An all-electric driven seabed base system and a working method thereof

Abstract

The application discloses a kind of full electric drive seabed base plate systems and working method thereof, belong to deep sea drilling equipment technical field;The system adopts space frame type structure, and the realization of automatic centering of drill rod is introduced in cooperation with the guide cone opening arranged coaxially up and down, to be used as the direct power source of clamping mechanism by bilateral servo electric cylinder, bilateral synchronous drive is realized by encoder closed loop control, so that clamp always centering movement and accurately control clamping force, and be equipped with cable and cableless dual-mode power supply communication system to adapt to different water depth conditions.The working method covers the whole process of drill rod into guide, synchronous clamping, clamping force closed loop maintenance and release.The application discloses a kind of full electric drive seabed base plate systems and working method thereof, belong to deep sea drilling equipment technical field;The system adopts space frame type structure, and the realization of automatic centering of drill rod is introduced in cooperation with the guide cone opening arranged coaxially up and down, to be used as the direct power source of clamping mechanism by bilateral servo electric cylinder, bilateral synchronous drive is realized by encoder closed loop control, so that clamp always centering movement and accurately control clamping force, and be equipped with cable and cableless dual-mode power supply communication system to adapt to different water depth conditions.The working method covers the whole process of drill rod into guide, synchronous clamping, clamping force closed loop maintenance and release.

Description

Technical Field

[0001] This invention relates to the field of deep-sea drilling equipment technology, specifically to a fully electric subsea base plate system and its working method installed at the seabed wellhead for guiding and clamping drill pipes. It belongs to the field of deep-sea drilling equipment design and manufacturing technology, and also relates to the field of underwater electromechanical integrated control technology. Background Technology

[0003] Currently, the vast majority of subsea base clamping mechanisms in service both domestically and internationally employ hydraulic drive. A typical hydraulically driven subsea base system includes an underwater hydraulic pump station, directional control valve assembly, hydraulic cylinders, accumulators, pressure compensators, and connecting pipelines, among other auxiliary equipment. The hydraulic cylinders drive the opening and closing of the slips or clamps to clamp and release the drill pipe. To cope with the high-pressure environment of the deep sea, the hydraulic system also requires complex pressure compensation devices to ensure internal and external pressure balance. Simultaneously, some systems utilize accumulators to passively maintain the clamping force and provide reset power in emergency situations. Due to its high power density and large output force, hydraulic drive has long dominated deep-sea equipment and boasts a high level of technological maturity.

[0004] However, as deep-sea drilling operations gradually move towards deeper waters, higher precision, and more environmentally friendly approaches, the inherent shortcomings of traditional hydraulically driven subsea bases are becoming increasingly apparent. Specifically, these shortcomings manifest in the following aspects:

[0005] First, the system structure is complex and integration is difficult. Hydraulic drive systems require numerous auxiliary components such as pump stations, valve groups, pipelines, and pressure compensation systems. These components are connected by pipelines and joints, resulting in a large and bulky chassis, making manufacturing, installation, and offshore maintenance challenging. Especially in the high-pressure environment of deep sea, the design and sealing reliability requirements of the pressure compensation system are extremely high, further increasing the complexity of system integration.

[0006] Secondly, there is a risk of hydraulic oil leakage, and the environmental friendliness and reliability are not good. The harsh working conditions in the deep sea, with high pressure, low temperature and seawater corrosion, can easily lead to accelerated aging and failure of seals. Hydraulic oil leakage not only pollutes the marine ecological environment, but may also cause a sudden loss of clamping force, threatening the safety of drilling operations.

[0007] Third, control accuracy and response speed are limited. Hydraulic systems rely on valve control circuits to regulate pressure and flow. Affected by factors such as changes in hydraulic oil viscosity, leakage, pressure fluctuations, and valve response lag, the control accuracy of clamping force and displacement is difficult to meet the requirements of high-precision intelligent control, and it is difficult to achieve precise closed-loop control of the clamping state.

[0008] Fourth, energy utilization efficiency is low. Hydraulic systems require independent power units, and electrical energy undergoes multiple energy conversions through the motor, hydraulic pump, valve, and hydraulic cylinder, resulting in energy loss at each stage and low overall efficiency.

[0009] In recent years, with the rapid development of high-performance servo motors, precision ball screw transmission technology, and intelligent control strategies, servo electric cylinders, as a new type of actuator integrating motor drive and precision transmission, have been gradually applied in aerospace, high-end machine tools, robotics, and underwater equipment. Compared to hydraulic cylinders, servo electric cylinders have significant advantages such as compact structure, precise control, fast response, no leakage risks, and ease of implementing digital closed-loop control. However, there are currently no publicly reported technical solutions or systematic working methods for applying servo electric cylinders to seabed base plate clamping mechanisms to achieve full electric drive.

[0010] To address the aforementioned shortcomings of existing hydraulically driven subsea base plates, this invention proposes a fully electric subsea base plate system and its operating method. The aim is to simplify, refine, and upgrade the subsea base plate clamping mechanism through electrification technology, providing a complete system solution for the electrification development of deep-sea drilling equipment. Summary of the Invention

[0011] In view of this, the present invention provides a fully electric subsea base system and its operating method, aiming to solve the above-mentioned technical problems.

