An undersea cable shearing robot

Abstract

The application discloses a seabed optical cable shearing robot, which comprises a main body, a track, and a function part, wherein the main body comprises a machine main body, a propulsion part, a balance lifting part, a sonar detection part and a biological repelling part; the propulsion part provides power on the machine main body; the balance lifting part provides rapid diving and floating on the machine main body; the sonar detection part detects the seabed environment on the machine main body; and the biological repelling part repels the surrounding seabed organisms on the machine main body; the track part comprises a track body and a track wheel; the function part comprises a water gun module, a fixed pulley module and a shearing and fishing module; the water gun module is quickly installed on the machine main body to blow away the sand and soil covering the seabed cable to be repaired; and the fixed pulley module is quickly installed on the machine main body. The application has the advantages of high adaptability, high expansibility, low energy consumption, stable underwater movement, high operation success rate under complex sea current conditions and low accident rate during seabed operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater robot technical field, more particularly, the present application relates to a submarine optical cable shearing robot. BACKGROUND

[0002] With the continuous updating of communication technology, the ocean communication through submarine optical cable has become the main communication mode between continents, and it is currently difficult to be replaced. However, with the continuous laying of submarine optical cable and the continuous increase of total mileage, the submarine optical cable is damaged by nature or man. In some cases, the optical cable needs to be cut off and salvaged for the next repair. The traditional cutting method mostly needs to determine the position of the cable first, and then cut and salvage the optical cable after excavating the optical cable, which is complicated and time-consuming. In addition, the submarine environment is harsh and dangerous, so a submarine optical cable shearing method integrating efficiency and safety is needed. After nearly 70 years of development, the submarine robot has become mature, and the unmanned tethered robot involved in the project has entered a rapid development period in the 1980s. Therefore, we can design a tethered underwater robot for submarine optical cable detection, shearing and salvage to replace the traditional cutting and salvage method, and realize the integration of detection, shearing and salvage.

[0003] Some problems existing in the prior art that need to be solved by the present application are described as follows: 1. The submarine optical cable shearing robots existing on the market mostly have single function and cannot complete the integration of detection, shearing and salvage, so multiple underwater robots with different functions are needed to work, which leads to long working time, high cost and low efficiency. 2. The submarine environment is harsh and variable, and it is difficult to predict. The adaptability of the current underwater robot is generally poor, and in some cases, the staff needs to dive into the submarine to work, which is prone to safety accidents and has certain safety hazards. 3. The existing underwater robots are not designed considering the dark underwater light and the existence of turbulent flow, which may lead to abnormal operation. 4. The traditional underwater robot often directly fixes each functional module on the robot main body, although some can be disassembled and replaced, but because they are fixed on the main body, they can only install functional modules with the same structure, which has poor expandability and cannot replace modules with different sizes or different functions according to the operation environment and operation requirements. SUMMARY

[0004] In order to overcome the above defects, the present application provides a submarine optical cable shearing robot, which specifically adopts the following technical scheme:

[0005] A submarine optical cable shearing robot comprises:

[0006] The main body piece includes a machine main body piece, a propulsion piece, a balance lifting piece, a sonar detection piece and a biological repelling piece, the propulsion piece provides power on the machine main body piece, the balance lifting piece provides rapid diving and floating on the machine main body piece, the sonar detection piece detects the seabed environment on the machine main body piece, and the biological repelling piece repels the surrounding seabed organisms on the machine main body piece.

[0007] The track piece is arranged on the machine main body piece to provide power after the machine main body piece sinks to the seabed.

[0008] The functional piece arranged on the machine main body piece includes a water gun module piece, a fixed pulley module piece and a shearing salvage module piece, the water gun module piece is quickly installed on the machine main body piece to clean the obstacles around the seabed cable, the fixed pulley module piece is quickly installed on the machine main body piece to be buckled on the seabed cable to be repaired, so that the machine main body piece moves along the seabed cable to be repaired, and the shearing salvage module piece is quickly installed on the machine main body piece to perform shearing salvage operation on the seabed cable to be repaired.

[0009] Preferably, the machine main body piece is provided with a mounting connecting piece, the mounting connecting piece includes mounting connecting seats, one side of the mounting connecting seats is fixedly arranged on the lower surface of the machine main body piece, and the two mounting connecting seats are symmetrically distributed; the two mounting connecting seats and the machine main body piece jointly form a T-shaped slot for mounting the functional piece; and the machine main body piece is connected to the surface mother ship through a cable.

