Underwater robot driving system

Abstract

The invention relates to an underwater robot driving system. The underwater robot driving system comprises an oil tank, a hydraulic assembly, an electromagnetic valve, an output end and an oil pipe. The hydraulic assembly comprises a driving assembly, the driving assembly comprises a motor and a plurality of pump machines, the pump machines and the motor are coaxially connected in series, the motor is used for driving the pump machines, each pump machine is arranged on an oil pipe, the oil pipes are sequentially communicated with the oil tank, the pump machines, the electromagnetic valve and the output end, and the oil pipe is communicated with the oil tank. And finally, the oil is communicated into the oil tank. Due to the fact that one motor drives the multiple pump machines, the multiple pump machines correspond to the electromagnetic valves respectively and are independently controlled, work of the multiple output ends is not related, and the conditions that when the multiple output ends work at the same time, power distribution is not uniform, and output is not stable are avoided. By implementing the underwater robot driving system disclosed by the invention, the purpose of the underwater robot driving system with higher control precision can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an underwater robot driving system. Background Art

[0002] As one of the important equipment for marine resource development and marine environment observation, the biggest feature of the operational underwater robot is that it can complete high-intensity, high-load, and high-precision operations in dangerous deep-sea areas. It is one of the major technical equipment that is indispensable for a country to achieve deep-sea resource development. As an important power source for the operational underwater robot, the hydraulic system is a very important part in determining the motion performance and operational ability of the underwater robot. Therefore, research and exploration of the hydraulic power system of the operational underwater robot is of great significance to the development of the operational underwater robot.

[0003] Underwater robots are generally driven by electrical systems or hydraulic systems. Electrical systems are generally driven by low-power robots, while high-power underwater robots are driven by hydraulic systems. Existing hydraulic drive systems, such as the Chinese patent for the hydraulic system of a deep-sea operation underwater robot with publication number CN107524653 A, can provide power to the robot. However, multiple drive ends are driven by one motor, the total oil pressure in the oil pipe is constant, and multiple drive ends share one oil pressure. The existing drive system mainly uses a solenoid valve group to distribute the oil pressure generated by the same pump, which places great demands on the pressure-bearing capacity of the oil pipe and the solenoid valve group. These solenoid valve groups are not only very expensive, but also not very sensitive and accurate in distributing the oil pressure. For a single drive end, too much oil pressure can easily damage the drive end or the pressure resistance level of the drive end needs to be improved. When multiple drive ends are running at the same time, some drive ends have less pressure and cannot work normally. Summary of the invention

[0004] The present invention provides an underwater robot driving system, which is used to achieve the purpose of an underwater robot driving system with higher control accuracy.

[0005] The present invention provides an underwater robot driving system, comprising an oil tank, a hydraulic assembly, a solenoid valve, an output end and an oil pipe;

[0006] The hydraulic assembly includes a driving assembly, which includes a motor and multiple pumps. The multiple pumps are coaxially arranged in series with the motor. The motor is used to drive the pumps. Each pump is arranged on an oil pipe. The oil pipe is connected to the oil tank, the pump, the solenoid valve and the output end in sequence, and finally connected to the oil tank.

[0007] According to one embodiment of the present invention, the hydraulic component includes a first hydraulic component and a second hydraulic component, the first hydraulic component and the second hydraulic component both include the driving component, and the output ends corresponding to the first hydraulic component and the second hydraulic component include a horizontal thruster and a vertical thruster.

[0008] According to one embodiment of the present invention, the hydraulic assembly further includes a third hydraulic assembly, the third hydraulic assembly includes the drive assembly, and the output end corresponding to the third hydraulic assembly includes a water pump motor and a hydraulic cylinder.

[0009] According to one embodiment of the present invention, the output end corresponding to the third hydraulic assembly also includes a track motor.

[0010] According to one embodiment of the present invention, the output end corresponding to the first hydraulic component and / or the second hydraulic component further includes a manipulator.

