CN117734911A - Self-adaptive rotary ROV umbilical cable bearing and connecting device - Google Patents

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

An adaptive rotating ROV umbilical cable carrying connection device

Technical field

The invention relates to the technical field of marine engineering, and in particular to an adaptive rotating ROV umbilical cable load-bearing connection device.

Background technique

The unmanned cabled underwater robot, or Remote Operational Vehicle (ROV), is a type of diving equipment that uses its own instruments and equipment to perform human-controlled operations underwater. It is widely used in inland river dams. Inspection, installation and maintenance of marine structures, deep sea resource detection, marine pipeline maintenance, underwater salvage and rescue and other fields. When using ROV to carry out underwater detection and operations, the surface mother ship or shore-based control box is connected to the underwater ROV through an umbilical cable to realize the power supply, operation control and data transmission of the mother ship/shore base to the ROV, and at the same time realize the ROV's Deployment and recovery. The ROV's load-bearing device plays an important role in connecting the umbilical cable and the ROV's top lifting structure. It leads the optical fibers and electrical lines in the umbilical cable through watertight cables and connectors, and connects them to the ROV's electronic cabin and power distribution cabin respectively.

During deployment and recovery operations, the ROV will oscillate due to the effects of the pitching and rolling of the mother ship, the effects of sea wind and waves, and even unsafe operations. During the deployment and recovery process of the ROV, the ROV needs to cross the water. When the ROV crosses the water, the load changes drastically. The area near the water surface is affected by harsh sea conditions such as wind, waves and currents. As the ROV is disturbed by the water flow, the optical and electrical composite cables will rotate. If the number of rotations is too many, the optical and electrical composite cables are at risk of being torn off. Especially under high sea conditions, the deployment and recovery of ROVs are more difficult, and problems such as failure to recover normally or equipment damage often occur. Therefore, during the deployment and recovery process, the connection between the ROV and the deck retraction system is crucial. How to safely deploy and recover ROV more efficiently and protect the umbilical cable from damage has always been a key problem that plagues its use.

Engaged in underwater exploration and operations, the navigation maneuverability and flexibility of the ROV are very high. Generally, it is required to have at least four degrees of freedom of movement: longitudinal movement, lateral movement, turning of the bow and vertical movement, of which the turning of the bow is the most commonly used. One of the sports conditions. The ROV uses a horizontally arranged vector thruster to provide turning torque to achieve turning movement, and drives the umbilical cable to synchronously twist through the load-bearing device. When the length of the umbilical cable is short, its reverse torsional moment is very large, which affects the flexibility of the ROV to turn. When the length of the umbilical cable is long, the ROV can turn within a certain angle range, but Beyond this range, the torsional torque of the umbilical cable still hinders the bow movement. If the cable is too long, it will affect the maneuverability and operational efficiency of the ROV, and may even cause the umbilical cable to become entangled, knotted, or tow foreign objects. Especially when the angle is too large or the umbilical cord is turned too many times, it will cause serious damage to the umbilical cable, leading to serious consequences such as reduced electrical insulation and fiber breakage. At the same time, the umbilical cable will be affected by the traction of the ROV navigation movement and complex ocean currents and seawater fluctuations underwater. The shape and posture of the cable are very complex and change all the time. Currently, the ROV's turning angle can only be recorded through the ROV's control system. When the turning angle exceeds the preset safety threshold, an alarm prompt is issued to ensure the reliable operation and safety of the umbilical cable from the aspect of restricting personnel's control and use. In fact, it does not Solve the problems of ROV turning flexibility and umbilical cable turning safety.

To this end, an adaptive rotating ROV umbilical cable carrying connection device is proposed.

Contents of the invention

The purpose of the present invention is to provide an adaptive rotating ROV umbilical cable carrying connection device, aiming to solve or improve at least one of the above technical problems.

In order to achieve the above objects, the present invention provides the following solution: The present invention provides an adaptive rotating ROV umbilical cable bearing connection device, including:

An umbilical cable load-bearing connector, a positioning hole is provided on one side of the umbilical cable load-bearing connector, and a positioning pin assembly is installed in the positioning hole;

a rotating load-bearing head, which is rotatably connected to the bottom of the umbilical cable load-bearing connector;

A hook assembly, the hook assembly is detachably connected to the rotating load-bearing head; the hook assembly is detachably connected to the ROV hook of the ROV body;

The ROV umbilical cable is installed on the umbilical cable load-bearing connector, the ROV umbilical cable extends out of the umbilical cable load-bearing connector along the top wall of the positioning hole and the positioning pin assembly, and the ROV umbilical cord The cable is connected to the ROV body.

According to an adaptive rotating ROV umbilical cord load-bearing connection device provided by the present invention, a mounting hole is provided on the outer wall of the umbilical cord load-bearing connector, and the positioning pin assembly includes a limit pin installed on the mounting hole. The limiting pin is located in the positioning hole, and the limiting pin is provided with a protective sleeve; the ROV umbilical cable extends along the top wall of the positioning hole and the protective sleeve.

