Multi-cabin integrated underwater robot electric control system

Abstract

The utility model discloses a multi-cabin integrated underwater robot electric control system, which belongs to the technical field of electric control equipment, and comprises a junction box, a plurality of protection cabins are arranged on the outer wall of the junction box, the protection cabins are divided into a plurality of functional areas, and the functional areas comprise a data acquisition area, a controller area and a power supply module area; a circuit board is arranged in the protection cabin, the circuit board is connected into the junction box through a connecting piece, after circuit redistribution is carried out in the junction box, the circuit board is connected with a peripheral through a peripheral cable, and the protection cabin is fixedly connected with the junction box through a fastener; through a mode of increasing the number of the protection cabins, the size of the electric control system can be reduced, corresponding circuit boards are arranged in the protection cabins, wires of the circuit boards penetrating out of the protection cabins can be reasonably distributed in the junction box, and the wires are connected with peripherals through external cables after being reasonably distributed, so that the circuit layout is optimized, and disordered circuits are avoided.

Description

Technical Field

[0001] This utility model relates to the field of electrical control equipment technology, specifically to an electrical control system for a multi-chamber integrated underwater robot. Background Technology

[0002] An underwater robot is a high-performance robot designed for extreme underwater tasks, used to replace or assist humans in underwater exploration, operations, and scientific research. The electronic control system (ECU) is the "brain" of an underwater robot, composed of numerous electronic components. It enables underwater control, image and data perception, and energy distribution, making it a crucial component. Furthermore, the design of underwater robots is highly sensitive to the weight of their onboard components. Reducing the mass of the ECU can increase the robot's operational capabilities, while improving its reliability is also vital for the robot's operational process and safety.

[0003] In the design of electronic control systems for underwater robots, two common structures are wet and dry: A wet structure places the electronic control system components in a sealed chamber filled with a non-conductive medium (usually mineral oil). Pressure balance between the internal chamber and the external seawater is achieved through the pressure transfer between the internal medium and the deep-sea environment. This structure is typically very lightweight and suitable for components and circuit boards capable of withstanding seabed pressure, significantly reducing the weight of the electronic control device. A dry structure places the electronic control system components in an empty chamber, isolating them from the deep-sea pressure environment through a pressure-resistant shell. The components exist in an environment similar to that of air on land, unaffected by the seabed pressure.

[0004] However, existing electronic control systems using wet or dry structures are large in size and have messy internal wiring. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of the aforementioned technologies by proposing a multi-compartment integrated underwater robot electronic control system, aiming to solve the technical problem that it is difficult to simultaneously achieve weight control and performance improvement in the electronic control system of underwater robots in the existing technology.

[0006] This utility model provides a multi-chamber integrated underwater robot electronic control system, including: a junction box, with multiple protective chambers arranged on the outer wall of the junction box, the multiple protective chambers being divided into multiple functional areas, the functional areas including a data acquisition area, a controller area and a power module area;

[0007] The protective cabin is equipped with a circuit board, which is connected to the junction box via connectors. After the wiring is redistributed in the junction box, it is connected to external devices via external cables. The protective cabin is fixedly connected to the junction box by fasteners.

[0008] Optionally, the protective chamber includes a wet-sealed chamber and a dry pressure-resistant chamber, with the wet-sealed chamber located above the dry pressure-resistant chamber. The wet-sealed chamber is equipped with a pressure-resistant circuit board, and the dry pressure-resistant chamber is equipped with a non-pressure-resistant circuit board.

[0009] The connector includes a first connector and a second connector, and the pressure-resistant circuit board and the non-pressure-resistant circuit board are respectively connected to the junction box through the first connector and the second connector.

[0010] Optionally, both the wet sealing chamber and the dry pressure chamber are cylindrical in shape, and the number of wet sealing chambers and dry pressure chambers is the same. The multiple wet sealing chambers and multiple dry pressure chambers are arranged laterally and at uniform intervals, and each wet sealing chamber and each dry pressure chamber is arranged longitudinally.

[0011] Optionally, the first connector is an oil-filled plug, and the second connector is a pressure-resistant electrical penetration component.

