阅读说明：本技术 一种深海机器人索缆系统升沉补偿装置 (Deep sea robot cable system heave compensation device ) 是由 王乃格 杨荣刚 项小琴 向家伟 蒋勇英 钟永腾 于 2021-08-04 设计创作，主要内容包括：本发明提供一种深海机器人索缆系统升沉补偿装置,包括控制器及索缆缩放控制回路；控制器根据用户输入信息或设备检测信息,产生控制指令并输出；索缆缩放控制回路中自动油泵实现液压油输出；第一三位四通电液伺服阀根据控制指令,在选择阀芯左右腔之一个开启及开口大小控制时,让自动油泵给柱塞马达供油并控制油量大小,实现柱塞马达正反转动方向及转速大小控制；或在控制三通四位伺服换向阀的阀芯让中位时停止向柱塞马达供油实现其停转；第一液控单向顺序阀调节左路油量流速优化柱塞马达转速大小；柱塞马达根据转动方向及转速大小,调整深海机器人上下位置实现运动补偿。本发明实现深海机器人升沉运动补偿,减少深海机器人和索缆间的上下振动。(The invention provides a deep sea robot cable system heave compensation device, which comprises a controller and a cable scaling control loop, wherein the controller is connected with the cable scaling control loop; the controller generates and outputs a control instruction according to user input information or equipment detection information; an automatic oil pump in the cable scaling control loop realizes the output of hydraulic oil; the first three-position four-way electro-hydraulic servo valve enables the automatic oil pump to supply oil to the plunger motor and control the oil quantity when one of the left cavity and the right cavity of the valve core is selected to be opened and the opening size is controlled according to a control instruction, so that the control of the positive and negative rotation directions and the rotation speed of the plunger motor is realized; or when the valve core of the three-way four-position servo reversing valve is controlled to have a middle position, oil supply to the plunger motor is stopped to realize the stop of the plunger motor; the first hydraulic control one-way sequence valve adjusts the left path oil flow rate to optimize the rotating speed of the plunger motor; and the plunger motor adjusts the up-down position of the deep sea robot according to the rotation direction and the rotation speed to realize motion compensation. The invention realizes the heave motion compensation of the deep-sea robot and reduces the vertical vibration between the deep-sea robot and the cable.)

1. A deep sea robot cable system heave compensation device is used on a cable connected with a deep sea robot and is characterized by comprising a controller (31) and a cable scaling control loop connected with the controller;

the controller (31) is used for generating and outputting a control instruction according to user input information or equipment detection information;

the cable scaling control loop comprises an automatic oil pump (1), a first three-position four-way electro-hydraulic servo valve (2), a first hydraulic control one-way sequence valve (4) and a plunger motor (12); wherein the content of the first and second substances,

the automatic oil pump (1) is used for outputting hydraulic oil by a driving motor;

the first three-position four-way electro-hydraulic servo valve (2) is connected with the automatic oil pump (1), a valve core control end on the first three-position four-way electro-hydraulic servo valve is connected with the controller (31), a valve core left-way oil cavity is connected with an oil way inlet on the plunger motor (12) through the first hydraulic control one-way sequence valve (4), a valve core right-way oil cavity is connected with another oil way inlet on the plunger motor (12) and used for conducting the automatic oil pump (1) to supply oil to the plunger motor (12) and controlling the oil quantity when controlling the left position and the right opening of the valve core according to a corresponding control instruction sent by the controller (31), so that the control of the positive and negative rotation direction and the rotation speed of the plunger motor (12) is realized; or when the control valve core is placed in the middle position, the automatic oil pump (1) can be stopped to supply oil to the plunger motor (12), so that the plunger motor (12) stops rotating;

the first hydraulic control one-way sequence valve (4) is used for adjusting the oil flow rate of a left path so as to optimize the rotating speed of the plunger motor (12) and reversely recover hydraulic oil;

the output end of the plunger motor (12) is connected with the deep sea robot through the cable and used for adjusting the vertical position of the deep sea robot according to the rotating direction and the rotating speed, so that the heave motion compensation of the deep sea robot is realized.

2. The deep sea robot cable system heave compensation apparatus of claim 1, further comprising: the deep sea robot position fine adjustment loop is connected with the controller (31);

the deep sea robot position fine adjustment loop comprises a second three-position four-way electro-hydraulic servo valve (3), a second hydraulic control one-way sequence valve (5), a servo hydraulic cylinder (8) and an ultrasonic sensor (9); wherein the content of the first and second substances,

the second three-position four-way electro-hydraulic servo valve (3) is connected with the automatic oil pump (1), a valve core control end on the second three-position four-way electro-hydraulic servo valve is connected with the controller (31), a valve core left-way oil cavity is connected with a lower cavity of the servo hydraulic cylinder (8) through the second hydraulic control one-way sequence valve (5), and a valve core right-way oil cavity is connected with an upper cavity of the servo hydraulic cylinder (8) and used for conducting the automatic oil pump (1) to supply oil to the servo hydraulic cylinder (8) and control the oil quantity according to corresponding control instructions issued by the controller (31) when controlling the left position and the right position of a valve core of the servo valve and the opening size of the valve core, so that the output power and the direction control of the servo hydraulic cylinder (8) are realized; or when the control valve core is placed in the middle position, the automatic oil pump (1) can be stopped to supply oil to the servo hydraulic cylinder (8), so that the servo hydraulic cylinder (8) stops outputting power;