[0012] To achieve the above objectives, the present invention adopts the following technical solution: A fully electric subsea base system, comprising: A frame structure, comprising a top cover, a base, and several columns connecting the top cover and the base; An upper guide cone is provided on the top cover; A servo-electric clamping assembly is mounted on the base. The servo-electric clamping assembly has an internal clamping space, with a left servo-electric cylinder and a right servo-electric cylinder respectively located on its left and right sides. The left and right servo-electric cylinders are used to drive the clamping components located in the internal clamping space to move in opposite directions or away from each other, so as to clamp or release the clamped object. The left and right servo-electric cylinders are synchronously driven through encoder closed-loop control, so that the clamping components always maintain centered movement during the clamping process, ensuring that the clamped object is positioned at the geometric center of the internal clamping space. The lower guide cone is fixed to the top of the servo electric clamping assembly and is coaxially corresponding to the upper guide cone. It is used to guide the clamped body passing through the upper guide cone into the internal clamping space of the servo electric clamping assembly and out of the base. The functional module is disposed on the base and arranged around the periphery of the base, and the functional module is used to provide power and control signals to the servo electric clamping assembly.

[0013] Through the above technical solution, this invention, by employing a spatial frame structure composed of a top cover, base, and column, combined with guide cones arranged coaxially, provides a continuous and automatically centered guide channel for lowering the drill pipe. This significantly improves the reliability and positioning accuracy of the drill string passing through the wellhead, and effectively reduces the interference of ocean currents and ship movement on the initial alignment of the borehole. Its core innovation lies in using dual-sided servo electric cylinders as the direct power source for the clamping mechanism. Encoder closed-loop control achieves precise synchronization of dual-sided drive, ensuring that the clamping components always move radially and centered during clamping. This ensures that the drill pipe is stably constrained at the geometric center of the clamping space, fundamentally avoiding drill pipe bending or uneven clamping force caused by off-center loading, and greatly improving the stability and safety of drill pipe constraint under harsh deep-sea conditions. Meanwhile, the system eliminates the need for pump stations, valve groups, accumulators, and pressure compensation devices required by traditional hydraulic drives, greatly simplifying the structure and integration of underwater equipment, eliminating the potential threat of hydraulic oil leakage to the marine ecosystem, and achieving precise control of clamping displacement and clamping force with the rapid response and closed-loop adjustment capability of the servo electric cylinder. This provides a complete system solution for the miniaturization, high reliability, and green operation of deep-sea drilling equipment.

[0014] Preferably, in the above-mentioned all-electric subsea base system, the bottom of the base is provided with several legs, which are used to support the seabed surface.

[0015] Preferably, in the above-mentioned all-electric subsea base system, the servo-electric clamping assembly further includes: A central cylinder is fixed inside the servo electric clamping assembly. Its hollow inner cavity forms the internal clamping space, and the central cylinder has a vertically penetrating channel for the clamped object to pass through. Two electric cylinder brackets are fixedly connected to opposite sides of the central cylinder. The left servo electric cylinder and the right servo electric cylinder are respectively mounted on the electric cylinder brackets on the corresponding sides, and the left servo electric cylinder and the right servo electric cylinder are arranged opposite each other along the radial direction of the central cylinder. Two clamps are disposed in the hollow inner cavity of the central cylinder and are respectively connected to the push rod ends of the left servo electric cylinder and the right servo electric cylinder; The left and right servo electric cylinders operate synchronously, driving the corresponding push rods to extend or retract, which in turn causes the clamps to move radially toward or away from each other within the hollow cavity of the central cylinder, thereby clamping or releasing the object being held.

[0016] Preferably, in the above-mentioned all-electric subsea base system, the left servo electric cylinder and the right servo electric cylinder have the same structure, both including: An integrated servo motor is mounted on the electric cylinder bracket; A coupling that is connected to the output shaft of the integrated servo motor; A ball screw, wherein the ball screw is connected to the integrated servo motor via the coupling; A bearing sleeve is fitted over the outside of the ball screw, and a bearing assembly is provided inside the bearing sleeve to support the rotation of the ball screw. A push rod is sleeved on the ball screw. The inner wall of the push rod has an internal thread structure that mates with the ball screw. An anti-rotation limiting structure is provided between the push rod and the electric cylinder housing to limit the circumferential rotation of the push rod, so that the rotational motion of the ball screw is converted into the linear extension and retraction motion of the push rod.

[0017] Preferably, in the above-mentioned all-electric subsea base system, the functional module group includes a power supply and transformation module, a control module, a battery distribution module, and several battery modules. The power supply and transformation module is used to provide power to the servo electric clamping assembly, the control module is used to provide control signals to the servo electric clamping assembly, the battery modules are equipped with underwater battery packs, and the battery distribution module is used to manage the power distribution of the underwater battery packs.

[0018] Preferably, in the above-mentioned all-electric subsea base system, the battery distribution compartment is equipped with a battery switch management and power distribution control module. The battery compartment is electrically connected to the power supply and transformation compartment through the battery distribution compartment. The battery distribution compartment controls the access and isolation of multiple battery compartments according to the system load requirements and voltage detection results.

[0019] Preferably, in the above-mentioned all-electric subsea base system, the system has a cable-operated power supply mode and a cableless power supply mode. In the cable-operated power supply mode, the power supply and transformation compartment is connected to the surface power source via a photoelectric composite umbilical cable, which is also used for data communication between the surface and underwater. In the cableless power supply mode, the power supply and transformation compartment is electrically connected to the underwater battery pack located in the battery compartment, and the underwater battery pack supplies power to the entire system. The control compartment realizes data communication between the surface and underwater via an underwater acoustic communication device.

[0020] Preferably, in the above-mentioned all-electric subsea base system, the control cabin integrates a controller, a voltage detection module, a water leakage detection module, and a tilt angle detection module. The controller is used to receive and parse instructions from the surface control terminal, send motion control signals to the servo electric clamping assembly, and collect feedback data from the voltage detection module, the water leakage detection module, the tilt angle detection module, and the servo electric cylinder encoder in real time.

[0021] Preferably, in the above-mentioned all-electric subsea base system, in the cable-powered operation mode, the battery compartment and its internal underwater battery pack are both detachable structures.

