Electrical drive inverter module and electrical drive inverter module assembly for deep sea robots

Abstract

The application provides an electric drive converter module and an electric drive converter module assembly for a deep-sea robot, the electric drive converter module comprising a heat dissipation unit, a main power unit arranged on the heat dissipation unit, and a driving and control unit arranged at least partially between the heat dissipation unit and the main power unit, wherein the heat dissipation unit, the main power unit and the driving and control unit are assembled together in an embedded manner. The module layout adopts a functional unit integrated design based on the technical scheme of the application, and the power units are installed in an embedded manner, so that the space utilization of the module is improved, the electric drive converter module itself is compact in structure, can be integrated with a propulsion motor, and the number of adapter interfaces is reduced, thereby improving the stability and reliability of the deep-sea robot in operation. Meanwhile, the volume of the equipment cabin of the deep-sea robot is reduced, thereby reducing the overall manufacturing cost.

Description

Technical Field

[0001] This invention relates to the field of electric drive converter equipment technology, and particularly to an electric drive converter module and an electric drive converter module assembly for deep-sea robots. Background Technology

[0002] Currently, the transmission systems of deep-sea robots in related technologies typically use hydraulic transmission. Their internal components have low integration and unreasonable spatial layout, which easily leads to their large weight and high space occupancy, resulting in high manufacturing costs.

[0003] In other words, deep-sea robots in related technologies suffer from problems such as large weight and high space occupancy. Summary of the Invention

[0004] To address the problems in the prior art, this application proposes an electric drive converter module and an electric drive converter module assembly for deep-sea robots, which solves the problems of large weight and high space occupation of deep-sea robots.

[0005] The electric drive converter module for deep-sea robots of the present invention includes: a heat dissipation unit; a main power unit disposed on the heat dissipation unit; and a drive and control unit disposed at least partially between the heat dissipation unit and the main power unit; wherein the heat dissipation unit, the main power unit and the drive and control unit are assembled together in an embedded manner.

[0006] In one embodiment, the main power unit includes: a circuit board; power semiconductor device assemblies spaced apart on the circuit board along a first direction and / or a second direction; capacitor assemblies spaced apart on the circuit board along the first direction and / or the second direction; and a sensor disposed on the circuit board and located between two adjacent power semiconductor device assemblies. The capacitor assemblies are closer to the center of the circuit board relative to the power semiconductor device assemblies and the sensor, and the sensor is also closer to the center of the circuit board relative to the power semiconductor device assemblies. Through this embodiment, the internal components of the main power unit are arranged in the above manner, resulting in a compact layout of the electric drive converter module and improving the module's space utilization. This ensures a compact structural design for the electric drive converter module, enabling integration with the propulsion motor. Consequently, it improves the stability and reliability of the deep-sea robot's operation and reduces its overall manufacturing cost.

[0007] In one embodiment, the power semiconductor device assembly includes a plurality of power semiconductor devices spaced apart.

[0008] In one implementation, multiple power semiconductor devices are arranged in a U-shaped matrix on a circuit board.

[0009] In one embodiment, the capacitor assembly includes a plurality of capacitors spaced apart, which are distributed in a rectangular matrix on a circuit board and located inside a U-shaped matrix.

[0010] In one embodiment, the drive and control unit extends along a first or second direction and is disposed on a circuit board, located between the sensor and capacitor assembly.

[0011] In one embodiment, the heat dissipation unit includes: a heat dissipation base plate; a heat dissipation upright plate disposed on the heat dissipation base plate and located between the power semiconductor device assembly and the capacitor assembly, with its end away from the heat dissipation base plate serving as a fixed end for fixing and connecting the circuit board; and a fixed connecting plate, one end of which is fixedly connected to the heat dissipation upright plate, and the other end of which is provided with a fixed guide groove for mounting the power semiconductor device assembly. In this embodiment, the power semiconductor device dissipates heat through the heat dissipation unit. The heat dissipation base plate is mounted on the mounting surface of the deep-sea equipment's hull, conducting heat through surface contact to the hull, where the heat is then diffused into the seawater by the hull's outer shell surface. This method ensures that the heat generated during the operation of the electric drive converter module is dissipated, thereby ensuring the normal operation of the electric drive converter module.

