A segmented, splicable submarine cable and a cable-changing robot

Abstract

This invention discloses a segmented, splicable submarine cable and a cable-changing robot, relating to the field of submarine cables and submarine cable maintenance devices. Currently, when a submarine cable fails, it can only be pulled to the surface for cutting and replacement, which is complex, inconvenient, time-consuming, and labor-intensive. The submarine cable of this invention includes watertight connectors and cables. Each end of the cable is connected to a watertight connector, forming splicable cable segments. These segments are spliced ​​together using watertight connectors to form the submarine cable. The cable-changing robot includes a cable-changing chamber, an electrical chamber, a drainage chamber, a robotic arm, robotic legs, and a propeller propulsion device. The cable-changing chamber is equipped with a disconnection and drying device. The cable-changing chamber and the drainage chamber are connected by a water supply pipe with a switch. The drainage chamber contains a high-pressure air storage tank. When a submarine cable fails, damaged cable segments or watertight connectors can be replaced directly on the seabed through the sealed space of the cable-changing chamber, improving maintenance speed and convenience, and reducing maintenance time and costs.

Description

Technical Field

[0001] This invention relates to the field of submarine cables and submarine cable maintenance devices, and more particularly to a segmented, splicable submarine cable and a cable replacement robot. Background Technology

[0002] Submarine power cables are crucial power transmission devices for equipment such as offshore platforms and offshore wind farms, and are an important component of the power grid. Their normal operation plays a vital role in the proper functioning of marine equipment. Due to the complex conditions on the seabed, locating the fault and replacing the cable is quite troublesome once a cable fails, requiring the deployment of divers and large vessels.

[0003] When a submarine cable fails, the commonly used method is to directly replace it. First, the fault point and both ends of the cable are located by direct detection. The length of the spare submarine cable is calculated by empirical values ​​and manual comparison. Then, the submarine cable is retrieved above the water surface, and the faulty section of the cable is cut off using a work platform. After removing the damaged points and water-infiltrated parts of the submarine cable, it is replaced. The submarine cable is tested with DC resistance of conductors and insulation. Then, the spare submarine cable is connected to the original submarine cable, and finally the submarine cable is sunk to the seabed.

[0004] However, for deep-sea cables, the only way to replace them when they fail is to pull them to the surface for cutting. This is a complicated and time-consuming process. In particular, for deep-sea cables, pulling them to the surface is time-consuming and labor-intensive, and can easily cause changes in the cable's curvature or even breakage, which can lead to significant economic losses. Summary of the Invention

[0005] The technical problem to be solved and the technical task proposed by this invention is to improve and refine existing technical solutions, and to provide a segmented, splicable submarine cable and a cable-changing robot, so as to facilitate the maintenance of submarine cables and reduce maintenance time and costs. To this end, this invention adopts the following technical solution.

[0006] A segmented, splicable submarine cable is disclosed, comprising watertight connectors, watertight joints, and cables. Each end of the cable is connected to one of the watertight joints, forming splicable cable segments. The watertight connectors connect adjacent watertight joints of two splicable cable segments. This splicable submarine cable design, achieved by connecting cable segments with watertight connectors, allows for direct replacement of damaged components on the seabed in case of cable failure. This eliminates the need to pull the cable to the surface for cutting and complex replacement operations, avoids changes in cable curvature, prevents damage or breakage, and avoids significant economic losses. It greatly improves maintenance speed and convenience, effectively reducing maintenance time and costs.

[0007] As a preferred technical approach, a voltage sensor is installed in the watertight connector on the left side of the cable segment, and the voltage sensor is connected to both ends of the cable. When a fault occurs in the submarine cable, the current flows through the sensor, the sensor voltage is zero, and the inter-terminal voltage of the cable segment cannot be measured, thus identifying the faulty segment.

[0008] As a preferred technical means, both ends of the watertight connector are plug-in joints, and the watertight joints are mating plug-in holes. This facilitates disassembly and maintenance.

