CN117734911A - Self-adaptive rotary ROV umbilical cable bearing and connecting device - Google Patents
Self-adaptive rotary ROV umbilical cable bearing and connecting device Download PDFInfo
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- CN117734911A CN117734911A CN202311740681.0A CN202311740681A CN117734911A CN 117734911 A CN117734911 A CN 117734911A CN 202311740681 A CN202311740681 A CN 202311740681A CN 117734911 A CN117734911 A CN 117734911A
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- 230000000670 limiting effect Effects 0.000 claims description 15
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 8
- 238000011084 recovery Methods 0.000 abstract description 9
- 239000013307 optical fiber Substances 0.000 abstract description 5
- 230000009467 reduction Effects 0.000 abstract description 4
- 238000009413 insulation Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 206010035148 Plague Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000010292 electrical insulation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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Abstract
The invention discloses a self-adaptive rotary ROV umbilical cable bearing connection device, which comprises an umbilical cable bearing connector, a rotary bearing head, a hook assembly and an ROV umbilical cable; a positioning hole is formed in one side of the umbilical cable bearing connector, and a positioning pin assembly is arranged in the positioning hole; the rotary bearing head is rotationally connected to the bottom of the umbilical cable bearing connector; the hook component is detachably connected to the rotary bearing head; the hook component is detachably connected with an ROV hook of the ROV body; the ROV umbilical is mounted on an umbilical carrying connector. The invention has the function of self-adapting to the rotation state of the umbilical cable in real time, and can adapt to the rotation of the ROV in the whole process of deployment, recovery, navigation and operation, thereby improving the flexibility of the underwater rotation of the ROV, reducing the safety problems of electric insulation reduction, optical fiber breakage and the like caused by the rotation of the umbilical cable driven by the rotation of the ROV when the ROV rotates, and improving the efficiency and the safety of the underwater operation of the ROV and the umbilical cable.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a self-adaptive rotary ROV umbilical cable bearing and connecting device.
Background
An unmanned cable-equipped underwater robot, or remote control unmanned underwater robot (Remote Operational Vehicle, ROV), is diving equipment which performs manual operation under water by using self-carried instruments and equipment, and is widely applied to the fields of inland dike detection, marine structure installation and maintenance, deep sea resource detection, marine pipeline maintenance, underwater salvage, rescue and the like. In the underwater exploration and operation by using the ROV, a water surface mother ship or a shore-based control box is connected with the underwater ROV through an umbilical cable, so that the power supply, the operation control and the data transmission of the mother ship/shore-based to the ROV are realized, and meanwhile, the deployment and the recovery of the ROV are realized. The bearing device of the ROV plays an important role in connecting the umbilical cable with the lifting structure at the top of the ROV, and leads out optical fibers and electric circuits in the umbilical cable through watertight cables and connectors to be respectively connected with the electronic cabin and the power distribution cabin of the ROV.
In deployment and recovery operations, ROVs can sway due to the effects of pitch and roll of the mother vessel, and the effects of sea storms, even unsafe operation. During deployment and recovery of the ROV, the ROV needs to traverse the water surface. ROV varies severely in load as it traverses the surface. The surrounding of the water surface is affected by severe sea conditions such as wind and wave currents, the optical-electrical composite cable can rotate due to the disturbance of the ROV by water currents, and if the number of the rotation turns is too large, the optical-electrical composite cable is at risk of being broken. In particular, in high sea conditions, deployment and recovery of ROVs is more difficult, and problems of improper recovery or equipment damage often occur. Connection of the ROV to the deck retraction system is therefore critical during deployment recovery. How to more efficiently and safely deploy and recycle ROV, protect umbilical cables from damage, is always a key challenge that plagues its use.
