CN116280111A - Jet type sea cable maintenance robot - Google Patents
Jet type sea cable maintenance robot Download PDFInfo
- Publication number
- CN116280111A CN116280111A CN202211573228.0A CN202211573228A CN116280111A CN 116280111 A CN116280111 A CN 116280111A CN 202211573228 A CN202211573228 A CN 202211573228A CN 116280111 A CN116280111 A CN 116280111A
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- Prior art keywords
- shell
- jet
- output
- maintenance robot
- cable maintenance
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- 238000012423 maintenance Methods 0.000 title claims abstract description 22
- 239000007921 spray Substances 0.000 claims abstract description 37
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 238000009792 diffusion process Methods 0.000 claims description 12
- 230000003405 preventing effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 4
- 230000006378 damage Effects 0.000 abstract description 9
- 230000002427 irreversible effect Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 239000013049 sediment Substances 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 235000014653 Carica parviflora Nutrition 0.000 description 1
- 241000243321 Cnidaria Species 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010071 organism adhesion Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a jet type submarine cable maintenance robot which comprises a shell, wherein a floating body and a pressure pump are arranged in the shell, the output end of the pressure pump is respectively connected with an input end of a propulsion spray pipe and an input end of a dredging spray pipe, the input end of the pressure pump is connected with the output ends of water suction pipes, the output ends of a plurality of propulsion spray pipes are uniformly distributed on the upper end face and the lower end face of the shell and the peripheral side of the shell, the output end of at least one dredging spray pipe is fixed on the outer side face of the shell, the input end of the water suction pipe is outwards fixed on the upper end face of the shell, and independent pressure regulating valves are arranged at the output ends of the propulsion spray pipes and the dredging spray pipes. The beneficial effects of the invention are as follows: the pressure pump and the corresponding pressure regulating valve are used for respectively driving the propelling spray pipe and the dredging spray pipe to spray out water flow with controllable flow, so that the robot can be controlled to perform vector propelling and clean the covering on the surface of the submarine cable, irreversible damage to the submarine living things and the submarine geological environment can be avoided, and the submarine cable can be prevented from being damaged.
Description
Technical Field
The invention relates to the technical field of submarine cable maintenance equipment, in particular to a jet type submarine cable maintenance robot.
Background
The electric power of various offshore renewable energy power generation platforms is required to be transmitted to the shore through submarine cables. In certain sea areas with coral geology, submarine cables cannot be deeply buried due to ecological environmental protection, and bare submarine cables are easily affected by complex factors such as marine organism adhesion, environmental corrosion and the like. Meanwhile, the exposed submarine cable is influenced by ocean current motion throughout the year, friction is very easy to occur between the submarine cable body outer sheath and the seabed, and therefore the outer sheath is worn and even the submarine cable sheath structure is damaged. The periodic inspection and maintenance of submarine cables by underwater robots has become an important task in the use of bare submarine cables.
At present, sea cable maintenance robots face two problems in operation, firstly, the stability of the robot itself needs to be kept under possible high-speed ocean currents; secondly, the originally exposed submarine cable is covered by marine organisms or other foreign matters for various reasons, so that the robot cannot directly shoot submarine cable images or acquire submarine cable data in work.
In view of the first problem, the propulsion system of the current underwater robot generally adopts a propeller propulsion system in a vector propulsion arrangement mode, such as a cable remote control underwater robot inspection system for submarine cables and an operation method thereof disclosed in CN109616956 a. The system is convenient to operate and has strong maneuverability, but the screw propeller is a rotary machine and is easy to wind with marine organisms, so that irreversible damage can be caused to the marine environment.
In view of the second problem, the underwater robot generally adopts a flexible gripper to grip the submarine cable, so as to prevent the submarine cable from being covered by the marine creatures, and finally uses a camera to check the state of the submarine cable, such as a submarine multi-task simulation system, a device and a method disclosed in CN114927016a, and a ratchet self-locking submarine cable lifting gripper disclosed in CN112045706 a. But the traction force generated by the flexible gripper can directly act on a certain section of the submarine cable, and the damage of the submarine cable can be aggravated by the operation when the submarine cable is in an unknown state.
Disclosure of Invention
The invention provides a jet type submarine cable maintenance robot aiming at solving the problems that a propeller propulsion system is easy to wind with a submarine organism and a flexible paw is easy to aggravate damage of a submarine cable.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a jet-type sea cable maintenance robot, includes the shell, the inside of shell is provided with body and force pump, force pump's output is connected with the input that advances spray tube and desilting spray tube respectively, force pump's input is connected with the output of water suction pipe, wherein, a plurality of advance the output equipartition of spray tube be in the up-and-down terminal surface of shell and the periphery side of shell, at least one the output of desilting spray tube is fixed the lateral surface of shell, the input of water suction pipe outwards is fixed the up end of shell, just advance the spray tube with the output of desilting spray tube all is equipped with independent pressure regulating valve.