[0009] As a preferred technical approach: the outer layer of the cable is composed of polyvinyl chloride and asphalt, the middle layer is a steel strand layer, the outer side of the inner layer is a shielding layer, and the inner side of the shielding layer is an insulation layer. The conductors in the cable and the sensing wires of the voltage sensor are all housed within the insulation layer. The polyvinyl chloride and asphalt layers provide corrosion resistance, the steel strand layer strengthens the mechanical strength of the submarine cable and prevents damage from external forces, the insulation layer isolates the conductors, and the shielding layer ensures uniform electric field distribution and improves insulation life.

[0010] Another objective of this invention is to provide a cable-changing robot for a segmented, splicable submarine cable as described above. The cable-changing robot includes a cable-changing chamber for disassembling and replacing damaged parts of the submarine cable, an electrical chamber for providing power and energy, and a drainage chamber for draining seawater from the cable-changing chamber. The electrical chamber is located above the drainage chamber, and the cable-changing chamber is located above the electrical chamber. A mechanical arm for gripping the submarine cable is provided at each of the left and right ends of the electrical chamber. Propeller propulsion devices are symmetrically arranged on the front and rear sides of the electrical chamber. Multiple mechanical legs for seabed support and movement are symmetrically arranged on the front and rear sides of the drainage chamber. The cable-changing chamber is equipped with a disassembly and assembly device for disassembling and connecting watertight connectors and a drying device for drying the disassembly and assembly parts of the submarine cable. Spare watertight connectors can be stored in the electrical chamber. It can easily move on the seabed, grasp submarine cables, and disassemble and replace faulty parts without having to pull the submarine cable to the surface for cutting and complicated replacement operations. It will not cause changes in the curvature of the submarine cable, nor will it damage or even break the submarine cable, thus avoiding significant economic losses. It greatly improves the speed and convenience of maintenance, and effectively reduces maintenance time and costs.

[0011] As a preferred technical approach: the cable-changing chamber is an internal cavity surrounded by a base, a front cover, and a rear cover. The front and rear covers are symmetrical and can be opened symmetrically in both directions. Each cover includes a left end plate, a rear end plate, and a top plate. After the front and rear covers are closed, a through hole for the submarine cable to pass through is provided at the junction of the end plates at both ends. The base, front and rear covers, and the submarine cable passing through the through hole form a sealed cable-changing chamber space, facilitating the subsequent formation of an internal cable-changing environment after the water is drained.

[0012] As a preferred technical means: the disconnection and connection device includes a connecting retainer for gripping and connecting the watertight connector and a sliding retainer for moving the cable segment. The connecting retainer is located in the middle of the base and can move downward into the electrical compartment to grip the watertight connector spare parts stored in the electrical compartment. There are two sliding retainers, symmetrically arranged on the left and right sides of the connecting retainer and can slide symmetrically in the left and right direction. The connecting retainer has a connector retaining ring, and the sliding retainer has a cable retaining ring. The centers of the through hole, the connector retaining ring, and the cable retaining ring are coaxial. The drying device is located on the front and rear sides of the connecting retainer and can move downward into the electrical compartment. The connecting retainer is used to replace and fix the watertight connector. The left and right movement of the sliding retainer causes the submarine cable to move symmetrically in the left and right direction, so that the cable segment can be connected or disconnected from the watertight connector with good directional stability. The drying device can evaporate seawater stains at the disconnection and connection points.

[0013] As a preferred technical approach: the cable-changing chamber is connected to the drainage chamber via a water supply pipe, and the drainage chamber is connected to the outside via a drainage pipe equipped with a drainage valve. A high-pressure gas storage tank is located in the drainage chamber, and the high-pressure gas storage tank is connected to the drainage chamber via a gas supply pipe equipped with a venting valve. By opening the water supply pipe, seawater from the cable-changing chamber can be transported to the drainage chamber. The drainage chamber is connected to the outside via the drainage valve, and compressed gas from the high-pressure gas storage tank is transported to the drainage chamber via the venting valve. After the water supply pipe is closed, the compressed gas discharges the seawater to the outside, and then the drainage valve is closed, thus achieving the discharge of seawater.