[0012] In one embodiment, the heat dissipation unit further includes an elastic retaining strip for pressing the power semiconductor device assembly into the fixed guide groove.

[0013] In one embodiment, a heat dissipation structure is provided on the heat dissipation stand and / or heat dissipation base plate to increase the heat exchange area of ​​the heat dissipation stand. Through this embodiment, the heat dissipation structure enhances the heat dissipation effect of the heat dissipation stand, thereby better meeting the heat dissipation requirements of the electric drive converter module, and ensuring that the electric drive converter module can operate stably and efficiently.

[0014] In one embodiment, the power semiconductor device assembly, capacitor assembly, and sensor are vacuum-encapsulated structures. This embodiment utilizes a vacuum-encapsulated structure to ensure the electric drive converter module meets pressure requirements, thereby guaranteeing its normal operation.

[0015] The present invention also provides an electric drive converter module assembly, including a housing and the aforementioned electric drive converter module, wherein the electric drive converter module is disposed within the housing.

[0016] In one embodiment, the cabin contains a cooling medium, and the electric drive converter module is immersed in the cooling medium. Through this embodiment, pressurized oil is piped into the cabin, ensuring uniform oil pressure inside and outside the deep-sea robot's cabin. This allows for synchronous adjustment of internal and external pressures at different depths within a given depth, guaranteeing the stability of the cabin structure. Furthermore, the electric drive converter module, installed within the cabin and immersed in high-pressure oil, is completely sealed from the outside environment, thus improving the heat dissipation efficiency inside the deep-sea robot.

[0017] The above-mentioned technical features can be combined in various suitable ways or replaced by equivalent technical features, as long as the purpose of the present invention can be achieved.

[0018] The electric drive converter module and electric drive converter module assembly provided by the present invention have at least the following advantages compared with the prior art:

[0019] The modular layout adopts a functional unit integrated design, with each power unit installed in an embedded manner. This improves the module's space utilization, making the electric drive converter module itself compact and allowing it to be integrated with the propulsion motor. This reduces the number of adapter interfaces, thereby improving the stability and reliability of the deep-sea robot's operation. At the same time, it reduces the volume of the deep-sea robot's equipment cabin, thus lowering its overall manufacturing cost. Attached Figure Description

[0020] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0021] Figure 1 A three-dimensional structural schematic diagram of the electric drive converter module for deep-sea robots of the present invention is shown.

[0022] Figure 2 Showing Figure 1 An exploded view of the electric drive converter module in the diagram;

[0023] Figure 3 Showing Figure 1 A three-dimensional structural diagram showing the assembly relationship between the main power unit and the drive and control unit;

[0024] Figure 4 Showing Figure 1 A schematic diagram of the converter circuit of the electric drive converter module in the diagram;

[0025] Figure 5 Showing Figure 1 A schematic diagram of the main circuit structure of the electric drive converter module in the diagram;

[0026] Figure 6 An exploded view of the electric drive converter module assembly of the present invention is shown.

[0027] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0028] Figure label:

[0029] 10. Heat dissipation unit; 11. Heat dissipation base plate; 12. Heat dissipation upright plate; 13. Fixed connection plate; 131. Fixed guide groove; 14. Elastic pressure strip; 20. Main power unit; 21. Circuit board; 22. Power semiconductor device assembly; 221. Power semiconductor device; 23. Capacitor assembly; 231. Capacitor; 24. Sensor; 30. Drive and control unit; 100. Electric drive converter module; 200. Cabin; 201. Base; 202. Cover plate; 300. DC signal conversion path; 400. AC signal conversion path. Detailed Implementation

[0030] The invention will now be further described with reference to the accompanying drawings.