[0011] According to one embodiment of the present invention, the output ends corresponding to the first hydraulic assembly and the second hydraulic assembly further include hydraulic cylinders.

[0012] According to an embodiment of the present invention, there are at least two pumps with different powers.

[0013] According to one embodiment of the present invention, the solenoid valve includes a servo valve, and the servo valve is arranged corresponding to the horizontal thruster and the vertical thruster.

[0014] According to an embodiment of the present invention, the solenoid valve comprises an open valve, and the open valve is arranged corresponding to the hydraulic cylinder.

[0015] According to one embodiment of the present invention, it further comprises a pressure sensor, wherein the pressure sensor is arranged on the oil pipe.

[0016] Implementing the embodiments of the present invention has the following beneficial effects:

[0017] Using the underwater robot drive system of this embodiment, the motor in the drive assembly is coaxially driven with multiple pumps, thereby achieving the effect of one motor driving multiple pumps. Multiple pumps are set on different oil pipes at the same time. The oil pipes are connected to the oil tank and linked to the output end. The pump works non-stop, so that the oil on the oil pipe reaches a certain oil pressure, and then drives the output end through the oil pressure. The solenoid valve mainly controls the opening and closing of the oil pipe, thereby realizing the start and stop of the output end. Since multiple pumps are driven by one motor, and multiple pumps are controlled separately by a solenoid valve respectively, the operations of multiple output ends are unrelated, which avoids the situation where the power distribution is uneven and the output is unstable when multiple output ends work at the same time. The underwater robot drive system implemented in the present invention can achieve the purpose of an underwater robot drive system with higher control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] in:

[0020] Figure 1 is a schematic diagram of the overall structure of a driving component in an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the whole machine principle of the first hydraulic drive system in one embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the whole machine principle of the second hydraulic drive system in one embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of the whole machine principle of the third hydraulic drive system in one embodiment of the present invention;

[0024] Figure 5 It is a schematic diagram of the structural principle of a first hydraulic drive system in an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of the structural principle of a second hydraulic drive system in an embodiment of the present invention;

[0026] Reference numerals:

[0027] Oil tank-10; hydraulic component-20; solenoid valve-30; output end-40; oil pipe-50; drive component-210 motor-2110; pump-2120; horizontal thruster-410; vertical thruster-420; water pump motor-430; hydraulic cylinder-440; crawler motor-450; manipulator-460; servo valve-310; opening valve-320; pressure sensor-60; oil pressure control component-70; pressure relief valve-80. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The embodiment of the present invention provides an underwater robot driving system, please refer to Figure 1-Figure 6 , including an oil tank 10, a hydraulic assembly 20, a solenoid valve 30, an output end 40 and an oil pipe 50;

[0030] The hydraulic component 20 includes a drive component 210, which includes a motor 2110 and multiple pumps 2120. The multiple pumps 2120 are coaxially arranged in series with the motor 2110. The motor 2110 is used to drive the pumps 2120. Each pump 2120 is arranged on an oil pipe 50. The oil pipe 50 is connected to the oil tank 10, the pump 2120, the solenoid valve 30 and the output end 40 in sequence, and is finally connected to the oil tank 10.

[0031] Using the underwater robot drive system of this embodiment, the motor 2110 in the drive assembly 210 is coaxially driven with multiple pumps 2120, thereby achieving the effect of one motor 2110 driving multiple pumps 2120. Multiple pumps 2120 are simultaneously arranged on different oil pipes 50, and the oil pipes 50 are connected to the oil tank 10 and are linked to the output end 40. The pumps 2120 work continuously, so that the oil on the oil pipe 50 reaches a certain oil pressure, and then drives the output end 40 through the oil pressure. The solenoid valve 30 mainly controls the opening and closing of the oil pipe 50, thereby realizing the start and stop of the output end 40. Since multiple pumps 2120 are driven by one motor 2110, and multiple pumps 2120 are respectively controlled by one solenoid valve 30, the work between the multiple output ends 40 is unrelated, which avoids the situation that the power distribution is uneven and the output is unstable when the multiple output ends 40 work at the same time. The underwater robot drive system implemented in the present invention can achieve the purpose of an underwater robot drive system with higher control accuracy.