[0014] As a preferred technical means: two sets of hydraulic devices are symmetrically arranged on the base, front and back. The telescopic hydraulic rods of the two sets of hydraulic devices are respectively connected to the front and rear compartment covers, and the axial direction of the hydraulic rods is horizontal in the front and back direction. This enables the opening of the front and rear compartment covers.

[0015] As a preferred technical means: the robotic leg includes a leg connecting seat, an upper leg rod, a lower leg rod, and leg toes. The leg connecting seat is fixedly connected to the outer wall of the drainage chamber. The leg connecting seat and the upper leg rod, the upper leg rod and the lower leg rod, and the lower leg rod and leg toes are all rotatably connected via hinge joints. The robotic arm includes an arm connecting seat, a first arm rod, a second arm rod, a third arm rod, and a robotic arm fixing ring. The robotic arm fixing ring is disposed on an arm ring seat. The arm ring seat and the third arm rod, the third arm rod and the second arm rod, the second arm rod and the first arm rod, and the first arm rod and the arm connecting seat are all rotatably connected via hinge joints. The arm connecting seat is fixedly connected to the outer wall of the electrical chamber. The robotic leg and robotic arm have a simple structure and high reliability.

[0016] As a preferred technical means: the sliding retainer includes a sliding base, springs, and cable retaining rings. The sliding base has left-right grooves, the springs are disposed in the grooves, and the lower end of the cable retaining rings slides in conjunction with the grooves. Two springs are located on the left and right outer sides of the two cable retaining rings. By providing elastic moving components to the sliding retainer, the cable retaining rings can move the cable segment more smoothly and reliably.

[0017] Beneficial effects: By connecting cable segments with watertight connectors, splicable submarine cables can be easily achieved. Faulty components of submarine cables can be replaced directly on the seabed when a fault occurs, eliminating the need to pull the submarine cable to the surface for cutting and complex replacement operations. This avoids changes in the curvature of the submarine cable, prevents damage or even breakage, avoids significant economic losses, greatly improves maintenance speed and convenience, and effectively reduces maintenance time and costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the underwater cable fixing when the cable changing room of the cable changing robot in this invention is opened;

[0019] Figure 2 This is a schematic diagram of the submarine cable fixing when the cable changing room of the cable changing robot of the present invention is closed.

[0020] Figure 3 This is a schematic diagram of the splicable submarine cable structure in this invention.

[0021] Figure 4 This is a schematic diagram of the watertight connector in this invention.

[0022] Figure 5 This is a schematic diagram of a partially cut cable segment according to the present invention.

[0023] Figure 6 This is a schematic diagram of the cable-changing robot structure in this invention.

[0024] Figure 7 This is a schematic diagram of the internal structure of the cable replacement chamber in this invention.

[0025] Figure 8 This is a schematic diagram of the electrical room structure in this invention.

[0026] Figure 9 This is a schematic diagram of the internal structure of the drainage chamber in this invention.

[0027] Figure 10 This is a schematic diagram of the mechanical leg structure in this invention.

[0028] Figure 11 This is a schematic diagram of the robotic arm structure in this invention.

[0029] Figure 12 This is the present invention. Figure 7 Enlarged schematic diagram of part A in the middle.

