Electric leakage and grounding protection system of underwater robot

Abstract

An electric leakage and grounding protection system of an underwater robot comprises an electric leakage detection device, a grounding protection device, a remote IO module and a controller, the electric leakage detection device and the grounding protection device are arranged in an electrical system of the underwater robot, and the electric leakage detection device comprises a detection power supply module and an insulation resistance sensor. The insulation resistance sensor is connected with a main circuit loop of the robot through detection contacts L1 and L2 of the insulation resistance sensor, the detected resistance is transmitted to the remote IO module, electric leakage alarm information is output to the controller, and the controller cuts off a power supply for monitoring a main circuit; the grounding protection device comprises a plurality of movable grounding electrodes and a grounding protection circuit which are distributed on the robot walking mechanism, all the movable grounding electrodes are connected with the grounding protection circuit after being connected in series and in parallel, and when a grounding fault occurs, a main circuit power source is cut off through the controller. The device can effectively isolate electrical equipment from a water environment, monitor current in real time, ensure effective grounding of a machine body, and reduce the risk of electric leakage accidents.

Description

Technical Field

[0001] The utility model relates to the technical field of leakage protection, in particular to a leakage and grounding protection system of an underwater robot. Background Art

[0002] With the increasing attention paid to the development and utilization of marine resources, underwater automation equipment has also been developed. Underwater robots can be widely used in the fields of marine survey, seabed resource development, and maintenance of underwater equipment and facilities. However, in underwater environments, electrical equipment is easily affected by factors such as moisture and corrosion, which increases the risk of leakage and threatens the normal operation of robots and the safety of personnel. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the above-mentioned prior art and provide a leakage and grounding protection system for an underwater robot that can monitor the current changes of the electrical system in real time, detect the grounding conditions and take corresponding measures, thereby effectively preventing leakage accidents and grounding faults from occurring during the operation of the underwater robot and improving work safety and reliability.

[0004] The utility model is realized by the following technical solutions:

[0005] A leakage and grounding protection system for an underwater robot comprises a leakage detection device and a grounding protection device, a remote IO module and a controller arranged in the electrical system of the underwater robot; the leakage detection device comprises a detection power supply module and an insulation resistance sensor, the detection power supply module is connected to supply power to the insulation resistance sensor, the insulation resistance sensor is connected to the main circuit loop of the robot through its detection contacts L1 and L2 to detect the resistivity on the main circuit of the robot; the insulation resistance sensor is connected to the remote IO module through an I / O output to transmit the detected resistance to the remote IO module, the insulation resistance sensor is simultaneously connected to the controller through an RS485 serial port to output leakage alarm information to the controller, and the controller is used to cut off the power supply of the monitoring main circuit to avoid accidents.

[0006] The grounding protection device includes a plurality of movable grounding electrodes and a grounding protection circuit. The plurality of movable grounding electrodes are distributed on the walking mechanism of the underwater robot, and as the robot walks, it is ensured that there are always movable grounding electrodes grounded. All movable grounding electrodes are connected to the robot main circuit after being connected in series and parallel, and are also connected to the grounding protection circuit. The grounding protection circuit is used to monitor the grounding condition. The grounding protection circuit is connected to the remote IO module, and the remote IO module is connected to the controller. When a grounding fault occurs (a circuit breaker occurs somewhere in the grounding loop or the electrode is damaged), the remote IO module receives a grounding abnormality signal and transmits the signal to the controller, and the controller cuts off the power supply of the main circuit.

[0007] Furthermore, the grounding protection circuit includes a grounding protection power supply, a safety relay TR, a relay K1, a relay K2, a relay K3, and an indicator light P1. The safety relay TR, the relay K2, and the indicator light are connected in parallel to the grounding protection power supply. The safety relay TR is a safety relay with a control input, and B1 is its control input point. Its normally open contacts (15, 18) are connected to the relay K2. When the normally open contacts (15, 18) are closed, the relay K2 works, and the grounding protection circuit is self-locking. Its normally closed contacts (25, 26) are connected to the remote IO module. When the normally closed contacts (25, 26) are disconnected, the remote IO module has no signal input, and the normally closed contacts (25, 26) are disconnected. When the closing contacts (25, 26) are closed, the remote IO module receives a high-level alarm signal (grounding abnormality); the relay K1 is a control input relay, which is connected to the remote IO module. The controller controls the relay K1 to work through the remote IO module and starts the grounding protection circuit; a plurality of movable grounding electrodes are connected in series and parallel and then connected to the relay K3 and the relay K1 in sequence, and then connected to the grounding point of the grounding protection circuit. The relay K3 is used to detect whether the grounding of the main circuit is normal. When the grounding is normal, the normally open contact of the relay K3 is closed. If the grounding is abnormal, the coil of the relay K3 cannot form a loop, and no current flows through the entire circuit loop, and the entire circuit cannot work.