the second hydraulic control one-way sequence valve (5) is used for adjusting the flow rate of left oil flow to optimize the output power of the servo hydraulic cylinder (8) and reversely recycling hydraulic oil;

the output end of the servo hydraulic cylinder (8) is connected with the deep sea robot and is used for finely adjusting the upper position and the lower position of the deep sea robot according to the output power and the direction so as to realize heave motion compensation of the deep sea robot;

the ultrasonic sensor (9) is arranged on the deep sea robot, connected with the controller (31) and used for detecting the displacement of the deep sea robot in real time and sending the displacement to the controller (31), so that the controller (31) judges the position error of the deep sea robot to change the corresponding control instruction.

3. The deep sea robot cable system heave compensation apparatus of claim 2, further comprising: a motor brake circuit connected to the controller (31);

the motor brake circuit comprises an energy accumulator (14), a first two-position two-way electromagnetic valve (16), a second two-position two-way electromagnetic valve (17), a third two-position two-way electromagnetic valve (18), a first one-way throttle valve (19), a second one-way throttle valve (20), a pressure reducing valve (21), a stopper (29) and a brake oil cylinder (11); wherein the content of the first and second substances,

the energy accumulator (14) sequentially passes through the first two-position two-way electromagnetic valve (16), the first one-way throttle valve (19) and the second two-position two-way electromagnetic valve (17) to form a first brake branch connected with the brake oil cylinder (11);

the energy accumulator (14) sequentially passes through the pressure reducing valve (21), the second one-way throttle valve (20) and the third two-position two-way electromagnetic valve (18) to form a second brake branch which is connected with the brake oil cylinder (11) and backups with the first brake branch;

the first two-position two-way electromagnetic valve (16), the second two-position two-way electromagnetic valve (17) and the third two-position two-way electromagnetic valve (18) are all connected with the controller (31) and are all used for being opened or closed according to corresponding control instructions sent by the controller (31) to realize the connection or the disconnection of the first braking branch or/and the second braking branch;

the stopper (29) is arranged on the brake oil cylinder (11) and used for detecting the separation condition of the brake oil cylinder (11) and the plunger motor (12), including separation and compression;

the brake oil cylinder (11) is arranged on the plunger motor (12) and is used for injecting hydraulic oil of the energy accumulator (14) into the brake oil cylinder (11) and enabling the brake oil cylinder (11) to move to be separated from the plunger motor (12) when at least one of the first brake branch and the second brake branch is conducted, so that the brake of the plunger motor (12) is released; or when the first brake branch and the second brake branch are both closed and switched on, the hydraulic oil of the energy accumulator (14) can not be injected into the brake oil cylinder (11), and the brake oil cylinder (11) is tightly pressed with the plunger motor (12) through the self spring restoring force of the brake oil cylinder (11), so that the plunger motor (12) is braked.

4. Deep sea robot cable system heave compensation device according to claim 3, characterised in that the motor brake circuit further comprises a pressure relay (15); wherein the content of the first and second substances,

the pressure relay (15) is arranged on the first brake branch, one end of the pressure relay is connected with the energy accumulator (14), the other end of the pressure relay is connected with the controller (31), the pressure relay is used for sensing the real-time pressure of the energy accumulator (14), and when the pressure of the energy accumulator (14) is lower than a preset threshold value, the pressure relay cuts off the first brake branch according to a corresponding control instruction sent by the controller (31); or when the pressure of the energy accumulator (14) is higher than the preset threshold value, the first braking branch circuit is conducted according to a corresponding control instruction issued by the controller (31).

5. Deep sea robot cable system heave compensation device according to claim 4, characterised in that the motor brake circuit further comprises a fourth two-position two-way solenoid valve (13); wherein the content of the first and second substances,

the fourth two-position two-way electromagnetic valve (13) is arranged on a pipeline for communicating the automatic oil pump (1) with the energy accumulator (14), is connected with the controller (31), and is used for starting to realize the conduction of the automatic oil pump (1) to supplement oil for the energy accumulator (14) according to a corresponding control instruction issued by the controller (31) when the pressure of the energy accumulator (14) is lower than a preset threshold value; or when the pressure of the energy accumulator (14) is higher than the preset threshold value, the automatic oil pump (1) is turned off to supply oil to the energy accumulator (14) according to a corresponding control instruction issued by the controller (31).