[0032] Generally speaking, the drive system is also provided with a pressure relief valve 80. When the oil pressure in the oil pipe 50 is too high, the pressure relief valve 80 opens to allow the oil to flow out, thereby avoiding damage to the drive system.

[0033] In one embodiment, please refer to Figure 2-Figure 6 The hydraulic component 20 includes a first hydraulic component (not shown) and a second hydraulic component (not shown), the first hydraulic component and the second hydraulic component both include a driving component 210, and the output ends 40 corresponding to the first hydraulic component and the second hydraulic component include a horizontal propeller 410 and a vertical propeller 420.

[0034] In this embodiment, both the first hydraulic assembly and the second hydraulic assembly include a driving assembly 210, and the output end 40 corresponding to the pump 2120 in the first hydraulic assembly and the second hydraulic assembly includes a horizontal propeller 410 and a vertical propeller 420. In the field of underwater robots, the horizontal propeller 410 is used to drive the underwater robot to move in the horizontal direction, and the vertical propeller 420 is used to drive the underwater robot to move in the vertical direction. Among them, the number of horizontal propellers 410 and vertical propellers 420 is multiple (generally not less than four), and the propellers are roughly turbine-shaped and driven by oil pressure.

[0035] For the underwater robot, when the underwater robot only needs to run at low power, only the first hydraulic assembly or the second hydraulic assembly can be started. At this time, only one motor 2110 of the first hydraulic assembly and the second hydraulic assembly is driven, but it is also sufficient to drive the underwater robot to move in the horizontal and vertical directions. Generally speaking, the first hydraulic assembly and the second hydraulic assembly each correspond to at least two horizontal thrusters 410 and two vertical thrusters 420. When the underwater robot needs to be started at full power, it is only necessary to start all the first hydraulic assembly and the second hydraulic assembly, so that all the horizontal thrusters 410 and the vertical thrusters 420 can be operated.

[0036] Alternatively, the vertical thrusters 420 and the horizontal thrusters 410 in the first hydraulic assembly and the second hydraulic assembly have opposite thrust directions. When the underwater robot needs to adjust its forward direction or posture, the power is switched between the first hydraulic assembly and the second hydraulic assembly, so that the underwater robot can move forward along the designed route or adjust to a posture that needs to be maintained.

[0037] Alternatively, the corresponding output ends 40 in the first hydraulic assembly are all horizontal thrusters 410, and the corresponding output ends 40 in the second hydraulic assembly are all vertical thrusters 420. The horizontal movement and vertical movement of the underwater robot are separated, so that the power utilization rate of the motor 2110 is provided when the underwater robot is snorkeling or moving in a straight line.

[0038] Alternatively, please refer to Figure 5 and Figure 6 The first hydraulic assembly and the second hydraulic assembly are respectively arranged on both sides of the underwater robot. If a turning or rolling action is required, one of the hydraulic assemblies 20 stops working, so that the underwater robot can complete the turning or rolling action.

[0039] It should be noted that the horizontal propeller 410 and the vertical propeller 420 can generally rotate forward and reverse, and are mainly controlled by the solenoid valve 30.

[0040] In one embodiment, the hydraulic assembly 20 further includes a third hydraulic assembly (not shown) 20 , the third hydraulic assembly 20 includes a drive assembly 210 , and the output end 40 corresponding to the third hydraulic assembly 20 includes a water pump motor 430 and a hydraulic cylinder 440 .

[0041] In this embodiment, the water pump motor 430 is used to drive water flow, forming water flow shock waves to flush the seabed to form ditches, which are usually used to bury submarine optical cables. The hydraulic cylinder 440 is usually used to drive the gully flushing device to move.