[0031] It should be noted that the first direction in this application refers to Figure 1 The length direction of the circuit board, the second direction refers to Figure 1 The width direction of the circuit board.

[0032] like Figure 1 and Figure 2 As shown, the present invention provides an electric drive converter module 100 for a deep-sea robot, including a heat dissipation unit 10, a main power unit 20, and a drive and control unit 30. The main power unit 20 is disposed on the heat dissipation unit 10; the drive and control unit 30 is at least partially disposed between the heat dissipation unit 10 and the main power unit 20. The heat dissipation unit 10, the main power unit 20, and the drive and control unit 30 are assembled together in an embedded manner.

[0033] In the above configuration, the module layout adopts a functional unit integrated design, with each power unit installed in an embedded manner. This improves the module space utilization, making the electric drive converter module 100 itself compact and able to be integrated with the propulsion motor, thereby reducing the number of adapter interfaces and improving the stability and reliability of the deep-sea robot's operation. At the same time, it reduces the volume of the deep-sea robot's equipment cabin, thus lowering its overall manufacturing cost.

[0034] Specifically, such as Figure 3As shown, in one embodiment, the main power unit 20 includes a circuit board 21, power semiconductor device assemblies 22, capacitor assemblies 23, and a sensor 24. The power semiconductor device assemblies 22 are spaced apart on the circuit board 21 along a first direction and a second direction. The capacitor assemblies 23 are also spaced apart on the circuit board 21 along the first and second directions. The sensor 24 is disposed on the circuit board 21 and located between two adjacent power semiconductor device assemblies 22. The capacitor assemblies 23 are closer to the center of the circuit board 21 than the power semiconductor device assemblies 22 and the sensor 24, and the sensor 24 is also closer to the center of the circuit board 21 than the power semiconductor device assemblies 22.

[0035] In the above configuration, the internal components of the main power unit 20 are arranged in a way that makes the electric drive converter module 100 compact, improving the module's space utilization. This ensures that the electric drive converter module 100 has a compact structural design and can be integrated with the propulsion motor. This, in turn, improves the stability and reliability of the deep-sea robot's operation and reduces its overall manufacturing cost.

[0036] Specifically, such as Figure 3 As shown, in one embodiment, specifically, as Figure 1 As shown, in one embodiment, the power semiconductor device assembly 22 includes a plurality of power semiconductor devices 221 spaced apart.

[0037] Specifically, such as Figure 3 As shown, multiple power semiconductor devices 221 are arranged in a U-shaped matrix on the circuit board 21. Of course, depending on the specific circuit design, the multiple power semiconductor devices 221 can be arranged in other shapes such as a V-shaped matrix on the circuit board 21.

[0038] Specifically, such as Figure 3 As shown, in one embodiment, capacitor assemblies 23 are arranged in a 3×2 rectangular layout on circuit board 21.

[0039] Specifically, such as Figure 3 As shown, in one embodiment, the power semiconductor device assembly 22 includes two power semiconductor devices 221 spaced apart. Of course, depending on the specific circuit design, the power semiconductor device assembly 22 may include three or more power semiconductor devices 221.

[0040] Specifically, such as Figure 3 As shown, in one embodiment, the drive and control unit 30 extends along a first direction or a second direction and is disposed on the circuit board 21, and is located between the sensor 24 and the capacitor assembly 23.

[0041] Specifically, such as Figure 3As shown, in one embodiment, there are three drive and control units 30. Two of them extend along a first direction and are symmetrically arranged with respect to the center of the circuit board 21. The third extends along a second direction. The three drive and control units 30 are arranged in a U-shape.

[0042] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the heat dissipation unit 10 includes a heat dissipation base plate 11, a heat dissipation upright plate 12, and a fixing connection plate 13. The heat dissipation upright plate 12 is disposed on the heat dissipation base plate 11 and located between the power semiconductor device assembly 22 and the capacitor assembly 23. One end of the upright plate 12, away from the heat dissipation base plate 11, is a fixed end for fixing the circuit board 21. One end of the fixing connection plate 13 is fixedly connected to the heat dissipation upright plate 12, and the other end is provided with a fixing guide groove 131 for mounting the power semiconductor device assembly 22.

