심해저 망간단괴 파일럿집광로봇 유압시스템

Abstract

A pilot mining robot for deep-sea manganese nodules, which aims at the use for Pre-Pilot Mining Test and Pilot Mining Test, was designed and was being manufactured. The scale of the pilot mining robot is 1/5 for commercial one. In this paper, hydraulic system of the pilot mining robot, which has just been constructed, is introduced and explained. Hydraulic system is composed of reservoir, high pressure filters, valve packs, linear and rotational actuators, return and drain filters, and so on. Since the hydraulic system is determined as a closed loop hydraulic circuits, reservoir pressure within the circuits is compensated to ambient. The pressure of reservoir always keeps about 0.25~0.5 bar the higher than ambient pressure. Since the pilot mining robot works about ambient temperature, 2℃, and is moving system, the small size reservoir was adopted for reducing total weight and space. The capacity of a compensator was calculated by considering the bulk modulus of the hydraulic oil. HPUs were tested successfully in factory at full flow, highest pressure, half loading. The load-compensated proportional valves for the speed control of some actuators were adopted in order to make the actuators rotating constantly for varied loading. The pilot mining robot including the hydraulic system will be tested at 1000m water depth of East Sea in the end of 2012. The performance of the system will be verpaper, hydraulic system of the pilot mining robot, which has just been constructed, is introduced and explained. Hydraulic system is composed of reservoir, high pressure filters, valve packs, linear and rotational actuators, return and drain filters, and so on. Since the hydraulic system is determined as a closed loop hydraulic circuits, reservoir pressure within the circuits is compensated to ambient. The pressure of reservoir always keeps about 0.25~0.5 bar the higher than ambient pressure. Since the pilot mining robot works about ambient temperature, 2℃, and is moving system,