[0022] This invention also provides a method for operating a fully electric subsea base, employing the aforementioned fully electric subsea base system, comprising the following steps: S1: Pass the drill rod through the upper guide cone, the lower guide cone, and the internal clamping space of the servo electric clamping assembly from top to bottom, and then out of the base; S2: The functional module sends clamping signals to the left servo electric cylinder and the right servo electric cylinder. The left servo electric cylinder and the right servo electric cylinder achieve synchronous drive through encoder closed-loop control, causing the clamping components to move in opposite directions and apply clamping force to the drill rod that has entered the internal clamping space, thus completing the clamping action. During the clamping process, the encoder monitors the displacement and output force of the left servo electric cylinder and the right servo electric cylinder in real time to ensure that the dual-side drive remains synchronized, so that the clamping components always move in the center during the clamping process, thereby ensuring that the drill rod is positioned at the geometric center of the internal clamping space. S3: In the clamping state, the clamping force is continuously maintained stable through the encoder closed-loop control; S4: After the drilling operation is completed, the functional module sends a release signal to the left servo electric cylinder and the right servo electric cylinder. The left servo electric cylinder and the right servo electric cylinder synchronously drive the clamping component to move in opposite directions to release the drill rod.

[0023] Through the above technical solution, this invention closely integrates the precise control characteristics of servo electric cylinders with the actual technological requirements of deep-sea drilling operations by standardizing the drill pipe insertion, synchronous clamping, force maintenance, and release process. This method utilizes upper and lower guide cones to achieve passive centering and insertion of the drill pipe, reducing operational difficulty and the risk of collisions. In the clamping step, closed-loop synchronous drive of the encoders on both sides of the servo electric cylinders achieves uniform application of clamping force and precise control of displacement. Real-time feedback ensures that the actions of the two cylinders are completely consistent, effectively guaranteeing the safety and repeatability of the clamping process. In the clamping maintenance stage, continuous closed-loop force feedback control actively resists external force fluctuations caused by ocean current impacts and drill string vibrations, keeping the clamping force stable for a long time and significantly improving the continuity and reliability of drilling operations. The entire method is simple and clear, with rapid action switching and no hydraulic lag effect, greatly shortening auxiliary operation time, reducing operating energy consumption and maintenance costs, and providing reliable methodological support for the electrification and intelligent operation of deep-sea drilling equipment.

[0024] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a fully electric subsea base system and its working method, which has the following beneficial effects: 1. Simplify system structure and improve reliability and maintainability: By using servo electric cylinders instead of traditional hydraulic cylinders as the driving element of the clamping mechanism, complex hydraulic accessories such as hydraulic pump stations, valve groups, accumulators, pressure compensation devices and connecting pipelines are eliminated, which greatly simplifies the overall structure of the seabed base, reduces the risk of sealing failure and leakage in the high-pressure environment of the deep sea, significantly improves the long-term reliability of the system, and reduces the difficulty of manufacturing, installation and maintenance.

[0025] 2. Achieve high-precision closed-loop control and improve clamping stability: The servo electric cylinder adopts an integrated servo motor with ball screw transmission and real-time encoder feedback to achieve closed-loop adjustment of position, speed and torque. It can accurately control the displacement and clamping force of the clamp, avoiding the control uncertainty caused by oil leakage, pressure fluctuation and valve control dead zone of the hydraulic system, so that the clamping action has a faster response speed and higher control accuracy.

[0026] 3. Eliminate pollution risks and be environmentally friendly: The all-electric drive completely eliminates the potential pollution of the marine ecological environment caused by hydraulic oil leakage. At the same time, the electric system only requires a small current to maintain torque during the clamping and holding phase. Compared with the hydraulic system, which needs to continuously maintain system pressure, it has higher energy utilization efficiency and is in line with the development direction of green deep-sea equipment.

[0027] 4. Dual-mode power supply and communication enhance environmental adaptability: Through the dual-mode design of cable power supply (optical-electric composite umbilical cable) and cableless power supply (underwater battery pack and underwater acoustic communication), it not only meets the needs of long-term continuous operation in shallow water areas, but also solves the problem of limited umbilical cable length and difficult deployment in deep water areas, which significantly improves the system's deployment flexibility and operational adaptability in different water depths and complex sea conditions.

[0028] 5. Dual-sided synchronous drive ensures centered clamping and guarantees drilling safety: The servo electric cylinders on both sides achieve coordinated movement through a synchronous control strategy, so that the clamps always maintain centered movement during the clamping process. This ensures that the drill pipe is positioned at the geometric center of the internal clamping space, avoiding drill pipe bending or unstable clamping caused by off-center loading. It effectively reduces the interference of ocean currents and ship movement on drilling operations, and improves drilling quality and operational safety.

[0029] 6. Modular layout and intelligent management: The functional modules adopt a modular design, and each module is connected through standardized interfaces, which facilitates configuration and replacement according to different operational needs; the terminal control system integrates functions such as status detection, battery management, communication monitoring and dual-cylinder synchronous control, realizing intelligent operation and remote monitoring and management of underwater equipment. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 The attached figure is a front view of the all-electric subsea base plate system provided by the present invention; Figure 2 The attached figure is a side view of the all-electric subsea base plate system provided by the present invention; Figure 3 The attached figure is a front view of the servo-electric clamping assembly provided by the present invention; Figure 4 The attached figure is a top view of the servo-electric clamping assembly provided by the present invention; Figure 5 The attached figure is a cross-sectional view of the servo-electric clamping assembly provided by the present invention; Figure 6 The attached figure is a structural schematic diagram of the left-side servo electric cylinder and the right-side servo electric cylinder provided by the present invention; Figure 7 The attached figure is a cross-sectional view of the left and right servo electric cylinders provided by the present invention. Figure 8The attached figure is a diagram of the all-electric subsea base power supply system provided by the present invention; Figure 9 The attached figure is a diagram of the cabled control system for the submarine base plate provided by the present invention; Figure 10 The attached figure is a diagram of the cableless control system for the submarine base plate provided by the present invention; Figure 11 The attached figure shows the interface of the all-electric submarine base cableless terminal control system provided by the present invention. Figure 12 The attached figure shows the interface of the all-electric submarine base cabled terminal control system provided by the present invention.