[0012] Optionally, cable connectors are provided on both outer sides of the junction box. The lines connected to the first connector and the second connector are redistributed in the junction box and then connected to the peripheral cables through the cable connectors respectively.

[0013] Optionally, a rear cover is provided on the outside of the protective cabin, and the rear cover is located at the end away from the junction box.

[0014] Optionally, an external device working status indicator light is provided on the outside of the protective cabin and on the junction box.

[0015] Optionally, a vent plug is provided at the top of the junction box, and a hydraulic compensation connector is provided at the bottom of the junction box, symmetrically positioned to the vent plug.

[0016] Optionally, the fastener is a round nut.

[0017] Optionally, a data acquisition sensor is installed inside the protective cabin in the data acquisition area, a controller is installed inside the protective cabin in the controller area, and a battery is installed inside the protective cabin in the power module area. The controller is electrically connected to the data acquisition sensor, the battery, and the peripheral device status indicator light, respectively. The battery is electrically connected to the peripheral device status indicator light and the data acquisition sensor.

[0018] Compared with existing technologies, it has the following beneficial effects:

[0019] This utility model provides a multi-chamber integrated underwater robot electronic control system. By increasing the number of protective chambers, the size and weight of the electronic control system can be reduced. Corresponding circuit boards are set in the protective chambers. The wiring of the circuit boards that extends out of the protective chambers can be reasonably distributed inside the junction box. After reasonable distribution, the wiring is connected to the external devices through the external cables, thereby optimizing the wiring layout, avoiding messy wiring, and increasing the maintainability of the electronic control system.

[0020] The weight of traditional pressure chambers is reduced by increasing the number of dry-type and wet-type sealed chambers. Furthermore, since the dry-type and wet-type sealed chambers connect directly to the junction box, the number of cables between the junction box and the pressure chamber is reduced. By using multiple dry-type and wet-type sealed chambers to install the electrical control system according to functional modules, interference between different functional modules is reduced. Additionally, the use of multiple protective chambers allows for targeted maintenance, improving the reliability and maintainability of the electrical control system.

[0021] By dividing multiple protective chambers into multiple functional areas according to their functions, and redistributing the cables output from the wet-sealed chambers / dry-pressure-resistant chambers in each functional area through the first connector / second connector in the junction box, the wiring layout of the electrical control system is made more reasonable and neat, avoiding wiring chaos and affecting the use of the electrical control system. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the structure of a multi-compartment integrated underwater robot electronic control system provided by this utility model;

[0024] Figure 2 for Figure 1 A cross-sectional view of the multi-compartment integrated underwater robot electronic control system shown;

[0025] Figure 3 for Figure 1 The front view of the multi-compartment integrated underwater robot electronic control system is shown.

[0026] Figure 4 for Figure 1 A top view of the multi-compartment integrated underwater robot electronic control system shown;

[0027] Figure 5 This is a schematic diagram showing the connection status between the junction box and peripheral devices.

[0028] Figure 6 This utility model provides a schematic diagram of the device connections for a multi-compartment integrated underwater robot electrical control system.

[0029] In the diagram, 1. Junction box; 11. Peripheral operating status indicator light; 12. Cable connector; 13. Vent plug; 14. Data acquisition area; 15. Controller area; 16. Power module area; 17. Hydraulic pressure compensation connector;

[0030] 2. Wet-sealed compartment; 21. Pressure-resistant circuit board; 22. Oil-filled connector; 23. Rear cover of the compartment;

[0031] 3. Dry pressure chamber; 31. Non-pressure resistant circuit board; 32. Pressure resistant electrical components penetrating the chamber;

[0032] 4. External cables; 5. Round nuts; 6. External devices. Detailed Implementation

[0033] To better understand the structure, functional features, and advantages of this utility model, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings:

[0034] Example:

[0035] like Figure 1-2 and Figure 4 As shown, this utility model provides a multi-chamber integrated underwater robot electronic control system, including: a junction box 1, with multiple protective chambers arranged on the outer wall of the junction box 1, the multiple protective chambers being divided into multiple functional areas, the functional areas including a data acquisition area 14, a controller area 15 and a power module area 16;

[0036] The protective cabin is equipped with a circuit board, which is connected to the junction box 1 via a connector. After the wiring is redistributed in the junction box 1, it is connected to the external device 6 via the external cable 4. The protective cabin is fixedly connected to the junction box 1 by fasteners.

