CN220744993U - Deep sea cable laying and recovering robot - Google Patents

Abstract

The utility model relates to a deep sea cable laying and recovering robot which comprises a main body frame, a cable arrangement device and a cable storage reel, wherein the cable arrangement device and the cable storage reel are arranged in the main body frame, cables are uniformly wound on the cable storage reel, two ends of the cable storage reel are in running fit with the main body frame, a tensioning device is arranged at the lower side of the cable storage reel, the cable arrangement device is arranged at the rear side of the cable storage reel, the cable arrangement device comprises a guide rod, a reciprocating screw rod and a sliding block sleeved on the guide rod, two ends of the guide rod are fixed at two sides of the main body frame and are arranged parallel to the Chu Lan reel, two ends of the reciprocating screw rod are connected at two sides of the main body frame in a running mode and are arranged parallel to the Chu Lan reel, one end of the sliding block is in sliding fit with the guide rod, the other end of the sliding block is in threaded connection with the reciprocating screw rod, and a round hole is formed in the sliding block. According to the utility model, the cable is arranged through the guide rod, the reciprocating screw rod and the sliding block, and the cable can be released and recovered by being matched with the cable storage winding drum.

Description

Deep sea cable laying and recovering robot

Technical Field

The utility model relates to the technical field of underwater robots, in particular to a deep sea cable laying and recovering robot.

Background

The submarine observation network is used for placing an observation instrument on the seabed or carrying the observation instrument by utilizing an underwater mobile observation platform, and supplying energy to each observation point and collecting information through a wired network or a mobile platform, so that all, all-weather, long-time and continuous automatic observation of the ocean submarine, the seabed ground and the seawater body is realized, and the observation comprises ocean physics, ocean chemistry, ocean (micro) organisms and ocean geology. To complete the connection of the photoelectric composite cables of the submarine observation nodes, namely the connection boxes, an efficient and reliable cable laying robot is required to bear laying and laying of submarine cables.

The deployment of the submarine photoelectric composite cable is usually completed by adopting an injection type ditching robot, the ditcher needs to work with a sea mother ship in a matching way, electric energy provided by the mother ship is received, a deep sea hydraulic station and a hydraulic motor which are self-contained by the ditcher drive a crawler to actively walk, but the ditcher is huge in size and also needs to support the mother ship and a retraction system in a large scale, the system complexity is more complex than that of a ditcher, and the sea operation cost is quite huge. Therefore, there is a need to develop a robot which is small in size and light in weight and facilitates the deep sea cable laying and recycling operation.

Disclosure of Invention

Aiming at the defects existing in the prior art, the utility model aims to provide a deep sea cable laying and recovering robot which can be used for the plug connection and laying operation of photoelectric composite cables between the nodes of a main connection box and a secondary connection box of a submarine scientific observation network and between the connection box and a scientific instrument and can also be used for the connection and laying operation of submarine cables and wires used between underwater facilities of a marine wind farm.

The aim of the utility model can be achieved by the following technical scheme: the utility model provides a deep sea cable cloth puts and retrieves robot, including main part frame and the row's cable device of setting in the main part frame, store up the cable reel, evenly twine the cable on the cable reel, and store up the both ends and the main part frame normal running fit of cable reel, and be located the downside of storing up the cable reel and be provided with the overspeed device tensioner with main part frame fixed connection, the rear side of storing up the cable reel is provided with the row's cable device with main part frame fixed connection, row's cable device includes the guide bar, reciprocating screw and the slider on locating the guide bar of cover, the both ends of guide bar are fixed in main part frame both sides and are arranged on a parallel with Chu Lan reel, reciprocating screw's both ends rotate and connect in main part frame both sides and be arranged on a parallel with Chu Lan reel, the one end and the guide bar sliding fit of slider, the other end and reciprocating screw threaded connection, and set up the round hole that is used for passing the cable on the slider, the top of guide bar is fixed and is provided with the spacing diaphragm, rotate on the spacing diaphragm and be provided with at least one spacing wheel, and set up the spacing groove that is used for passing the cable on the spacing diaphragm.

