Cooling system of underwater ditching and cable laying robot

Abstract

The utility model provides a cooling system of an underwater ditching and cable laying robot. The cooling system comprises an auxiliary cooling system and a main cooling system, the underwater ditching and cable laying robot comprises at least two cooling systems arranged in parallel. The auxiliary cooling system provides power for the auxiliary function of the whole machine and cooling of electrical elements, and hydraulic oil which originally provides pressure compensation for a driving motor, a control valve box, an electrical element box and a flow meter box and eliminates the influence of seawater pressure on the electrical elements is fully circulated in the circulating cooling process. After being cooled by the water cooler, heat generated by each electrical element is taken away in the circulating process; the cooling water pump is directly driven by an oil pump and is not controlled by a control valve box, the cooling system is automatically started, additional operation is not needed, and it is guaranteed that the cooling system is in a running state all the time. The main cooling system provides power for the main control system through a diverter valve, and meanwhile hydraulic oil is diverted into the second water cooler to be cooled. The stability and the cooling efficiency of the whole machine can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater robot control, in particular to a cooling system of an underwater trenching and cable-laying robot. Background Art

[0002] As a long-term continuous operation equipment, the hydraulic system and drive motor of the underwater trenching and cable-laying robot are greatly affected by temperature changes and will produce a significant temperature rise after long-term operation, thereby affecting the working stability of the underwater trenching and cable-laying robot. In order to make the underwater trenching and cable-laying robot work stably for a long time, it is necessary to ensure that the temperature of the hydraulic system and the drive motor are kept at an appropriate working temperature. However, in the research and practice of the existing technology, the utility model inventor of this application found that the conventional cooling method of the existing underwater trenching and cable-laying robot mostly relies on the seawater itself for cooling, without an additional cooling system, resulting in low cooling efficiency and a significant temperature rise after long-term operation, which affects the stability of the underwater trenching and cable-laying robot.

[0003] Based on this, it is necessary to provide a cooling system for an underwater trenching and cable-laying robot that can overcome the above-mentioned defects of the prior art. Utility Model Content

[0004] In view of this, the present application proposes a cooling system for an underwater trenching and cable-laying robot, which can overcome the above-mentioned defects of the prior art and improve the stability and cooling efficiency of the entire machine.

[0005] The present application provides a cooling system for an underwater trenching and cable-laying robot. The underwater trenching and cable-laying robot includes at least two cooling systems configured in parallel. The cooling system includes:

[0006] The drive motor is an integrated structure with the drive motor housing, and a closed cavity containing hydraulic oil is provided between the drive motor and the drive motor housing;

[0007] An auxiliary cooling system includes a first delivery pump, a first one-way valve, a first high-pressure filter, and a cooling water pump arranged in series; a second delivery pump, a second one-way valve, a second high-pressure filter, a control valve box, and an auxiliary control system arranged in series; and a third delivery pump, a third one-way valve, a third high-pressure filter, and a first water cooler arranged in series.

[0008] a main cooling system comprising a fourth delivery pump, a diverter valve, a second water cooler, and a main control system arranged in series;

[0009] a first compensator configured to balance the hydraulic oil pressure of the auxiliary cooling system;

[0010] a second compensator configured to balance the hydraulic oil pressure of the main cooling system;

[0011] The first delivery pump and the second delivery pump are arranged in series, the third delivery pump and the fourth delivery pump are arranged in series, and the first delivery pump, the second delivery pump, the third delivery pump and the fourth delivery pump are driven uniformly by the drive motor; the cooling water pump is configured to deliver cooling water to the first water cooler and the second water cooler.

[0012] In one possible implementation, the auxiliary cooling system further includes a flow meter box, which is composed of a flow meter and a closed compensating valve box, and is configured to monitor the cooling water output flow of the cooling water pump; wherein the input end of the flow meter box is connected to the output end of the cooling water pump, and the output end of the flow meter box is respectively connected to the input end of the first water cooler and the input end of the second water cooler.

[0013] In one possible implementation, the auxiliary cooling system also includes an electrical component box; the enclosed cavity, the electrical component box, the control valve box, the flow meter box, and the electrical component box are all filled with hydraulic oil and are connected to the first compensator filled with hydraulic oil through pipelines.