[0010] Preferably, the machine main body piece is provided with vertical through holes, a plurality of vertical through holes are respectively arranged on the front left, rear left, front right and rear right of the machine main body piece; the propulsion piece includes a horizontal propeller and a differential propeller, the horizontal propeller is arranged in the vertical through hole, and the differential propeller is arranged on the rear side of the machine main body piece to propel the machine main body piece to move forward and backward.

[0011] Preferably, the balance lifting piece includes a water tank piece and a gyroscope, and the water tank piece and the gyroscope are arranged on the machine main body piece; the water tank piece includes a water tank and a bidirectional water pump, and the water tank and the bidirectional water pump are arranged inside the machine main body piece; the inside of the water tank is circumferentially separated into a plurality of small water tanks, and a plurality of small water tanks are symmetrically distributed on the machine main body piece; one end of the bidirectional water pump is in communication with the water tank, and the other end of the bidirectional water pump is in communication with the outside through the lower side of the machine main body piece; a plurality of bidirectional water pumps are arranged one by one inside the machine main body piece beside a plurality of small water tanks, and a plurality of bidirectional water pumps and a plurality of small water tanks are in one-to-one correspondence.

[0012] Preferably, the sonar detection member comprises a three-dimensional real-time imaging sonar system, and a plurality of sets of the three-dimensional real-time imaging sonar system are respectively arranged on the inclined lower surfaces of the front left, rear left, front right and rear right of the machine body member; the biological repelling member comprises a biological repelling device, and a plurality of the biological repelling devices are respectively arranged on the front and rear of the machine body member.

[0013] Preferably, the track member comprises a track support driving member and a track, the track support driving member is arranged on the lower surface of the machine body member through a plurality of connecting frames, and a plurality of the track support driving members are respectively and symmetrically arranged on both sides of the lower surface of the machine body member; the track is sleeved on the track support driving member, and a plurality of square protrusions are arranged on the outer side of the track to increase the friction; a plurality of the tracks are respectively and correspondingly sleeved on a plurality of the track support driving members.

[0014] Preferably, the water gun module member comprises a first quick mounting seat and a water gun module, the water gun module is arranged on the first quick mounting seat, the first quick mounting seat is T-shaped, and the first quick mounting seat cooperates with the T-shaped groove formed by the two mounting connecting seats; the water gun module is arranged on the first quick mounting seat, and the water gun module is fixedly embedded on the two mounting connecting seats through the first quick mounting seat; the water gun module comprises a first rotating seat, a second rotating seat and a high-pressure water gun, the first rotating seat is arranged on the first quick mounting seat to provide horizontal circumferential rotation force; the second rotating seat is arranged on the first rotating seat to provide vertical circumferential rotation force; the high-pressure water gun is arranged on the second rotating seat; a magnetic force detector and a multi-frequency three-dimensional synthetic aperture sonar are arranged on the first quick mounting seat, and the detection direction thereof faces downward.

[0015] Preferably, the fixed pulley module member comprises a second quick mounting seat and a fixed pulley module, the second quick mounting seat is the same in structure as the first quick mounting seat, the fixed pulley module is embedded on the two mounting connecting seats through the second quick mounting seat, and the fixed pulley module is located at the rear side of the water gun module; the fixed pulley module comprises a fixed pulley mounting frame, a first automatic telescopic rod and a roller, the fixed pulley mounting frame is arranged on one side of the second quick mounting seat, and two fixed pulley mounting frames are symmetrically arranged on both sides of the second quick mounting seat; the bottom end of the first automatic telescopic rod is arranged on the fixed pulley mounting frame, and the roller is arranged at the top end of the first automatic telescopic rod.

[0016] Preferably, the shearing fishing module comprises a third quick mounting seat, a grabbing piece, a shearing piece and a fishing piece, the third quick mounting seat is structurally identical with the first quick mounting seat, and is embedded in the mounting connecting seat; the grabbing piece, the shearing piece and the fishing piece are all arranged on the third quick mounting seat; the grabbing piece comprises a second automatic telescopic rod and a first gripping claw, the bottom end of the second automatic telescopic rod is arranged on the bottom surface of the third quick mounting seat, and the first gripping claw is arranged on the top end of the second automatic telescopic rod; the shearing piece comprises a third automatic telescopic rod and a shearing tongs, the bottom end of the third automatic telescopic rod is arranged on the third quick mounting seat, and the shearing tongs is arranged on the top end of the third automatic telescopic rod.