[0043] In the above configuration, the power semiconductor device 221 dissipates heat through the heat dissipation unit 10. The heat dissipation base plate 11 is mounted on the mounting surface of the deep-sea equipment's hull 200, conducting heat through surface contact to the hull 200, where it is then diffused into the seawater by the outer shell surface of the hull 200. This method ensures that the heat generated by the electric drive converter module 100 during operation is dissipated, thereby ensuring the normal operation of the electric drive converter module 100.

[0044] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the heat dissipation unit 10 further includes an elastic pressure strip 14, which is used to press the power semiconductor device assembly 22 into the fixed guide groove 131.

[0045] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the center of the elastic pressure strip 14 is fixed to the fixed connecting plate 13 by bolts, and the two ends serve as pressing ends to press the two power semiconductor devices 221 into the fixed guide groove 131.

[0046] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, a heat dissipation structure is provided on the heat dissipation plate 12 to increase the heat exchange area of ​​the heat dissipation plate 12.

[0047] In the above configuration, the heat dissipation structure can enhance the heat dissipation effect of the heat dissipation plate 12, thereby better meeting the heat dissipation requirements of the electric drive converter module 100, and thus ensuring that the electric drive converter module 100 can work stably and efficiently.

[0048] Of course, in the alternative embodiments shown in the accompanying drawings, a heat dissipation structure may also be provided on the heat dissipation base plate 11.

[0049] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the heat dissipation structure is a heat dissipation fin, which can increase the heat exchange area of ​​the heat dissipation plate 12, thereby improving its heat dissipation capacity.

[0050] Specifically, in one embodiment, the power semiconductor device assembly 22, the capacitor assembly 23, and the sensor 24 are vacuum-encapsulated structures.

[0051] In the above configuration, the use of a vacuum potting structure enables the electric drive converter module 100 to meet the pressure requirements, thereby ensuring that the electric drive converter module 100 can work normally.

[0052] like Figure 6 As shown, the present invention also provides an electric drive converter module assembly. The electric drive converter module assembly includes a cabin 200 and the aforementioned electric drive converter module 100 for a deep-sea robot, the electric drive converter module 100 being disposed within the cabin 200.

[0053] Specifically, such as Figure 6 As shown, in one embodiment, the cabin 200 contains a cooling medium, and the electric drive converter module 100 is immersed in the cooling medium.

[0054] In the above configuration, pressurized oil is introduced into the cabin 200 of the equipment through pipelines, thereby ensuring consistent oil pressure inside and outside the cabin 200 of the deep-sea robot equipment. This achieves synchronous adjustment of the internal and external pressures of the cabin 200 at different depths within a certain range, ensuring the stability of the cabin 200 structure. Furthermore, the electric drive converter module 100 is installed inside the cabin 200, immersed in high-pressure oil, and completely sealed from the outside, thus improving the heat dissipation efficiency inside the deep-sea robot.

[0055] Combination Figures 1 to 6 The following describes a complete embodiment of the present invention:

[0056] This application provides an electric drive converter module assembly for a deep-sea robot, including a cabin 200 and an electric drive converter module 100. The cabin 200 includes a base 201 and a cover plate 202. The electric drive converter module 100 is installed within a confined space inside the cabin 200. To ensure operation in a 6000-meter deep-sea environment, pressurized oil is piped into the cabin 200, reaching a pressure of 62.5 MPa. This ensures consistent oil pressure inside and outside the cabin 200, and allows for synchronous adjustment of pressure at different depths within 6000 meters, guaranteeing the structural stability of the deep-sea robot's cabin 200. The electric drive converter module 100 must withstand an oil pressure of 625 Bar. Furthermore, the electric drive converter module 100 is installed within the cabin 200 of the deep-sea robot equipment, immersed in high-pressure oil, and completely sealed from the outside environment, requiring special heat dissipation conditions.