[0037] Specifically, by placing circuit boards in protective compartments corresponding to their respective functional areas, the wiring of each compartment is routed through junction box 1. Within junction box 1, the wiring is rationally allocated according to function, and then the allocated cables are connected to external cable 4, which in turn connects to external device 6. In existing technologies, to reduce the size of the electronic control system, circuit boards and cables are often piled together, resulting in a chaotic cable arrangement. Different circuit board components have different functions and require different voltages and currents; this chaotic wiring can easily interfere with the use of different functional circuit board components, thus affecting the normal operation of the electronic control system. However, the underwater robot electronic control system provided in this technical solution places the circuit board components in the protective compartments of different areas in their corresponding functional areas and allocates the wiring within junction box 1, resulting in a better wiring layout and avoiding the problem of messy wiring. Furthermore, the multiple protective compartments, due to their small size, also reduce the size and weight of the electronic control system, making it easier to maintain.

[0038] As an optional implementation, the protective chamber includes a wet-sealed chamber 2 and a dry pressure-resistant chamber 3. The wet-sealed chamber 2 is located above the dry pressure-resistant chamber 3. A pressure-resistant circuit board 21 is installed inside the wet-sealed chamber 2, and a non-pressure-resistant circuit board 31 is installed inside the dry pressure-resistant chamber 3. The connector includes a first connector and a second connector. The pressure-resistant circuit board 21 and the non-pressure-resistant circuit board 31 are respectively connected to the junction box 1 through the first connector and the second connector.

[0039] Specifically, the wet-sealed chamber 2 and the dry-pressure-resistant chamber 3 installed on the junction box 1 can be divided into a data acquisition area 14, a controller area 15, and a power module area 16 according to functional requirements. By performing functional analysis on all the circuit boards of the underwater robot's electronic control system, circuit boards with different functions are respectively stored in different wet-sealed chambers 2 and dry-pressure-resistant chambers 3.

[0040] In practical applications, the circuit boards in the underwater robot's electronic control system that can withstand seabed pressure (pressure-resistant circuit board 21) and those that cannot withstand pressure (non-pressure-resistant circuit board 31) are first separated. The pressure-resistant circuit board 21 and the non-pressure-resistant circuit board 31 with the same function are then installed in the same wet-sealed chamber 2 and dry-sealed chamber 3, respectively. The wet-sealed chamber 2 is filled with a non-conductive medium. Then, the different wet-sealed chambers 2 and dry-sealed chambers 3 are installed together with the junction box 1 using fasteners to ensure a secure connection between the wet-sealed chamber 2 / dry-sealed chamber 3 and the junction box 1. Next, the circuit boards in the wet-sealed chamber 2 or dry-sealed chamber 3 are connected via a first connector / second connector. The cables output from the first connector / second connector are re-splittered in the junction box 1. After re-splittering, the cables pass through the junction box 1 and are connected to the external device 6 via an external cable 4. The external device 6 is an external device, which can be a power supply device, or a data acquisition sensor other than the data acquisition sensor in the data acquisition area 14, or other devices. The specific external device can be connected according to the actual situation.

[0041] Existing underwater robot electronic control systems, when using a wet structure, have the advantage of light weight, but also the disadvantages of high risk of component / circuit board failure and cumbersome maintenance. Dry structures, on the other hand, have the advantage of good pressure resistance, but also the disadvantages of heavy weight and reduced motion performance. This technical solution provides a multi-chamber integrated underwater robot electronic control system. By setting up a wet sealed chamber 2 and a dry pressure-resistant chamber 3, the pressure-resistant circuit board 21 can withstand the pressure of seawater in the seabed environment, while the non-pressure-resistant circuit board 31 cannot withstand pressure. Therefore, the pressure-resistant circuit board 21 is placed in the wet sealed chamber 2 containing a non-conductive medium, while the non-pressure-resistant circuit board 31 is placed in the dry pressure-resistant chamber 3 with a pressure-resistant shell. This method combines the advantages of wet and dry structures, reducing the weight of traditional pressure chambers and preventing performance degradation of circuit boards / components due to seawater pressure. Furthermore, since the dry pressure chamber 3 and wet sealed chamber 2 are directly connected to the junction box 1, the cabling between the junction box 1 and the pressure chamber can be reduced. By using multiple dry pressure chambers 3 and wet sealed chambers 2 to install the electrical control system according to functional modules, interference between different functional modules can be reduced. Additionally, the separate use of multiple protective chambers allows for targeted maintenance, improving the reliability and maintainability of the electrical control system, thus avoiding the problem of simultaneously compromising the weight and performance of the electrical control system.