[0017] Preferably, the fishing piece comprises a fishing fixed unhooking piece, a fourth automatic telescopic rod and a second gripping claw, the fishing fixed unhooking piece is arranged on the machine body piece, the fourth automatic telescopic rod is arranged on the fishing fixed unhooking piece, and the second gripping claw is arranged on the fourth automatic telescopic rod; the fishing fixed unhooking piece comprises a fishing fixed tube, a fishing unhooking tube, a fishing bearing block, a magnetic coil and a magnet rod, one end surface of the fishing fixed tube is closed, the other end surface is open, a unhooking sliding long-hole through hole is arranged on the side wall of the fishing fixed tube, and one end of the unhooking sliding long-hole through hole is in communication with the other end surface of the fishing fixed tube; the side wall of the fishing fixed tube is fixedly arranged on the third quick mounting seat; the fishing unhooking tube is embedded in the fishing fixed tube, one end of the fishing bearing block passes through the unhooking sliding long-hole through hole and is fixedly arranged on the outer wall of the fishing unhooking tube; the magnetic coil is fixedly embedded on the inner wall of the fishing unhooking tube, and one end of the magnet rod passes through the magnetic coil and is fixedly arranged on the one end surface of the fishing fixed tube; the bottom end of the fourth automatic telescopic rod is arranged on the fishing bearing block, and the second gripping claw is arranged on the top end of the fourth automatic telescopic rod; the second gripping claw is connected with a winch on the ship on the sea through a steel cable; two sets of the grabbing pieces are symmetrically distributed on the front and rear sides of the shearing piece, and two sets of the fishing pieces are symmetrically distributed on the front and rear sides of the shearing piece, and the fishing pieces are located on the outer sides of the grabbing pieces.

[0018] The present application at least includes the following beneficial effects:

[0019] 1) The submarine optical cable shearing robot has high adaptability, high expansibility, low energy consumption, stable water bottom movement, high operation success rate under complex sea current conditions and low accident rate during submarine operation.

[0020] 2) The submarine optical cable shearing robot of the present application is provided with a mounting connector, a longer mounting connector can sequentially and quickly install a water gun module, a fixed pulley module and a shearing salvage module, and these different functional modules can be combined with each other to cooperate with each other, or the positions of the modules can be replaced to adapt to different working environments and different working requirements; at the same time, the mounting connector can facilitate the addition or replacement of different functional modules to meet different use requirements, thereby significantly improving the expansibility and adaptability of the equipment;

[0021] 3) The submarine optical cable shearing robot of the present application is provided with a water gun module, a fixed pulley module and a shearing salvage module, which can complete the three key steps of detection, salvage and shearing in one step, and the salvage claw can be fixed on the cut end generated by shearing at the same time, so that the underwater robot can more effectively grasp the window period of underwater operation, quickly complete all work and increase the success rate of operation under complex current conditions; in the water gun module, the water gun structure can rotate freely up and down and left and right, and can flush all around the silt and other materials covering the submarine optical cable; the shearing salvage module is provided with a hydraulic telescopic rod, which can penetrate the holding claw to a submarine cable to be repaired at a depth deeper than the submarine surface, and can grab it to the shearing jaw position, and the left and right parts of the fixed claw are separated, and the opening is large, so that even if the underwater robot is not accurately above the submarine optical cable, it can also be effectively grabbed; the salvage piece with a steel cable can be salvaged, and a large ship winch can generate enough pulling force, so that even in deep sea and heavy optical cable, salvage operation can be carried out, and the salvage piece is located at the outermost side of the shearing piece, so that even if the salvage piece slightly slides, the submarine cable to be repaired will not fall off the holding claw;