6. Deep sea robot cable system heave compensation device according to claim 3, characterised in that the motor brake circuit further comprises an emergency brake branch connecting the brake cylinder (11);

the emergency braking branch comprises a manual oil pump (27), a one-way valve (24) and a stop valve (23) which are connected in sequence; the emergency braking branch is used for conducting the braking oil cylinder (11), outputting hydraulic oil to be injected into the braking oil cylinder (11) through manual operation of the manual oil pump (27) and enabling the braking oil cylinder (11) to move to be separated from the plunger motor (12) when the energy accumulator (14) fails, and achieving braking release of the plunger motor (12); or when the energy accumulator (14) fails, the brake oil cylinder (11) is cut off and conducted, and the brake oil cylinder (11) is pressed with the plunger motor (12) through the self spring restoring force of the brake oil cylinder (11), so that the plunger motor (12) is braked.

7. Deep sea robot cable system heave compensation device according to claim 6, characterised in that the first hydraulically controlled one-way sequence valve (4) and the second hydraulically controlled one-way sequence valve (5) consist of a cone valve and a slide valve.

8. The deep sea robot cable system heave compensation device according to claim 7, characterized in that the first three-position four-way electro-hydraulic servo valve (2) and the second three-position four-way electro-hydraulic servo valve (3) realize the motion of the valve core through the suction force of electromagnets at two ends, so that one of the left and right cavities of the valve core is opened and the size of the opening is controlled, or the left and right cavities of the valve core are completely closed.

Technical Field

The invention relates to the technical field of robots, in particular to a heaving compensation device of a cable system of a deep-sea robot.

Background

Land resources are increasingly exhausted, oceans occupying 71% of the global area contain abundant resources, and exploitation of deep sea resources often requires key equipment such as large offshore drilling platforms and deep sea exploration. With the extreme development of ocean development technologies in various countries in the world, the unmanned deep sea robot has the capability of depth fixing and orientation and is used as an important tool in the aspects of deep sea detection, hydrological measurement, optical cable inspection and military reconnaissance.

At present, a ship generates six-degree-of-freedom shaking under a high sea condition, and the influence of the ship heaving motion on a deep sea robot cable system is most obvious. In order to compensate for vertical vibration between the deep-sea robot and the cable caused by the heave motion of the ship, it is necessary to design a heave compensation device of a deep-sea robot cable system on the ship.

Disclosure of Invention

The invention aims to solve the technical problem of providing a heave compensation device of a deep sea robot cable system, which can realize heave motion compensation of the deep sea robot so as to reduce vertical vibration between the deep sea robot and a cable.

In order to solve the technical problem, the embodiment of the invention provides a deep sea robot cable system heave compensation device, which comprises a controller and a cable scaling control loop connected with the controller;

the controller is used for generating and outputting a control instruction according to user input information or equipment detection information;

the cable scaling control loop comprises an automatic oil pump, a first three-position four-way electro-hydraulic servo valve, a first hydraulic control one-way sequence valve and a plunger motor; wherein the content of the first and second substances,

the automatic oil pump is used for outputting hydraulic oil by the driving motor;

the first three-position four-way electro-hydraulic servo valve is connected with the automatic oil pump, a valve core control end on the first three-position four-way electro-hydraulic servo valve is connected with the controller, a valve core left oil cavity is connected with one oil way inlet on the plunger motor through the first hydraulic control one-way sequence valve, and a valve core right oil cavity is connected with the other oil way inlet on the plunger motor and used for conducting the automatic oil pump to supply oil to the plunger motor and controlling the oil quantity when controlling the left and right positions and the opening size of the valve core according to corresponding control instructions sent by the controller, so that the control of the forward and reverse rotation directions and the rotation speed of the plunger motor is realized; or the automatic oil pump can stop supplying oil to the plunger motor when the control valve core is placed in the middle position, so that the plunger motor can stop rotating;

the first hydraulic control one-way sequence valve is used for adjusting the oil flow rate of a left path so as to optimize the rotating speed of the plunger motor and reversely recover hydraulic oil;

the output end of the plunger motor is connected with the deep sea robot through the cable and used for adjusting the vertical position of the deep sea robot according to the rotating direction and the rotating speed, so that the heave motion compensation of the deep sea robot is realized.

Wherein, still include: the deep sea robot position fine adjustment loop is connected with the controller;

the deep sea robot position fine adjustment loop comprises a second three-position four-power-on hydraulic servo valve, a second hydraulic control one-way sequence valve, a servo hydraulic cylinder and an ultrasonic sensor; wherein the content of the first and second substances,

the second three-position four-way electro-hydraulic servo valve is connected with the automatic oil pump, a valve core control end on the second three-position four-way electro-hydraulic servo valve is connected with the controller, a valve core left oil cavity is connected with a lower cavity of the servo hydraulic cylinder through the second hydraulic control one-way sequence valve, and a valve core right oil cavity is connected with an upper cavity of the servo hydraulic cylinder and used for conducting the automatic oil pump to supply oil to the servo hydraulic cylinder and controlling the oil quantity when controlling the position and the opening size of a valve core of the servo valve according to a corresponding control instruction sent by the controller, so that the output power and the direction of the servo hydraulic cylinder are controlled; or when the control valve core is arranged in the middle position, the automatic oil pump can be stopped to supply oil to the servo hydraulic cylinder, so that the servo hydraulic cylinder stops outputting power;