[0008] Furthermore, it also includes an electronics compartment for installing the electrical system of the underwater robot, and the electronics compartment is made of insulating material.

[0009] Furthermore, the insulating material is phenolic resin, which has excellent insulating properties and corrosion and weather resistance, and can be used for a long time in a high temperature, high voltage, and high humidity environment.

[0010] Furthermore, the walking mechanism of the underwater robot includes a track, and a plurality of the movable grounding electrodes are evenly distributed on the surface of the track.

[0011] Furthermore, the number of movable grounding electrodes arranged on each crawler is ≥ 3. When the crawler moves under the drive of the driving mechanism, it can be ensured that there is always an electrode in contact with the ground.

[0012] Furthermore, a plurality of the movable grounding electrodes are connected in series and in parallel to form a mesh structure, and the mesh structure is connected to a grounding protection circuit and a main circuit of the robot to ensure the quantity of the grounding electrodes and the quality of the grounding.

[0013] Compared with the prior art, the beneficial technical effects of the utility model are:

[0014] (1) Efficient isolation: High-strength, corrosion-resistant insulating materials are used to effectively isolate electrical equipment from the water environment, reducing the risk of leakage.

[0015] (2) Real-time monitoring: Equipped with a leakage detection device, it can monitor the changes in current in real time. Once leakage is detected, the power supply will be cut off in time to ensure work safety.

[0016] (3) Reliable grounding: Multiple movable grounding electrodes, grounding detection and protection circuits are set up to ensure a good electrical connection between the body and the underwater environment, further reducing the risk of leakage.

[0017] (4) Quick response: The leakage protection circuit can cut off the power supply in time and send out a warning signal to remind maintenance personnel to carry out maintenance, shorten the fault handling time, and improve the availability and work efficiency of the underwater robot.

[0018] (5) Strong adaptability: This technical solution can be flexibly adjusted and optimized according to specific needs and is suitable for different types of underwater robots and working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall structural block diagram of an embodiment of the utility model.

[0020] Figure 2 It is a schematic diagram of the leakage detection structure in the embodiment of the utility model.

[0021] Figure 3 It is a structural diagram of the ground protection circuit in the embodiment of the utility model.

[0022] Figure 4 It is a schematic diagram of the grounding protection structure in the embodiment of the utility model.

[0023] Figure 5 This is a wiring diagram of a safety relay TR in a ground protection circuit according to an embodiment of the present utility model.

[0024] Figure 6 This is a diagram of the connection structure of the movable grounding electrode in the embodiment of the utility model.

[0025] Figure numerals: 1 - track; 2 - movable ground electrode. DETAILED DESCRIPTION

[0026] A leakage and grounding protection system for an underwater robot, such as Figure 1 As shown, it includes a leakage detection device, a grounding protection device, a remote IO module and a controller arranged in the electrical system of the underwater robot. The communication module may include a switch arranged in the underwater robot system, the controller may be arranged in the industrial computer of the underwater robot system, and the remote IO module may be arranged in the upper computer on land.

[0027] like Figure 2 , Figure 4As shown, the leakage detection device includes a detection power supply module and an insulation resistance sensor. The detection power supply module (PSU2 auxiliary power supply) is used to power the insulation resistance sensor. The insulation resistance sensor (LIM) is connected to the main circuit loop of the robot through its detection contacts L1 and L2 to detect the resistivity on the main circuit of the robot; the insulation resistance sensor is connected to the remote IO module through the I / O output (serial communication) to transmit the detected resistance data to the remote IO module. The insulation resistance sensor is also connected to the controller (U1 controller) through the RS485 serial port to output leakage alarm information to the controller, and the controller is used to cut off the power supply of the monitoring main circuit. The insulation resistance sensor (or insulation detection sensor, insulation detector) is commercially available and has the functions of detection, setting, calculation, etc. The leakage detection device is used to monitor the changes in the current of the robot main circuit in real time, and cooperates with the controller. Once a leakage phenomenon is detected, the power supply is immediately cut off and a warning signal is issued to avoid the occurrence of leakage accidents.