Preferably, the same end of the cable storage winding drum and the same end of the reciprocating screw rod are respectively provided with a first gear and a second gear, the first gear is connected with the second gear through a transmission chain, and the transmission chain is in transmission connection with the output end of a winding drum driving motor arranged on the main body frame.

Preferably, the tensioning device comprises a tensioning support fixedly mounted on the main body frame, a first tensioning wheel and a tensioning wheel driving motor for driving the first tensioning wheel to rotate are rotatably arranged on the tensioning support, and a tensioning adjusting device is arranged on the tensioning support and located at the outer edge of the first tensioning wheel.

Preferably, the tensioning adjusting device comprises connecting rods symmetrically arranged on two sides of the first tensioning wheel, one end of each connecting rod is rotationally connected with the tensioning support, the other end of each connecting rod is fixedly connected with a side plate, two second tensioning wheels are rotationally arranged between the two side plates, a rotating shaft is arranged in the middle of each side plate in a penetrating mode, springs are symmetrically arranged at two ends of each rotating shaft, one end of each spring is rotationally connected with the end of each rotating shaft, a screw is fixedly connected with the other end of each spring, each screw is connected with a fixing block fixedly arranged on the tensioning support in a penetrating mode, and adjusting nuts in threaded connection with the screws are arranged on two sides of each fixing block.

Preferably, a propulsion system is fixedly arranged on the outer side of the main body frame, the propulsion system comprises two hydraulic vector thrusters, the two hydraulic vector thrusters are vertically arranged on two sides of the main body frame at an angle of 45 degrees, and the hydraulic vector thrusters are integrated to control a servo valve and drive a hydraulic motor.

Preferably, buoyancy blocks are symmetrically arranged on two sides of the hydraulic vector propeller.

Preferably, the body frame is provided with an electric robot arm at a side close to the tensioning device.

Preferably, the top of the main body frame is provided with an illumination and shooting system, the illumination and shooting system comprises three groups of vision auxiliary modules, each group of vision auxiliary modules mainly comprises a camera and an underwater lamp, and the three groups of vision auxiliary modules are uniformly distributed in the top area of the main body frame.

The beneficial effects of the utility model are as follows: according to the utility model, the cable is discharged through the guide rod, the reciprocating screw rod and the sliding block, the cable can be released and recovered through cooperation with the cable storage winding drum, and the cable loosening problem in the cable winding and unwinding process is solved through the cooperation of the limiting transverse plate, the limiting groove and the limiting wheel which are designed above the cable discharging device and the tensioning device; the utility model has small volume and light weight, can be carried on an ROV to carry out the work of laying and recovering the deep sea cable, and realizes accurate cable laying.

Drawings

The utility model will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the utility model, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.

Fig. 1 is a schematic structural view of a deep sea cable laying and recovering robot according to the present utility model.

Fig. 2 is a schematic structural view of a deep sea cable laying and recovering robot according to the present utility model.

Fig. 3 is a schematic structural view of a tensioning device and a tensioning adjustment device in a deep sea cable laying and recovering robot.

The reference numerals shown in the figures are represented as: 1. a cable arrangement device; 2. a cable storage reel; 3. a propulsion system; 4. a tensioning device; 41. tensioning a bracket; 42. a tensioning wheel driving motor; 43. a first tensioning wheel; 5. a tension adjusting device; 51. a fixed block; 52. an adjusting nut; 53. a screw; 54. a spring; 55. a side plate; 56. a second tensioning wheel; 57. a rotating shaft; 58. a connecting rod; 6. a pressure compensator; 7. a buoyancy block; 8. a main body frame; 9. a hydraulic control unit; 10. an underwater electronic bin; 11. a limiting transverse plate; 12. a limit groove; 13. a limiting wheel; 14. a guide rod; 15. a reciprocating screw rod; 16. a sliding block.

Detailed Description

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The technical solutions of the present utility model will be clearly and completely described below in conjunction with specific embodiments, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.