In some embodiments, the output end of the pressure pump is provided with a pressure regulating valve.
In some embodiments, the inlet end of the barrel is provided with a screen.
In some embodiments, an anti-diffusion cover is mounted at the output end of the dredging nozzle.
In some embodiments, the tail end of the output end of the dredging spray pipe is bent vertically downwards to form a bending part.
In some embodiments, the diffusion preventing cover is mounted at a circumferential side of the bent portion.
In some embodiments, the lower end surface of the housing is provided with a rubber cushion.
In some embodiments, an illumination unit is disposed at an upper end surface edge of the housing, and an image pickup unit is disposed at an outer side surface of the housing.
In some embodiments, the outer side of the housing is provided with a detection unit.
In some embodiments, the power input and control ends of the pressure pump are connected to the power output and control ends of the sea vessel via a cable connector.
The beneficial effects of the invention are as follows: through set up body and force pump in the shell inside, the body is used for providing certain buoyancy for the shell, utilizes force pump and corresponding pressure regulating valve to drive respectively and impels the rivers of spray tube and desilting spray tube blowout controllable flow, can control the robot and carry out the vector propulsion to and clear up the covering on sea cable surface, consequently at the in-process that the robot vector impels and jet cleaning, can not cause irreversible damage to marine organism and submarine geological environment, also can not harm the sea cable.
Drawings
Fig. 1 is a schematic structural diagram of a jet type submarine cable maintenance robot according to an embodiment of the present invention;
wherein: the device comprises a shell, a pressure pump, a 3-suction pipe, a 4-pressure regulating valve, a 5-pushing spray pipe, a 6-dredging spray pipe, a 7-diffusion prevention cover, an 8-rubber cushion, a 9-lighting unit, a 10-camera unit, an 11-detection unit, a 12-floating body and a 13-cable connector.
Detailed Description
The present invention will be described in further detail with reference to the drawings and the detailed description below, in order to make the objects, technical solutions and advantages of the present invention more clear and distinct. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
The embodiment provides a jet-type submarine cable maintenance robot, through set up body 12 and pressure pump 2 in shell 1 inside, body 12 is used for providing certain buoyancy for shell 1, utilizes pressure pump 2 and corresponding pressure regulating valve 4 to drive respectively and impels the rivers of spout 5 and desilting spout 6 blowout controllable flow, can control the robot and carry out the vector propulsion, and the covering on clearance submarine cable surface, consequently at the in-process that the robot vector impels and jet-type clear up, can not cause irreversible damage to submarine living things and submarine geological environment, also can not harm submarine cable.
As shown in fig. 1, the jet type submarine cable maintenance robot comprises a shell 1, wherein a floating body 12 and a pressure pump 2 are arranged in the shell 1, the output end of the pressure pump 2 is respectively connected with the input ends of a propulsion spray pipe 5 and a dredging spray pipe 6, the input end of the pressure pump 2 is connected with the output end of a water suction pipe 3, the output ends of a plurality of propulsion spray pipes 5 are uniformly distributed on the upper end face and the lower end face of the shell 1 and the outer peripheral side of the shell 1, the output end of at least one dredging spray pipe 6 is fixed on the outer side face of the shell 1, the input end of the water suction pipe 3 is outwards fixed on the upper end face of the shell 1, and independent pressure regulating valves 4 are respectively arranged at the output ends of the propulsion spray pipes 5 and the dredging spray pipes 6.
In this embodiment, since the propulsion nozzles 5 are disposed on the upper and lower end surfaces of the housing 1 and the outer peripheral side of the housing 1, the flow rate of each propulsion nozzle 5 is controlled by the corresponding pressure regulating valve 4, so that the pressure of each nozzle jet can be controlled to adjust the resultant force direction, and finally vector propulsion is realized, which is very convenient to operate. In addition, for the dredging spray pipe 6, the number is not limited, the dredging spray pipe is fixed at the lower part of the side wall of the shell 1 as much as possible, and the pressure regulating valve 4 corresponding to the dredging spray pipe 6 can be regulated according to the actual environment, so that the high-pressure jet flow pressure of the dredging spray pipe 6 is controlled, and irreversible damage to marine organisms and submarine geological environment in the process of cleaning a submarine cable is avoided.
In an alternative embodiment, the output of the pressure pump 2 is also provided with a pressure regulating valve 4, which pressure regulating valve 4 is a main valve, the switching state of which directly influences the output of the other pressure regulating valves 4.
The input end of the water suction pipe 3 is located above the casing 1, so that sediment sucked into the seabed can be avoided during the operation of the pressure pump 2, and in a preferred scheme, the input end of the water suction pipe 3 is provided with a filter screen, so that the probability of sucking sediment into the seabed by the water suction pipe 3 is further reduced, and the pressure pump 2 is prevented from being damaged.