[0032] in: 1 is the load-bearing wheel; 2 is the upper guide cone; 3 is the top cover; 4 is the column; 5 is the base; 6 is the lower guide cone; 7 is the support leg; 8 is the servo electric clamping assembly; 9 is the left servo electric cylinder; 10 is the right servo electric cylinder; 11 is the steel cable guide wheel; 12 is the battery compartment; 13 is the battery compartment guardrail; 14 is the battery distribution compartment; 15 is the power supply compartment; 16 is the control compartment. 81 - Central cylinder; 82 - Electric cylinder bracket; 83 - Clamp; 91-Integrated servo motor; 92-Coupling; 93-Ball screw; 94-Bearing sleeve; 95-Push rod; 96-Watertight socket. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example 1 See appendix Figure 1 and attached Figure 2 This invention discloses a fully electric-driven subsea base plate system based on servo electric cylinder clamping. The system adopts a spatial frame-type load-bearing structure and is used to guide, position, and clamp and fix the drill rod in deep-sea drilling operations.

[0035] As attached Figure 1As shown, the all-electric subsea base system mainly consists of a top cover 3, a base 5, and several columns 4 connecting the top cover 3 and the base 5, forming an overall frame. The top cover 3 is located at the top of the frame, and an upper guide cone 2 is fixedly installed at its center to provide initial guidance when the drill pipe is lowered. The base 5 is located at the bottom of the frame, serving as the load-bearing foundation for the entire base. The bottom of the base 5 is equipped with several legs 7, which extend outward in a radial pattern to increase the contact area with the seabed, improve the anti-overturning ability of the base after it is seated, and enable it to adapt to long-term stable operation under complex deep-sea terrain conditions.

[0036] As attached Figure 2 As shown, the top of the base plate also integrates a steel cable bearing and guiding structure, specifically including load-bearing wheels 1 and steel cable guide wheels 11. The load-bearing wheels 1 are located on both sides above the top cover 3 to bear the longitudinal load of the steel cable during the lowering and retrieval of the base plate; the steel cable guide wheels 11 are located in the central area of ​​the top of the top cover 3 to guide the direction of the steel cable and ensure the stability of the base plate during lifting and lowering.

[0037] The central area of ​​the base plate serves as the core functional area for drilling operations and adopts a through-hole design. The upper guide cone 2 is located on the top cover 3, and the lower guide cone 6 is located on the top of the servo-electric clamping assembly 8, with the upper guide cone 2 and lower guide cone 6 arranged coaxially. Both the upper guide cone 2 and the lower guide cone 6 have an inner conical surface structure. Utilizing the guiding characteristics of the conical surface, the drill pipe can automatically adjust to the center position of the wellhead even with a certain amount of deviation, improving the reliability of drill string lowering and return hole operations.

[0038] The base 5 also houses functional modules, which are arranged around its perimeter. (See appendix.) Figure 2 The functional modules include a battery compartment 12, a battery compartment guardrail 13, a battery distribution compartment 14, a power supply and transformation compartment 15, and a control compartment 16. The battery compartment 12 consists of multiple independent pressure-resistant chambers, each housing underwater battery packs to provide power to the entire system in cableless power supply mode. The battery compartment guardrail 13 is located around the battery compartment 12 to protect it from external collisions and ocean currents. The battery distribution compartment 14 manages the power distribution across the various battery compartments 12. The power supply and transformation compartment 15 performs voltage transformation, rectification, and distribution of electrical energy. The control compartment 16 serves as the core of the entire underwater system, integrating controllers and various detection modules. All functional compartments are constructed with pressure-bearing structures to ensure the reliability of the underwater power supply and control system. The compartments are connected via standardized watertight plug-in interfaces for easy modular installation and maintenance.

[0039] Unlike traditional subsea base plates that use hydraulic cylinders to drive the clamps, this invention features a servo-electric clamping assembly 8 fixedly mounted at the center of the base 5. This servo-electric clamping assembly 8 has an internal clamping space, with a left-side servo-electric cylinder 9 and a right-side servo-electric cylinder 10 positioned on its left and right sides, respectively. The left-side and right-side servo-electric cylinders 9 and 10 are arranged opposite each other along the radial direction of the drill pipe, driving the clamping components within the internal clamping space to move in opposite directions or back to back, thereby clamping or releasing the drill pipe. This design integrates the power source, transmission mechanism, and clamping actuator into a single unit, shortening the power transmission path and resulting in faster response speeds and higher control precision in the clamping action.

[0040] Example 2 See appendix Figure 3 Appendix Figure 4 and attached Figure 5 The servo electric clamping assembly 8 is the core execution unit of this invention, used to achieve precise clamping and release of the drill pipe.

[0041] As attached Figure 3 As shown, the servo electric clamping assembly 8 adopts a centrally symmetrical structure and is mainly composed of a central cylinder 81, two electric cylinder brackets 82, two clamps 83, a left servo electric cylinder 9, and a right servo electric cylinder 10.

[0042] The central cylinder 81 is fixedly positioned at the geometric center of the servo-electric clamping assembly 8, and its hollow interior forms an internal clamping space for the drill rod to pass through. The central cylinder 81 has a vertically penetrating channel for the drill rod to pass through. The lower guide cone 6 is fixedly connected to the top of the central cylinder 81 and coaxially corresponds to the upper guide cone 2, and is used to guide the drill rod passing through the upper guide cone 2 into the internal clamping space of the central cylinder 81.