Referring to fig. 1 to 3, the structure of the present utility model is as follows: the utility model provides a deep sea cable cloth puts and retrieves robot, including main body frame 8 and set up in main body frame 8 arrange the cable device 1, store up cable reel 2 on evenly twine the cable, and store up cable reel 2's both ends and main body frame 8 normal running fit, and be located store up cable reel 2's downside be provided with main body frame 8 fixed connection's overspeed device tensioner 4, store up cable reel 2's rear side be provided with main body frame 8 fixed connection arrange cable device 1, arrange cable device 1 includes guide bar 14, reciprocating lead screw 15 and cover locate slider 16 on the guide bar 14, the both ends of guide bar 14 are fixed in main body frame 8 both sides and are arranged parallel to Chu Lan reel 2, reciprocating lead screw 15's both ends swivelling joint is in main body frame 8 both sides and are arranged parallel to Chu Lan reel 2, slider 16's one end and guide bar 14 sliding fit, the other end and reciprocating lead screw 15 threaded connection, and set up the round hole that is used for passing the cable on slider 16, guide bar 14's top is fixed with spacing diaphragm 11, the last rotation of diaphragm 11 is provided with at least one spacing wheel 13, and the slider 11 is located the round hole that is used for passing cable on the slider 12 to pass on the reel 12 in proper order around the spacing groove of winding up cable 12, the last limit groove of the cable is passed through on the reel 12. When the reciprocating screw rod 15 in the cable arranging device 1 rotates, the sliding block 16 moves reciprocally along the guide rod 14, the cable arranging is realized through the guide rod 14, the reciprocating screw rod 15 and the sliding block 16, the release and recovery of the cable can be realized through the cooperation with the cable storage drum 2, and the problem of cable loosening in the cable coiling and uncoiling process is solved through the cooperation with the tensioning device 4 through the design of the limiting transverse plate 11, the limiting groove 12 and the limiting wheel 13 above the cable arranging device 1.

Further, the same end of the cable storage drum 2 and the same end of the reciprocating screw rod 15 are respectively provided with a first gear and a second gear, the first gear is connected with the second gear through a transmission chain, and the transmission chain is in transmission connection with the output end of a drum driving motor arranged on the main body frame 8. Specifically, the cable storage drum 2 and the reciprocating screw rod 15 are driven to synchronously rotate by the drum driving motor, so that the tension state of the released or recovered cable is controlled and maintained conveniently.

Further as shown in fig. 3, the tensioning device 4 comprises a tensioning bracket 41 fixedly mounted on the main body frame 8, a first tensioning wheel 43 and a tensioning wheel driving motor 42 for driving the first tensioning wheel 43 to rotate are rotatably arranged on the tensioning bracket 41, and a tensioning adjusting device 5 is arranged on the tensioning bracket 41 and located at the outer edge of the first tensioning wheel 43. Specifically, the tensioning wheel driving motor 42 adopts a servo motor, a cable meter counter matched with the tensioning wheel driving motor 42 is further installed on the tensioning support 41, the rotation number of the tensioning wheel driving motor 42 is fed back through the cable meter counter, the length information of the laid cable is fed back, the accurate length of the wound cable is calculated, and therefore accurate cable laying is achieved. And further the tension of the released cable is kept controlled by driving the first tension pulley 43 by the tension pulley driving motor 42.

Further as shown in fig. 3, the tensioning adjustment device 5 includes a connecting rod 58 symmetrically disposed on two sides of the first tensioning wheel 43, one end of the connecting rod 58 is rotatably connected with the tensioning support 41, the other end of the connecting rod is fixedly connected with a side plate 55, two second tensioning wheels 56 are rotatably disposed between the two side plates 55, a rotating shaft 57 is inserted in the middle of the side plate 55, springs 54 are symmetrically disposed on two ends of the rotating shaft 57, one end of each spring 54 is rotatably connected with an end of the rotating shaft 57, the other end of each spring is fixedly connected with a screw 53, the screw 53 is inserted and connected with a fixing block 51 fixedly disposed on the tensioning support 41, and adjusting nuts 52 in threaded connection with the screw 53 are disposed on two sides of the fixing block 51. Specifically, the cable bypasses the first tensioning wheels 43 and then sequentially bypasses the two second tensioning wheels 56, and the deployment and recovery robot can be suitable for accurately deploying submarine cables and can also be an optical cable or an optical-electrical composite cable. The adjusting nut 52 can be screwed appropriately according to the cable diameter, so that the length of the screw 53 can be conveniently adjusted, the distance between the first tensioning wheel 43 and the second tensioning wheel 56 can be elastically adjusted through the design spring 54, and the cable winding and unwinding of different cable diameters can be conveniently realized.