[0014] In a possible implementation, the auxiliary cooling system further includes a first overflow valve, a second overflow valve, and a third overflow valve; the cooling water pump includes a water pump drive motor and a water pump; wherein,

[0015] When the drive motor is started, the first delivery pump, the second delivery pump, and the third delivery pump are started and obtain hydraulic oil from the first compensator and establish hydraulic oil pressure, and the fourth delivery pump is started and obtains hydraulic oil from the main control system and the second compensator and establishes hydraulic oil pressure;

[0016] The hydraulic oil output by the first delivery pump passes through the first relief valve and the first high-pressure filter in sequence and then enters the water pump drive motor;

[0017] The hydraulic oil output by the second delivery pump passes through the second relief valve and the second high-pressure filter in sequence and then enters the control valve box;

[0018] The hydraulic oil output by the third delivery pump passes through the third relief valve and the third high-pressure filter in sequence and then enters the first water cooler, and is then delivered from the first water cooler back to the closed chamber;

[0019] The hydraulic oil output by the fourth delivery pump is diverted by the diverter valve, one path of the hydraulic oil enters the main control system, and the other path of the hydraulic oil enters the second water cooler and is then delivered back to the second compensator from the second water cooler.

[0020] In one possible implementation, the auxiliary cooling system also includes a backup motor pump group, which is connected in parallel with the first delivery pump, the first one-way valve, the first high-pressure filter, and the cooling water pump configured in series, and is configured to start the backup motor pump group to continue to deliver cooling water to the first water cooler and the second water cooler when the cooling water pump is abnormal.

[0021] In one possible implementation, the auxiliary cooling system is further configured to:

[0022] When the abnormal signal of the cooling water pump is received, if the cooling water output flow of the cooling water pump is monitored to be the maximum output flow of the cooling water pump, it is determined that the cooling water pump is normal and the whole machine is overloaded, and the standby motor pump group is immediately started to increase the cooling water volume, and an alarm is triggered; if the cooling water output flow of the cooling water pump is monitored to be less than the alarm threshold, it is determined that the cooling water pump is damaged, and the standby motor pump group is immediately started to maintain the cooling water output of the whole machine, and an alarm is triggered.

[0023] In one possible implementation, the cooling system further includes: a first pressure sensor, a first temperature sensor, and a first liquid level sensor installed on the first compensator for respectively monitoring the internal pressure, oil temperature, and liquid level of the first compensator; and a second pressure sensor, a second temperature sensor, and a second liquid level sensor installed on the second compensator for respectively monitoring the internal pressure, oil temperature, and liquid level of the second compensator.

[0024] In one possible implementation, the auxiliary cooling system is configured as follows:

[0025] comparing the oil temperature collected in real time by the first temperature sensor and the current displacement of the first delivery pump with a preset minimum oil temperature and maximum oil temperature, and a maximum displacement and minimum displacement of the first delivery pump;

[0026] When the oil temperature is lower than the minimum oil temperature, determining whether the first delivery pump is at the minimum displacement, and if not, reducing the current displacement of the first delivery pump;

[0027] When the oil temperature is greater than the minimum oil temperature, it is determined whether the first delivery pump is at the maximum displacement. If not, the current displacement of the first delivery pump is increased. If so, it is determined that the cooling water pump is abnormal and an alarm is triggered.

[0028] In one possible implementation, the cooling water pump includes a water pump drive motor and a water pump, the first delivery pump and the second delivery pump are displacement-controllable variable oil pumps, the third delivery pump is an auxiliary circulation pump, and the fourth delivery pump is a closed main pump.

[0029] In one possible implementation, the output port of the first water cooler is provided with a fourth one-way valve for preventing seawater from flowing back into the cooling water path and ensuring that the cooling water entering the first water cooler has back pressure in the first water cooler; the output port of the second water cooler is provided with a fifth one-way valve for preventing seawater from flowing back into the cooling water path and ensuring that the cooling water entering the second water cooler has back pressure in the second water cooler.

[0030] Compared with the prior art, this application has the following beneficial effects:

[0031] The cooling system of the underwater trenching and cable-laying robot provided in the present application includes an auxiliary cooling system and a main cooling system; the underwater trenching and cable-laying robot includes at least two cooling systems configured in parallel; the auxiliary cooling system provides power for the auxiliary functions of the entire machine and cooling of electrical components. During the circulating cooling process, the hydraulic oil originally used to provide pressure compensation for the drive motor, control valve box, electrical component box, and flow meter box, and to eliminate the influence of seawater pressure on the electrical components, is fully circulated. After being cooled by the water cooler and taking away the heat generated by each electrical component during the circulation process, the stability and accuracy of each electrical component, as well as the cooling efficiency of the entire machine, are improved; the cooling water pump is directly driven by the oil pump without the control of the control valve box. The cooling system starts automatically when the machine is turned on, and no additional operation is required, ensuring that the cooling system is always in operation. The main cooling system provides power to the main control system through a diverter valve, and at the same time diverts the hydraulic oil into the second water cooler for cooling, ensuring the stability of the electrical components in the underwater trenching and cable-laying robot without affecting the operation of the main control system.