In an alternative embodiment, the outlet end of the dredging nozzle 6 is provided with a diffusion preventing hood 7. The diffusion preventing cover 7 is made of high-strength corrosion-resistant rubber, and is in a hemispherical shell shape, so that the diffusion preventing cover can prevent submarine sediment from sputtering and prevent the camera from interfering with the view field or detection operation. In some examples, the diffusion preventing cover 7 is a detachable component, and the size and the fastening piece can be selected according to the practical situation of the dredging spray pipe 6, and the fastening piece can be a clamp.
In yet another alternative embodiment, the end of the outlet end of the dredging nozzle 6 is bent vertically downwards to form a bent part, so that the jet is sprayed vertically downwards as much as possible. The diffusion preventing cover 7 is installed at the circumferential side of the bending part, and obviously, the end surface of the diffusion preventing cover 7 should be horizontally arranged to match the bending angle of the bending part, so as to obtain the optimal diffusion preventing effect.
Preferably, the lower end surface of the housing 1 is provided with a rubber cushion 8. In one example, the rubber cushion 8 is in a sheet shape and is fixed at four corners of the lower end surface of the casing 1, and is used when the robot lands on the sea floor and works at a fixed place, so that the cushion can play a role in buffering in the landing process, and the robot is prevented from damaging the geological and ecological environment of the sea floor. In another example, the rubber cushion 8 is ring-shaped and is fixed to the lower end surface of the housing 1.
In the present embodiment, the upper end surface edge of the housing 1 is provided with an illumination unit 9, and the outer side surface of the housing 1 is provided with an image pickup unit 10. The outer side of the housing 1 is also provided with a detection unit 11.
The power supply input end and the control end of the pressure pump 2 are connected with the power supply output end and the control end of the sea surface ship through a cable joint 13. In the present embodiment, the power supply input and control terminals of the illumination unit 9, the camera unit 10 and the detection unit 11 may also be connected to the power supply output and control terminal of the sea-surface vessel through the cable connector 13. Therefore, all controlled parts on the robot can be connected with a ship on the sea surface by means of cables, power supply is provided by the ship, and bidirectional transmission of signals is performed, so that the overall quality of the robot is reduced, and the stability is improved.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the essence of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a efflux formula sea cable maintenance robot, includes the shell, its characterized in that, the inside of shell is provided with body and pressure pump, the output of pressure pump is connected with the input that advances spray tube and desilting spray tube respectively, the input of pressure pump is connected with the output of water suction pipe, wherein, a plurality of the output equipartition that advances the spray tube is in the up-and-down terminal surface of shell and the periphery side of shell, at least one the output of desilting spray tube is fixed the lateral surface of shell, the input of water suction pipe is outwards fixed the up end of shell, just advance the spray tube with the output of desilting spray tube all is equipped with independent pressure regulating valve.
2. The jet sea cable maintenance robot of claim 1, wherein the output end of the pressure pump is provided with a pressure regulating valve.
3. The jet sea cable maintenance robot of claim 1, wherein the intake end of the suction pipe is provided with a filter screen.
4. The jet submarine cable maintenance robot according to claim 1, wherein an anti-diffusion cover is mounted at an output end of the dredging jet pipe.
5. The jet submarine cable maintenance robot according to claim 4, wherein the tail end of the output end of the dredging jet pipe is bent vertically downwards to form a bent part.
6. The jet submarine cable maintenance robot according to claim 5, wherein the diffusion preventing cover is installed on a peripheral side of the bent portion.
7. The jet sea cable maintenance robot of claim 1, wherein the lower end surface of the housing is provided with a rubber cushion.
8. The jet submarine cable maintenance robot according to claim 1, wherein an illumination unit is arranged at the edge of the upper end face of the shell, and a camera unit is arranged on the outer side face of the shell.
9. The jet sea cable maintenance robot of claim 1, wherein the outer side of the housing is provided with a detection unit.
10. The jet sea cable maintenance robot of claim 1, wherein the power input and control ends of the pressure pump are connected to the power output and control ends of the sea vessel through a cable connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211573228.0A CN116280111A (en) | 2022-12-08 | 2022-12-08 | Jet type sea cable maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211573228.0A CN116280111A (en) | 2022-12-08 | 2022-12-08 | Jet type sea cable maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116280111A true CN116280111A (en) | 2023-06-23 |
Family
ID=86833008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211573228.0A Pending CN116280111A (en) | 2022-12-08 | 2022-12-08 | Jet type sea cable maintenance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116280111A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117073979A (en) * | 2023-10-18 | 2023-11-17 | 中国电力工程顾问集团中南电力设计院有限公司 | Test device and method for cleaning underwater cable soil covering |
-
2022
- 2022-12-08 CN CN202211573228.0A patent/CN116280111A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117073979A (en) * | 2023-10-18 | 2023-11-17 | 中国电力工程顾问集团中南电力设计院有限公司 | Test device and method for cleaning underwater cable soil covering |
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