The underwater exploration and operation is performed, the requirements on the sailing maneuver performance and flexibility of the ROV are very high, and the ROV is generally required to have at least four degrees of freedom of movement capability of longitudinal movement, transverse movement, bow turning and vertical movement, wherein the bow turning is one of the most common movement working conditions. The ROV utilizes a vector thruster which is horizontally arranged to provide a bow turning moment to realize the bow turning motion, and drives the umbilical cable to synchronously twist through the bearing device. When the umbilical cable deployment length is short, the reverse torsional moment is large, so that the bow turning flexibility of the ROV is affected; when the umbilical cable is laid longer, the ROV can rotate the bow in a certain rotation angle range, but after the umbilical cable is beyond the rotation angle range, the torsion moment of the umbilical cable still prevents the bow from moving, if the umbilical cable is laid too long, the maneuvering flexibility and the operation energy efficiency of the ROV are affected, and even the umbilical cable can be wound, knotted or pulled with foreign matters. Especially when the rotation angle is too large or turns, serious damage to the umbilical cable is caused, and serious consequences such as reduction of electrical insulation, breakage of optical fibers and the like are caused. Meanwhile, the umbilical cable is influenced by the traction of ROV sailing motions and complex ocean currents and seawater fluctuation under water, and the cable shape and the pose state are very complex and change at any moment. At present, the bow turning angle of the ROV can be recorded only through a control system of the ROV, when the bow turning angle exceeds a preset safety threshold, an alarm prompt is sent out, the reliable operation and safety of the umbilical cable are ensured from the aspect of limiting the operation and the use of personnel, and the problems of flexibility of the bow turning of the ROV, torsion safety of the umbilical cable and the like are not solved in practice.
To this end, an adaptive rotary ROV umbilical load-bearing connection is proposed.
Disclosure of Invention
The present invention aims to provide an adaptive rotary ROV umbilical load-bearing connection device which aims to solve or improve at least one of the above technical problems.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a self-adaptive rotary ROV umbilical cable bearing connection device, which comprises:
the umbilical cable bearing connector is provided with a positioning hole at one side, and a positioning pin assembly is arranged in the positioning hole;
the rotary bearing head is rotationally connected to the bottom of the umbilical cable bearing connector;
the hook component is detachably connected to the rotary bearing head; the hook component is detachably connected with an ROV hook of the ROV body;
an ROV umbilical mounted on the umbilical carrying connector, the ROV umbilical extending along between the locating hole top wall and the locating pin assembly beyond the umbilical carrying connector, and the ROV umbilical being connected to the ROV body.
According to the self-adaptive rotary ROV umbilical cable bearing connection device provided by the invention, the outer wall of the umbilical cable bearing connector is provided with the mounting hole, the locating pin assembly comprises the locating pin arranged on the mounting hole, the locating pin is positioned in the locating hole, and the protecting sleeve is sleeved outside the locating pin; the ROV umbilical extends between the locating hole top wall and the protective sleeve.
According to the self-adaptive rotary ROV umbilical cable bearing connection device provided by the invention, the bottom of the umbilical cable bearing connector is provided with the bearing hole, and the rotary bearing head is rotationally connected with the umbilical cable bearing connector through the bearing hole.
According to the self-adaptive rotary ROV umbilical cable bearing connection device provided by the invention, the upper end of the rotary bearing head is of a round table-shaped structure, the outer diameter of the round table-shaped structure is larger than the inner diameter of the bearing hole, and the bottom of the rotary bearing head extends out to the lower part of the bearing hole;
the bottom of the rotary bearing head is provided with a bolt hole; the hook component is detachably connected to the rotary bearing head through the bolt hole.
According to the present invention there is provided an adaptive rotary ROV umbilical load-bearing connection device, the hook assembly comprising:
the U-shaped hook is provided with a through hole at one end and a threaded hole at the other end; the U-shaped hook is used for being connected with an ROV hook of the ROV body;
the bearing bolt sequentially penetrates through the through hole, the bolt hole and the threaded hole, and the end part of the bearing bolt extends out of the threaded hole;
the bolt nut is in threaded connection with the bearing bolt, and the bolt nut is located at one end of the bearing bolt, which is close to the threaded hole.
According to the self-adaptive rotary ROV umbilical cable bearing and connecting device provided by the invention, the protective sleeve comprises a rubber limiting pin roller body, and the rubber limiting pin roller body is sleeved on the outer wall of the limiting pin.
According to the self-adaptive rotary ROV umbilical cable bearing connection device provided by the invention, the umbilical cable bearing connector is of a cylindrical structure.