[0030] In the diagram: 1. Submarine cable; 2. Cable-changing robot; 101. Watertight connector; 102. Watertight joint; 103. Cable; 104. Wire; 105. Voltage sensor; 106. Connector; 107. Socket; 108. PVC and bitumen layer; 109. Steel strand layer; 110. Shielding layer; 111. Insulation layer; 201. Cable-changing chamber; 202. Electrical room; 203. Drainage chamber; 204. Robotic arm; 205. Propeller propulsion device; 206. Robotic leg; 207. Drying device; 208. Hydraulically driven moving support; 209. Base; 210. Front cover; 211. Rear cover; 212. Hydraulic device; 213. Connection and fixing. 214. Sliding fixing device; 215. Spare watertight connector; 216. Water supply pipe; 217. Drain pipe; 218. Drain valve; 219. High-pressure air tank; 220. Air supply pipe; 221. Air exchange valve; 222. Partition plate; 223. Support rod; 20401. Arm connecting seat; 20402. First arm; 20403. Second arm; 20404. Third arm; 20405. Robotic arm fixing ring; 20406. Arm ring seat; 20601. Leg connecting seat; 20602. Upper leg rod; 20603. Lower leg rod; 20604. Leg toe; 21401. Sliding fixing seat; 21402. Spring; 21403. Cable fixing ring. Detailed Implementation

[0031] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] In the description of this invention, it should be understood that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Since the embodiments disclosed in this invention can be set in different directions, these terms indicating direction are only for illustration and should not be regarded as limitations. For example, "upper" and "lower" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0033] like Figure 3As shown, a segmented and splicable submarine cable 1 includes a watertight connector 101, a watertight joint 102, and a cable 103. Each end of the cable 103 is connected to a watertight joint 102 to form a splicable cable segment. The watertight connector 101 is used to connect two adjacent watertight joints 102 of two splicable cable segments.

[0034] For easy disassembly and assembly, such as Figure 4 As shown, the two ends of the watertight connector 101 are plugs 106, and the watertight connector 102 is a mating plug hole 107. This facilitates disassembly and maintenance.

[0035] To facilitate the detection of the faulty part, such as Figure 5 As shown, a voltage sensor 105 is installed in the watertight connector 102 on the left side of the cable segment. The voltage sensor 105 is connected to the left and right ends of the cable 103. When the submarine cable 1 experiences a breakage fault, the current flows through the sensor, the sensor voltage is zero, and the inter-terminal voltage of the cable segment cannot be measured, thus identifying the faulty segment.

[0036] In this example, cable 103 includes an outer layer, a middle layer, and an inner layer. The outer layer is a polyvinyl chloride and asphalt layer 108 that resists corrosion. The middle layer is a steel strand layer 109. The outer side of the inner layer is a shielding layer 110, and the inner side of the shielding layer 110 is an insulation layer 111. The conductors 104 and the sensing wires of the voltage sensor 105 in cable 103 are both located in the insulation layer 111. The polyvinyl chloride and asphalt layer 108 and the steel strand layer 109 are used to strengthen the mechanical strength of the submarine cable and prevent damage from external forces. The insulation layer 111 isolates the conductors 104, and the shielding layer 110 is used to uniformly distribute the electric field and improve the insulation life.

[0037] like Figure 1 , 2 As shown in Figures 6, 7, 8, and 9, a segmented, splicable submarine cable replacement robot includes a cable replacement chamber 201 for disassembling and replacing damaged parts of the submarine cable 1, an electrical chamber 202 for providing power and energy, and a drainage chamber 203 for draining seawater from the cable replacement chamber 201. The electrical chamber 202 is located above the drainage chamber 203, and the cable replacement chamber 201 is located above the electrical chamber 202. A robotic arm 204 for gripping the submarine cable 1 is located at each of the left and right ends of the electrical chamber 202. The electrical chamber 202 is positioned at the front and rear... A propeller propulsion device 205 is symmetrically provided on each side. Six mechanical legs 206 for seabed support and movement are symmetrically provided on the front and rear sides of the drainage chamber 203. The cable changing chamber 201 is provided with a disassembly and connection device for disassembling and connecting the watertight connector 101 and a drying device 207 for drying the disassembly and connection parts of the submarine cable 1. The electrical room 202 is provided with a hydraulically driven moving support 208. A watertight connector spare part 215 is provided on the hydraulically driven moving support 208, which can drive the watertight connector spare part 215 to move left and right.