the second hydraulic control one-way sequence valve is used for adjusting the flow rate of the left path of oil so as to optimize the output power of the servo hydraulic cylinder and reversely recover the hydraulic oil;

the output end of the servo hydraulic cylinder is connected with the deep sea robot and is used for finely adjusting the upper position and the lower position of the deep sea robot according to the magnitude and the direction of output power so as to realize heave motion compensation of the deep sea robot;

the ultrasonic sensor is arranged on the deep sea robot, connected with the controller and used for detecting the displacement of the deep sea robot in real time and sending the displacement to the controller, so that the controller can judge the position error of the deep sea robot to change the corresponding control instruction.

Wherein, still include: a motor brake circuit connected to the controller;

the motor brake circuit comprises an energy accumulator, a first two-position two-way electromagnetic valve, a second two-position two-way electromagnetic valve, a third two-position two-way electromagnetic valve, a first one-way throttle valve, a second one-way throttle valve, a pressure reducing valve, a limiter and a brake oil cylinder; wherein the content of the first and second substances,

the energy accumulator sequentially passes through the first two-position two-way electromagnetic valve, the first one-way throttle valve and the second two-position two-way electromagnetic valve to form a first braking branch connected with the braking oil cylinder;

the energy accumulator sequentially passes through the pressure reducing valve, the second one-way throttle valve and the third two-position two-way electromagnetic valve to form a second brake branch which is connected with the brake oil cylinder and backups with the first brake branch;

the first two-position two-way electromagnetic valve, the second two-position two-way electromagnetic valve and the third two-position two-way electromagnetic valve are all connected with the controller and are all used for being opened or closed according to corresponding control instructions issued by the controller to achieve the purpose of conducting or stopping the first brake branch or/and the second brake branch;

the stopper is arranged on the brake oil cylinder and used for detecting the separation condition of the brake oil cylinder and the plunger motor, including separation and compression;

the brake oil cylinder is arranged on the plunger motor and used for injecting hydraulic oil of the energy accumulator into the brake oil cylinder and enabling the brake oil cylinder to move to be separated from the plunger motor when at least one of the first brake branch and the second brake branch is conducted, so that the brake of the plunger motor is released; or when the first braking branch and the second braking branch are both cut off and switched on, the hydraulic oil of the energy accumulator cannot be injected into the braking oil cylinder, and the braking oil cylinder is tightly pressed with the plunger motor through the self spring restoring force of the braking oil cylinder, so that the braking of the plunger motor is realized.

Wherein the motor brake circuit further comprises a pressure relay; wherein the content of the first and second substances,

the pressure relay is arranged on the first brake branch, one end of the pressure relay is connected with the energy accumulator, the other end of the pressure relay is connected with the controller, the pressure relay is used for sensing the real-time pressure of the energy accumulator, and when the pressure of the energy accumulator is lower than a preset threshold value, the pressure relay stops the first brake branch according to a corresponding control instruction sent by the controller; or when the pressure of the energy accumulator is higher than the preset threshold value, the first braking branch circuit is conducted according to a corresponding control instruction issued by the controller.

The motor brake circuit further comprises a fourth two-position two-way electromagnetic valve; wherein the content of the first and second substances,

the fourth two-position two-way electromagnetic valve is arranged on a pipeline for communicating the automatic oil pump with the energy accumulator, is connected with the controller and is used for starting to realize the conduction of the automatic oil pump to supplement oil to the energy accumulator according to a corresponding control instruction sent by the controller when the pressure of the energy accumulator is lower than a preset threshold value; or when the pressure of the energy accumulator is higher than the preset threshold value, the automatic oil pump is turned off according to a corresponding control instruction issued by the controller, so that the oil supply of the automatic oil pump to the energy accumulator is cut off.

The motor brake circuit further comprises an emergency brake branch connected with the brake oil cylinder;

the emergency braking branch comprises a manual oil pump, a one-way valve and a stop valve which are connected in sequence; the emergency braking branch is used for switching on the braking oil cylinder and outputting hydraulic oil to be injected into the braking oil cylinder through manual operation of the manual oil pump when the energy accumulator fails, and the braking oil cylinder moves to be separated from the plunger motor, so that the braking of the plunger motor is relieved; or when the energy accumulator fails, the brake oil cylinder is cut off and conducted, and the brake oil cylinder is tightly pressed with the plunger motor through the restoring force of the spring of the brake oil cylinder, so that the plunger motor is braked.

The first hydraulic control one-way sequence valve and the second hydraulic control one-way sequence valve are composed of a cone valve and a slide valve.

The first three-position four-way electro-hydraulic servo valve and the second three-position four-way electro-hydraulic servo valve realize the motion of the valve core through the suction force of electromagnets at two ends, so that one of the left cavity and the right cavity of the valve core is opened, the size of the opening is controlled, or the left cavity and the right cavity of the valve core are completely closed.

