수중로봇 압력보상오일의 체적변화 검증시험 소개

Abstract

In order to determine the appropriate volume of a pressure compensator, this paper introduces about the verification test with the hydrostatic pressure chamber. The pilot mining robot, MienRo was designed and manufactured to work at 6,000m depth. The hydraulic working oil and pressure compensating oil in MineRo are under hydrostatic pressure of about 600bar. Even if oil is assumed as incompressibility material, the volume is actually changed under high pressure due to air contained in oil and oil contraction. To determine the capacity of hydraulic compensator which is replenished as much as the contracted oil volume is very important in design stage of the mining robot. This paper verifies the oil contraction rate through experimental test with hydrostatic pressure chamber.depth. The hydraulic working oil and pressure compensating oil in MineRo are under hydrostatic pressure of about 600bar. Even if oil is assumed as incompressibility material, the volume is actually changed under high pressure due to air contained in oil and oil contraction. To determine the capacity of hydraulic compensator which is replenished as much as the contracted oil volume is very important in design stage of the mining robot. This paper verifies the oil contraction rate through experimental test with hydrostatic pressure chamber.