According to the self-adaptive rotary ROV umbilical cable bearing connection device provided by the invention, the section of the positioning hole is rectangular.
The invention discloses the following technical effects:
according to the invention, the ROV body is connected through the ROV umbilical cable and the hook component, the rotary bearing head is rotationally connected to the bottom of the umbilical cable bearing connector, when the ROV body rotates to move, the ROV hook of the ROV body drives the rotary bearing head to synchronously rotate through the hook component, the umbilical cable bearing connector and the locating pin component keep relatively static, and the relative rotary motion between the umbilical cable bearing connector and the rotary bearing head has the function of self-adapting to the rotation state of the umbilical cable in real time, so that the ROV can adapt to the rotation of the ROV in the whole process of deployment, recovery and sailing and operation, thereby improving the flexibility of the ROV underwater rotation, reducing the safety problems of electric insulation reduction, optical fiber breakage and the like caused by the rotation of the umbilical cable driven by the ROV rotation, and improving the efficiency and safety of the ROV and the umbilical cable underwater operation;
according to the invention, the ROV umbilical cable extends out of the umbilical cable bearing connector along the position between the top wall of the positioning hole and the positioning pin assembly, and the ROV umbilical cable is guided to pass out of the positioning hole through the positioning pin assembly without touching the bottom of the umbilical cable bearing connector, so that the abrasion of the ROV movement on the umbilical cable is reduced;
the invention can realize decoupling of the ROV bow turning motion and the umbilical cable torsion motion, can self-adapt to the swing of the ROV, improves the maneuverability and flexibility of the ROV bow turning motion, and improves the underwater detection and operation efficiency;
the invention adopts a fully mechanical structure, has compact and reasonable structure, convenient operation, low cost, reliable work and convenient installation, disassembly and maintenance, increases the convenience of the device in use, greatly expands the application field and range of ROV, does not need to design a special hoisting device, has small dependence on a mother ship/shore-based crane system, is suitable for underwater robots with various revolving body shapes, and has stronger universality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the installation of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a cross-sectional view of A-A of FIG. 3;
FIG. 5 is a schematic diagram of the structure of the present invention;
1, an umbilical cable bearing connector; 2. an ROV umbilical; 3. a limiting pin; 4. a rubber limit pin roller body; 5. rotating the bearing head; 6. carrying a bolt; 7. a bolt nut; 8. u-shaped hooks; 9. ROV hook; 10. an ROV body.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-5, the present invention provides an adaptive rotary ROV umbilical load-bearing connection, comprising:
the umbilical cable bearing connector 1, one side of the umbilical cable bearing connector 1 is provided with a positioning hole, and a positioning pin assembly is arranged in the positioning hole;
the rotary bearing head 5 is rotatably connected to the bottom of the umbilical cable bearing connector 1;
the hook component is detachably connected to the rotary bearing head 5; the hook assembly is detachably connected with an ROV hook 9 of an ROV body 10;
an ROV umbilical 2 mounted on the umbilical carrying connector 1, the ROV umbilical 2 extending out of the umbilical carrying connector 1 along between the locating hole top wall and the locating pin assembly, and the ROV umbilical 2 being connected to the ROV body 10;
according to the invention, the ROV body 10 is connected through the ROV umbilical cable 2 and the hook component, the rotary bearing head 5 is rotationally connected to the bottom of the umbilical cable bearing connector 1, when the ROV body 10 rotates to move, the ROV hook 9 of the ROV body 10 drives the rotary bearing head 5 to synchronously rotate through the hook component, the umbilical cable bearing connector 1 and the locating pin component parts keep relatively static, and the relative rotary motion between the umbilical cable bearing connector 1 and the rotary bearing head 5 has the function of adapting to the rotation state of the umbilical cable in real time, so that the ROV can adapt to the rotation of the ROV in the whole process of deployment, recovery and sailing and operation, thereby improving the flexibility of the underwater rotation of the ROV, reducing the safety problems of electric insulation reduction, optical fiber breakage and the like caused by the rotation of the umbilical cable driven by the rotation of the ROV when the ROV rotates, and improving the efficiency and safety of the underwater operation of the ROV and the umbilical cable;
according to the invention, the ROV umbilical cable 2 extends out of the umbilical cable bearing connector 1 along the position between the top wall of the positioning hole and the positioning pin assembly, and the ROV umbilical cable 2 is guided to pass out of the positioning hole through the positioning pin assembly without touching the bottom of the umbilical cable bearing connector 1, so that the abrasion of ROV movement on the ROV umbilical cable 2 is reduced;
the invention can realize decoupling of the ROV bow turning motion and the umbilical cable torsion motion, can self-adapt to the swing of the ROV, improves the maneuverability and flexibility of the ROV bow turning motion, and improves the underwater detection and operation efficiency;
the invention adopts a fully mechanical structure, has compact and reasonable structure, convenient operation, low cost, reliable work and convenient installation, disassembly and maintenance, increases the convenience of the device in use, greatly expands the application field and range of ROV, does not need to design a special hoisting device, has small dependence on a mother ship/shore-based crane system, is suitable for underwater robots with various revolving body shapes, and has stronger universality.