The embodiment of the invention has the following beneficial effects:

1. according to the invention, the rotation direction and the rotation speed are adjusted by controlling the oil quantity direction and the oil quantity of the plunger motor injected into the cable scaling control loop through the controller, so that the up-and-down position of the deep sea robot is adjusted, the heave motion compensation of the deep sea robot is realized, and the up-and-down vibration between the deep sea robot and the cable is reduced;

2. according to the deep sea robot, the controller controls the direction and the size of oil mass injected into the servo hydraulic cylinder in the deep sea robot position fine adjustment loop to adjust the power output to the deep sea robot and the direction, so that the deep sea robot is finely adjusted in the vertical position, the deep sea robot heave motion is further compensated, and the vertical vibration between the deep sea robot and the cable is effectively reduced;

3. the controller controls one corresponding brake branch among the first brake branch, the second brake branch and the emergency brake branch in the motor brake loop to realize the control of the plunger motor in the cable scaling control loop, so as to ensure the accurate control of the heave motion compensation quantity of the deep sea robot, thereby improving the control accuracy and preventing the plunger motor from rotating and sliding down under the driving of the load gravity of the deep sea robot, the cable and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.

Fig. 1 is a schematic connection structure diagram of a heave compensation device of a deep-sea robot cable system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, in an embodiment of the present invention, a deep sea robot cable system heave compensation apparatus is provided, which includes a controller 31 and a cable scaling control loop connected thereto;

a controller 31 for generating and outputting a control command according to user input information or device detection information;

the cable scaling control loop comprises an automatic oil pump 1, a first three-position four-way electro-hydraulic servo valve 2, a first hydraulic control one-way sequence valve 4 and a plunger motor 12; wherein the content of the first and second substances,

the automatic oil pump 1 is used for outputting hydraulic oil by a driving motor;

the first three-position four-way electro-hydraulic servo valve 2 is connected with the automatic oil pump 1, a valve core control end on the first three-position four-way electro-hydraulic servo valve is connected with the controller 1), a valve core left-way oil cavity is connected with an oil way inlet on the plunger motor 12 through the first hydraulic control one-way sequence valve 4, a valve core right-way oil cavity is connected with another oil way inlet on the plunger motor 12, and the first three-position four-way electro-hydraulic servo valve is used for conducting oil supply to the plunger motor 12 by the automatic oil pump 1 and controlling the oil quantity when controlling the left position and the right position of the valve core and the opening size according to a corresponding control instruction sent by the controller 31, so that the control of the positive and negative rotation direction and the rotation speed of the plunger motor 12 is realized; or when the control valve core is placed in the middle position, the automatic oil pump 1 can stop supplying oil to the plunger motor 12, so that the plunger motor 12 stops rotating;

the first hydraulic control one-way sequence valve 4 is used for adjusting the flow rate of the left path oil quantity so as to optimize the rotating speed of the plunger motor 12 and reversely recover the hydraulic oil;

the output end of the plunger motor 12 is connected with the deep sea robot 10 through the cable 7, and is used for adjusting the up-and-down position of the deep sea robot 10 according to the rotating direction and the rotating speed, so that the heave motion compensation of the deep sea robot 10 is realized, and the up-and-down vibration between the deep sea robot 10 and the cable 7 is reduced.

It should be noted that the cable scaling control loop adopts the plunger motor 12 to drive the deep sea robot 10 to ascend and descend, and adopts the valve core position of the first three-position four-way electro-hydraulic servo valve 2 to realize the speed change and the reversing of the deep sea robot 10; the first three-position four-way electro-hydraulic servo valve 2 realizes the movement of the valve core through the suction force of the electromagnets at the two ends so as to enable one of the left cavity and the right cavity of the valve core to be opened and control the opening size, or controls the valve core to be arranged in the middle position to realize the closing of the left cavity and the right cavity of the valve core, thereby changing the on-off of an oil circuit and further realizing the reversing of an actuating element. That is, the size and direction of the opening of the first three-position four-way electro-hydraulic servo valve 2 are changed, so that the movement speed of the piston of the plunger motor 12 can be adjusted and the piston cylinder can be extended and contracted.

The first pilot-controlled one-way sequence valve 4 is used for limiting the overspeed descending of the deep-sea robot 10, and the first pilot-controlled one-way sequence valve 4 is composed of a cone valve and a slide valve, so that the functions of a one-way valve and a sequence valve are realized. Once the deep sea robot passes through the first hydraulic control one-way sequence valve 4 in the forward direction or passes through the reverse direction, under the action of the remote control port, a pressure is given to the cone valve to open the slide valve, the slide valve controls the flow along with the opening pressure, and the position stability of the deep sea robot 10 is controlled.