[0038] The cable changing chamber 201 is an internal cavity surrounded by a base 209, a front cover 210, and a rear cover 211. The front cover 210 and the rear cover 211 have a symmetrical structure and can be opened symmetrically in the front and rear directions. Two sets of hydraulic devices 212 are symmetrically arranged on the base 209. The retractable hydraulic rods of the two sets of hydraulic devices 212 are respectively connected to the front cover 210 and the rear cover 211. The axial direction of the hydraulic rods is horizontal in the front and rear direction, enabling the opening of the front cover 210 and the rear cover 211. Both the front cover 210 and the rear cover 211 include a left end plate, a rear end plate, and... After the top plate, front cover 210 and rear cover 211 are closed, the end plates at both ends are provided with through holes for the submarine cable 1 to pass through. The through holes are provided with elastic sealing gaskets, which form an elastic and tight contact with the submarine cable 1, providing good sealing. The submarine cable 1 can move axially, but the elastic resistance is small, so the submarine cable 1 will not be damaged when it moves. The base 209, front cover 210 and rear cover 211 and the submarine cable 1 passing through the through holes form a closed cable replacement chamber 201 space, which is convenient to form an internal cable replacement environment after the water is drained.

[0039] The disassembly and assembly device includes a connecting retainer 213 for gripping and connecting the watertight connector 101 and a sliding retainer 214 for moving the cable segment. The connecting retainer 213 is located in the middle of the base 209. The connecting retainer 213 is driven vertically by a hydraulic drive rod in the electrical chamber 202. The connecting retainer 213 can move downward into the electrical chamber 202 and can grip the watertight connector spare part 215 stored in the electrical chamber 202. There are two sliding retainers 214, symmetrically arranged on the left and right sides of the connecting retainer 213 and can slide symmetrically in the left and right direction. Figure 12 As shown, the sliding retainer 214 includes a sliding retaining base 21401, a spring 21402, and a cable retaining ring 21403. The sliding retaining base 21401 has a left-right sliding groove, the spring 21402 is disposed in the sliding groove, and the lower end of the cable retaining ring 21403 slides and engages with the sliding groove. The two springs 21402 are located on the left and right outer sides of the two cable retaining rings 21403. The connecting retainer 213 has a connector retaining ring, and the centers of the through hole, the connector retaining ring, and the cable retaining ring 21403 are coaxial. The drying device 207 is disposed on the front and rear sides of the connecting retainer 213. The drying device 207 is connected and driven by a hydraulic drive rod and can be moved downward into the electrical chamber 202. The connector 213 is used to replace and fix the watertight connector 101. The cable segment can be connected or disconnected from the watertight connector 101 by the corresponding left and right symmetrical movement of the sliding connector 214. The directional stability is good. The drying device 207 can evaporate the seawater stains at the disconnection part.

[0040] The cable replacement chamber 201 is connected to the drainage chamber 203 via a water supply pipe 216. A drainage pipe 217 is provided on each of the front and rear sides of the drainage chamber 203. The drainage chamber 203 is connected to the outside via the drainage pipes 217. A drainage valve 218 is provided on the drainage pipes 217. A high-pressure air storage tank 219 is provided in the drainage chamber 203. The high-pressure air storage tank 219 is connected to the drainage chamber 203 via two air supply pipes 220 on the front and rear sides. An air exchange valve 221 is provided on the air supply pipes 220. In order to increase the structural strength, a horizontal partition 222 and a vertical support rod 223 are provided in the drainage chamber 203. By opening the water supply pipe 216, seawater in the cable replacement chamber 201 can be transported to the drainage chamber 203. The drainage chamber 203 is connected to the outside through the drainage valve 218. The compressed gas in the high-pressure gas storage tank 219 is transported to the drainage chamber 203 through the air exchange valve 221. After the water supply pipe 216 is closed, the compressed gas discharges the seawater to the outside, and then the drainage valve 218 is closed to achieve the discharge of seawater.