[0042] Generally speaking, the gullying device is rotatably connected to the body of the underwater robot. The release and storage of the gullying device are realized by the hydraulic cylinder 440. The hydraulic cylinder 440 can also realize other forms of functions, such as causing the underwater robot to partially change its shape, etc.

[0043] In one embodiment, the output end 40 corresponding to the third hydraulic assembly 20 further includes a track motor 450 .

[0044] The underwater robot not only needs to realize the function of swimming underwater, but also needs to be able to move on the seabed. Since there is a lot of silt on the seabed, which is relatively soft, the underwater robot is generally equipped with tracks. The tracks are driven by the track motor 450 to achieve the purpose of the underwater robot moving on the seabed.

[0045] In one embodiment, the output end 40 corresponding to the first hydraulic assembly and / or the second hydraulic assembly further includes a manipulator 460 .

[0046] The function of the manipulator 460 is to complete some complex operations. The manipulator 460 is generally a five-axis manipulator 460 or a seven-axis manipulator 460. Accordingly, the solenoid valve 30 includes a multifunctional manipulator 460 valve box, which controls an axial movement of the manipulator 460 to achieve complex movements of the manipulator 460.

[0047] In one embodiment, the output ends 40 corresponding to the first hydraulic assembly and the second hydraulic assembly further include a hydraulic cylinder 440 .

[0048] In this embodiment, the output end 40 corresponding to the first hydraulic assembly and the second hydraulic assembly further includes a hydraulic cylinder 440. The action of the hydraulic cylinder 440 is generally relatively simple, and by providing a plurality of hydraulic cylinders 440, multiple functions of the underwater robot can be realized.

[0049] For example, an underwater robot has a slide plate, and the slide plate can be raised and lowered by a hydraulic cylinder 440 so that the slide plate abuts against the sea ground.

[0050] Alternatively, the hydraulic cylinder 440 is linked to the cable pressing mechanism, and the hydraulic cylinder 440 drives the cable pressing mechanism to press the optical cable into the groove formed by punching.

[0051] Or, the underwater robot breaks down and needs to rise to the surface for repair. However, the power unit breaks down at this time, and the hydraulic cylinder 440 can be started to throw away the counterweight, so that the underwater robot floats up by its own buoyancy.

[0052] In one embodiment, there are at least two pumps 2120 with different powers.

[0053] Different output ends 40 require different powers, for example, the horizontal propeller 410, the vertical propeller 420 and the water pump motor 430 all require very large powers to drive. Accordingly, the oil pressure of these output ends 40 also needs to be very large, so the required pump 2120 power is also very large.

[0054] Some output ends 40 require lower power, such as the hydraulic cylinder 440 and the manipulator 460 .

[0055] The power difference between the hydraulic cylinder 440 and the horizontal thruster 410 can reach 8-10 times.

[0056] According to the law of conservation of energy, in a drive assembly 210, the sum of the powers of all pumps 2120 is equal to the power of the motor 2110. Therefore, in the same drive assembly 210, different powers of pumps 2120 are conducive to reasonable distribution of the total power of the motor 2110. In the actual manufacturing process, motors 2110 of different powers can be adaptively arranged according to the reasonable needs of the output end 40.

[0057] It should be noted that some output ends 40 require a larger power to start. In this case, two or more pumps 2120 in the same drive assembly 210 correspond to the same output end 40, thereby increasing the power. At this time, they are generally first collected into a solenoid valve 30 through an oil pipe 50, and the purpose of controlling the start and stop of the output end 40 is achieved by controlling the solenoid valve 30.

[0058] In one embodiment, the solenoid valve 30 includes a servo valve 310 , and the servo valve 310 is provided corresponding to the horizontal thruster and the vertical thruster 420 .