[0028] It is necessary to set the alarm insulation resistance value of the monitoring main circuit in advance through the modbus bus (the insulation resistance value is set according to the actual operating conditions of the project), and obtain the insulation resistance value in the monitoring main circuit in real time through the modbus bus. When the insulation resistance value is lower than the set value, the relay inside the insulation resistance sensor is triggered, and the alarm signal is output to the controller, and the power supply of the monitoring main circuit is quickly cut off to avoid accidents.

[0029] A reliable grounding protection device can establish a good electrical connection between the robot and the underwater environment, further reducing the risk of leakage. Figure 3 As shown, the grounding protection device includes a plurality of movable grounding electrodes and a grounding protection circuit. The plurality of movable grounding electrodes are distributed on the walking mechanism of the underwater robot, and as the robot walks, it is ensured that there are always movable grounding electrodes grounded. All movable grounding electrodes are connected to the robot main circuit after being connected in series and parallel, and are also connected to the grounding protection circuit. The grounding protection circuit is used to monitor the grounding condition, such as Figure 4 The grounding protection circuit is connected to the remote IO module, and the remote IO module is connected to the controller. When a grounding fault occurs (a circuit break occurs somewhere in the grounding loop or the electrode is damaged), the remote IO module receives a grounding abnormality signal and transmits the signal to the controller, and the controller cuts off the main circuit power supply.

[0030] Specifically, in this embodiment, Figure 3 The grounding protection circuit includes a grounding protection power supply, a safety relay TR, a relay K1, a relay K2, a relay K3, and an indicator light P1. The safety relay TR, the relay K2, and the indicator light are connected in parallel to the grounding protection power supply (PSU2 auxiliary power supply). Figure 5The safety relay TR is a safety relay with control input, B1 is its control input point, its normally open contacts (15, 18) are connected to the relay K2, when the normally open contacts (15, 18) are closed, the relay K2 works, the grounding protection circuit is self-locking, and its normally closed contacts (25, 26) are connected to the remote IO module (such as Figure 4 ), when the normally closed contacts (25, 26) are disconnected, there is no signal input to the DO01 interface of the remote IO module; when the normally closed contacts (25, 26) are closed, the remote IO module receives a high-level alarm signal; the relay K1 is a control input relay, which is connected to the remote IO module (such as Figure 4 ), the controller controls the relay K1 to work through the remote IO module to start the grounding protection circuit; a number of movable grounding electrodes are connected in series and parallel and then connected to the relay K3 and relay K1 in turn, and then connected to the grounding point of the grounding protection circuit. Relay K3 is used to detect whether the grounding of the main circuit is normal. When the grounding is normal, the normally open contact of relay K3 is closed. If the grounding is abnormal, the coil of relay K3 cannot form a loop, and no current passes through the entire circuit loop, and the entire circuit cannot work.

[0031] When the grounding protection circuit is enabled normally, the controller outputs a signal through the remote IO module, and relay K1 is enabled. If the grounding is normal (at least one movable grounding electrode is grounded), relay K3 is enabled, the relay K3 coil is energized, the relay K3 normally open contact is closed, the branches of the grounding protection circuit are connected, the indicator light P1 is lit, and the safety relay TR is activated to work, the TR normally open contact (15, 18) is closed, relay K2 is enabled, the grounding protection circuit is self-locking; the TR normally closed contact (25, 26) is disconnected, and there is no signal input to the remote IO module DI01 interface. If the grounding fails normally (no movable grounding electrode is grounded, the grounding electrode is damaged, there is a circuit break somewhere in the grounding loop, etc.), the relay K3 coil cannot form a loop, the contact is disconnected, no current flows in the circuit, the relay K2 and the safety relay TR are both de-energized and disconnected, the indicator light P1 is off, the safety relay TR normally closed contact (25, 26) is closed again, the remote IO module DI01 interface receives a high-level signal and transmits the signal to the controller, and the controller cuts off the main circuit power supply.

[0032] The walking mechanism of the underwater robot can be an existing structure, such as the wheeled structure used by general-purpose robots on land. Due to the buoyancy, ocean current movement, and undulating seabed terrain in the seawater environment, as one of the implementation methods, in this embodiment, the walking mechanism of the underwater robot is a tracked structure, which can improve the stability of the robot's walking, and a number of movable grounding electrodes are evenly distributed on the surface of the track. The number of movable grounding electrodes arranged on each of the tracks is ≥3, and more than 3 movable grounding electrodes can ensure that the track 1 is always in contact with the ground when it is driven by the driving mechanism. Figure 6 As shown, a plurality of movable grounding electrodes 2 are connected in series and in parallel to form a mesh structure, and the mesh structure is then connected to the grounding protection circuit and the robot main circuit to ensure the quantity of the grounding electrodes and the quality of the grounding.