[0022] 4) The submarine optical cable shearing robot of the present application is provided with a track piece, a fixed pulley module and a three-dimensional real-time imaging sonar system, the track piece can stably move along the direction of the submarine optical cable, the fixed pulley module can keep the submarine optical cable in the middle of the lower side of the underwater robot, so as to facilitate the detection work of the water gun module, the magnetic detector and the multi-frequency three-dimensional synthetic aperture sonar; the fixed pulley module can facilitate the movement of the underwater robot along the submarine cable, so as to more effectively ensure that the submarine optical cable is always located directly below the underwater robot, at the same time, the pulley is connected by a hydraulic telescopic rod, which can adapt to submarine optical cables of different diameters, and has strong adaptability; three-dimensional real-time imaging sonar systems are respectively arranged at the left front, left rear, right front and right rear, and the systems are inclined downward, so as to more effectively scan the terrain conditions of the landing submarine, and the terrain information and the body state information obtained by the gyroscope are transmitted to the mother ship computer system through the cable, the computer system analyzes and then transmits the control command to the propeller and the water tank, so as to more accurately and quickly realize the control of the landing process and reduce the occurrence of accidents to the greatest extent;

[0023] 5) The submarine optical cable shearing robot of the present application is provided with horizontal propellers, water tanks and differential propellers, four horizontal propellers are symmetrically arranged, and a gyroscope is arranged below the water tanks, and the submarine robot can effectively maintain stability under complex water flow conditions through the linkage of the computer of the mother ship on the sea through the cable; the initial buoyancy and the floating and diving are set through the water tank, the work of the propeller is saved, the energy consumption is reduced, when the submarine robot touches the bottom, the robot can be guaranteed not to be easily affected by the sea current by injecting water into the water tank; the differential propeller can keep the equipment turning before touching the bottom, and the flexibility of the equipment is more effectively guaranteed;

[0024] 6) The submarine optical cable shearing robot of the present application is provided with a biological repelling device, which can ensure that it is not disturbed by underwater organisms during floating and diving and operation, and also ensures the safety of underwater organisms.

[0025] Other advantages, objects and features of the present application will be partly embodied in the following description, and partly understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a three-dimensional structure schematic diagram of the submarine optical cable shearing robot of the present application;

[0027] Figure 2 It is a bottom view of the submarine optical cable shearing robot of the present application;

[0028] Figure 3 It is a bottom view of the submarine optical cable shearing robot of the present application;

[0029] Figure 4 It is a bottom view of the submarine optical cable shearing robot of the present application;

[0030] Figure 5 It is a three-dimensional structure schematic diagram of the main body part of the submarine optical cable shearing robot of the present application;

[0031] Figure 6 It is a three-dimensional structure schematic diagram of the main body part of the submarine optical cable shearing robot of the present application;

[0032] Figure 7 It is a three-dimensional structure schematic diagram of the water tank part of the submarine optical cable shearing robot of the present application;

[0033] Figure 8 It is a three-dimensional structure schematic diagram of the water gun module part of the submarine optical cable shearing robot of the present application;

[0034] Figure 9 It is a three-dimensional structure schematic diagram of the fixed pulley module part of the submarine optical cable shearing robot of the present application;

[0035] Figure 10 Figure 1 is a schematic diagram of the three-dimensional structure of the cutting and fishing module of the submarine optical cable cutting robot of the present application;

[0036] Figure 11 Figure 2 is a schematic diagram of the three-dimensional structure of the grabbing element of the submarine optical cable cutting robot of the present application;

[0037] Figure 12 Figure 3 is a schematic diagram of the three-dimensional structure of the track element of the submarine optical cable cutting robot of the present application;

[0038] Figure 13 Figure 4 is a schematic diagram of the three-dimensional structure of the fishing and fixing unhooking element of the submarine optical cable cutting robot of the present application;

[0039] Figure 14 Figure 5 is a schematic diagram of the longitudinal section of the three-dimensional structure of the fishing and fixing unhooking element of the submarine optical cable cutting robot of the present application.