[0042] It should be noted that the multi-chamber integrated underwater robot electrical control system provided by this technical solution is not simply a combination of the dry and wet structures in the existing technology. Instead, it requires redundant design and modular structure design for the pressure-resistant multi-core connectors of the pressure-resistant chamber (dry pressure-resistant chamber 3 / wet sealed chamber 2) and other corresponding electrical components to achieve functional zoning.

[0043] In another embodiment, the protective chamber can also be entirely a wet-sealed chamber 2 or a dry pressure-resistant chamber 3, whichever is appropriate to the actual situation.

[0044] As an optional implementation, both the wet sealing chamber 2 and the dry pressure chamber 3 are cylindrical in shape, and the number of wet sealing chambers 2 and dry pressure chambers 3 is the same. The multiple wet sealing chambers 2 and multiple dry pressure chambers 3 are arranged laterally and at uniform intervals, and each wet sealing chamber 2 and each dry pressure chamber 3 is arranged longitudinally.

[0045] Specifically, there are four wet-sealed chambers 2 and four dry-pressure-resistant chambers 3. The four wet-sealed chambers 2 and the four dry-pressure-resistant chambers 3 are arranged horizontally and are all located in the same horizontal direction. Each wet-sealed chamber 2 and each dry-pressure-resistant chamber 3 is arranged vertically and is located in the same vertical direction. The intervals between each wet-sealed chamber 2 and dry-pressure-resistant chamber 3 are evenly distributed, making the arrangement of the wet-sealed chambers 2 and dry-pressure-resistant chambers 3 more orderly.

[0046] As an optional implementation, the first connector is an oil-filled plug 22, and the second connector is a pressure-resistant electrical penetration component 32.

[0047] Specifically, the oil-filled plug 22 is an electrical connector used in oil-medium environments. It achieves pressure balance and sealing by internally filling with insulating oil (such as silicone oil or mineral oil). In high-pressure, corrosive, or temperature-changing environments, it ensures reliable transmission of electrical signals (such as power and data), and features waterproof and pressure-resistant properties, preventing the intrusion of external media (such as seawater and gas). In deep-water environments, the oil-filled plug 22 can balance the pressure inside and outside the pressure tank using the oil medium, preventing seawater from seeping into the tank and damaging electronic components, while also avoiding failure due to pressure differences, and utilizing the insulating properties of oil to enhance electrical safety.

[0048] The pressure-resistant electrical penetration component 32 is a special electrical connection component that penetrates the pressure-resistant shell. It is used to transmit power or signals in high-pressure environments while maintaining the watertightness and structural integrity of the shell. It has sealing, insulation, pressure resistance and corrosion resistance, and is usually composed of a metal shell, insulating materials (such as ceramics, polytetrafluoroethylene) and sealing structures (such as O-rings, welded seals).

[0049] The oil-filled plug 22 balances the pressure through the oil medium, and the pressure-resistant electrical penetration component 32 achieves pressure isolation through the sealing structure. Together, the oil-filled plug 22 and the pressure-resistant electrical penetration component 32 ensure the sealing performance and electrical safety of the wet-sealed chamber 2 and the dry pressure-resistant chamber 3 in the deep-water environment.