[0043] Two electric cylinder brackets 82 are fixedly connected to opposite sides (left and right) of the central cylinder 81, respectively. The left servo electric cylinder 9 and the right servo electric cylinder 10 are respectively mounted on the electric cylinder brackets 82 on the corresponding sides. The left servo electric cylinder 9 and the right servo electric cylinder 10 are arranged radially opposite to each other along the central cylinder 81, that is, they are in the same straight line direction, pointing from the left and right sides to the central axis of the central cylinder 81.

[0044] As attached Figure 4 As shown, two clamps 83 are disposed in the hollow inner cavity of the central cylinder 81 and are fixedly connected to the push rod ends of the left servo electric cylinder 9 and the right servo electric cylinder 10, respectively. The clamps 83 are arc-shaped or V-shaped structures that match the outer wall of the drill pipe, and the radial constraint of the drill pipe is achieved by closing the clamping surface.

[0045] As attached Figure 5The diagram further illustrates the internal transmission relationship of the servo-electric clamping assembly 8. The push rods of the left servo-electric cylinder 9 and the right servo-electric cylinder 10 extend into the inner cavity of the central cylinder 81 from the left and right sides, respectively, and connect to the corresponding clamps 83. During operation, the left servo-electric cylinder 9 and the right servo-electric cylinder 10 move synchronously, driving the corresponding push rods to extend or retract, causing the clamps 83 to move radially towards or away from each other within the hollow inner cavity of the central cylinder 81. When the push rods extend synchronously, the two clamps 83 move towards each other, clamping the drill rod; when the push rods retract synchronously, the two clamps 83 move away from each other, releasing the drill rod.

[0046] In this embodiment, the left servo electric cylinder 9 and the right servo electric cylinder 10 are synchronously driven through encoder closed-loop control, so that the clamp 83 always maintains centered movement during the clamping process, ensuring that the drill rod is always positioned at the geometric center of the internal clamping space, and avoiding drill rod bending or unstable clamping caused by off-center load.

[0047] Example 3 See appendix Figure 6 and attached Figure 7 The left servo electric cylinder 9 and the right servo electric cylinder 10 have identical structures and are symmetrically arranged on the base plate. The following detailed explanation uses the left servo electric cylinder 9 as an example.

[0048] As attached Figure 6 As shown, the servo electric cylinder mainly consists of an integrated servo motor 91, a coupling 92, a ball screw 93, a bearing sleeve 94, a push rod 95, and a watertight socket 96.

[0049] The integrated servo motor 91 is fixedly mounted on the electric cylinder bracket 82, and a watertight socket 96 is provided on its exterior. The watertight socket 96 is used to connect the power supply cable and the control signal cable to realize the transmission of electrical energy input and control signals, while ensuring the sealing reliability in the high-pressure environment of the deep sea and preventing seawater from seeping into the motor.

[0050] See appendix Figure 7 The output shaft of the integrated servo motor 91 is connected to the ball screw 93 via a coupling 92. The coupling 92 can be a rigid or flexible coupling, used to precisely transmit the rotational motion output by the motor to the ball screw 93. A bearing sleeve 94 is fitted around the ball screw 93, and the bearing sleeve 94 contains a bearing assembly (including radial bearings and thrust bearings) to support the high-speed rotation of the ball screw 93 and to withstand axial loads.

[0051] The push rod 95 is sleeved on the ball screw 93, and the inner wall of the push rod 95 has an internal thread structure that mates with the ball screw 93. An anti-rotation limiting structure is provided between the push rod 95 and the electric cylinder housing (i.e., the outer shell of the servo electric cylinder). This anti-rotation limiting structure can be in the form of a guide key and keyway, or in the form of a guide sleeve with a non-circular cross section, to limit the circumferential rotation of the push rod 95, so that the push rod 95 can only move linearly along the axial direction.

[0052] Its working principle is as follows: When the integrated servo motor 91 receives a control command to rotate in the forward direction, the motor output shaft drives the ball screw 93 to rotate through the coupling 92. Since the circumferential rotation of the push rod 95 is restricted by the anti-rotation limiting structure, the rotational motion of the ball screw 93 is converted into the linear extension motion of the push rod 95 along the axial direction. Conversely, when the motor rotates in the reverse direction, the push rod 95 retracts linearly along the axial direction. By adjusting the speed and output torque of the integrated servo motor 91, the linear displacement and output thrust of the push rod 95 can be precisely controlled.

[0053] The integrated servo motor 91 adopts an integrated servo joint module motor, which integrates a control board, encoder, motor rotor, motor stator, and harmonic reducer. This motor features high integration, capable of outputting precise and controllable rotational power according to commands sent by the control system, and providing real-time feedback of motor position, speed, and torque information through the built-in encoder, achieving closed-loop control of the actuator's position and torque. The structure of the integrated servo motor 91 is conventional and will not be described in detail here.

[0054] Example 4 See appendix Figure 8 Appendix Figure 9 and attached Figure 10 This invention constructs a cable / uncable dual-mode power supply and communication control system to meet the needs of different water depths and operating conditions.

[0055] As attached Figure 8 As shown, the entire power supply system consists of two parts: a surface power source and an underwater power distribution network.

[0056] In cabled power supply mode (suitable for shallow water areas or conditions requiring long-term continuous operation), the surface power supply (ship's electrical grid) first undergoes voltage regulation and boosting, then the optical-electric composite umbilical cable is released via a winch system to transmit electrical energy to the seabed base. After receiving the input power, the power supply substation 15 converts the AC input into a stable DC output through voltage reduction and rectification, establishing a 48V DC power supply bus to provide energy for various underwater functional modules. The 48V DC bus connects to the control room 16, the left servo electric cylinder 9, the right servo electric cylinder 10, and other auxiliary loads. Simultaneously, the optical fiber within the optical-electric composite umbilical cable is used for high-speed data communication between the surface and underwater systems, enabling real-time control and status monitoring.