[0032] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 the structures shown in these drawings without paying any creative work.

[0034] Figure 1 This is a schematic structural diagram of a cooling system for an underwater trenching and cable-laying robot provided in one embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of a displacement control flow of a first delivery pump provided in one embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of the startup process of the standby motor pump group provided in one embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only 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 making creative efforts are within the scope of protection of the present invention.

[0038] Where there are descriptions of “first”, “second”, etc. in the specification and claims of this application and the above-mentioned drawings, the descriptions of “first”, “second”, etc. are only used for descriptive purposes to distinguish different objects, rather than for describing a specific order. They cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0039] When used herein, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps, units, or modules is not limited to the listed steps, units, or modules, but may optionally include steps, units, or modules not listed, or other steps, units, or modules that are inherent to the process, method, product, or apparatus.

[0040] The term “and / or” or “and / or” appearing in the text includes three parallel options. Taking “A and / or B” as an example, it includes option A, option B, or options in which both A and B are satisfied.

[0041] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] Since the underwater trenching and cable-laying robot is a long-term continuous operation equipment, its hydraulic system and drive motor are greatly affected by temperature changes and will produce a significant temperature rise after a long period of work, thereby affecting the working stability of the underwater trenching and cable-laying robot. In order to make the underwater trenching and cable-laying robot work stably for a long time, it is necessary to ensure that the temperature of the hydraulic system and the drive motor are kept at a suitable working temperature. However, in the research and practice of the existing technology, the utility model inventor of this application found that the conventional cooling method of the existing underwater trenching and cable-laying robot mostly relies on the seawater itself for cooling, without an additional cooling system, resulting in low cooling efficiency and a significant temperature rise after a long period of work, which affects the stability of the underwater trenching and cable-laying robot.

[0043] Based on this, it is necessary to propose a cooling system for an underwater trenching and cable-laying robot to overcome the above-mentioned defects of the prior art and improve the stability and cooling efficiency of the entire machine.

[0044] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0045] See also Figure 1 , Figure 1 It is a structural schematic diagram of the cooling system of the underwater trenching and cable-laying robot provided in one embodiment of the present application.

[0046] A cooling system for an underwater trenching and cable-laying robot, the underwater trenching and cable-laying robot comprising at least two cooling systems arranged in parallel, the cooling system comprising: a drive motor 1, which is an integral structure with the drive motor housing, and a sealed chamber between the drive motor 1 and the drive motor housing, which contains hydraulic oil; an auxiliary cooling system comprising a first delivery pump 2, a first one-way valve 21, a first high-pressure filter 23, and a cooling water pump 24 arranged in series, a second delivery pump 3, a second one-way valve 31, a second high-pressure filter 33, a control valve box 34, and an auxiliary control system 35 arranged in series; a third delivery pump 4, a third one-way valve 41, a third high-pressure filter 43, a first water cooler 4 arranged in series, 4; a main cooling system comprising a fourth delivery pump 5, a diverter valve 51, a second water cooler 52, and a main control system 54 arranged in series in sequence; a first compensator 7, configured to balance the hydraulic oil pressure of the auxiliary cooling system; a second compensator 8, configured to balance the hydraulic oil pressure of the main cooling system; the first delivery pump 2 and the second delivery pump 3 are arranged in series, the third delivery pump 4 and the fourth delivery pump 5 are arranged in series, and the first delivery pump 2, the second delivery pump 3, the third delivery pump 4 and the fourth delivery pump 5 are driven uniformly by the drive motor 1; the cooling water pump 24 is configured to deliver cooling water to the first water cooler 44 and the second water cooler 52.

[0047] In this embodiment, the cooling system utilizes a dual-module design, tailored to the operating environment and characteristics of the underwater trenching and cable-laying robot. Each actuator is supplied with oil from two identical and completely independent powertrains. This redundant design ensures operational stability for the entire system. Because the two cooling systems are identical, this embodiment will only describe one of them.