According to a further optimization scheme, a mounting hole is formed in the outer wall of the umbilical cable bearing connector 1, the locating pin assembly comprises a locating pin 3 mounted on the mounting hole, the locating pin 3 is located in the locating hole, and a protective sleeve is sleeved outside the locating pin 3; ROV umbilical 2 extends between location Kong Dingbi and the protective sheath;
the protective sleeve comprises a rubber limiting pin roller body 4, and the rubber limiting pin roller body 4 is sleeved on the outer wall of the limiting pin 3;
the surface of the ROV umbilical cable 2 can be protected through the rubber limiting pin roller body 4, so that abrasion of the limiting pin 3 to the ROV umbilical cable 2 is reduced, and the service life of the ROV umbilical cable 2 is prolonged.
In a further optimization scheme, a bearing hole is formed in the bottom of the umbilical cable bearing connector 1, and the rotary bearing head 5 is in rotary connection with the umbilical cable bearing connector 1 through the bearing hole;
the upper end of the rotary bearing head 5 is of a conical truncated cone-shaped structure, the outer diameter of the truncated cone-shaped structure is larger than the inner diameter of the bearing hole, and the bottom of the rotary bearing head 5 extends out to the lower part of the bearing hole;
the bottom of the rotary bearing head 5 is provided with a bolt hole; the hook component is detachably connected to the rotary bearing head 5 through a bolt hole;
when in use, the bottom of the rotary bearing head 5 penetrates through the bearing hole and is connected with an ROV hook 9 of the ROV body 10 through the hook component; the rotary bearing head 5 can self-adaptively and freely rotate in a bearing hole at the bottom of the umbilical bearing connector 1.
Further preferably, the hook assembly comprises:
one end of the U-shaped hook 8,U type hook 8 is provided with a through hole, and the other end is provided with a threaded hole; the U-shaped hook 8 is used for being connected with an ROV hook 9 of an ROV body 10;
the bearing bolt 6, the bearing bolt 6 sequentially penetrates through the through hole, the bolt hole and the threaded hole, and the end part of the bearing bolt 6 extends out of the threaded hole; one end of the bearing bolt 6 is of a handheld structure, and the other end of the bearing bolt is of a threaded structure and is in threaded connection with a bolt nut 7;
the bolt nut 7 is in threaded connection with the bearing bolt 6, and the bolt nut 7 is positioned at one end of the bearing bolt 6 close to the threaded hole; after the bearing bolt 6 is inserted into the U-shaped hook 8, the bearing bolt 6 and the U-shaped hook 8 are locked through the bolt nut 7, an ROV hook 9 of an ROV body 10 is hooked in the operation of the U-shaped hook 8, and then the bearing bolt 6 is connected to the rotary bearing head 5.
Further optimizing scheme, the umbilical cable bearing connector 1 is of a cylindrical structure.