[0040] Wherein: 1 - main body element, 2 - track element, 3 - water gun module element, 4 - fixed pulley module element, 5 - cutting and fishing module element, 6 - track support driving element, 7 - track, 8 - connecting frame, 11 - mounting connecting seat, 12 - three-dimensional real-time imaging sonar system, 13 - horizontal propeller, 14 - differential thruster, 15 - biological repulsion device, 18 - second water pipe, 19 - water tank, 20 - fishing and fixing pipe, 21 - fishing and unhooking pipe, 22 - fishing and bearing block, 23 - magnetic coil, 24 - magnet rod, 31 - first quick mounting seat, 32 - magnetic detector, 41 - second quick mounting seat, 42 - fixed pulley mounting frame, 43 - first automatic telescopic rod, 44 - roller, 51 - third quick mounting seat, 52 - grabbing element, 53 - cutting element, 54 - fishing element, 55 - steel cable, 521 - second automatic telescopic rod. DETAILED DESCRIPTION

[0041] The technical solutions of the present application will be described in detail below by way of examples with reference to the accompanying drawings. It should be noted that the descriptions of these examples are used to help understand the present application, but do not constitute a limitation of the present application.

[0042] The term "and / or" in this paper is only a description of the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which means that there are three cases of A alone, B alone, and A and B together. The term "and" in this paper is used to describe another relationship between the associated objects, which means that there can be two kinds of relationships, for example, A / and B, which means that there are two cases of A alone and A and B together. In addition, the character " / " in this paper generally represents an "or" relationship between the associated objects before and after it.

[0043] According to Figures 1-14As shown, a submarine optical cable shearing robot comprises a main body, a track member 2 and a functional member, the track member 2 and the functional member are arranged on the main body. The main body comprises a machine main body 1, a propelling member, a balance lifting member, a sonar detection member and a biological repelling member, the propelling member, the balance lifting member, the sonar detection member and the biological repelling member are arranged on the machine main body 1. The machine main body 1 is provided with a mounting connecting member, the mounting connecting member comprises a mounting connecting seat 11, the mounting connecting seat 11 is in the shape of a right-angle block, the mounting connecting seat 11 is fixedly arranged on the lower surface of the machine main body 1 in a right-angle edge, the mounting connecting seat 11 is provided with two, two mounting connecting seats 11 are symmetrically distributed. Two other right-angle edges of two mounting connecting seats 11 and the machine main body 1 together form a T-shaped slot, so as to facilitate the installation of the functional member. The machine main body 1 is connected with a sea surface mother ship through a cable above, a reinforcing structure is arranged around the cable connected with the machine main body 1.

[0044] The machine main body 1 is provided with a vertical through hole, the axis of the vertical through hole is perpendicular to the plane formed by the machine main body 1, the vertical through hole is provided with four, four vertical through holes are respectively distributed on the left front, left rear, right front and right rear of the machine main body 1. The propelling member comprises a horizontal propeller 13 and a differential propeller 14, the horizontal propeller 13 is fixedly arranged in the vertical through hole, and is used to control the vertical rapid diving and rapid floating of the machine main body 1 by pushing upward or downward when started. Further, the horizontal propeller 13 is provided with four, four horizontal propellers 13 correspond to four vertical through holes one by one. To control the inclination angle of the machine main body 1. The differential propeller 14 is arranged on the rear side of the machine main body 1, which is used to propel the machine main body 1 to move forward and backward. Further, the differential propeller 14 is provided with two, two differential propellers 14 are symmetrically distributed on the machine main body 1.

[0045] The balance lifting piece includes a water tank piece and a gyroscope, and the water tank piece and the gyroscope are arranged on the machine body piece 1. The water tank piece includes a water tank 19 and a bidirectional water pump, and the water tank 19 and the bidirectional water pump are arranged inside the machine body piece 1. The inside of the water tank 19 is circumferentially divided into four small water tanks, and the four small water tanks are symmetrically distributed on the machine body piece 1. One end of the bidirectional water pump penetrates the water tank 19 through a first water pipe, and the other end of the bidirectional water pump penetrates the machine body piece 1 through a second water pipe 18 and is connected to the outside, so that the bidirectional water pump fills and drains water into the water tank 19 through the first water pipe and the second water pipe 18, thereby changing the overall density of the machine body piece 1 and further improving the rapid diving and floating efficiency of the machine body piece 1. The bidirectional water pump is provided with four, and the four bidirectional water pumps are arranged one by one inside the machine body piece 1 beside the four small water tanks, and the four bidirectional water pumps penetrate the four small water tanks one by one. Further, each small water tank is provided with a water collecting groove at the bottom, and the small water tank is connected with the first water pipe of the bidirectional water pump through the water collecting groove. The water collecting groove facilitates the pumping of water in the small water tank. The gyroscope is arranged inside the machine body piece 1 below the water tank 19.