[0048] The drive motor housing and drive motor 1 are an integrated structure. The first and second delivery pumps 2, 3, and the third and fourth delivery pumps 4, 5 are each connected in series via a through shaft to form a single unit. These units are mounted on either side of the drive motor 1 and, driven by the drive motor 1, provide power for the underwater trenching and cable-laying robot.

[0049] In one possible implementation, the cooling system further includes: a first pressure sensor 72, a first temperature sensor 71, and a first liquid level sensor installed on the first compensator 7 for respectively monitoring the internal pressure, oil temperature, and liquid level of the first compensator 7; and a second pressure sensor 82, a second temperature sensor 81, and a second liquid level sensor installed on the second compensator 8 for respectively monitoring the internal pressure, oil temperature, and liquid level of the second compensator 8. The auxiliary cooling system further includes a flow meter box 6, which is composed of a flow meter and a closed compensating valve box and is configured to monitor the cooling water output flow rate of the cooling water pump 24; wherein the input end of the flow meter box 6 is connected to the output end of the cooling water pump 24, and the output end of the flow meter box 6 is respectively connected to the input end of the first water cooler 44 and the input end of the second water cooler 52. The auxiliary cooling system also includes an electrical component box 9; the enclosed chamber, the electrical component box 9, the control valve box 34, the flowmeter box 6, and the electrical component box 9 are all filled with hydraulic oil and connected to the first compensator 7, which is also filled with hydraulic oil, via pipelines. The auxiliary cooling system also includes a backup motor pump unit 25, which is connected in parallel with the series-connected first delivery pump 2, first one-way valve 21, first high-pressure filter 23, and cooling water pump 24. The system is configured to activate the backup motor pump unit 25 to continue delivering cooling water to the first water cooler 44 and the second water cooler 52 in the event of a malfunction in the cooling water pump 24.

[0050] In this embodiment, a flow meter box 6 is installed in the cooling water circuit to monitor the output flow of the cooling water pump 24 and the backup motor pump unit 25 in real time and transmit the information to the display panel in real time. The backup motor pump unit 25 is normally closed and only opens to provide cooling water when the flow meter in the flow meter box 6 indicates an abnormal flow rate.

[0051] The auxiliary cooling system mainly provides power for the auxiliary functions and electrical component cooling of the entire underwater trenching and cable-laying robot. At the same time, since the underwater trenching and cable-laying robot works on the seabed, in order to avoid the influence of seawater pressure on the underwater trenching and cable-laying robot, the auxiliary cooling system also performs pressure compensation for the electrical components of the entire machine.

[0052] During the job preparation phase:

[0053] In the auxiliary cooling system, the control valve box 34, the sealed chamber formed between the drive motor housing and the drive motor 1, the flow meter box 6, and the electrical component box 9 are all filled with hydraulic oil and connected to the first compensator 7, which is also filled with hydraulic oil. As the underwater trenching and cable-laying robot descends toward the work site, the seawater pressure continuously increases. Due to the structural characteristics of the first compensator 7, the hydraulic oil pressure within the first compensator 7 changes to ensure that the internal and external pressure differential is consistent with the design. At the same time, the hydraulic oil pressure within the first compensator 7 is transmitted through connecting pipes to the control valve box 34, the sealed chamber formed between the drive motor housing and the drive motor 1, the flow meter box 6, and the electrical component box 9, ensuring that the internal and external pressure differential is consistent with the design, thereby improving the stability and accuracy of the electrical components of the entire machine.

[0054] In addition, the first compensator 7 is equipped with a first pressure sensor 72, a first temperature sensor 71, and a first liquid level sensor. All sensor probes are protected to eliminate the influence of seawater. These three sensors monitor the hydraulic oil pressure, oil temperature, and liquid level inside the first compensator 7 in real time and transmit the information to the control panel for real-time viewing by the operator.

[0055] During the operation phase:

[0056] After the underwater trenching and cable-laying robot arrives at its designated work location, drive motor 1 starts, driving first and second delivery pumps 2 and 3 to start and draw oil from first compensator 7 to build pressure. Hydraulic oil delivered by second delivery pump 3 passes through second relief valve 32 and second high-pressure filter 33 before entering control valve box 34. Under the control of the control valve, this fluid provides power for the auxiliary functions of the underwater trenching and cable-laying robot.