[0059] After the oil pipe 50 is connected to the output end 40, it is not directly connected to the oil tank 10, but is connected to the oil tank 10 again after being connected to the servo valve 310. The servo valve 310 here can not only control the opening and closing of the oil circuit in the oil pipe 50 and the flow rate of the oil pipe 50, but also change the direction of the oil circuit between the servo valve 310 and the output end 40. By periodically changing the direction of the oil circuit of the servo valve 310, the purpose of driving the output end 40 is achieved.

[0060] In one embodiment, the solenoid valve 30 includes an opening valve 320 , and the opening valve 320 is disposed corresponding to the hydraulic cylinder 440 .

[0061] In this embodiment, the opening valve 320 is arranged corresponding to the hydraulic cylinder, mainly to realize the extension and retraction of the hydraulic cylinder 440, so there is no need for the servo valve 310 with higher cost.

[0062] In one embodiment, please refer to Figure 5 and Figure 6 , also includes a pressure sensor 60, which is arranged on the oil pipe 50.

[0063] The function of the pressure sensor 60 is to detect the oil pressure on the oil pipe 50 in real time, so as to evaluate whether the oil pressure is sufficient, or to prevent the oil pressure from exceeding a critical value and causing damage to the drive system.

[0064] Finally, it should be noted that the underwater robot driving system of the present invention also includes an oil pressure control component 70, which is usually arranged on the pipeline after the pump 2120 of a driving component 210, and is used to reasonably distribute the power generated by the pump 2120 to multiple output terminals 40. In the underwater robot, the actions that need to be used in conjunction are basically realized by hydraulic cylinders. However, multiple output terminals driven by hydraulic cylinders usually do not need to run synchronously and do not require too much power. Therefore, by setting an oil pressure control component 70, it is possible to control multiple hydraulic cylinders 440, and each hydraulic cylinder 440 is adapted to have an output terminal 40.

[0065] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0066] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0067] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater robot driving system, characterized in that: It includes oil tank, hydraulic components, solenoid valve, output end and oil pipe; The hydraulic assembly includes a driving assembly, which includes a motor and multiple pumps. The multiple pumps are coaxially arranged in series with the motor. The motor is used to drive the pumps. Each pump is arranged on an oil pipe. The oil pipe is connected to the oil tank, the pump, the solenoid valve and the output end in sequence, and finally connected to the oil tank.

2. An underwater robot driving system as claimed in claim 1, characterized in that: The hydraulic assembly includes a first hydraulic assembly and a second hydraulic assembly, both of which include the driving assembly, and the output ends corresponding to the first hydraulic assembly and the second hydraulic assembly include a horizontal thruster and a vertical thruster.

3. An underwater robot driving system as claimed in claim 2, characterized in that: The hydraulic assembly further includes a third hydraulic assembly, the third hydraulic assembly includes the driving assembly, and the output end corresponding to the third hydraulic assembly includes a water pump motor and a hydraulic cylinder.

4. An underwater robot driving system as claimed in claim 3, characterized in that: The output end corresponding to the third hydraulic assembly also includes a track motor.

5. The underwater robot driving system according to claim 2, characterized in that: The output end corresponding to the first hydraulic component and / or the second hydraulic component also includes a manipulator.

6. The underwater robot driving system according to claim 2, characterized in that: The output ends corresponding to the first hydraulic assembly and the second hydraulic assembly further include hydraulic cylinders.

7. The underwater robot driving system according to claim 1, characterized in that: At least two of the pumps have different powers.

8. The underwater robot driving system according to claim 2, characterized in that: The solenoid valve includes a servo valve, and the servo valve is arranged corresponding to the horizontal thruster and the vertical thruster.

9. The underwater robot driving system according to claim 2, characterized in that: The solenoid valve comprises an open valve, and the open valve is arranged corresponding to the hydraulic cylinder.

10. The underwater robot driving system according to claim 2, characterized in that: It also includes a pressure sensor, which is arranged on the oil pipe.

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