Further, a propulsion system 3 is fixedly arranged on the outer side of the main body frame 8, the propulsion system 3 comprises two hydraulic vector thrusters, the two hydraulic vector thrusters are vertically arranged on two sides of the main body frame 8 at an angle of 45 degrees, and the hydraulic vector thrusters integrally control a servo valve and drive a hydraulic motor.

Further, buoyancy blocks 7 are symmetrically arranged on two sides of the hydraulic vector propeller.

Further, the main body frame 8 is mounted with an electric robot arm on a side close to the tensioner 4. The electric mechanical arm is a mature product in the market, and the electric mechanical arm is driven by electricity to pick up and plug the cable joint.

Further, the top of the main body frame 8 is provided with an illumination and camera system, the illumination and camera system comprises three groups of vision auxiliary modules, each group of vision auxiliary modules mainly comprises a camera and an underwater lamp, and the three groups of vision auxiliary modules are uniformly distributed in the top area of the main body frame 8. Specifically, in order to facilitate an operator on a mother ship to intuitively grasp the underwater cable distribution condition, the utility model is provided with a high-definition camera, and an underwater lamp and the camera are matched for use. The front part is provided with 2 cameras and underwater lamps for observing the operation condition of the electric mechanical arm, and the rear part is provided with 1 camera and underwater lamps for observing the operation condition of the cable storage reel 2.

Further, a pressure compensator 6, a hydraulic control unit 9 and an underwater electronic cabin 10 are also arranged in the main body frame 8. For robots working in deep sea, to resist the huge pressure of sea water, an external pressure compensator 6 is adopted, and the pressure inside the robot shell is compensated by the pressure compensator 6. When the robot is used for carrying out cable laying and recycling work, the robot can be mounted at the bottom of an ROV, a power source of the ROV is used for providing cable laying and recycling power for the robot, the power consumption of a battery of the robot is reduced, the hydraulic control unit 9 takes oil from an oil pump loop of an ROV hydraulic power unit tool, 250bar pressure oil is provided by the oil pump loop of the tool as driving power, and the robot is used for driving two hydraulic vector thrusters through the control of an HCU (the HCU is an ABS executing mechanism and is generally composed of a pressure increasing valve (a normally open valve), a pressure reducing valve (a normally closed valve), a liquid return pump and an energy storage device). The control of the utility model mainly controls the whole system through the underwater electronic cabin 10 of the equipment, and the power supply and communication control of the equipment by the ROV are realized through optical fibers and electrical connection between the underwater electronic cabin 10 and the electronic cabin of the ROV. The underwater electronic bin 10 is electrically connected with an illuminating lamp and a camera, so that the operation conditions of the cable storage drum 2 and the electric mechanical arm are observed.

When the cable is normally laid, the drum driving motor and the tensioning wheel driving motor 42 work simultaneously, the cable storage drum 2 is laid outwards, the first tensioning wheel 43 is also laid outwards, but the cable laying speed of the tensioning wheel driving motor 42 is higher than that of the drum driving motor, the cable coming out of the cable storage drum 2 passes through the limiting groove 12 and the round holes in the sliding block 16 in sequence after bypassing the limiting wheel 13, and finally winds onto the first tensioning wheel 43 and the second tensioning wheel 56 of the tensioning device 4, and the cable is always kept in a tensioning state. When the cable is reeled towards the cable storage drum 2, the drum driving motor and the tensioning wheel driving motor 42 are regulated by the underwater electronic bin 10 to reversely rotate to reel the cable, and the tensioning wheel driving motor 42 rotates at a lower cable reeling speed than the cable storage drum 2 and also keeps the cable reeling tension.

The utility model has been further described with reference to specific embodiments, but it should be understood that the detailed description is not to be construed as limiting the spirit and scope of the utility model, but rather as providing those skilled in the art with the benefit of this disclosure with the benefit of their various modifications to the described embodiments.