[0050] The wet-sealed chamber 2 connects the output of the pressure-resistant circuit board 21 inside the chamber to the junction box 1 through the oil plug 22. The dry-pressure-resistant chamber 3 connects the cable of the non-pressure-resistant circuit board 31 to the junction box 1 through the pressure-resistant electrical passage component 32. The cable is redistributed in the junction box 1 and then connected to the peripheral cable 4 corresponding to each peripheral device 6.

[0051] As an optional implementation, cable connectors 12 are provided on both outer sides of the junction box 1. The lines connected to the first connector and the second connector are redistributed in the junction box 1 and then connected to the peripheral cable 4 through the cable connectors 12 respectively.

[0052] Specifically, multiple cable connectors 12 are provided on the exterior of both sides of the junction box 1. The multiple cable connectors 12 are evenly spaced. One end of the cable connector 12 is used to connect to the external cable 4, and the other end is used to electrically connect to the cable that comes out from the first connector / second connector inside the junction box 1. The evenly spaced multiple cable connectors 12 can optimize the layout of the circuit and avoid the problem of wire stacking.

[0053] As an optional implementation, the protective cabin is provided with a rear cover 23, which is located at the end away from the junction box 1.

[0054] Specifically, by setting the same rear cover 23 on the protective cabin, it is convenient to open the rear cover 23 to repair or replace the circuit board when there is a problem, thus facilitating the maintenance of the electronic control system.

[0055] As an optional implementation method, such as Figure 3 As shown, an external device working status indicator light 11 is installed on the outside of the protective cabin and on the junction box 1.

[0056] Specifically, in practical applications, the underwater robot's electronic control system can determine the working status of different peripherals through the peripheral working status indicator light 11, thereby determining whether the peripherals are working properly and facilitating on-site troubleshooting of equipment malfunctions.

[0057] As an optional implementation, a vent plug 13 is provided on the top of the junction box 1, and a hydraulic compensation connector 17 is provided at the bottom of the junction box 1 and at a position symmetrical to the vent plug 13.

[0058] Specifically, in this embodiment, there are two vent plugs 13, which are located on both sides of the junction box 1, so that the air inside the junction box 1 can be better discharged. Since the underwater robot's electronic control system operates underwater, the underwater environment is under high pressure. If there is air inside, it may affect the sealing performance or cause pressure changes that may damage the equipment. Therefore, when the underwater robot is working, the junction box 1 is filled with a non-conductive medium. The non-conductive medium fills the cavity in the junction box 1 to discharge the initial air. The internal pressure is monitored by a pressure gauge to ensure that it is balanced with the external water pressure or environmental pressure. If it is a deep-sea operation, it is necessary to ensure that the internal pressure of the junction box 1 is balanced with the pressure at the target depth of the deep-sea operation. Then, the vent plug 13 is rotated to the "vent" position to slowly release the air. Observe whether there are bubbles coming out of the vent until the liquid (non-conductive medium) or the gas continuity weakens. After the air is basically discharged, the vent plug 13 is closed. Afterwards, a sealing test can be performed, such as an airtightness test or a water pressure test, to ensure the sealing performance of the electronic control system. The airtightness test is a prior art and will not be described in detail here.

[0059] A hydraulic pressure compensation connector 17 is provided symmetrically at the vent plug 13. The hydraulic pressure compensation connector 17 can compensate for the hydraulic pressure inside the junction box 1. For example, when the underwater robot dives, the external water pressure will increase with the depth. If there is air inside the junction box 1 (even if the vent plug 13 has discharged most of the air, there may still be a trace amount of gas or pressure fluctuations due to temperature changes), the hydraulic pressure compensation connector 17 injects compensation oil (such as silicone oil or mineral oil) to make the internal oil pressure equal to the external water pressure, thus preventing the junction box 1 from deforming (such as denting or expanding) due to the pressure difference. The hydraulic pressure compensation connector 17 usually adopts a flexible diaphragm, piston or oil bladder structure, in conjunction with O-rings, static sealing gaskets, etc., to form an "oil-water" isolation barrier. When the external water pressure increases, the oil bladder expands and compresses the internal air to prevent water from entering. When the external water pressure decreases (such as when surfacing), the oil bladder contracts and releases the oil pressure to prevent the internal pressure from being too high and causing the seal to fail.