[0057] In cableless power supply mode (suitable for deep-water areas and applications where umbilical cable length is limited), the underwater battery packs within battery compartment 12 provide independent power. Battery compartment 12 consists of multiple independent pressure-resistant chambers, each housing a high-capacity underwater battery pack. Each battery pack is connected to battery distribution compartment 14 via an independent power distribution unit. Battery distribution compartment 14 contains a battery switch management and power distribution control module, which can control the connection and isolation of multiple battery compartments 12 based on system load requirements and voltage detection results. When the voltage of the currently operating battery pack drops below a preset threshold, battery distribution compartment 14 automatically switches to the next fully charged battery pack and delays disconnecting the depleted battery packs until all battery packs are below the threshold, at which point the system issues a recovery command. Finally, the DC power output from battery distribution compartment 14 is converted to provide stable power to the left servo electric cylinder 9, the right servo electric cylinder 10, the control compartment 16, and auxiliary equipment.

[0058] As attached Figure 9 As shown, in the cabled mode, the control system consists of a surface control terminal, an optoelectronic composite umbilical cable, and an underwater control cabin 16. Operation commands issued by the surface control terminal are transmitted to the underwater control cabin 16 via the optoelectronic composite umbilical cable. The control cabin 16 integrates a controller, a voltage detection module, a leakage detection module, and a tilt angle detection module. After receiving and parsing the commands from the surface control terminal, the controller sends motion control signals to the servo driver via the EtherCAT industrial communication bus. The integrated servo driver drives the left servo electric cylinder 9 and the right servo electric cylinder 10 to move synchronously according to the control commands. Simultaneously, the servo system obtains the motor position, speed, and torque in real time through encoder feedback and transmits the feedback data to the controller, achieving closed-loop control of the clamping process.

[0059] As attached Figure 10 As shown, in the cableless mode, the control system uses underwater acoustic communication to achieve data interaction between the surface control terminal and the underwater control cabin 16. The surface control terminal sends control commands through the surface underwater acoustic communicator, which are transmitted to the underwater communication module via the seawater channel. The underwater communication module then completes signal interaction with the control cabin 16. At the same time, information such as equipment operating status, battery voltage status, cabin sealing status, and clamping mechanism status are fed back to the surface control terminal through underwater acoustic communication, realizing remote monitoring.

[0060] Example 5 See appendix Figure 11 and attached Figure 12 The all-electric submarine base terminal control system is divided into a cableless terminal control system and a cabled terminal control system, which can be switched according to the current working mode.

[0061] As attached Figure 11As shown, the cableless terminal control system is divided into four main parts: status detection and battery switching system, communication system, left servo electric cylinder system and right servo electric cylinder system.

[0062] The status detection and battery switching system is primarily responsible for displaying key sensor data of the base chassis, including battery voltage, water leakage alarm, and tilt status. Simultaneously, the system can manage battery pack switching: when the current battery voltage drops to the minimum threshold, it automatically switches to the next battery pack and delays shutting down the previous battery pack until all four battery packs have below the threshold, at which point a base chassis recovery command is issued.

[0063] The communication system is primarily responsible for data exchange between the surface and submersible acoustic communication units, and consists of a host computer system and a slave computer system. The communication system interface displays the current communication status and data reception and transmission in real time, allowing operators to monitor the communication link quality.

[0064] The left and right servo electric cylinder control systems are mainly used for closed-loop control and real-time data acquisition of the left servo electric cylinder 9 and the right servo electric cylinder 10. Their specific workflow is as follows: After successful communication, both servo electric cylinders are first enabled; then, the motor's operating mode (generally absolute positioning mode) is selected, and the target position and movement speed for absolute positioning are set; the servo motors will drive the push rod and clamp to the target position at the set speed, performing clamping or releasing actions. Simultaneously, the servo motors display real-time data such as motor position, torque, and speed via encoder feedback.

[0065] Since the left servo electric cylinder 9 and the right servo electric cylinder 10 typically operate in synchronous mode, the cableless terminal control system also includes a dual-cylinder synchronous mode button. When synchronous mode is activated, the right servo electric cylinder 10 automatically follows the left servo electric cylinder 9, meaning both motors move synchronously to the same position at the same speed. In this mode, the operator only needs to set the target position and speed parameters for one motor, and the other motor will automatically follow, ensuring complete synchronization of clamping on both sides.

[0066] As attached Figure 12 As shown, the functions of the cable-operated terminal control system are basically the same as those of the cableless terminal control system. It also includes a left servo electric cylinder control system and a right servo electric cylinder control system, and supports a dual-cylinder synchronous mode. The cable-operated terminal control system differs from the cableless terminal control system only in that it lacks the battery switching control section, because in cable mode the system is continuously powered by the umbilical cable, eliminating the need for battery pack switching management.

[0067] Example 6 This invention also provides a method for operating a fully electric subsea base, employing any of the above embodiments of the fully electric subsea base system, including the following steps: Step S1: Drill pipe lowering and guiding: The drill pipe is passed from top to bottom through the upper guide cone 2, the lower guide cone 6, and the internal clamping space (i.e., the hollow inner cavity of the central cylinder 81) of the servo-electric clamping assembly 8, and exits from the center of the base 5. During this process, the upper guide cone 2 and the lower guide cone 6 utilize their inner conical surface structure to automatically guide the drill pipe to the center position of the wellhead, correcting any lateral deviation that may occur during the lowering process.

