11 is made of a metal material with good thermal conductivity (such as copper, aluminum, etc.), and the side thereof in contact with the inner wall of the electronic tank cylinder 1 is designed to be in the form of an arc with the same curvature as the inner wall of the electronic tank to ensure fit. When the main frame and the heat sink 11 are installed, the cylinder 1 of the electronic tank will be put on. In order to facilitate the entire device to be sent into the electronic tank cylinder 1, the electronic component heat sink 11 will be pressed down toward the inside. When the electronic tank cylinder 1 has been put on, the assembly will be spring-opened to make the electronic component heat sink 11 fit the inside of the electronic tank cylinder 1. Although there is no air convection heat dissipation inside the electronic tank, the water outside the electronic tank is a good heat dissipation medium and has a larger convection exchange coefficient than air. Therefore, the heat generated by the electronic components is directly exchanged with the external water through the conduction of the electronic component heat sink 11 and the metal cylinder wall of the electronic tank, thereby achieving a rapid cooling effect.

[0039] like Figure 3As shown, in order to facilitate the injection and discharge of aviation hydraulic oil, an aviation hydraulic oil injection port 8 for injecting aviation hydraulic oil and an aviation hydraulic oil outlet 9 for outputting aviation hydraulic oil are provided on the side of the cylinder 1. The aviation hydraulic oil injection port 8 and the aviation hydraulic oil outlet 9 are provided with sealing plugs. In order to further improve the heat dissipation effect, the cylinder 1 is a sandwich structure, and an annular accommodation space is formed between the outer layer and the inner layer. The annular accommodation space is filled with aviation hydraulic oil, and a plurality of small holes 13 are provided on the inner layer, and the plurality of small holes 13 connect the annular accommodation space and the sealed accommodation space.

[0040] In order to further improve the heat dissipation effect, a propeller 10 fixed on the fixed plate 3 is also included. The propeller 10 is used to increase the convection speed of the hydraulic oil filled in the tank, thereby accelerating the heat exchange between the oil filled in the tank and the cylinder wall, so that the heat dissipation process of other electronic components in the electronic tank that are not attached to the wall is accelerated. The built-in propeller 10 can accelerate the internal circulation of the liquid in the tank, thereby accelerating the heat exchange speed of the electronic components in the tank. Among them, the force of the propeller 10 is connected to the brushless motor through the corresponding line on the circuit board to drive the rotation of the propeller.

[0041] Furthermore, the bracket 5 is a C-type bracket 5, and both sides of the C-type bracket 5 are fixedly connected to the fixed disk 3. The open C-type bracket 5 can be adapted to the cylinder 1 with multiple inner diameters due to the opening. Optionally, a symmetrical boss is provided on the inner side of the annular structure of the C-type bracket 5, and the middle of the boss is grooved and inserted into the fixed disk 3. The outer side of the underwater robot electronic tank is in direct contact with water under working conditions. As the diving depth of the underwater robot increases, the water pressure will also increase, and the tank body of the electronic tank will produce a certain inward deformation, thereby squeezing the C-type bracket 5. Compared with the fully closed O-type bracket 5, the opening of the C-type bracket 5 can provide a buffer space for such squeezing, and the toughness of the engineering plastic can also keep the main structure from breaking when being squeezed by the tank wall. The electronic component brackets in the existing electronic tanks generally adopt a planar layout, and are rooted in the end cover 2 of the electronic tank to form a cantilever beam structure. The present invention adopts a circumferential support form and also designs a C-shaped bracket 5, which has the characteristics of being closely fitted to the inner wall of the tank and easy to assemble. The material of engineering plastic and the circular ring design of the notch allow the bracket 5 to have a large degree of deformation freedom and adapt to any processing error of the inner wall of the tank.

[0042] The working process of the electronic tank for the deep-sea robot is as follows:

[0043] First, install the electronic components in the tank, and then root them on the end cover 2 with bolts, and then send them into the electronic tank body 1 and seal them. After the test of the electronic components in the tank is completed, seal the hydraulic oil outlet with the aviation hydraulic oil outlet 9 sealing plug, and then slowly pour low-temperature aviation hydraulic oil from the hydraulic oil inlet to fill the electronic tank body 1. Then, moderately pressurize the inner cavity of the electronic tank body 1 through the hydraulic oil inlet (2-3 atmospheres) and maintain the pressure for 24 hours, so that the hydraulic oil can be immersed in the cavity and air pocket inside the electronic components. After maintaining the pressure, loosen the hydraulic oil outlet sealing plug so that the residual water in the cabin can be discharged through the outlet (hydraulic oil has a lower density than water, and hydraulic oil is insoluble in water, so the water is at the bottom). Then add some hydraulic oil to the electronic tank body 1 through the hydraulic oil inlet to fill the tank with hydraulic oil, and seal it with the hydraulic oil inlet sealing plug.

