Unmanned conveying underwater robot applied to submarine cable laying

Abstract

The invention relates to the technical field of submarine cable laying, in particular to an unmanned conveying underwater robot applied to submarine cable laying, which comprises a main machine body internally provided with a robot body. According to the unmanned conveying underwater robot applied to submarine cable laying, overturning can be automatically adjusted according to the angle of the main machine body by adopting the backpack type electric control overturning flow guide cover, so that the running stability of the robot in a water body is guaranteed, and the unmanned conveying underwater robot can be suitable for submarine cables in different states; an electric control overturning adjusting arm used for installing an electric control type driving impeller is movably assembled in the electric control overturning flow guide cover, storage can be facilitated through inward and outward overturning, the occupied space of an external structure in idle time is reduced, and storage and transportation are greatly facilitated; the robot can be controlled to be externally hung on the outer side of the submarine cable through electric control type lateral assembly housings on the outer walls of the two sides of the main machine body, the submarine cable can be conveniently controlled, and the stability of the robot in the conveying and adjusting process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine cable laying, in particular to an unmanned underwater transportation robot used for submarine cable laying. Background Art

[0002] Submarine cables are cables wrapped in insulating materials and laid on the seabed. They are mainly used in important occasions such as long-distance islands and cross-sea facilities. In order to facilitate the laying of submarine cables, the existing submarine cable laying method is mainly carried out by tugboats. However, due to the relatively large hull structure, it is impossible to adjust its position inside the water body and on the seabed during the laying process, resulting in poor laying stability of the submarine cable. In addition, during the laying process, the submarine cable is easily entangled with impurities on the surface. If it is not cleaned and separated in time, it is easy to affect the service life of the submarine cable. At the same time, during the laying process, it is impossible to observe the status of the submarine cable sinking to the bottom in real time, resulting in high later detection costs. Some unmanned conveying robots on the market can only control horizontal submarine cables and are not applicable to inclined submarine cables, so their scope of application is very limited. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that the current laying of submarine cables cannot adjust their position inside the water body and on the seabed, resulting in poor laying stability of the submarine cables, which are easily entangled with impurities on the surface, and cannot be observed in real time when the submarine cables sink to the bottom, resulting in high subsequent detection costs and a very limited scope of application.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an unmanned underwater transportation robot used for laying submarine cables, including a main body with a robot body installed inside, and electrically controlled lateral assembly covers movably assembled on the outer walls on both sides of the main body. A lateral flip groove is provided at the upper end of the main body on one side of the robot body, and an electrically controlled flip guide cover is movably assembled inside the lateral flip groove, and an electrically controlled flip adjustment arm for installing an electrically controlled drive impeller is movably assembled inside the electrically controlled flip guide cover.

[0005] Lateral flip assembly grooves for assembling an electrically controlled lateral assembly cover shell are symmetrically provided on the outer walls of both sides of the main body.

[0006] The electrically controlled lateral assembly cover comprises an arc-shaped adjustment cover movably mounted in a lateral flip assembly groove via a rotating shaft and an external electrically controlled flip support rod movably mounted on both side walls of the robot body.

[0007] A flip installation groove is provided on the inner side of the lateral flip groove, and the electrically controlled flip air deflector includes an external flip frame movably installed inside the flip installation groove through an axis, and a built-in electrically controlled flip support rod movably installed on the inner side of the lateral flip groove.

[0008] The electrically controlled flip adjustment arm includes a first flip arm, a second flip arm, a third flip arm, a fourth flip arm movably assembled on the upper end of the external flip frame, a first folding control link movably installed between the first flip arm and the second flip arm, a second folding control link movably installed between the third flip arm and the fourth flip arm, an upper internally threaded control cylinder movably installed at the folding ends of the first folding control link and the second folding control link, a horizontal electrically controlled screw threadedly inserted into the interior of the upper internally threaded control cylinder, and a lateral assembly frame for installing an electrically controlled drive impeller.

[0009] The lateral assembly frame is fixedly mounted on the outer sides of the turning ends of the first turning arm, the second turning arm, the third turning arm and the fourth turning arm.

[0010] The outer arc surface of the arc-shaped adjustment cover is provided with a plurality of first electrically controlled telescopic modules protruding outward and a plurality of second electrically controlled telescopic modules protruding outward.

[0011] An electrically controlled driving positioning wheel is movably mounted on the protruding end of the first electrically controlled telescopic module, and an electrically controlled cutting blade is mounted on the protruding end of the second electrically controlled telescopic module.

[0012] Both ends of the front side wall of the main body are provided with lateral flip adjustment grooves, and an electrically controlled multi-directional adjustment seat for installing an electrically controlled video camera is movably assembled inside the lateral flip adjustment groove.