[0057] After the first delivery pump 2 builds up pressure, the hydraulic oil passes through the first relief valve 22 and the first high-pressure filter 23, and then directly enters the water pump drive motor of the cooling water pump 24 without passing through the control valve box 34. This ensures that after the drive motor 1 is started, it can drive the water pump drive motor to rotate and drive the water pump without additional operation, thereby providing cooling water for the entire cooling system. This design avoids the situation where the cooling water pump 24 fails to start due to human factors during operation. At the same time, the first delivery pump 2 is a variable oil pump with controllable displacement. The displacement of the first delivery pump 2 is adjusted in real time through data transmitted by the three sensors: the first pressure sensor 72, the first temperature sensor 71, and the first liquid level sensor on the first compensator 7, so that the cooling water pump 24 can output cooling water efficiently and meet the needs of the cooling system in real time.

[0058] See also Figure 2 , Figure 2 It is a schematic diagram of the displacement control flow of the first delivery pump 2 provided in one embodiment of the present application.

[0059] In one possible implementation, the auxiliary cooling system is configured as follows:

[0060] Comparing the oil temperature collected in real time by the first temperature sensor 71 and the current displacement of the first delivery pump 2 with the preset minimum oil temperature and maximum oil temperature, and the maximum displacement and minimum displacement of the first delivery pump 2;

[0061] When the oil temperature is lower than the minimum oil temperature, determining whether the first delivery pump 2 is at the minimum displacement; if not, reducing the current displacement of the first delivery pump 2;

[0062] When the oil temperature is greater than the minimum oil temperature, it is determined whether the first delivery pump 2 is at the maximum displacement. If not, the current displacement of the first delivery pump 2 is increased. If so, it is determined that the cooling water pump 24 is abnormal and an alarm is triggered.

[0063] In this embodiment, the optimal temperature range T1 to T2 of the electrical components of the underwater trenching and cable laying robot and the maximum displacement V of the main pump of the first delivery pump 2 are pre-set. max and minimum displacement V min When the drive motor 1 is started, the program collects the hydraulic oil temperature T from the first temperature sensor 71 and the instantaneous displacement V of the first delivery pump 2 and compares them with the preset temperature range and the maximum and minimum displacement V of the first delivery pump 2. max 、V min Make a comparison.

[0064] When the hydraulic oil temperature T collected by the first temperature sensor 71 is exactly within the preset temperature range T1-T2, the program does not perform any operation.

[0065] When the hydraulic oil temperature T collected by the first temperature sensor 71 is lower than the preset temperature range T1-T2, it is determined that the flow rate of the cooling water pump 24 is too large and the speed of the water pump drive motor needs to be reduced. The program will then determine again whether the first delivery pump 2 is at the minimum displacement V min If the displacement of the first delivery pump 2 is not the minimum displacement V min , then reduce the displacement V at this time and reduce the fixed displacement V1, and collect data again after the cooling system stabilizes to make a judgment; if the displacement of the first delivery pump 2 is the minimum displacement V at this time min , it is determined that the cooling water pump 24 has reached the minimum flow rate, no further operation is performed, and the program ends.

[0066] When the hydraulic oil temperature T collected by the first temperature sensor 71 is greater than the preset temperature range T1~T2, it is determined that the flow rate of the cooling water pump 24 is too small and the speed of the water pump drive motor needs to be increased. The program will then determine again whether the first delivery pump 2 is at the maximum displacement V max If the displacement of the first delivery pump 2 is not the maximum displacement V max , then increase the displacement V to increase the fixed displacement V1, and collect data again after the cooling system stabilizes to make a judgment; if the displacement of the oil pump A is already the maximum displacement V max , the cooling water pump 24 is determined to be abnormal and an alarm is issued to the operator.

[0067] The cooling water pump 24 in the above embodiment has a controllable flow rate according to cooling requirements, low cooling power and higher efficiency.

[0068] In one possible implementation, the cooling water pump 24 includes a water pump drive motor and a water pump. The first and second delivery pumps 2 and 3 are variable displacement oil pumps with controllable displacement. The third delivery pump 4 is an auxiliary circulation pump. The fourth delivery pump 5 is a closed main pump. The output port of the first water cooler 44 is provided with a fourth check valve 45 to prevent seawater from backflowing into the cooling water path and to ensure back pressure is maintained in the cooling water entering the first water cooler 44. The output port of the second water cooler 52 is provided with a fifth check valve 53 to prevent seawater from backflowing into the cooling water path and to ensure back pressure is maintained in the cooling water entering the second water cooler 52.