[0044] When the underwater robot is working, the hydraulic oil in the tank can resist the high pressure outside the tank, so that the electronic tank body will not be deformed due to the huge pressure difference between the inside and outside. The propeller 10 will start to accelerate the flow of hydraulic oil in the cylinder 1, improve the efficiency of convection heat dissipation, and the elastic conduction heat dissipation combination allows the electronic components and their heat-conducting metal blocks with a temperature exceeding 40°C when running at room temperature without additional heat dissipation to be close to the inner wall of the tank, accelerating conduction heat dissipation. In addition, since the aviation hydraulic oil fills the inner cavity of the electronic tank, there is no possibility of water vapor liquefying in the electronic tank due to low temperature. The aviation hydraulic oil can flow well in the electronic tank due to its low temperature resistance and low viscosity. In addition, due to its insulating properties, it can well avoid the short circuit of electronic components in the cabin and the breakdown of capacitor components.

[0045] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An electronic tank for a deep-sea underwater robot, characterized in that: include A cylinder, both ends of which are sealed by end covers, the cylinder and the end covers enclose a sealed accommodation space, and the sealed accommodation space is filled with aviation hydraulic oil; A bracket assembly, used for supporting and fixing electronic components, and arranged in the sealed accommodation space; The bracket assembly further comprises: A fixing plate, the fixing plate extending axially along the cylinder, the upper portion of which is used to fix electronic components whose operating temperature does not exceed 40°C when operating at room temperature without additional heat dissipation, and the lower portion of which is connected to electronic components whose operating temperature exceeds 40°C when operating at room temperature without additional heat dissipation, and a heat dissipation block is provided between the electronic components whose operating temperature exceeds 40°C when operating at room temperature without additional heat dissipation and the cylinder; A fixing ring, the fixing ring is fixedly connected to the left end of the fixing plate, and the left side is fixedly connected to the inner side of the end cover located on the left side of the cylinder; A bracket, the bracket is fixedly connected to the right end of the fixed plate, and the outer circumference size is adapted to the inner circumference size of the cylinder to form an abutment between the bracket and the cylinder; The bracket assembly also includes a connection conversion plate disposed below the fixed disk, the electronic components whose operating temperature exceeds 40°C when operating at room temperature without additional heat dissipation are fixedly connected below the connection conversion plate, and a telescopic assembly is disposed between the fixed disk and the connection conversion plate, and the fixed disk and the connection conversion plate can be telescopically moved; The bracket is a C-shaped bracket, and two sides of the C-shaped bracket are fixedly connected to the fixing plate; A symmetrical boss is provided on the inner side of the annular structure of the C-shaped bracket, and a groove is formed in the middle of the boss and inserted into the fixing plate.

2. The electronic tank for a deep-sea robot according to claim 1, characterized in that: The telescopic assembly comprises a stud and a spring sleeved on the stud.

3. The electronic tank for a deep-sea robot according to claim 1, characterized in that: The side surface of the cylinder is provided with an aviation hydraulic oil injection port for injecting the aviation hydraulic oil, and an aviation hydraulic oil outlet for outputting the aviation hydraulic oil.

4. The electronic tank for a deep-sea robot according to claim 1, characterized in that: Also included is a propeller fixed on the fixed plate.

5. The electronic tank for a deep-sea robot according to claim 1, characterized in that: The cylinder is a sandwich structure, with an annular accommodating space formed between the outer layer and the inner layer, the annular accommodating space is filled with aviation hydraulic oil, and a plurality of small holes are opened on the inner layer, and the plurality of small holes connect the annular accommodating space with the sealed accommodating space.

6. The electronic tank for a deep-sea robot according to claim 1, characterized in that: The cylinder is made of aluminum alloy; the fixing plate, the fixing ring, and the bracket are made of engineering plastics.

7. The electronic tank for a deep-sea robot according to claim 2, characterized in that: The connection conversion plate has an opening, the first end of the stud is connected to the fixing plate, and the second end opposite to the first end is inserted into the opening formed on the connection conversion plate and is limited by a limiting member.

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