[0041] like Figure 10 As shown, the mechanical leg 206 includes a leg connecting seat 20601, an upper leg rod 20602, a lower leg rod 20603, and a leg toe 20604. The leg connecting seat 20601 is fixed to the outer wall of the drainage chamber 203. The leg connecting seat 20601 and the upper leg rod 20602, the upper leg rod 20602 and the lower leg rod 20603, and the lower leg rod 20603 and the leg toe 20604 are all rotatably connected by hinge joints. The bottom of the leg toe 20604 is a spherical surface, and the outer diameter of the leg toe 20604 is 1.5 times that of the leg rod, which increases the contact area with the seabed and provides better support. Figure 11 As shown, the robotic arm 204 includes an arm connecting seat 20401, a first arm 20402, a second arm 20403, a third arm 20404, and a robotic arm fixing ring 20405. The robotic arm fixing ring 20405 is mounted on the arm ring seat 20406. The arm ring seat 20406 and the third arm 20404, the third arm 20404 and the second arm 20403, the second arm 20403 and the first arm 20402, and the first arm 20402 and the arm connecting seat 20401 are all rotatably connected by hinge joints. The arm connecting seat 20401 is fixed to the outer wall of the electrical room 202. The robotic legs 206 and the robotic arm 204 have a simple structure and high reliability.

[0042] When replacing the watertight connector 101, the cable replacement robot 2 is hoisted and moved parallel to the fault location. The cable replacement chamber 201 is opened, and the robotic arm 204 grabs the faulty submarine cable 1, moves it into position, and secures it. At this point, the connector retaining ring secures the watertight connector 101, and the cable retaining ring 21403 secures the submarine cables 1 on both sides of the watertight connector 101. Then, the cable replacement chamber 201 is closed, making it airtight. The pipe switch at the top of the water supply pipe 216 is opened, and seawater from the cable replacement chamber 201 flows through the pipe... Water flows into the drainage chamber 203 through pipe 216. After the drainage chamber 203 is filled with seawater, the pipe switch at the top of the water supply pipe 216 is closed, and the drainage valve 218 is opened. Then, the ventilation valve 221 in the air storage chamber is opened, and the compressed gas in the high-pressure air storage tank 219 enters the water storage chamber through the air supply pipe 220. The air will force the seawater out of the water storage chamber from the drainage pipe 217. After the water is completely emptied, the drainage valve 218 and the ventilation valve 221 are closed, and the pipe switch at the top of the water supply pipe 216 is opened again. The drainage is repeated until there is no seawater in the cable replacement chamber 201. At this time, the drying device 207 returns to the cable replacement chamber 201 under the tension of the hydraulic rod. The drying device 207 is opened to evaporate the water stains near the watertight connector 101 and the watertight joint 102, and then the drying device 207 is closed. Next, the compression sliding retainer 214 is pulled to the left and right sides, compressed by the spring 21402, causing the sliding retaining ring to pull the submarine cables 1 on both sides of the watertight connector 101 axially away from the watertight connector 101, completely separating the three. Then, the hydraulic drive rod under the base 209 gradually extends and retracts, driving the watertight connector 101 into the electrical room 202 until the base 209 is parallel to the bottom plate of the electrical room 202. The damaged watertight connector 101 is then removed and placed on the bottom plate of the electrical room 202. The hydraulically driven moving bracket 208 pushes the watertight connector spare part 215 mounted on it onto the connector retaining ring, which secures the watertight connector 101. The hydraulic drive rod then drives the connecting retainer 213 into the cable replacement chamber 201, and finally, the sliding retaining ring... The moving fastener 214 connects the submarine cable 1 to the watertight connector 101. After the submarine cable 1 can work normally, the hydraulic device 212 on the base 209 drives the hydraulic rod to stretch outward. The front cover 210 and the rear cover 211 of the cable changing chamber 201 move forward and backward to the sides, loosening the connector fixing ring and the sliding fixing ring. The spliced ​​submarine cable 1 is put back into the original position on the seabed by the robotic arm 204 and then released. The cable changing chamber 201 is closed again. The cable changing robot 2 can return to the sea surface by the propeller propulsion device 205.