[0013] The electrically controlled cutting blade includes a horizontal mounting frame fixed to the protruding end of the second electrically controlled telescopic module, a first cutting blade fixed to the side wall of the horizontal mounting frame, a second cutting blade slidably assembled on the side wall of the horizontal mounting frame, and a magnetically controlled adjustment seat fixedly mounted on both sides of the horizontal mounting frame.

[0014] The beneficial effects of the present invention are: (1) The unmanned underwater robot for submarine cable laying of the present invention adopts a backpack-type electrically controlled flip-over guide cover, which can automatically adjust the flip according to the angle of the main body, thereby ensuring the stability of the robot's operation inside the water body, and can be applied to submarine cables in different states; (2) An electrically controlled flip adjustment arm for installing an electrically controlled drive impeller is movably installed inside the electrically controlled flip guide cover, which can be easily stored by flipping inside and outside, reducing the external structure occupied during idle time and greatly facilitating storage and transportation; (3) The electrically controlled side assembly covers on both sides of the main body can not only control the robot to be hung on the outside of the submarine cable, but also facilitate the control of the submarine cable and improve the stability of the robot during transportation and adjustment; (4) Using binocular adjustable cameras and setting them on both sides of the submarine cable can greatly improve the observable flip, facilitate the observation and recording of the laying status and position, and reduce the difficulty of subsequent maintenance; (5) By installing an electrically controlled drive positioning wheel and an electrically controlled cutting blade that can be telescopically adjusted inside the electrically controlled lateral assembly housing, it is possible to separate impurities entangled on the outer wall of the submarine cable during the laying process, thereby improving the cleanliness of the submarine cable surface and ensuring laying stability and later service life; (7) A first electrically controlled telescopic module and a second electrically controlled telescopic module are provided on the outer arc surface of the arc-shaped adjustment cover, which can be adapted to different sizes of submarine cables, thereby improving applicability and transmission stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and examples.

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 It is a partial structural diagram of the position of the electrically controlled flip fairing in the present invention.

[0018] Figure 3 It is a schematic diagram of the side structure of the electrically controlled flip fairing in the present invention.

[0019] Figure 4 It is a structural schematic diagram of the electric-controlled cutting blade in the present invention. DETAILED DESCRIPTION

[0020] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0021] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0022] Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The figure shows an unmanned underwater transport robot used for laying submarine cables, comprising a main body 2 in which a robot body 1 is installed, and electrically controlled lateral assembly covers 3 are movably mounted on the outer walls on both sides of the main body 2. A lateral flip groove 4 is provided at the upper end of the main body 2, located on one side of the robot body 1, and an electrically controlled flip guide cover 5 is movably mounted inside the lateral flip groove 4. An electrically controlled flip adjustment arm 7 for mounting an electrically controlled drive impeller 6 is movably mounted inside the electrically controlled flip guide cover 5.

[0023] Working principle: When releasing the submarine cable, people flip the electrically controlled lateral assembly cover 3 on both sides of the main body 2 to the sides of the submarine cable to surround the submarine cable. Then, the electronic level inside the electrically controlled flip air guide 5 is used to detect the current horizontal angle. Then, the electrically controlled flip air guide 5 is electrically adjusted to change the angle of the electrically controlled flip air guide 5 inside the lateral flip groove 4 to ensure the horizontal position of the electrically controlled flip air guide 5. In this way, the horizontal position of the electrically controlled drive impeller 6 can be raised. Then, the electrically controlled flip adjustment arm 7 is flipped outward to flip the electrically controlled drive impeller 6 to both sides of the main body 2. At this time, the diversion effect can be guaranteed. The upper ends of the openings on both sides of the lateral flip groove 4 have a structure for raising the electrically controlled flip adjustment arm 7 to ensure structural stability and firmness.

[0024] Lateral flip assembly grooves for assembling the electrically controlled lateral assembly cover 3 are symmetrically provided on the outer walls of both sides of the main body 2 .

[0025] In order to cooperate with lateral flip adjustment, the electrically controlled lateral assembly cover 3 includes an arc-shaped adjustment cover 31 movably installed in the lateral flip assembly groove through a rotating shaft and an external electrically controlled flip support rod 32 movably installed on both side walls of the robot body 1.

[0026] The external electrically controlled flip strut 32 controls the arc-shaped adjustment cover 31 to be assembled along the lateral flip assembly groove by telescoping, and the arc-shaped adjustment cover 31 is flipped on both sides of the main body 2 to close the lower end opening, so that a limit frame can be formed on the periphery of the submarine cable, so that the submarine cable can be limited to the inside of the main body 2 and the arc-shaped adjustment cover 31.