[0069] In a possible implementation, the auxiliary cooling system further includes a first overflow valve 22, a second overflow valve 32 and a third overflow valve 42; the cooling water pump 24 includes a water pump drive motor and a water pump; wherein,

[0070] When the drive motor 1 is started, the first delivery pump 2, the second delivery pump 3, and the third delivery pump 4 are started and obtain hydraulic oil from the first compensator 7 and establish hydraulic oil pressure. At the same time, the fourth delivery pump 5 is started and obtains hydraulic oil from the main control system 54 and the second compensator 8 and establishes hydraulic oil pressure.

[0071] The hydraulic oil output by the first delivery pump 2 passes through the first relief valve 22 and the first high-pressure filter 23 in sequence and then enters the water pump drive motor;

[0072] The hydraulic oil output by the second delivery pump 3 passes through the second relief valve 32 and the second high-pressure filter 33 in sequence and then enters the control valve box 34;

[0073] The hydraulic oil output by the third delivery pump 4 passes through the third relief valve 42 and the third high-pressure filter 43 in sequence and then enters the first water cooler 44, and is then delivered back to the closed chamber from the first water cooler 44;

[0074] The hydraulic oil output by the fourth delivery pump 5 is diverted by the diverter valve 51 , one path of the hydraulic oil enters the main control system 54 , and the other path of the hydraulic oil enters the second water cooler 52 and is then delivered back to the second compensator 8 from the second water cooler 52 .

[0075] In this embodiment, driven by the drive motor 1, the third delivery pump 4 simultaneously starts and draws oil from the sealed chamber between the drive motor housing and the drive motor 1, building up pressure. The hydraulic oil passes through the third relief valve 42 and the third high-pressure filter 43, enters the first water cooler 44, and then returns to the sealed chamber between the drive motor housing and the drive motor 1. A fourth check valve 45 is provided at the outlet of the first water cooler 44. This check valve 45 not only prevents seawater from backflowing into the cooling water path but also ensures that the cooling water entering the first water cooler 44 from the cooling water pump 24 maintains a minimum back pressure within the first water cooler 44, further improving the cooling efficiency of the cooling water within the first water cooler 44. Furthermore, because the sealed chamber between the drive motor housing and the drive motor 1 is connected to the electrical component box 9, the control valve box 34, the first compensator 7, and the flowmeter box 6 via pipelines, when the third delivery pump 4 is operating, it simultaneously drives the oil circulation and cooling within these three areas. Through this embodiment, the auxiliary cooling system fully circulates the hydraulic oil that originally provides pressure compensation for the drive motor 1, the control valve box 34, the electrical component box 9, and the flow meter box 6 and eliminates the influence of seawater pressure on the electrical components during the circulation cooling process. After being cooled by the first water cooler 44, the auxiliary cooling system takes away the heat generated by the long-term operation of the electrical components in the drive motor 1, the control valve box 34, the electrical component box 9, and the flow meter box 6 during the circulation process, further ensuring the stability and accuracy of each electrical component.

[0076] The main cooling system provides power for the underwater trenching and cable-laying robot's main operations and cools the hydraulic oil in the main cooling system. Specifically, when the underwater trenching and cable-laying robot arrives at its designated work location, the drive motor 1 activates, driving the fourth delivery pump 5. The fourth delivery pump 5 begins pumping hydraulic oil from the main control system 54 and the second compensator 8 to build pressure. Simultaneously, a diverter valve 51 is positioned at the hydraulic oil outlet of the fourth delivery pump 5. After the hydraulic oil enters the diverter valve 51, a portion flows into the main control system 54, providing power. The remaining portion of the hydraulic oil is diverted from the diverter valve 51 and enters the second water cooler 52, which is cooled by cooling water from the cooling water pump 24. After cooling in the second water cooler 52, the hydraulic oil returns to the second compensator 8. The design of the diverter valve 51 ensures that the hydraulic oil output by the fourth delivery pump 5 is sufficient to power the main control system 54, while also allowing the hydraulic oil used to power the main control system 54 to be diverted through the diverter valve 51 into the second water cooler 52 for cooling. Without affecting the operation of the main control system 54, the stability of the operation of the electrical components in the underwater trenching and cable-laying robot is greatly guaranteed.

[0077] The electrical components of the whole machine in the above embodiment are all pressure-compensated and the hydraulic oil for pressure compensation can be circulated for cooling, thereby ensuring that the electrical components of the whole machine are at a suitable working temperature and pressure.