For example, when the first three-position four-way electro-hydraulic servo valve 2 is in the left position (i.e. the valve core left cavity is opened), hydraulic oil of the automatic oil pump 1 enters the left oil circuit inlet on the plunger motor 12 through the first hydraulic control one-way sequence valve 4 to drive the piston to extend and move, and the deep sea robot 10 is lowered by stretching the cable 7; when the first three-position four-way electro-hydraulic servo valve 2 is in the right position (namely the valve core right cavity is opened), hydraulic oil of the automatic oil pump 1 directly enters a right oil path inlet on the plunger motor 12 to drive the piston to retract, the deep sea robot 10 is lifted upwards through the retracting cable 7, and meanwhile, the remote control port opens the first hydraulic control one-way sequence valve 4, so that the left hydraulic oil on the plunger motor 12 returns to an oil tank carried by the first hydraulic control one-way sequence valve 4 to be recovered.

In an embodiment of the present invention, the heave compensation device for a deep sea robot cable system further comprises: a deep sea robot position fine adjustment loop connected with the controller 31;

the deep sea robot position fine adjustment loop comprises a second three-position four-way electro-hydraulic servo valve 3, a second hydraulic control one-way sequence valve 5, a servo hydraulic cylinder 8 and an ultrasonic sensor 9; wherein the content of the first and second substances,

the second three-position four-way electro-hydraulic servo valve 3 is connected with the automatic oil pump 1, a valve core control end on the second three-position four-way electro-hydraulic servo valve is connected with the controller 31, a valve core left path oil cavity is connected with a lower cavity of the servo hydraulic cylinder 8 through a second hydraulic control one-way sequence valve 5, a valve core right path oil cavity is connected with an upper cavity of the servo hydraulic cylinder 8 and used for conducting oil supply to the servo hydraulic cylinder 8 and controlling the oil quantity when controlling the left position and the right position of the valve core and the opening size according to a corresponding control instruction sent by the controller 31, so that the output power and the direction of the servo hydraulic cylinder 8 are controlled; or when the valve core of the servo valve is controlled to be positioned at the middle position, the automatic oil pump 1 can be stopped to supply oil to the servo hydraulic cylinder 8, so that the servo hydraulic cylinder 8 stops outputting power;

the second hydraulic control one-way sequence valve 5 is used for adjusting the flow rate of the left path of oil so as to optimize the output power of the servo hydraulic cylinder 8 and reversely recover the hydraulic oil;

the output end of the servo hydraulic cylinder 8 is connected with the deep sea robot 10 and is used for finely adjusting the upper position and the lower position of the deep sea robot according to the magnitude and the direction of output power, so that the heave motion compensation of the deep sea robot is realized, and the upper vibration and the lower vibration between the deep sea robot and a cable are further effectively reduced;

the ultrasonic sensor 9 is disposed on the deep sea robot 10 and connected to the controller 31, and is configured to detect the displacement of the deep sea robot 10 in real time and send the displacement to the controller 31, so that the controller 31 performs position error determination on the deep sea robot to change a corresponding control command, that is, the displacement of the deep sea robot 10 fed back by the ultrasonic sensor 9 in real time may be formed as a control command to change the suction force of the electromagnets at the two ends of the second three-position four-way electro-hydraulic servo valve 3 to implement the motion of the valve spool.

It should be noted that the valve core position of the second three-position four-way electro-hydraulic servo valve 3 is adopted to realize the micro speed change and reversing of the deep sea robot 10; the second three-position four-way electro-hydraulic servo valve 3 realizes the movement of the valve core through the suction force of the electromagnets at the two ends, so that one of the left cavity and the right cavity of the valve core is opened, the opening size is controlled, or the left cavity and the right cavity of the valve core are completely closed, the on-off of an oil circuit is changed, and the reversing of an actuating element is further realized. Namely, the size and the direction of the opening of the second three-position four-way electro-hydraulic servo valve 3 are changed, so that the movement speed of the piston of the servo hydraulic cylinder 8 can be adjusted, and the piston cylinder can be extended and contracted.

The second hydraulic control one-way sequence valve 5 is used for limiting the weak descending of the deep sea robot 10, and the second hydraulic control one-way sequence valve 5 is composed of a cone valve and a slide valve, so that the functions of a one-way valve and a sequence valve are realized. Once the deep sea robot passes through the second pilot-controlled one-way sequence valve 5 in the forward direction or is in the reverse direction, under the action of the remote control port, a pressure is applied to the cone valve to open a slide valve, the slide valve controls the flow along with the opening pressure, and the fine adjustment of the upper position and the lower position of the deep sea robot 10 is controlled. At this time, because the hydraulic pressure force is consistent with the direction of the load force when the hydraulic servo cylinder 8 contracts, in order to prevent the hydraulic servo cylinder 8 from contracting by itself under the action of gravity, the second hydraulic control one-way sequence valve 5 is installed in the lower cavity oil return cavity of the hydraulic servo cylinder 8, and the reliability of contraction movement is improved.