[0060] The vent plug 13 is located at the top and the hydraulic compensation joint 17 is located at the bottom symmetrically. The natural balance is achieved by using gravity and pressure difference to ensure that the internal pressure of the junction box 1 is dynamically matched with the external water pressure, while preventing water intrusion, corrosion and structural damage. The axes of the vent plug 13 and the hydraulic compensation joint 17 are aligned to avoid uneven pressure distribution due to positional misalignment.

[0061] In the technical solution of this utility model, the sealing performance is ensured by filling the junction box 1 and the wet sealed chamber 2 with insulating oil and other media. A sealing electrical plug is provided at the component joint connection to ensure that the electrical plug remains sealed when connected and disconnected. Even if the electrical plug is disconnected, the cable seal will not be damaged. The other end of the cable is connected to the cabin body of the functional compartment, forming a continuous sealed channel from the cable to the cabin body of the functional compartment. Through the above settings, the overall sealing performance of the device is guaranteed, and it can work normally even when conducting deep-sea operations.

[0062] As an optional implementation, the fastener is a round nut 5.

[0063] Specifically, junction box 1 is provided with a first through hole (not shown in the figure), and wet sealing chamber 2 and dry pressure-resistant chamber 3 are provided with a second through hole (not shown in the figure). The second through hole is provided with an internal thread. The central axis of the first through hole and the second through hole are the same. The round nut 5 is screwed into the second through hole through the first through hole to complete the locking. In order to ensure its sealing performance, an O-ring rubber seal (not shown in the figure) can be provided on the contact surface between the round nut 5 and the wet sealing chamber 2 / junction box 1. A metal gasket (not shown in the figure) is provided on the contact surface between the round nut 5 and the dry pressure-resistant chamber 3 / junction box 1. The gasket is compressed by the pre-tightening force to form a high-pressure resistant planar seal.

[0064] In another embodiment, the fastener can also be a retaining ring or a nut positioning pin, which can be set and selected according to the actual application.

[0065] As an optional implementation method, such as Figure 5-6 As shown, a data acquisition sensor is installed inside the protective cabin in the data acquisition area 14, a controller is installed inside the protective cabin in the controller area 15, and a battery is installed inside the protective cabin in the power module area 16. The controller is electrically connected to the data acquisition sensor, the battery, and the working status indicator 11, respectively. The battery is electrically connected to the peripheral working status indicator 11 and the data acquisition sensor.

[0066] Specifically, in this embodiment, four wet-sealed chambers 2 form a data acquisition area, that is, all four wet-sealed chambers 2 are used for data acquisition. Among the multiple dry pressure chambers 3, two dry pressure chambers 3 form a controller area 15, and two dry pressure chambers 3 form a power module area 16.

[0067] The data acquisition area 14 integrates data acquisition sensors for collecting environmental parameters or underwater robot status information. For example, the data acquisition sensors can be force sensors, speed sensors, acceleration sensors, and distance sensors. The battery in the power module area 16 supplies power to the entire electronic control system. That is, the battery is electrically connected to the controller, data acquisition sensors, and peripheral working status indicator lights 11, and the battery supplies power to the controller, data acquisition sensors, and peripheral working status indicator lights 11.

[0068] In actual operation, the outgoing lines from the dry pressure-resistant chamber 3 in the controller area 15, the dry pressure-resistant chamber 3 in the power module area 16, and the wet sealed chamber 2 in the data acquisition area 14 are all gathered in the junction box 1. Specifically, the wet sealed chamber 2 connects the pressure-resistant circuit board 21 inside the chamber to the junction box 1 through the oil plug 22, and the dry pressure-resistant chamber 3 connects the cable of the non-pressure-resistant circuit board 31 to the junction box 1 through the pressure-resistant electrical penetration component 32. Each wet sealed chamber 2 / dry pressure-resistant chamber 3 is connected to an interface in the junction box 1, and there are also wiring connections between the interfaces in the junction box 1, enabling data interaction between different functional areas. The wiring gathered in the junction box 1 is then recombined according to the power lines, control lines, and data lines required by each peripheral device 6, and connected to the peripheral device working status indicator lines. After being gathered, the wiring is connected to the peripheral device 6 through the peripheral cable 4, and the battery provides power to the electronic control system. The data acquisition sensor collects data information, and the collected data information is sent to the controller for processing.