According to an adaptive rotating ROV umbilical cable load-bearing connection device provided by the present invention, a load-bearing hole is provided at the bottom of the umbilical cable load-bearing connector, and the rotating load-bearing head is rotationally connected to the umbilical cable load-bearing connector through the load-bearing hole. .

According to an adaptive rotating ROV umbilical cable load-bearing connection device provided by the present invention, the upper end of the rotating load-bearing head is a truncated cone-shaped structure, and the outer diameter of the truncated cone-shaped structure is larger than the inner diameter of the load-bearing hole. The rotating load-bearing head The bottom extends below the load-bearing hole;

A latch hole is provided at the bottom of the rotating load-bearing head; the hook assembly is detachably connected to the rotating load-bearing head through the latch hole.

According to an adaptive rotating ROV umbilical cable carrying connection device provided by the present invention, the hook assembly includes:

A U-shaped hook has a through hole at one end and a threaded hole at the other end; the U-shaped hook is used to connect with the ROV hook of the ROV body;

A load-bearing latch, the load-bearing latch penetrates the through hole, the latch hole and the threaded hole in sequence, and the end of the load-bearing latch extends out of the threaded hole;

A latch nut, the latch nut is threadedly connected to the load-bearing latch, and the latch nut is located at an end of the load-bearing latch close to the threaded hole.

According to an adaptive rotating ROV umbilical cable load-bearing connection device provided by the present invention, the protective cover includes a rubber limit pin roller body, and the rubber limit pin roller body is set on the outer wall of the limit pin.

According to an adaptive rotating ROV umbilical cable load-bearing connection device provided by the present invention, the umbilical cable load-bearing connector has a cylindrical structure.

According to an adaptive rotating ROV umbilical cable carrying connection device provided by the present invention, the positioning hole has a rectangular cross-section.

The invention discloses the following technical effects:

The invention connects the ROV body through the ROV umbilical cable and hook assembly, and rotates the rotating load-bearing head at the bottom of the umbilical cable load-bearing connector. When the ROV body rotates and moves, the ROV hook of the ROV body drives the rotating load-bearing head synchronized through the hook assembly. Rotate, while the umbilical cable load-bearing connector and the positioning pin assembly remain relatively stationary. Through the relative rotation movement between the umbilical cable load-bearing connector and the rotating load-bearing head, it has the function of real-time adaptive umbilical cable rotation status, which can adapt to the ROV deployment It can improve the flexibility of ROV underwater rotation and reduce the safety problems such as electrical insulation reduction and optical fiber breakage caused by the rotation of the umbilical cord caused by the rotation of the umbilical cord when the ROV rotates. , thereby improving the efficiency and safety of ROV and umbilical cable underwater operations;

In the present invention, the ROV umbilical cable extends out of the umbilical cable carrying connector along the top wall of the positioning hole and the positioning pin assembly, and the ROV umbilical cable is guided to pass through the positioning hole through the positioning pin assembly without touching the umbilical cable. The bottom of the load-bearing connector to reduce wear on the umbilical cable due to ROV movement;

The invention can realize the decoupling of the ROV turning movement and the umbilical cable torsional movement, can adapt to the swing of the ROV, improve the maneuverability and flexibility of the ROV turning movement, and improve the underwater detection and operation efficiency;

The invention adopts a fully mechanical structure, which is compact and reasonable, easy to operate, low in cost, reliable in operation, easy to install, disassemble and maintain, which increases the convenience of use of the device and greatly expands the application field and scope of the ROV. , there is no need to design a special lifting device, there is little dependence on the mother ship/shore-based crane system, and the underwater robot can adapt to various rotary body shapes, making it more versatile.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the drawings of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the installation of the present invention;

Figure 2 is a perspective view of the present invention;

Figure 3 is a front view of the present invention;

Figure 4 is a cross-sectional view of A-A in Figure 3;

Figure 5 is a schematic structural diagram of the present invention;

Among them, 1. Umbilical cable load-bearing connector; 2. ROV umbilical cable; 3. Limit pin; 4. Rubber limit pin roller body; 5. Rotating load-bearing head; 6. Load-bearing pin; 7. Pin nut; 8. U-shaped hook; 9. ROV hook; 10. ROV body.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Referring to Figures 1-5, the present invention provides an adaptive rotating ROV umbilical cable bearing connection device, including:

The umbilical cable load-bearing connector 1 has a positioning hole on one side of the umbilical cable load-bearing connector 1, and a positioning pin assembly is installed in the positioning hole;

The rotating load-bearing head 5 is rotatably connected to the bottom of the umbilical cable load-bearing connector 1;

The hook assembly is detachably connected to the rotating load-bearing head 5; the hook assembly is detachably connected to the ROV hook 9 of the ROV body 10;

The ROV umbilical cable 2 is installed on the umbilical cable load-bearing connector 1. The ROV umbilical cable 2 extends out of the umbilical cable load-bearing connector 1 along the top wall of the positioning hole and the positioning pin assembly, and the ROV umbilical cable 2 and the ROV body 10 connect;