[0043] In the event of a cable segment failure, after securing the submarine cable 1, there is no need to drain the water first. Simply compress the spring 21402 of the sliding retainer 214 to pull the cable segment axially away from the watertight connector 101. The robot then moves back to the other end of the faulty cable segment and performs the same operation. After replacing the cable segment with a spare cable segment using the robotic arm 204, one end of the spare cable segment and the adjacent submarine cable 1 are secured with the sliding retainer 214. The cable replacement chamber 201 is then closed, and the water is drained. After draining, the drying device 207 removes water stains from the plug of the watertight connector of the submarine cable 1 and the area around the socket of the cable segment. The spare cable segment and the watertight connector 101 are then connected using the sliding retainer 214. The same operation is then used to connect the other end of the spare cable segment and the watertight connector 101 of the adjacent submarine cable 1. After the submarine cable 1 is working normally, the hydraulic device 212 on the base 209 drives the hydraulic rod to stretch outward, and the front cover 210 and rear cover 211 of the cable changing chamber 201 move forward and backward to the sides, loosening the connector fixing ring and the sliding fixing ring. The spliced ​​submarine cable 1 is then put back into its original position on the seabed by the robotic arm 204 and then released. The cable changing chamber 201 is then closed again, and the cable changing robot 2 can return to the sea surface by the propeller propulsion device 205.

[0044] By connecting cable segments through watertight connector 101, splicable submarine cable 1 can be achieved. The faulty parts of submarine cable 1 can be replaced by cable replacement robot 2. When submarine cable 1 fails, damaged cable segments or watertight connector 101 can be replaced directly on the seabed in a closed space, which greatly improves the speed and convenience of maintenance and effectively reduces maintenance time and cost.

[0045] In this example, the electrical room 202 is equipped with a fuel cell as the power source for the robot, providing sufficient power for the operation of the cable-changing robot 2. The electrical room 202 of the cable-changing robot 2 is equipped with a control device, which is connected to the work vessel on the sea surface via control cables. The cable-changing robot 2 is equipped with an underwater camera on its exterior and an internal camera in the cable-changing room 201. All cameras are connected to the control device, which facilitates the robot's movement and maintenance operation.

[0046] In this example, all closed parts of the cable replacement chamber 201 are equipped with waterproof seals.

[0047] The segmented, splicable submarine cable and cable-changing robot shown above are specific embodiments of the present invention, demonstrating the outstanding substantive features and significant progress of the present invention. Based on actual usage needs and under the guidance of the present invention, equivalent modifications in shape, structure, etc., can be made to it, all of which are within the scope of protection of this solution.

Claims

1. A cable-changing robot for segmented, splicable submarine cables, characterized in that: The submarine cable (1) includes a watertight connector (101), a watertight joint (102), and a cable (103). Each end of the cable (103) is connected to a watertight joint (102) to form a splicable cable segment. The watertight connector (101) is used to connect two adjacent watertight joints (102) of two splicable cable segments. The cable replacement robot includes a cable replacement chamber (201) for disassembling and replacing damaged parts of the submarine cable (1), an electrical chamber (202) for providing power and energy, and a drainage chamber (203) for draining seawater from the cable replacement chamber (201). The electrical chamber (202) is located above the drainage chamber (203). The room (201) is located above the electrical room (202). The electrical room (202) has a mechanical arm (204) for grabbing the submarine cable (1) at each of its left and right ends. The electrical room (202) has propeller propulsion devices (205) symmetrically arranged on its front and rear sides. The drainage room (203) has multiple mechanical legs (206) symmetrically arranged on its front and rear sides for submarine support and movement. The cable changing room (201) is equipped with a disassembly and connection device for disassembling and connecting the watertight connector (101) and a drying device (207) for drying the disassembly and connection parts of the submarine cable (1). The electrical room (202) can store spare parts (215) for the watertight connector. The disassembly and assembly device includes a connection retainer (213) for gripping and connecting the watertight connector (101) and a sliding retainer (214) for moving the cable segment. The connection retainer (213) is located in the middle of the base (209). The connection retainer (213) can be moved downward into the electrical chamber (202) and can grip the watertight connector spare parts (215) stored in the electrical chamber (202). The drying device (207) is located on the front and rear sides of the connection retainer (213). The drying device (207) can be moved downward into the electrical chamber (202).