[0027] In order to cooperate with the flip adjustment, a flip installation groove is opened on the inner side of the lateral flip groove 4, and the electrically controlled flip air deflector 5 includes an external flip frame 51 movably installed inside the flip installation groove through an axis, and a built-in electrically controlled flip support rod 52 movably installed on the inner side of the lateral flip groove.

[0028] The built-in electrically controlled flip support rod 52 controls the external flip frame 51 to perform flip adjustment by extending and retracting, thereby changing the angle of the electrically controlled driving impeller 6 .

[0029] In order to cooperate with the flip control adjustment, the electric-controlled flip adjustment arm 7 includes a first flip arm 71, a second flip arm 72, a third flip arm 73, a fourth flip arm 74, which are movably assembled on the upper end of the external flip frame 51, a first folding control link 75 movably installed between the first flip arm 71 and the second flip arm 72, a second folding control link 76 movably installed between the third flip arm 73 and the fourth flip arm 74, an upper internal threaded control cylinder 77 movably installed at the folding ends of the first folding control link 75 and the second folding control link 76, a horizontal electric control screw 78 threadedly inserted into the upper internal threaded control cylinder 77, and a lateral assembly frame 79 for installing the electric-controlled drive impeller 6.

[0030] The horizontal electric control screw 78 controls the translation adjustment of the upper internal thread control cylinder 77 on both sides by rotating, and then the upper internal thread control cylinder 77 squeezes the folding ends of the first folding control link 75 and the second folding control link 76, and then squeezes the first folding control link 75 and the second folding control link 76 to synchronously control the first flip arm 71, the second flip arm 72, the third flip arm 73, and the fourth flip arm 74 to flip outward. In this way, the electrically controlled drive impeller 6 on the outside of the lateral assembly frame 79 can be controlled to move to both sides of the electrically controlled lateral assembly cover 3, forming a structure similar to a four-axis drone, so that it can be driven normally, and the drive adjustment is carried out by using the rotation speed of the electrically controlled drive impeller 6 in four positions.

[0031] In order to facilitate assembly and improve space utilization, the lateral assembly frame 79 is fixedly installed on the outer side surfaces of the flip ends of the first flip arm 71 , the second flip arm 72 , the third flip arm 73 , and the fourth flip arm 74 .

[0032] In order to cooperate with the electric control adjustment, the outer arc surface of the arc-shaped adjustment cover 31 is provided with four outwardly protruding first electric control telescopic modules 8 and two outwardly protruding second electric control telescopic modules 9.

[0033] The first electrically controlled telescopic module 8 and the second electrically controlled telescopic module 9 both consist of an external mounting tube fixed on the outer arc surface of the arc-shaped adjustment housing 31 and an internal telescopic support rod fixed inside the external mounting tube.

[0034] In order to cooperate with internal positioning and translation along the cable, and at the same time cut and separate impurities on the outer wall of the submarine cable, the protruding end of the first electrically controlled telescopic module 8 is movably installed with an electrically controlled driven positioning wheel 10, and the protruding end of the second electrically controlled telescopic module 9 is installed with an electrically controlled cutting blade 11.

[0035] The first electrically-controlled telescopic module 8 controls the distance between the electrically-controlled driven positioning wheel 10 and the outer wall of the submarine cable by telescoping to ensure adaptability. The second electrically-controlled telescopic module 9 controls the distance between the electrically-controlled cutting blade 11 and the outer wall of the submarine cable by telescoping to ensure that the electrically-controlled cutting blade 11 does not damage the outer wall of the submarine cable and can also ensure the cutting effect.

[0036] In order to facilitate video capture and recording of the laying process, lateral flip adjustment grooves 12 are provided at both ends of the front side walls of the main body 2, and an electrically controlled multi-directional adjustment seat 14 for installing an electrically controlled video camera 13 is movably installed inside the lateral flip adjustment groove 12.

[0037] The electrically controlled multi-directional adjustment seat 14 includes an electrically controlled flip arm movably installed inside the lateral flip adjustment groove 12 and an electrically controlled rotating disk movably installed at the outer end of the electrically controlled flip arm. The electrically controlled flip arm controls the flipping through the support rod located inside the lateral flip adjustment groove 12, and is used to control the lateral angle of the electrically controlled video camera 13, while the electrically controlled rotating disk is controlled by the adjustment motor fixed inside the electrically controlled flip arm, and is used to control the longitudinal angle of the electrically controlled video camera 13.

[0038] In order to improve the electric-controlled cutting separation, the electric-controlled cutting blade 11 includes a horizontal mounting frame 111 fixed at the protruding end of the second electric-controlled telescopic module 9, a first cutting blade 112 fixed on the side wall of the horizontal mounting frame 111, a second cutting blade 113 slidably assembled on the side wall of the horizontal mounting frame 111, and a magnetically controlled adjustment seat 114 fixedly installed on both sides of the horizontal mounting frame 111.