Claims (8)

1. The utility model provides a deep sea cable cloth is put and is retrieved robot which characterized in that: comprises a main body frame (8) and a cable arranging device (1) and a cable storage reel (2) which are arranged in the main body frame (8), cables are uniformly wound on the cable storage reel (2), two ends of the cable storage reel (2) are in running fit with the main body frame (8), tension devices (4) which are fixedly connected with the main body frame (8) are arranged at the lower side of the cable storage reel (2), the cable arranging device (1) which is fixedly connected with the main body frame (8) is arranged at the rear side of the cable storage reel (2), the cable arranging device (1) comprises a guide rod (14), a reciprocating screw rod (15) and a sliding block (16) sleeved on the guide rod (14), two ends of the guide rod (14) are fixed on two sides of the main body frame (8) and are parallel to the cable storage reel (2), two ends of the reciprocating screw rod (15) are in running fit with two sides of the main body frame (8) and are parallel to the cable storage reel (2), one end of the sliding block (16) is fixedly connected with the guide rod (14), at least one end of the sliding rod (14) is provided with a limit plate (11) which is arranged on the sliding plate (11) and penetrates through at least one limit plate (11), and a limiting groove (12) for passing through the cable is formed in the limiting transverse plate (11).

2. The deep sea cable deployment and retrieval robot of claim 1, wherein: the cable storage winding drum (2) and the same end of the reciprocating screw rod (15) are respectively provided with a first gear and a second gear, the first gear and the second gear are connected through a transmission chain, and the transmission chain is in transmission connection with the output end of a winding drum driving motor arranged on the main body frame (8).

3. The deep sea cable deployment and retrieval robot of claim 1, wherein: the tensioning device (4) comprises a tensioning support (41) fixedly mounted on the main body frame (8), a first tensioning wheel (43) and a tensioning wheel driving motor (42) used for driving the first tensioning wheel (43) to rotate are rotatably arranged on the tensioning support (41), and a tensioning adjusting device (5) is arranged on the tensioning support (41) and located at the outer edge of the first tensioning wheel (43).

4. A deep sea cable deployment and retrieval robot according to claim 3, wherein: the tensioning adjusting device (5) comprises connecting rods (58) symmetrically arranged on two sides of a first tensioning wheel (43), one end of each connecting rod (58) is rotationally connected with a tensioning support (41), the other end of each connecting rod is fixedly connected with a side plate (55), two second tensioning wheels (56) are rotationally arranged between the side plates (55), a rotating shaft (57) is alternately arranged in the middle of each side plate (55), springs (54) are symmetrically arranged at two ends of each rotating shaft (57), one end of each spring (54) is rotationally connected with one end of each rotating shaft (57), a screw (53) is fixedly connected with the other end of each spring, each screw (53) is alternately connected with a fixing block (51) fixedly arranged on the tensioning support (41), and adjusting nuts (52) in threaded connection with the screws (53) are arranged on two sides of each fixing block (51).

5. The deep sea cable deployment and retrieval robot of claim 1, wherein: the outside of main body frame (8) is fixed and is provided with propulsion system (3), propulsion system (3) are including two hydraulic pressure vector propellers, and two hydraulic pressure vector propellers are 45 vertical installs in the both sides of main body frame (8), hydraulic pressure vector propellers integrated control servo valve and drive hydraulic motor.

6. The deep sea cable deployment and retrieval robot of claim 5, wherein: buoyancy blocks (7) are symmetrically arranged on two sides of the hydraulic vector propeller.

7. The deep sea cable deployment and retrieval robot of claim 1, wherein: the main body frame (8) is provided with an electric mechanical arm at one side close to the tensioning device (4).

8. The deep sea cable deployment and retrieval robot of claim 7, wherein: the top of the main body frame (8) is provided with an illumination and shooting system, the illumination and shooting system comprises three groups of vision auxiliary modules, each group of vision auxiliary modules mainly comprises a camera and an underwater lamp, and the three groups of vision auxiliary modules are uniformly distributed in the top area of the main body frame (8).