[0068] Step S2: Clamping Action: After the drill pipe reaches the predetermined position, the control chamber 16 sends clamping signals to the left servo electric cylinder 9 and the right servo electric cylinder 10. The left servo electric cylinder 9 and the right servo electric cylinder 10 achieve synchronous drive through encoder closed-loop control, causing the clamp 83 to move in opposite directions, applying clamping force to the drill pipe inserted into the internal clamping space, thus completing the clamping action. During the clamping process, the displacement and output force of the left servo electric cylinder 9 and the right servo electric cylinder 10 are monitored in real time by the encoder to ensure that the dual-side drive remains synchronized, so that the clamp 83 always moves in the center during the clamping process, ensuring that the drill pipe is positioned at the geometric center of the internal clamping space.

[0069] Specifically, the clamping action is performed as follows: the integrated servo motor 91 rotates in the forward direction, driving the ball screw 93 to rotate through the coupling 92. The rotational motion of the ball screw 93 is converted into the linear extension motion of the push rod 95. The push rod 95 pushes the clamp 83 to move radially toward the drill pipe until the clamping surface of the clamp 83 is in close contact with the outer wall of the drill pipe and reaches the preset clamping force.

[0070] Step S3: Clamping Force Maintenance: In the clamping state, the clamping force is continuously maintained stably through encoder closed-loop control. Specifically, the integrated servo motor 91 maintains its output torque, and the push rod 95 continuously applies thrust to keep the clamp 83 in a clamped state. During this process, the encoder monitors the changes in motor torque in real time. When fluctuations in the clamping force are detected due to external disturbances (such as ocean current impact or drill pipe vibration), the controller immediately adjusts the motor output torque to compensate, ensuring that the clamping force remains stable within the preset range.

[0071] Step S4: Release Action: After drilling is completed, the control cabin 16 sends a release signal to the left servo electric cylinder 9 and the right servo electric cylinder 10. The left servo electric cylinder 9 and the right servo electric cylinder 10 synchronously drive the clamp 83 to move in opposite directions, releasing the drill pipe. Specifically, the integrated servo motor 91 rotates in the opposite direction, the ball screw 93 drives the push rod 95 to retract, and the push rod 95 drives the clamp 83 to move radially away from the drill pipe, thus releasing the drill pipe from the clamping state and allowing it to be pulled out of the wellhead.

[0072] In the above working method, the synchronous control of the left servo electric cylinder 9 and the right servo electric cylinder 10 in steps S2 and S4 is achieved through the EtherCAT industrial communication bus, ensuring that the two motors move synchronously at the same speed and with the same displacement, thus avoiding the problem of unbalanced load or clamping failure caused by left and right asynchrony.

[0073] Example 7 In shallow water areas or for operations requiring prolonged continuous operation, a cabled power supply mode is employed. One end of the photoelectric composite umbilical cable is connected to the surface power supply and control system, while the other end is connected to the input port of the power supply and transformation compartment 15 via an underwater connector. The surface power supply, after voltage regulation and boosting, is transmitted to the power supply and transformation compartment 15 via the umbilical cable. The power conversion module inside the power supply and transformation compartment 15 converts the input high-voltage AC power into a stable 48V DC power, which then powers the control compartment 16, the left servo electric cylinder 9, the right servo electric cylinder 10, and other auxiliary equipment via a DC bus. Simultaneously, the surface control terminal establishes a high-speed data link with the control compartment 16 via the optical fiber within the umbilical cable, enabling real-time control and status monitoring. In cabled mode, the battery compartment 12 and its internal underwater battery pack can be disassembled according to operational needs to reduce the weight of the base and simplify maintenance.

[0074] In deep water areas or where umbilical cable laying is difficult, a cableless power supply mode is adopted. The high-capacity underwater battery packs in battery compartment 12 are connected to battery distribution compartment 14 via cables. Battery distribution compartment 14 manages power distribution according to system load requirements, selecting a set of fully charged battery packs to connect to the input terminal of power supply and transformation compartment 15. Power supply and transformation compartment 15 performs voltage transformation and stabilization on the DC power output from the battery packs, and then supplies power to various electrical loads through the DC bus. Simultaneously, the surface control terminal transmits control commands via the surface acoustic communication device, and the underwater communication module receives the commands and transmits them to control compartment 16, realizing remote wireless control. Information such as equipment operating status, battery voltage, and compartment sealing condition is fed back to the surface control terminal via the underwater acoustic communication link, enabling remote monitoring.

[0075] When the battery distribution compartment 14 detects that the voltage of the currently operating battery pack has dropped to a preset minimum threshold, it automatically switches the battery packs: first connecting the next fully charged battery pack, then disconnecting the depleted battery pack after a delay, ensuring uninterrupted power supply. When all battery packs have discharged below the threshold, the system sends a power depletion alarm signal to the surface control terminal via underwater acoustic communication, prompting the recovery of the base plate.

[0076] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fully electric subsea base system, characterized in that, include: The frame structure consists of a top cover (3), a base (5), and several columns (4) connecting the top cover (3) and the base (5); Upper guide cone (2), the upper guide cone (2) is provided on the top cover (3); A servo electric clamping assembly (8) is mounted on the base (5). The servo electric clamping assembly (8) has an internal clamping space. A left servo electric cylinder (9) and a right servo electric cylinder (10) are respectively provided on its left and right sides. The left servo electric cylinder (9) and the right servo electric cylinder (10) are used to drive the clamping components set in the internal clamping space to move towards or away from each other, so as to clamp or release the clamped body. The left servo electric cylinder (9) and the right servo electric cylinder (10) are synchronously driven by encoder closed-loop control, so that the clamping components always maintain centered movement during the clamping process, so as to ensure that the clamped body is positioned at the geometric center of the internal clamping space. The lower guide cone (6) is fixed to the top of the servo electric clamping assembly (8) and is coaxial with the upper guide cone (2). It is used to guide the clamped body passing through the upper guide cone (2) into the internal clamping space of the servo electric clamping assembly (8) and out from the base (5). The functional module is disposed on the base (5) and arranged around the periphery of the base (5). The functional module is used to provide power and control signals to the servo electric clamping assembly (8).