[0046] The sonar detection piece includes a three-dimensional real-time imaging sonar system 12, which is provided with four sets, and the four sets of three-dimensional real-time imaging sonar system 12 are respectively distributed and installed on the inclined lower surfaces of the front left, rear left, front right and rear right of the machine body piece 1. The biological repelling piece includes a biological repelling device 15, which is arranged on the machine body piece 1, and the biological repelling device 15 is provided with two, and the two biological repelling devices 15 are respectively distributed in the front and rear of the machine body piece 1.

[0047] The gyroscope and the three-dimensional real-time imaging sonar system 12 obtain the balance state of the machine body piece 1 and the surrounding working environment information, and send the information to the sea mother ship computer system through the cable, analyze the working state of the current underwater robot, and send control information to the four bidirectional water pumps and the four horizontal propellers 13 according to the working state.

[0048] The track member 2 comprises track support driving members 6 and tracks 7, the track support driving members 6 are arranged on the machine body member 1, and the tracks 7 are arranged on the track support driving members 6. The track support driving members 6 are fixedly arranged on one side of the lower surface of the machine body member 1 through three connecting frames 8, and the track support driving members 6 receive power from the sea mother ship through the cable. The track support driving members 6 are arranged in two, and the two track support driving members 6 are symmetrically distributed on both sides of the lower surface of the machine body member 1. The tracks 7 are sleeved on the track support driving members 6, and square protrusions are arranged on the outer side of the tracks 7 to increase the friction. The tracks 7 are arranged in two, and the two tracks 7 are sleeved on the two track support driving members 6 one by one.

[0049] The function member comprises a water gun module member 3, a fixed pulley module member 4 and a shearing salvage module member 5, and the water gun module member 3, the fixed pulley module member 4 and the shearing salvage module member 5 are arranged on the machine body member 1. The water gun module member 3 comprises a first quick mounting seat 31 and a water gun module, and the water gun module is arranged on the first quick mounting seat 31. The first quick mounting seat 31 is T-shaped, and the first quick mounting seat 31 cooperates with the T-shaped groove formed by the two mounting connecting seats 11. The water gun module is fixedly arranged on the first quick mounting seat 31, and the water gun module is fixedly embedded on the two mounting connecting seats 11 through the first quick mounting seat 31, and the water gun module is located at the front end of the lower side of the machine body member 1. Further, after the first quick mounting seat 31 is embedded in the mounting connecting seat 11, the first quick mounting seat 31 is locked along the mounting connecting seat 11 in the longitudinal direction by the first screw. The water gun module comprises a vertical rotating shaft, a horizontal rotating shaft and high-pressure water guns, the vertical rotating shaft is fixedly arranged on the first quick mounting seat 31, the horizontal rotating shaft is fixedly arranged on the vertical rotating shaft, and the high-pressure water guns are fixedly arranged on the horizontal rotating shaft, and the two high-pressure water guns are symmetrically distributed on both sides of the horizontal rotating shaft. Further, a magnetic force detector 32 and a multi-frequency three-dimensional synthetic aperture sonar are arranged on the first quick mounting seat 31 in front of the water gun module, and the detection direction thereof faces downward to scan and check the submarine cable to be repaired to obtain the fault point position.

[0050] The fixed pulley module piece 4 comprises a second quick mounting base 41 and a fixed pulley module, the second quick mounting base 41 is arranged on the mounting connecting base 11, and the fixed pulley module is arranged on the second quick mounting base 41. The second quick mounting base 41 is the same structure as the first quick mounting base 31. The fixed pulley module is fixedly embedded on two mounting connecting bases 11 through the second quick mounting base 41, and the fixed pulley module is located at the rear side of the water gun module. Further, after the second quick mounting base 41 is embedded in the mounting connecting base 11, the second quick mounting base 41 is locked along the mounting connecting base 11 in the longitudinal direction by a second screw. The fixed pulley module comprises a fixed pulley mounting frame 42, a first automatic telescopic rod 43 and a roller 44, the fixed pulley mounting frame 42 is fixedly arranged on one side of the second quick mounting base 41, and the fixed pulley mounting frame 42 is provided with two, and the two fixed pulley mounting frames 42 are symmetrically distributed on both sides of the second quick mounting base 41. The first automatic telescopic rod 43 is fixedly arranged at the bottom of the fixed pulley mounting frame 42, and a plurality of first automatic telescopic rods 43 are evenly distributed on the fixed pulley mounting frame 42. The roller 44 is arranged at the top end of the first automatic telescopic rod 43, and a plurality of rollers 44 are arranged one by one on the top end of a plurality of first automatic telescopic rods 43. So that when the first automatic telescopic rod 43 automatically extends and shortens, it can drive the roller 44 to rise and fall, and then the rollers 44 on the two fixed pulley mounting frames 42 can be buckled on the submarine cable to be repaired, so that the machine body piece 1 moves along the trend of the submarine cable to be repaired through the first pulley, so that the machine body piece 1 always detects and repairs the submarine cable to be repaired above the submarine cable to be repaired.