[0057] It should be noted that, as Figure 5 As shown, the typical main circuit of the electric drive converter module 100 inverts the DC power input into a three-phase AC output to achieve variable frequency speed control of the motor. Key functional components include: power semiconductor devices 221, capacitors, current / voltage sampling devices, drivers, and controllers. Due to the high oil pressure requirements of deep-sea applications, the selected materials are vacuum-encapsulated, with no cavities or air bubbles inside. The power semiconductor devices 221, capacitors 231, sensors 24, and drive controllers involved in this application all need to pass a material test verification at a 62.5 MPa oil pressure, thus meeting the high oil pressure operating requirements from the material selection perspective.

[0058] The module layout adopts a functional unit integrated design scheme, which can be divided into: main power unit 20, drive and control unit 30, and heat dissipation unit 10. The main power unit 20, through PCB layout, realizes the interconnection design of the power converter circuit and integrates the power semiconductor devices 221, capacitors 231, sensors 24, and other materials that have passed high oil pressure testing. The drive and control unit 30 integrates drive and control chips, adopts a plug-in design scheme, and is soldered to the main power unit 20 via pins. The heat dissipation unit 10 is designed according to the layout of the power devices and the installation interface requirements of the equipment compartment, using a composite heat dissipation method to achieve efficient heat dissipation. The main power unit 20, drive and control unit 30, and heat dissipation unit 10 are embedded and installed together, improving the module space utilization, while reserving a flow path for the oil medium to ensure balanced pressure adjustment of each component within the module at different ocean depths.

[0059] The main power unit 20, encompassing the PCB power board, power semiconductor devices 221, sensors 24, capacitors 231, and drive and control unit 30, all share the same welding reference surface, enabling automated machine welding and thus improving the manufacturability and reliability of electronic component welding. After the main power unit 20 is welded, during the assembly of the heat dissipation unit 10, all power semiconductor device assemblies 22 are placed on the outside of the module, limited by the fixing guide groove 131 and insulating backing plate. The power semiconductor devices 221 are installed and fixed to the heat dissipation unit 10 by the elastic pressure strip 14, enabling quick installation and maintenance of the devices and improving the testability of key signals of the module.

[0060] The power semiconductor device 221, capacitor 231, and drive and control unit 30 adopt a bridge arm functional layout design to form the shortest commutation and signal transmission path, enabling each bridge arm to achieve low inductance of the power commutation circuit and synchronization with the control signal. Simultaneously, the DC signal commutation path 300 and the AC signal commutation path 400 are functionally partitioned (see reference). Figure 4 The A, B, and C regions (in the diagram) enhance the current carrying capacity per unit area of ​​the PCB board and reduce electromagnetic interference of the module.

[0061] The power semiconductor device 221 dissipates heat through the heat dissipation unit 10. The heat dissipation base plate 11 of the heat dissipation unit 10 is installed on the mounting surface of the hull 200 of the deep-sea equipment. Through surface contact conduction, heat is transferred to the hull 200 of the equipment, and then the heat is diffused into the seawater by the outer shell surface of the hull 200 of the deep-sea equipment. At the same time, the conditions of immersion oil cooling are fully utilized. The heat dissipation strips of the heat dissipation unit 10 on which the device is mounted are designed with fins to expand the heat exchange area with the oil medium. The heat is transferred to the inner wall of the hull of the equipment through the oil medium, and then the heat is diffused into the seawater by the outer shell surface of the hull 200, thereby achieving composite and efficient heat dissipation. This heat dissipation method can significantly improve the power level of the electric drive converter module 100.

[0062] It should be noted that this invention addresses the operating conditions and application requirements of electric drive systems for deep-sea robots, solving key issues such as high-oil-pressure applications, integrated design based on discrete components, PCB manufacturing processes, and module heat dissipation. It proposes a design method for an electric drive converter module 100 applied to deep-sea robots.