In a further preferred embodiment, the cross section of the locating hole is rectangular for the penetration of the ROV umbilical 2.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above description will be apparent to persons of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. An adaptive rotary ROV umbilical load-bearing connection, comprising:
the umbilical cable bearing connector (1), wherein a positioning hole is formed in one side of the umbilical cable bearing connector (1), and a positioning pin assembly is arranged in the positioning hole;
the rotary bearing head (5) is rotatably connected to the bottom of the umbilical cable bearing connector (1);
the hook component is detachably connected to the rotary bearing head (5); the hook component is detachably connected with an ROV hook (9) of the ROV body (10);
an ROV umbilical (2) mounted on the umbilical load-bearing connector (1), the ROV umbilical (2) extending out of the umbilical load-bearing connector (1) along between the locating hole top wall and the locating pin assembly, and the ROV umbilical (2) being connected with the ROV body (10).
2. The adaptive rotary ROV umbilical load-bearing connection of claim 1, wherein: the outer wall of the umbilical cable bearing connector (1) is provided with a mounting hole, the locating pin assembly comprises a locating pin (3) arranged on the mounting hole, the locating pin (3) is positioned in the locating hole, and a protective sleeve is sleeved outside the locating pin (3); the ROV umbilical (2) extends out along the top wall of the locating hole and between the protective sleeve.
3. The adaptive rotary ROV umbilical load-bearing connection of claim 1, wherein: the bottom of the umbilical cable bearing connector (1) is provided with a bearing hole, and the rotary bearing head (5) is rotationally connected with the umbilical cable bearing connector (1) through the bearing hole.
4. The adaptive rotary ROV umbilical load-bearing connection of claim 3, wherein: the upper end of the rotary bearing head (5) is of a truncated cone-shaped structure, the outer diameter of the truncated cone-shaped structure is larger than the inner diameter of the bearing hole, and the bottom of the rotary bearing head (5) extends out to the lower part of the bearing hole;
the bottom of the rotary bearing head (5) is provided with a bolt hole; the hook component is detachably connected to the rotary bearing head (5) through the bolt hole.
5. The adaptive rotary ROV umbilical load-bearing connection of claim 4, wherein: the hanger assembly includes:
the U-shaped hook (8), one end of the U-shaped hook (8) is provided with a through hole, and the other end of the U-shaped hook is provided with a threaded hole; the U-shaped hook (8) is used for being connected with an ROV hook (9) of the ROV body (10);
the bearing bolt (6) sequentially penetrates through the through hole, the bolt hole and the threaded hole, and the end part of the bearing bolt (6) extends out of the threaded hole;
the bolt nut (7), bolt nut (7) threaded connection is in on carrying bolt (6), and bolt nut (7) are located carrying bolt (6) be close to the one end of screw hole.
6. The adaptive rotary ROV umbilical load-bearing connection of claim 2, wherein: the protective sleeve comprises a rubber limiting pin roller body (4), and the rubber limiting pin roller body (4) is sleeved on the outer wall of the limiting pin (3).
7. The adaptive rotary ROV umbilical load-bearing connection of claim 1, wherein: the umbilical cable bearing connector (1) is of a cylindrical structure.
8. The adaptive rotary ROV umbilical load-bearing connection of claim 1, wherein: the section of the positioning hole is rectangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311740681.0A CN117734911A (en) | 2023-12-18 | 2023-12-18 | Self-adaptive rotary ROV umbilical cable bearing and connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311740681.0A CN117734911A (en) | 2023-12-18 | 2023-12-18 | Self-adaptive rotary ROV umbilical cable bearing and connecting device |
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| Publication Number | Publication Date |
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| CN117734911A true CN117734911A (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311740681.0A Pending CN117734911A (en) | 2023-12-18 | 2023-12-18 | Self-adaptive rotary ROV umbilical cable bearing and connecting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118722971A (en) * | 2024-09-04 | 2024-10-01 | 广东智能无人系统研究院(南沙) | Submarine residence device of large underwater robot and deployment and recovery method |
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2023
- 2023-12-18 CN CN202311740681.0A patent/CN117734911A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118722971A (en) * | 2024-09-04 | 2024-10-01 | 广东智能无人系统研究院(南沙) | Submarine residence device of large underwater robot and deployment and recovery method |
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