[0051] The shearing fishing module 5 comprises a third quick mounting base 51, a grabbing part 52, a shearing part 53 and a fishing part 54. The third quick mounting base 51 is identical in structure with the first quick mounting base 31, is embedded in the mounting connecting base 11 and is longitudinally locked in the mounting connecting base 11 by a third screw, and is located at the rear side of the second quick mounting base 41. The grabbing part 52, the shearing part 53 and the fishing part 54 are all arranged on the third quick mounting base 51. The grabbing part 52 comprises a second automatic telescopic rod 521 and a first grabbing claw. The bottom end of the second automatic telescopic rod 521 is fixedly arranged on the bottom surface of the third quick mounting base 51, and the first grabbing claw is fixedly arranged on the top end of the second automatic telescopic rod 521. When the machine body 1 moves above the submarine cable to be repaired, the first grabbing claw is inserted into the sand to grab the submarine cable to be repaired by extending the second automatic telescopic rod 521, and then the submarine cable to be repaired is moved into the shearing part 53 to be sheared by retracting the second automatic telescopic rod 521.

[0052] The shearing part 53 comprises a third automatic telescopic rod and a shearing clamp. The bottom end of the third automatic telescopic rod is fixedly arranged on the third quick mounting base 51, and the third automatic telescopic rod is located behind the second automatic telescopic rod 521. The shearing clamp is fixedly arranged on the top end of the third automatic telescopic rod. Further, the shearing clamp is an electric shearing clamp or a hydraulic automatic shearing clamp. In order to automatically shear the submarine cable to be repaired grabbed by the grabbing part 52, the fishing part 54 drags the sheared submarine cable to be repaired to the sea mother ship for treatment.

[0053] The fishing member 54 comprises a fishing fixed unhooking member, a fourth automatic telescopic rod and a second gripping claw. The fishing fixed unhooking member is arranged on the machine body member 1. The fourth automatic telescopic rod is arranged on the fishing fixed unhooking member. The second gripping claw is arranged on the fourth automatic telescopic rod. The fishing fixed unhooking member comprises a fishing fixed tube 20, a fishing unhooking tube 21, a fishing bearing block 22, a magnetic coil 23 and a magnetic bar 24. The fishing fixed tube 20 is closed at one end and open at the other end. A unhooking sliding long hole is arranged on the side wall of the fishing fixed tube 20. The unhooking sliding long hole is in communication with the other end of the fishing fixed tube 20. The side wall of the fishing fixed tube 20 is fixedly arranged on the third quick mounting seat 51. The outer diameter of the fishing unhooking tube 21 is not greater than the inner diameter of the fishing fixed tube 20. The fishing unhooking tube 21 is embedded in the fishing fixed tube 20, so that the fishing unhooking tube 21 can slide axially in the fishing fixed tube 20. The fishing bearing block 22 is fixedly arranged on the outer wall of the fishing unhooking tube 21 after penetrating through the unhooking sliding long hole. The magnetic coil 23 is fixedly embedded on the inner wall of the fishing unhooking tube 21. The magnetic bar 24 is fixedly arranged on the one end of the fishing fixed tube 20 after penetrating through the magnetic coil 23. The axis of the magnetic bar 24 coincides with the axis of the fishing fixed tube 20. Because the magnetic poles of the two ends of the magnetic bar 24 are fixed, when the magnetic coil 23 passes through the forward current to generate the magnetic field, it will drive the fishing unhooking tube 21 to slide into the one end of the fishing fixed tube 20. When the magnetic coil 23 passes through the reverse current to generate the magnetic field, it will drive the fishing unhooking tube 21 to automatically and quickly slide out of the fishing fixed tube 20, so as to complete the unhooking of the fourth automatic telescopic rod and the third quick mounting seat 51. The bottom end of the fourth automatic telescopic rod is fixedly arranged on the fishing bearing block 22. The second gripping claw is fixedly arranged on the top end of the fourth automatic telescopic rod. Further, the second gripping claw is connected with the winch on the sea surface ship through the steel cable 55. After the fourth automatic telescopic rod is unhooked from the third quick mounting seat 51 through the fishing fixed unhooking member, the sea surface ship drags the cut-off submarine cable gripped by the cutting tongs to the sea surface ship for maintenance through the steel cable 55.