[0063] It should be noted that, depending on the specific circuit function and power level requirements of the product, the electric drive converter module 100 can be formed into electric drive converter modules 100 with different topologies and power levels through measures such as circuit topology changes and parallel connection of devices.

[0064] The electric drive converter module 100 and components in this application have the following advantages:

[0065] 1. Electric drive is adopted, which has advantages in terms of efficiency, price, size and weight.

[0066] 2. Operating in a deep-sea environment of 6000 meters, the deep-sea robot electric drive converter module 100 is immersed in a high oil pressure environment of 62.5 MPa, which can meet the application requirements of high oil pressure.

[0067] 3. It can meet the application requirements of high power density.

[0068] 4. The electric drive converter module 100 is installed inside the equipment compartment 200 and is immersed in high-pressure oil. Its heat dissipation conditions are special and can meet the application requirements of high-efficiency heat dissipation.

[0069] In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. An electric drive converter module for deep-sea robots, comprising: Heat dissipation unit; The main power unit is mounted on the heat dissipation unit; The drive and control unit is at least partially disposed between the heat dissipation unit and the main power unit; wherein the heat dissipation unit, the main power unit and the drive and control unit are assembled together in an embedded manner, while reserving a flow path for oil medium, so that the pressure of each component in the module is balanced and adjusted at different ocean depths; The main power unit includes: a circuit board; power semiconductor device assemblies spaced apart on the circuit board along a first direction and / or a second direction; capacitor assemblies spaced apart on the circuit board along the first direction and / or the second direction; and a sensor disposed on the circuit board and located between two adjacent power semiconductor device assemblies; wherein the capacitor assembly is closer to the center of the circuit board relative to the power semiconductor device assemblies and the sensor, and the sensor is closer to the center of the circuit board relative to the power semiconductor device assemblies. The power semiconductor device assembly includes a plurality of power semiconductor devices spaced apart; the plurality of power semiconductor devices are distributed in a U-shaped matrix on the circuit board. The capacitor assembly includes a plurality of capacitors spaced apart, which are distributed in a rectangular matrix on the circuit board and located inside the U-shaped matrix. The drive and control unit extends along the first direction or the second direction and is disposed on the circuit board, and is located between the sensor and the capacitor assembly; The heat dissipation unit includes: a heat dissipation base plate; and a heat dissipation upright plate, which is disposed on the heat dissipation base plate and located between the power semiconductor device assembly and the capacitor assembly. The power semiconductor device dissipates heat through the heat dissipation unit, and the heat dissipation base plate is installed on the mounting surface of the deep-sea equipment hull, conducting heat through surface contact.

2. The electric drive converter module for deep-sea robots according to claim 1, characterized in that, The end of the heat dissipation plate away from the heat dissipation base plate is a fixed end, used to fix and connect the circuit board; The fixed connection plate is fixedly connected to the heat dissipation plate at one end, and a fixed guide groove is provided at the other end for installing the power semiconductor device assembly.

3. The electric drive converter module for deep-sea robots according to claim 2, characterized in that, The heat dissipation unit also includes an elastic pressure bar, which is used to press the power semiconductor device assembly into the fixed guide groove.

4. The electric drive converter module for deep-sea robots according to claim 3, characterized in that, The heat dissipation upright plate and / or the heat dissipation base plate are provided with a heat dissipation structure to increase the heat exchange area of ​​the heat dissipation upright plate.

5. The electric drive converter module for deep-sea robots according to any one of claims 1 to 4, characterized in that, The power semiconductor device assembly, capacitor assembly, and sensor are vacuum-encapsulated structures.

6. An electric drive converter module assembly, characterized in that, It includes a cabin and an electric drive converter module for a deep-sea robot as described in any one of claims 1 to 5, wherein the electric drive converter module is disposed within the cabin.

7. The electric drive converter module assembly according to claim 6, characterized in that, The chamber contains a cooling medium, and the electric drive converter module is immersed in the cooling medium.

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