For example, when the second three-position four-way electro-hydraulic servo valve 3 is in the left position (i.e. the left cavity of the valve core is opened), hydraulic oil of the automatic oil pump 1 enters the lower cavity of the servo hydraulic cylinder 8 through the second hydraulic control one-way sequence valve 5 to drive the piston to extend and move, so that the position of the deep sea robot 10 is finely adjusted upwards; when the second three-position four-way electro-hydraulic servo valve 3 is in the right position (namely the valve core right cavity is opened), hydraulic oil of the automatic oil pump 1 directly enters the upper cavity of the servo hydraulic cylinder 8 to drive the piston to retract, so that the deep sea robot 10 is finely adjusted downwards, meanwhile, the remote control port opens the second hydraulic control one-way sequence valve 5, and hydraulic oil in the lower cavity of the servo hydraulic cylinder 8 returns to an oil tank carried by the second hydraulic control one-way sequence valve 5 to be recovered.

In an embodiment of the present invention, the heave compensation device for a deep sea robot cable system further comprises: a motor brake circuit connected to the controller 31;

the motor brake circuit comprises an energy accumulator 14, a first two-position two-way solenoid valve 16, a second two-position two-way solenoid valve 17, a third two-position two-way solenoid valve 18, a first one-way throttle valve 19, a second one-way throttle valve 20, a pressure reducing valve 21, a stopper 29 and a brake oil cylinder 11; wherein the content of the first and second substances,

the energy accumulator 14 sequentially passes through a first two-position two-way electromagnetic valve 16, a first one-way throttle valve 19 and a second two-position two-way electromagnetic valve 17 to form a first brake branch connected with the brake oil cylinder 11;

the energy accumulator 14 sequentially passes through a pressure reducing valve 21, a second one-way throttle valve 20 and a third two-position two-way electromagnetic valve 18 to form a second brake branch which is connected with the brake cylinder 11 and backups with the first brake branch;

the first two-position two-way solenoid valve 16, the second two-position two-way solenoid valve 17 and the third two-position two-way solenoid valve 18 are all connected with the controller 31 and are all used for being opened or closed according to corresponding control instructions sent by the controller 31 to realize the connection or the disconnection of the first brake branch or/and the second brake branch;

the stopper 29 is arranged on the brake cylinder 11 and used for detecting the separation condition of the brake cylinder 11 and the plunger motor 12, including separation and compression;

the brake cylinder 11 is arranged on the plunger motor 12 and is used for injecting hydraulic oil from the energy accumulator 14 into the brake cylinder 11 and separating the brake cylinder 11 from the plunger motor 12 when at least one of the first brake branch and the second brake branch is conducted, so as to realize the brake release of the plunger motor 12; or when the first braking branch and the second braking branch are both closed and switched on, the hydraulic oil of the energy accumulator 14 cannot be injected into the braking oil cylinder 11, and the braking oil cylinder 11 is pressed against the plunger motor 12 through the self spring restoring force of the braking oil cylinder 11, so that the plunger motor 12 is braked.

It should be noted that the first one-way throttle valve 19 and the second one-way throttle valve 20 (with proper opening adjustment) are used for adjusting the brake opening and braking speed of the brake cylinder 11 on the plunger motor 12, so as to prevent the mechanism from being damaged due to too fast opening or braking.

In the embodiment of the invention, the deep sea robot cable system heave compensation device is provided with three two-position two-way electromagnetic valves (16, 17 and 18) to deal with the working condition of a large-volume brake hydraulic cylinder, and the first brake branch and the second brake branch are mutually backed up to realize the control, so that the plunger motor 12 is controlled to ensure the accurate control of the heave motion compensation quantity of the deep sea robot 10, and the control accuracy is improved.

For example, during operation, the first two-position two-way solenoid valve 16 and the second two-position two-way solenoid valve 17 are opened by power supply and the first one-way throttle valve 19 is normally opened, and hydraulic oil in the accumulator 14 flows into the brake cylinder 11 through the first brake branch; or/and when the brake system works, the third two-position two-way electromagnetic valve 18 is opened by electrifying, the pressure reducing valve 21 and the second one-way throttle valve 20 are normally opened, and the hydraulic oil in the energy accumulator 14 flows into the brake cylinder 11 through the second brake branch. At this time, the hydraulic oil of the accumulator 14 is injected into the brake cylinder 11 and the brake cylinder 11 is moved to be separated from the plunger motor 12, thereby releasing the brake of the plunger motor 12. In one example, the first two-position two-way solenoid valve 16 is turned off, so that the first brake branch stops the hydraulic oil of the accumulator 14 from being injected into the brake cylinder 11, but the accumulator 14 in the second brake branch continues to maintain and supplement the hydraulic oil to the brake cylinder 11 through the pressure reducing valve 21, so that the brake cylinder 11 can be ensured to be opened rapidly, and the safety of the system can be ensured in an emergency condition.

For example, when the brake cylinder 11 is not in operation, when the opening limiter 29 detects that the piston of the brake cylinder 11 is separated from the plunger motor 12 and the piston of the brake cylinder 11 is kept at a certain safety distance from the plunger motor 12, a signal is sent to the controller 31, and the first two-position two-way solenoid valve 16, the second two-position two-way solenoid valve 17 and the third two-position two-way solenoid valve 18 are powered off and shut off, so that the hydraulic oil of the accumulator 14 cannot be injected into the brake cylinder 11, and the hydraulic oil is pressed against the plunger motor 12 through the self spring restoring force of the brake cylinder 11, thereby braking the plunger motor 12.