[0078] See also Figure 3 , Figure 3 This is a schematic diagram of the startup process of the standby motor pump group 25 provided in one embodiment of the present application.

[0079] In one possible implementation, the auxiliary cooling system is further configured to:

[0080] When an abnormal signal from the cooling water pump 24 is received, if the cooling water output flow rate of the cooling water pump 24 is monitored to be the maximum output flow rate of the cooling water pump 24, it is determined that the cooling water pump 24 is normal and the entire machine is overloaded, and the standby motor pump group 25 is immediately started to increase the cooling water volume, and an alarm is triggered; if the cooling water output flow rate of the cooling water pump 24 is monitored to be less than the alarm threshold, it is determined that the cooling water pump 24 is damaged, and the standby motor pump group 25 is immediately started to maintain the cooling water output of the entire machine, and an alarm is triggered.

[0081] In this embodiment, in order to further ensure the stability of the cooling system, a backup cooling system is also provided so that when the cooling water pump 24 is abnormal, the backup cooling system can be used to provide short-term emergency cooling water supply for the underwater trenching and cable-laying robot to ensure that the construction is completed.

[0082] The backup cooling system consists of a backup motor pump unit 25 and a flow meter box 6. The backup motor pump unit 25 comprises a submersible motor and a water pump, effectively acting as a water-cooled motor pump assembly. The flow meter box 6 comprises a flow meter and a sealed compensator valve box. The space between the flow meter box 6 and the submersible motor housing is filled with hydraulic fluid and connected to a first compensator 7, isolating the flow meter from the deep-sea environment.

[0083] When the program receives the abnormal signal of the cooling water pump 24, it immediately reads the cooling water flow L in the flow meter box 6. If the cooling water flow is equal to the maximum flow L of the cooling water pump 24, max , it is determined that the cooling water pump 24 is not abnormal and the whole machine is overloaded, and the backup cooling system is immediately started to increase the cooling water volume and an alarm is issued for overload operation, prompting the operator to reduce the workload of the underwater trenching and cable-laying robot to ensure the stable operation of the entire cooling system. At the same time, an alarm for overload operation of the whole machine is issued to inform the operator.

[0084] If the cooling water flow rate L read is 0 or much less than the maximum flow rate L of the cooling water pump 24 max, it is determined that the cooling water pump 24 is damaged and the backup cooling system is immediately started, using the backup cooling water of the backup motor pump group 25 to ensure the cooling of the entire cooling system as emergency cooling water to ensure the completion of the operation, and at the same time, a cooling water pump 24 damage alarm is issued to inform the operator.

[0085] Compared with the prior art, the above embodiment has the following beneficial effects:

[0086] The cooling system of the underwater trenching and cable-laying robot includes an auxiliary cooling system and a main cooling system. The robot includes at least two parallel cooling systems. The auxiliary cooling system provides power for the robot's auxiliary functions and electrical component cooling. During the circulating cooling process, the hydraulic oil originally used to provide pressure compensation for the drive motor 1, control valve box 34, electrical component box 9, and flowmeter box 6, and to eliminate the effects of seawater pressure on the electrical components, is fully circulated. After being cooled by the water cooler, the heat generated by each electrical component is removed during the circulation process, improving the stability and accuracy of each electrical component and the cooling efficiency of the entire robot. The cooling water pump 24 is directly driven by the oil pump and is not controlled by the control valve box 34. The cooling system starts automatically at startup, requiring no additional operation, ensuring that the cooling system is always in operation. The main cooling system provides power to the main control system 54 through the diverter valve 51, and at the same time diverts the hydraulic oil into the second water cooler 52 for cooling. This ensures the stability of the electrical components in the underwater trenching and cable-laying robot without affecting the operation of the main control system 54.

[0087] Those skilled in the art will appreciate that the above embodiments are merely intended to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that they may modify the technical solutions described in the aforementioned embodiments or perform equivalent replacements on some of the technical features. 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 various embodiments of the present application.