With this arrangement, the present invention connects the ROV body 10 through the ROV umbilical cable 2 and the hook assembly, and rotates the rotating load-bearing head 5 to the bottom of the umbilical cable load-bearing connector 1. When the ROV body 10 rotates and moves, the ROV of the ROV body 10 The hook 9 drives the rotating load-bearing head 5 to rotate synchronously through the hook assembly, while the umbilical cable load-bearing connector 1 and the positioning pin assembly remain relatively stationary. Through the relative rotation movement between the umbilical cable load-bearing connector 1 and the rotating load-bearing head 5, real-time The function of adaptive rotation status of the umbilical cord can adapt to the rotation of the ROV during the entire process of deployment, recovery, navigation and operation, thereby improving the flexibility of the ROV's underwater rotation and reducing the impact of the rotation of the umbilical cord on the umbilical cord when the ROV rotates. Reduce electrical insulation, optical fiber breakage and other safety issues caused by cable torsion, thereby improving the efficiency and safety of ROV and umbilical cable underwater operations;

In the present invention, the ROV umbilical cable 2 extends out of the umbilical cable carrying connector 1 along the top wall of the positioning hole and the positioning pin assembly, and the ROV umbilical cable 2 is guided to pass through the positioning hole through the positioning pin assembly without touching it. to the bottom of the umbilical cable carrying connector 1 to reduce the wear and tear on the ROV umbilical cable 2 caused by the ROV movement;

The invention can realize the decoupling of the ROV turning movement and the umbilical cable torsional movement, can adapt to the swing of the ROV, improve the maneuverability and flexibility of the ROV turning movement, and improve the underwater detection and operation efficiency;

The invention adopts a fully mechanical structure, which is compact and reasonable, easy to operate, low in cost, reliable in operation, easy to install, disassemble and maintain, which increases the convenience of use of the device and greatly expands the application field and scope of the ROV. , there is no need to design a special lifting device, there is little dependence on the mother ship/shore-based crane system, and the underwater robot can adapt to various rotary body shapes, making it more versatile.

To further optimize the solution, an installation hole is provided on the outer wall of the umbilical cable load-bearing connector 1. The positioning pin assembly includes a limit pin 3 installed on the installation hole. The limit pin 3 is located in the positioning hole. The limit pin 3 is covered with a protective cover. cover; the ROV umbilical cable 2 extends along the space between the top wall of the positioning hole and the protective cover;

The protective sleeve includes a rubber limit pin roller body 4, and the rubber limit pin roller body 4 is set on the outer wall of the limit pin 3;

The surface of the ROV umbilical cable 2 can be protected by the rubber limit pin roller body 4 to reduce the wear of the ROV umbilical cable 2 by the limit pin 3 and improve the service life of the ROV umbilical cable 2.

In a further optimized solution, a load-bearing hole is provided at the bottom of the umbilical cable load-bearing connector 1, and the rotating load-bearing head 5 is rotationally connected to the umbilical cable load-bearing connector 1 through the load-bearing hole;

The upper end of the rotating load-bearing head 5 is a tapered truncated cone-shaped structure. The outer diameter of the truncated cone-shaped structure is larger than the inner diameter of the load-bearing hole. The bottom of the rotating load-bearing head 5 extends below the load-bearing hole;

A latch hole is provided at the bottom of the rotating load-bearing head 5; the hook assembly is detachably connected to the rotating load-bearing head 5 through the latch hole;

When in use, the bottom of the rotating load-bearing head 5 is passed through the load-bearing hole, and is connected to the ROV hook 9 of the ROV body 10 through the hook assembly; the rotating load-bearing head 5 can adaptively rotate freely in the load-bearing hole at the bottom of the umbilical cable load-bearing connector 1.

To further optimize the solution, the hook components include:

U-shaped hook 8 has a through hole at one end and a threaded hole at the other end; the U-shaped hook 8 is used to connect with the ROV hook 9 of the ROV body 10;

The load-bearing pin 6 penetrates through the through hole, the latch hole and the threaded hole in sequence, and the end of the load-bearing pin 6 extends out of the threaded hole; one end of the load-bearing pin 6 has a hand-held structure, and the other end has a threaded structure for connecting with the latch nut. 7 screw connection;

The latch nut 7 is threadedly connected to the load-bearing latch 6, and the latch nut 7 is located at the end of the load-bearing latch 6 close to the threaded hole; after the load-bearing latch 6 is inserted into the U-shaped hook 8, the latch nut 7 connects the load-bearing latch 6 and the U-shaped hook The hook 8 is locked, and the ROV hook 9 of the ROV body 10 is hooked through the U-shaped hook 8 during operation, and then connected to the rotating load-bearing head 5 through the load-bearing pin 6 .

To further optimize the solution, the umbilical cable load-bearing connector 1 has a cylindrical structure.

To further optimize the solution, the cross-section of the positioning hole is rectangular, which is used for the penetration of the ROV umbilical cable 2.

In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, rather than indicating or It is implied that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation and is therefore not to be construed as a limitation of the invention.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For ordinary technical users in the field, other different forms of changes or modifications can be made based on the above description. An exhaustive list of all implementations is neither necessary nor possible. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

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.