[0069] It should be noted that the controller, data acquisition sensor, battery and other components used in this application are all existing electronic components in the field. Those skilled in the art can understand the circuit structure of the controller, data acquisition sensor, battery and other electronic components and the circuit connection structure between them based on existing publicly available technical knowledge and technical information. This application embodiment will not elaborate on this in detail, and those skilled in the art can freely select the corresponding model as needed. This embodiment does not impose any specific restrictions here.

[0070] The above description is merely a preferred embodiment of this utility model and does not constitute any limitation on this utility model. Any person skilled in the art can make many possible variations and modifications to the technical solution of this utility model, or modify it into equivalent embodiments, without departing from the scope of the technical solution of this utility model. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of this utility model without departing from the scope of the technical solution of this utility model shall fall within the protection scope of this technical solution.

Claims

1. A multi-compartment integrated underwater robot electronic control system, characterized in that... It includes: a junction box, on the outer wall of which multiple protective compartments are provided, the multiple protective compartments being divided into multiple functional areas, the functional areas including a data acquisition area, a controller area and a power module area; The protective cabin is equipped with a circuit board, which is connected to the junction box via connectors. After the wiring is redistributed in the junction box, it is connected to external devices via external cables. The protective cabin is fixedly connected to the junction box by fasteners.

2. The multi-compartment integrated underwater robot electronic control system according to claim 1, characterized in that, The protective chamber includes a wet-sealed chamber and a dry pressure-resistant chamber. The wet-sealed chamber is located above the dry pressure-resistant chamber. The wet-sealed chamber is equipped with a pressure-resistant circuit board, and the dry pressure-resistant chamber is equipped with a non-pressure-resistant circuit board. The connector includes a first connector and a second connector, and the pressure-resistant circuit board and the non-pressure-resistant circuit board are respectively connected to the junction box through the first connector and the second connector.

3. The multi-compartment integrated underwater robot electronic control system according to claim 2, characterized in that, Both the wet-sealed chamber and the dry-pressure-resistant chamber are cylindrical in shape. The number of wet-sealed chambers and dry-pressure-resistant chambers is the same. The multiple wet-sealed chambers and multiple dry-pressure-resistant chambers are arranged laterally and at uniform intervals. Each wet-sealed chamber and each dry-pressure-resistant chamber is arranged longitudinally.

4. The multi-compartment integrated underwater robot electronic control system according to claim 2, characterized in that, The first connector is an oil-filled plug, and the second connector is a pressure-resistant electrical penetration component.

5. The multi-compartment integrated underwater robot electronic control system according to claim 2, characterized in that, Cable connectors are provided on both outer sides of the junction box. The lines that are connected to the first connector and the second connector are redistributed in the junction box and then connected to the external cables through the cable connectors respectively.

6. A multi-compartment integrated underwater robot electronic control system according to any one of claims 1-5, characterized in that, The protective cabin is provided with a rear cover on the outside, and the rear cover is located at the end away from the junction box.

7. The multi-compartment integrated underwater robot electronic control system according to claim 6, characterized in that, An external device working status indicator light is installed on the outside of the protective cabin and on the junction box.

8. The multi-compartment integrated underwater robot electronic control system according to claim 7, characterized in that, A vent plug is provided at the top of the junction box, and a hydraulic compensation connector is provided at the bottom of the junction box, symmetrically positioned to the vent plug.

9. The multi-compartment integrated underwater robot electronic control system according to claim 8, characterized in that, The fastener is a round nut.

10. The multi-compartment integrated underwater robot electronic control system according to claim 9, characterized in that, The protective cabin in the data acquisition area is equipped with a data acquisition sensor, the protective cabin in the controller area is equipped with a controller, and the protective cabin in the power module area is equipped with a battery. The controller is electrically connected to the data acquisition sensor, the battery, and the working status indicator light, respectively. The battery is electrically connected to the working status indicator light and the data acquisition sensor.

Images