2. The cable-changing robot according to claim 1, characterized in that: A voltage sensor (105) is provided in the watertight connector (102) on the left side of the cable segment. The voltage sensor (105) is connected to the left and right ends of the cable (103).

3. The cable-changing robot according to claim 2, characterized in that: The two ends of the watertight connector (101) are plugs (106), and the watertight connector (102) is a matching plug hole (107).

4. The cable-changing robot according to claim 3, characterized in that: The cable (103) has an outer layer of polyvinyl chloride and an asphalt layer (108), a middle layer of steel strand (109), an outer layer of shielding (110) on the inner side, and an inner layer of insulation (111) on the inner side of shielding (110). The conductors (104) in the cable (103) and the sensing wires of the voltage sensor (105) are both located in the insulation layer (111).

5. A cable-changing robot according to claim 1, characterized in that: The cable changing chamber (201) is an internal cavity surrounded by a base (209), a front cover (210) and a rear cover (211). The front cover (210) and the rear cover (211) are symmetrical structures and can be opened symmetrically in the front and rear directions. Both the front cover (210) and the rear cover (211) include a left end plate, a rear end plate and a top plate. After the front cover (210) and the rear cover (211) are closed, the end plates at the left and right ends are provided with through holes for the submarine cable (1) to pass through.

6. A cable-changing robot according to claim 5, characterized in that: There are two sliding fasteners (214), which are symmetrically arranged on the left and right sides of the connecting fastener (213) and can slide symmetrically in the left and right directions. The connecting fastener (213) is provided with a connector fixing ring, and the sliding fastener (214) is provided with a cable fixing ring (21403). The centers of the through hole, the connector fixing ring and the cable fixing ring (21403) are coaxial.

7. A cable-changing robot according to claim 1, characterized in that: The cable replacement chamber (201) is connected to the drainage chamber (203) via a water supply pipe (216). The drainage chamber (203) is connected to the outside via a drainage pipe (217). A drainage valve (218) is provided on the drainage pipe (217). A high-pressure air storage tank (219) is provided in the drainage chamber (203). The high-pressure air storage tank (219) is connected to the drainage chamber (203) via an air supply pipe (220). An air exchange valve (221) is provided on the air supply pipe (220).

8. A cable-changing robot according to claim 5, characterized in that: The base (209) is symmetrically provided with two sets of hydraulic devices (212) in the front and back. The telescopic hydraulic rods of the two sets of hydraulic devices (212) are connected to the front cover (210) and the rear cover (211) respectively. The axial direction of the hydraulic rods is horizontal in the front and back direction.

9. A cable-changing robot according to claim 1, characterized in that: The mechanical leg (206) includes a leg connecting seat (20601), an upper leg rod (20602), a lower leg rod (20603), and a toe (20604). The leg connecting seat (20601) is fixed to the outer wall of the drainage chamber (203). The leg connecting seat (20601) and the upper leg rod (20602), the upper leg rod (20602) and the lower leg rod (20603), and the lower leg rod (20603) and the toe (20604) are all rotatably connected by hinge joints. The mechanical arm (204) includes an arm connecting seat (20401), a first arm rod (20402), and a second arm rod (20604). The arm (20403), the third arm (20404), and the robotic arm fixing ring (20405) are provided on the arm ring seat (20406). The arm ring seat (20406) and the third arm (20404), the third arm (20404) and the second arm (20403), the second arm (20403) and the first arm (20402), and the first arm (20402) and the arm connecting seat (20401) are all rotatably connected by hinge joints. The arm connecting seat (20401) is connected and fixed to the outer wall of the electrical room (202).

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