It will be appreciated that when the brake cylinder 11 is released (i.e. the piston motor 12 is deactivated), the accumulator 14 reduces the high pressure of the accumulator 14 via the pressure reducing valve 21 to a state where the brake cylinder 11 remains open.

In the embodiment of the invention, the heave compensation device of the deep sea robot cable system further comprises a pressure relay 15 and a fourth two-position two-way electromagnetic valve 13; wherein the content of the first and second substances,

the pressure relay 15 is arranged on the first brake branch, one end of the pressure relay is connected with the energy accumulator 14, the other end of the pressure relay is connected with the controller 31, the pressure relay is used for sensing the real-time pressure of the energy accumulator 14, and when the pressure of the energy accumulator 14 is lower than a preset threshold value, the first brake branch is cut off according to a corresponding control instruction sent by the controller 31; or when the pressure of the energy accumulator 14 is higher than the preset threshold, the first braking branch is conducted according to the corresponding control instruction issued by the controller 31;

the fourth two-position two-way electromagnetic valve 13 is arranged on a pipeline for communicating the automatic oil pump 1 with the energy accumulator 14, is connected with the controller 31, and is used for starting to realize the conduction of the automatic oil pump 1 to supplement oil to the energy accumulator 14 according to a corresponding control instruction sent by the controller 31 when the pressure of the energy accumulator 14 is lower than a preset threshold value; or when the pressure of the energy accumulator 14 is higher than the preset threshold value, the automatic oil pump 1 is turned off to cut off the oil supply of the energy accumulator 14 according to the corresponding control instruction issued by the controller 31.

It can be understood that, after the fourth two-position two-way solenoid valve 13 is powered on and opened, the automatic oil pump 1 supplies oil to the accumulator 14 to maintain the pressure of the accumulator 14 above the pressure controlled by the pressure relay 15. Meanwhile, the energy accumulator 14 and the brake cylinder 11 are separated by the pressure reducing valve 21, so that the automatic oil pump 1 and the energy accumulator 14 can be fully applied without damaging the brake cylinder 11, the inflation pressure of the energy accumulator 14 can be improved, the hydraulic oil storage capacity can be increased, the pressure maintaining time of the device can be prolonged, and the frequent starting of a driving motor of the automatic oil pump 1 can be avoided.

In the embodiment of the invention, the deep sea robot cable system heave compensation device is also provided with a manual emergency braking branch circuit in order to avoid the simultaneous failure of the first braking branch circuit and the second braking branch circuit in the motor braking circuit. Therefore, the motor brake circuit also comprises an emergency brake branch connected with the brake cylinder 11;

the emergency braking branch comprises a manual oil pump 27, a one-way valve 24 and a stop valve 23 which are connected in sequence; the emergency braking branch is used for conducting the brake cylinder 11, outputting hydraulic oil through a manual operation manual oil pump 27 to be injected into the brake cylinder 11 and enabling the brake cylinder 11 to move to be separated from the plunger motor 12 when the energy accumulator 14 fails, and realizing braking release of the plunger motor 12; or when the energy accumulator 14 fails, the brake cylinder 11 is turned off and on, and the brake cylinder 11 is pressed against the plunger motor 12 through the self spring restoring force of the brake cylinder 11, so that the plunger motor 12 is braked.

It can be seen that in an emergency, the braking function of the brake cylinder 11 is activated by the manual operation of the manual oil pump 27, the check valve 24 and the cut-off valve 23 (closed during normal operation) in cooperation, at which time the first check throttle valve 19 and the second check throttle valve 20 are fully closed and the cut-off valve 23 is fully opened. And when the emergency situation is finished, the normal working state needs to be recovered.

The embodiment of the invention has the following beneficial effects:

1. according to the invention, the rotation direction and the rotation speed are adjusted by controlling the oil quantity direction and the oil quantity of the plunger motor injected into the cable scaling control loop through the controller, so that the up-and-down position of the deep sea robot is adjusted, the heave motion compensation of the deep sea robot is realized, and the up-and-down vibration between the deep sea robot and the cable is reduced;

2. according to the deep sea robot, the controller controls the direction and the size of oil mass injected into the servo hydraulic cylinder in the deep sea robot position fine adjustment loop to adjust the power output to the deep sea robot and the direction, so that the deep sea robot is finely adjusted in the vertical position, the deep sea robot heave motion is further compensated, and the vertical vibration between the deep sea robot and the cable is effectively reduced;

3. according to the invention, the controller controls one corresponding brake branch among the first brake branch, the second brake branch and the emergency brake branch in the motor brake circuit to realize the control of the plunger motor in the cable scaling control circuit, so as to ensure the accurate control of the heave motion compensation quantity of the deep-sea robot, thereby improving the control accuracy.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.