2. The all-electric subsea base system according to claim 1, characterized in that, The base (5) has several legs (7) at its bottom, which are used to support the seabed surface.

3. The all-electric subsea base system according to claim 1, characterized in that, The servo-electric clamping assembly (8) also includes: The central cylinder (81) is fixed inside the servo electric clamping assembly (8), and its hollow inner cavity constitutes the internal clamping space. The central cylinder (81) is provided with a vertically penetrating channel for the clamped body to pass through. Two electric cylinder brackets (82) are fixedly connected to opposite sides of the central cylinder (81). The left servo electric cylinder (9) and the right servo electric cylinder (10) are respectively installed on the electric cylinder brackets (82) on the corresponding sides, and the left servo electric cylinder (9) and the right servo electric cylinder (10) are arranged opposite each other in the radial direction of the central cylinder (81). Two clamps (83) are disposed in the hollow cavity of the central cylinder (81) and are respectively connected to the push rod ends of the left servo electric cylinder (9) and the right servo electric cylinder (10); The left servo electric cylinder (9) and the right servo electric cylinder (10) operate synchronously, driving the corresponding push rod to extend or retract, thereby causing the clamp (83) to move radially in opposite directions or in opposite directions within the hollow cavity of the central cylinder (81), thus clamping or releasing the clamped object.

4. The all-electric subsea base system according to claim 3, characterized in that, The left servo electric cylinder (9) and the right servo electric cylinder (10) have the same structure, both including: An integrated servo motor (91) is mounted on the electric cylinder bracket (82). A coupling (92) is connected to the output shaft of the integrated servo motor (91); A ball screw (93) is connected to the integrated servo motor (91) via the coupling (92); Bearing sleeve (94), the bearing sleeve (94) is sleeved on the outside of the ball screw (93), and a bearing assembly is provided inside it to support the rotation of the ball screw (93); A push rod (95) is sleeved on the ball screw (93). The inner wall of the push rod (95) is provided with an internal thread structure that mates with the ball screw (93). An anti-rotation limiting structure is provided between the push rod (95) and the electric cylinder housing to limit the circumferential rotation of the push rod (95) and convert the rotational motion of the ball screw (93) into the linear extension and retraction motion of the push rod (95).

5. The all-electric subsea base system according to claim 1, characterized in that, The functional module group includes a power supply and transformation module (15), a control module (16), a battery distribution module (14), and several battery modules (12). The power supply and transformation module (15) is used to provide power to the servo electric clamping assembly (8). The control module (16) is used to provide control signals to the servo electric clamping assembly (8). The battery modules (12) are equipped with underwater battery packs. The battery distribution module (14) is used to manage the power distribution of the underwater battery packs.

6. The all-electric subsea base system according to claim 5, characterized in that, The battery distribution compartment (14) is equipped with a battery switch management and power distribution control module. The battery compartment (12) is electrically connected to the power supply and transformation compartment (15) through the battery distribution compartment (14). The battery distribution compartment (14) controls the access and isolation of multiple battery compartments (12) according to the system load requirements and voltage detection results.

7. The all-electric subsea base system according to claim 5, characterized in that, The system has a cable power supply mode and a cableless power supply mode. In the cable power supply mode, the power supply and transformation compartment (15) is connected to the surface power source via a photoelectric composite umbilical cable, which is also used for data communication between the surface and underwater. In the cableless power supply mode, the power supply and transformation compartment (15) is electrically connected to the underwater battery pack located in the battery compartment (12), which powers the entire system. The control compartment (16) realizes data communication between the surface and underwater via an underwater acoustic communication device.

8. The all-electric subsea base system according to claim 7, characterized in that, The control cabin (16) integrates a controller, a voltage detection module, a water leakage detection module, and a tilt angle detection module. The controller is used to receive and parse instructions from the water control terminal, send motion control signals to the servo electric clamping assembly (8), and collect feedback data from the voltage detection module, the water leakage detection module, the tilt angle detection module, and the servo electric cylinder encoder in real time.

9. The all-electric subsea base system according to claim 7, characterized in that, In the wired power supply mode, the battery compartment (12) and its internal underwater battery pack are both detachable structures.

10. A method for operating a fully electric subsea base, employing the fully electric subsea base system as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Pass the drill rod through the upper guide cone (2), the lower guide cone (6), and the internal clamping space of the servo electric clamping assembly (8) from top to bottom, and exit from the base (5); S2: The functional module sends clamping signals to the left servo electric cylinder (9) and the right servo electric cylinder (10). The left servo electric cylinder (9) and the right servo electric cylinder (10) are synchronously driven by encoder closed-loop control, so that the clamping components move in opposite directions and apply clamping force to the drill rod that enters the internal clamping space to complete the clamping action. During the clamping process, the displacement and output force of the left servo electric cylinder (9) and the right servo electric cylinder (10) are monitored in real time by the encoder to ensure that the dual-side drive is always synchronized, so that the clamping components always move in the center during the clamping process to ensure that the drill rod is positioned at the geometric center of the internal clamping space. S3: In the clamping state, the clamping force is continuously maintained stable through the encoder closed-loop control; S4: After the drilling operation is completed, the functional module sends a release signal to the left servo electric cylinder (9) and the right servo electric cylinder (10). The left servo electric cylinder (9) and the right servo electric cylinder (10) synchronously drive the clamping component to move backward and release the drill rod.

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