[0033] Since the working environment of underwater robots is full of water, all electronic components of their electrical systems are installed in the electronic compartment, including the detection power module, insulation resistance sensor, grounding protection circuit, etc. in the utility model. However, underwater robots are limited by the volume, and the internal space of the electronic compartment is relatively compact, which is prone to interference and leakage risks. Therefore, insulating materials are selected as the insulating materials of the electronic compartment to ensure effective isolation between electrical equipment and the water environment and reduce the risk of leakage. Phenolic resin can be selected as the insulating material, which has excellent insulation performance and anti-corrosion and weather resistance, and can be used for a long time in high temperature, high voltage, and high humidity environments.

[0034] The above detailed description is a specific description of a feasible embodiment of the utility model. The embodiment is not intended to limit the patent scope of the utility model. Any equivalent implementation or modification that does not deviate from the utility model should be included in the patent scope of this case.

Claims

1. A leakage and grounding protection system for an underwater robot, characterized in that: It includes a leakage detection device and a grounding protection device, a remote IO module and a controller arranged in the electrical system of the underwater robot; the leakage detection device includes a detection power supply module and an insulation resistance sensor, the detection power supply module is used to supply power to the insulation resistance sensor, the insulation resistance sensor is connected to the main circuit loop of the robot through its detection contacts L1 and L2 to detect the resistivity on the main circuit of the robot; the insulation resistance sensor is connected to the remote IO module through the I / O output, and the detected resistance is transmitted to the remote IO module. The insulation resistance sensor is also connected to the controller through the RS485 serial port to output leakage alarm information to the controller, and the controller is used to cut off the power supply of the monitoring main circuit; The grounding protection device includes a plurality of movable grounding electrodes and a grounding protection circuit. The plurality of movable grounding electrodes are distributed on the walking mechanism of the underwater robot, and as the robot walks, it is ensured that there are always movable grounding electrodes grounded. All movable grounding electrodes are connected to the robot main circuit after being connected in series and parallel, and are also connected to the grounding protection circuit. The grounding protection circuit is used to monitor the grounding condition. The grounding protection circuit is connected to the remote IO module, and the remote IO module is connected to the controller. When a grounding fault occurs, the remote IO module receives a grounding abnormality signal and transmits the signal to the controller, and the controller cuts off the power supply of the main circuit.

2. The leakage and grounding protection system of an underwater robot according to claim 1, characterized in that: The grounding protection circuit comprises a grounding protection power supply, a safety relay TR, a relay K1, a relay K2, a relay K3, and an indicator light P1. The safety relay TR, the relay K2 and the indicator light are connected in parallel to the grounding protection power supply. The safety relay TR is a safety relay with a control input, and B1 is its control input point. Its normally open contacts (15, 18) are connected to the relay K2. When the normally open contacts (15, 18) are closed, the relay K2 works, and the grounding protection circuit is self-locking. Its normally closed contacts (25, 26) are connected to the remote IO module, and the normally closed contacts (25, 26) are connected to the remote IO module. When the points (25, 26) are disconnected, the remote IO module has no signal input, and when the normally closed contacts (25, 26) are closed, the remote IO module receives a high-level alarm signal; the relay K1 is a control input relay, which is connected to the remote IO module. The controller controls the relay K1 to work through the remote IO module to start the grounding protection circuit; a plurality of movable grounding electrodes are connected in series and parallel and then connected to the relay K3 and the relay K1 in turn, and then connected to the grounding point of the grounding protection circuit. The relay K3 is used to detect whether the grounding of the main circuit is normal. When the grounding is normal, the normally open contact of the relay K3 is closed.

3. The leakage and grounding protection system of an underwater robot according to claim 1, characterized in that: It also includes an electronics compartment for installing the electrical system of the underwater robot, wherein the electronics compartment is made of insulating material.

4. The leakage and grounding protection system of an underwater robot according to claim 3, characterized in that: The insulating material is phenolic resin.

5. The leakage and grounding protection system of an underwater robot according to claim 1, characterized in that: The walking mechanism of the underwater robot comprises a crawler, and a plurality of movable grounding electrodes are evenly distributed on the surface of the crawler.

6. The leakage and grounding protection system of an underwater robot according to claim 5, characterized in that: The number of movable grounding electrodes arranged on each track is ≥3.

7. The leakage and grounding protection system of an underwater robot according to claim 1, characterized in that: A plurality of movable grounding electrodes are connected in series and in parallel to form a mesh structure, and the mesh structure is connected to a grounding protection circuit and a main circuit of the robot.

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