[0039] The magnetic control adjustment seat 114 is fixed on both sides of the horizontal mounting frame 111, and then the mounting shafts on both sides of the second cutting blade 113 are inserted into the interior of the magnetic control adjustment seat 114 and slidably assembled with the horizontal mounting frame 111. An electromagnet and an iron extrusion spring controlled by the electromagnet are fixed inside the magnetic control adjustment seat 114. The magnetic control adjustment seat 114 on both sides is continuously opened and closed to control the second cutting blade 113 to slide horizontally on the side wall of the horizontal mounting frame 111. At this time, the back and forth cutting can be enhanced, thereby improving the cutting effect.

[0040] Cutting grooves may be formed on the cutting openings of the first cutting blade 112 and the second cutting blade 113 .

[0041] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. An unmanned underwater robot for laying submarine cables, comprising a main body (2) in which a robot body (1) is installed, and characterized by: An electrically controlled lateral assembly cover (3) is movably mounted on the outer walls of both sides of the main body (2); a lateral flip groove (4) is provided at the upper end of the main body (2) on one side of the robot body (1); an electrically controlled flip air guide (5) is movably mounted inside the lateral flip groove (4); and an electrically controlled flip regulating arm (7) for mounting an electrically controlled driving impeller (6) is movably mounted inside the electrically controlled flip air guide (5).

2. The unmanned underwater robot for submarine cable laying according to claim 1 is characterized by: Side flip assembly grooves for assembling an electrically controlled side assembly cover (3) are symmetrically provided on the outer walls of both sides of the main body (2).

3. The unmanned underwater robot for submarine cable laying according to claim 1 is characterized by: The electrically controlled lateral assembly cover (3) comprises an arc-shaped adjustment cover (31) movably mounted in the lateral flip assembly groove (4) via a rotating shaft, and external electrically controlled flip support rods (32) movably mounted on both side walls of the robot body (1).

4. The unmanned underwater robot for submarine cable laying according to claim 1 is characterized by: A flip installation groove is provided on the inner side of the lateral flip groove (4), and the electrically controlled flip air deflector (5) comprises an external flip frame (51) movably mounted inside the flip installation groove via an axis, and a built-in electrically controlled flip support rod (52) movably mounted on the inner side of the lateral flip groove (4).

5. The unmanned underwater robot for submarine cable laying according to claim 4 is characterized by: The electrically controlled flip regulating arm (7) comprises a first flip arm (71) movably assembled at the upper end of the external flip frame (51), a second flip arm (72), a third flip arm (73), a fourth flip arm (74), a first folding control link (75) movably mounted between the first flip arm (71) and the second flip arm (72), a second folding control link (76) movably mounted between the third flip arm (73) and the fourth flip arm (74), an upper internally threaded control cylinder (77) movably mounted at the folding ends of the first folding control link (75) and the second folding control link (76), a transverse electrically controlled screw rod (78) threadedly inserted into the interior of the upper internally threaded control cylinder (77), and a lateral assembly frame (79) for mounting the electrically controlled driving impeller (6).

6. The unmanned underwater robot for submarine cable laying according to claim 5, characterized in that: The lateral assembly frame (79) is fixedly mounted on the outer sides of the flip ends of the first flip arm (71), the second flip arm (72), the third flip arm (73), and the fourth flip arm (74).

7. The unmanned underwater robot for submarine cable laying according to claim 3 is characterized by: The outer arc surface of the arc-shaped adjustment cover (31) is provided with a plurality of outwardly protruding first electrically controlled telescopic modules (8) and a plurality of outwardly protruding second electrically controlled telescopic modules (9).

8. The unmanned underwater robot for submarine cable laying according to claim 7 is characterized by: An electrically controlled driving positioning wheel (10) is movably mounted on the extended end of the first electrically controlled telescopic module (8), and an electrically controlled cutting blade (11) is mounted on the extended end of the second electrically controlled telescopic module (9).

9. The unmanned underwater robot for submarine cable laying according to claim 1, characterized in that: Both ends of the front side wall of the main body (2) are provided with lateral flip adjustment grooves (12), and an electrically controlled multi-directional adjustment seat (14) for installing an electrically controlled video camera (13) is movably mounted inside the lateral flip adjustment groove (12).

10. The unmanned underwater robot for submarine cable laying according to claim 8, characterized in that: The electrically controlled cutting blade (11) comprises a horizontal mounting frame (111) fixed to the protruding end of the second electrically controlled telescopic module (9), a first cutting blade (112) fixed to the side wall of the horizontal mounting frame (111), a second cutting blade (113) slidably mounted on the side wall of the horizontal mounting frame (111), and a magnetically controlled adjustment seat (114) fixedly mounted on both sides of the horizontal mounting frame (111).

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