Claims

1. A cooling system for an underwater trenching and cable-laying robot, characterized in that: The underwater trenching and cable-laying robot includes at least two cooling systems configured in parallel, and the cooling systems include: The drive motor is an integrated structure with the drive motor housing, and a closed cavity containing hydraulic oil is provided between the drive motor and the drive motor housing; a main cooling system comprising a fourth delivery pump, a diverter valve, a second water cooler, and a main control system arranged in series; An auxiliary cooling system comprises a first delivery pump, a first non-return valve, a first high-pressure filter, and a cooling water pump, which are sequentially arranged in series; a second delivery pump, a second non-return valve, a second high-pressure filter, a control valve box, and an auxiliary control system, which are sequentially arranged in series; a third delivery pump, a third non-return valve, a third high-pressure filter, and a first water cooler, which are sequentially arranged in series; the auxiliary cooling system further comprises a flow meter box, which is composed of a flow meter and a closed compensating valve box and is configured to monitor the cooling water output flow of the cooling water pump; wherein the flow meter box is composed of a flow meter and a closed compensating valve box, the input end of the flow meter box is connected to the output end of the cooling water pump, and the output end of the flow meter box is respectively connected to the input end of the first water cooler and the input end of the second water cooler; The auxiliary cooling system further includes a backup motor pump group connected in parallel with the first delivery pump, the first one-way valve, the first high-pressure filter, and the cooling water pump that are arranged in series, and is configured to start the backup motor pump group to continue delivering cooling water to the first water cooler and the second water cooler when the cooling water pump fails; wherein the backup motor pump group is composed of a submerged motor and a water pump, and the backup motor pump group serves as a water-cooled motor pump assembly; a first compensator configured to balance the hydraulic oil pressure of the auxiliary cooling system; a second compensator configured to balance the hydraulic oil pressure of the main cooling system; The first delivery pump and the second delivery pump, the third delivery pump and the fourth delivery pump are respectively connected in series by a through shaft to form an integral body, are respectively assembled on both sides of the drive motor, and are uniformly driven by the drive motor; the cooling water pump is configured to deliver cooling water to the first water cooler and the second water cooler.

2. The cooling system of the underwater trenching and cable-laying robot according to claim 1, characterized in that: The auxiliary cooling system also includes an electrical component box; the closed cavity, the control valve box, the flow meter box and the electrical component box are all filled with hydraulic oil and are connected to the first compensator filled with hydraulic oil through pipelines.

3. The cooling system of the underwater trenching and cable-laying robot according to claim 2, characterized in that: The auxiliary cooling system further includes a first overflow valve, a second overflow valve, and a third overflow valve; the cooling water pump includes a water pump drive motor and a water pump; wherein, When the drive motor is started, the first delivery pump, the second delivery pump, and the third delivery pump are started and obtain hydraulic oil from the first compensator and establish hydraulic oil pressure, and the fourth delivery pump is started and obtains hydraulic oil from the main control system and the second compensator and establishes hydraulic oil pressure; The hydraulic oil output by the first delivery pump passes through the first relief valve and the first high-pressure filter in sequence and then enters the water pump drive motor; The hydraulic oil output by the second delivery pump passes through the second relief valve and the second high-pressure filter in sequence and then enters the control valve box; The hydraulic oil output by the third delivery pump passes through the third relief valve and the third high-pressure filter in sequence and then enters the first water cooler, and is then delivered from the first water cooler back to the closed chamber; The hydraulic oil output by the fourth delivery pump is diverted by the diverter valve, one path of the hydraulic oil enters the main control system, and the other path of the hydraulic oil enters the second water cooler and is then delivered back to the second compensator from the second water cooler.

4. The cooling system of the underwater trenching and cable-laying robot according to claim 1, characterized in that: The cooling system also includes: a first pressure sensor, a first temperature sensor and a first liquid level sensor installed on the first compensator for respectively monitoring the internal pressure, oil temperature and liquid level of the first compensator; and a second pressure sensor, a second temperature sensor and a second liquid level sensor installed on the second compensator for respectively monitoring the internal pressure, oil temperature and liquid level of the second compensator.

5. The cooling system of the underwater trenching and cable-laying robot according to claim 1, characterized in that: The cooling water pump includes a water pump drive motor and a water pump. The first delivery pump and the second delivery pump are displacement-controllable variable oil pumps. The third delivery pump is an auxiliary circulation pump. The fourth delivery pump is a closed main pump.

6. The cooling system of the underwater trenching and cable-laying robot according to claim 1, characterized in that: The output port of the first water cooler is provided with a fourth one-way valve for preventing seawater from flowing back into the cooling water path and ensuring that the cooling water entering the first water cooler has back pressure in the first water cooler; the output port of the second water cooler is provided with a fifth one-way valve for preventing seawater from flowing back into the cooling water path and ensuring that the cooling water entering the second water cooler has back pressure in the second water cooler.

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