[0054] Further, the grabbing member 52 is provided with two sets, and the two sets of grabbing members 52 are respectively symmetrically distributed on the front and rear sides of the cutting member 53. The fishing member 54 is provided with two sets, and the two sets of fishing members 54 are respectively symmetrically distributed on the front and rear sides of the cutting member 53. The fishing member 54 is located on the outside of the grabbing member 52.

[0055] While embodiments of the application have been disclosed in connection with the above specification and drawings this description is not intended to limit the scope of the application and many modifications, enhancements, alternatives, and variations will become apparent to those skilled in the art from this disclosure. Accordingly, it is intended that the application not be limited to the described embodiments, but that it include all variations falling within the scope of the claims, and their equivalents.

Claims

1. A submarine optical cable cutting robot, characterized in that, include: The main body includes a machine body, a propulsion component, a balancing and lifting component, a sonar detection component, and a biological repelling component. The propulsion component provides power to the machine body, the balancing and lifting component provides rapid descent and ascent to the machine body, the sonar detection component detects the seabed environment on the machine body, and the biological repelling component repels surrounding seabed organisms on the machine body. Track components, which are mounted on the main body of the machine, provide power for the main body of the machine to sink to the seabed; The functional components, which are mounted on the main body of the machine, include a water gun module, a fixed pulley module, and a cutting and salvage module. The water gun module is quickly installed on the main body of the machine to clear obstacles around the submarine cable. The fixed pulley module is quickly installed on the main body of the machine to fasten onto the submarine cable to be repaired, so that the main body of the machine can move along the route of the submarine cable to be repaired. The cutting and salvage module is quickly installed on the main body of the machine to perform cutting and salvage operations on the submarine cable to be inspected. The main body of the machine is provided with an installation connector, which includes an installation connector base. The water gun module includes a first quick-mount base and a water gun module. The shearing and retrieval module includes a third quick-mount base, a gripping component, a shearing component, and a retrieval component. The third quick-mount base has the same structure as the first quick-mount base and is embedded in the installation connector base. The gripping component, the shearing component, and the retrieval component are all disposed on the third quick-mount base. The gripping component includes a second automatic telescopic rod and a first gripping claw. The bottom end of the second automatic telescopic rod is disposed on the bottom surface of the third quick-mount base, and the first gripping claw is disposed on the top end of the second automatic telescopic rod. The shearing component includes a third automatic telescopic rod and shearing clamps. The bottom end of the third automatic telescopic rod is disposed on the third quick-mount base, and the shearing clamps are disposed on the top end of the third automatic telescopic rod. The retrieval component includes a retrieval fixing and unhooking component, a fourth automatic telescopic rod, and a second gripping claw. The retrieval fixing and unhooking component is mounted on the main body of the machine, the fourth automatic telescopic rod is mounted on the retrieval fixing and unhooking component, and the second gripping claw is mounted on the fourth automatic telescopic rod. The retrieval fixing and unhooking component includes a retrieval fixing tube, a retrieval unhooking tube, a retrieval bearing block, a magnetic coil, and a magnetic rod. One end of the retrieval fixing tube is closed, and the other end is open. A long strip through-hole for unhooking sliding is provided on the side wall of the retrieval fixing tube, and one end of the long strip through-hole for unhooking sliding is connected to the other end of the retrieval fixing tube. The side wall of the retrieval fixing tube is fixedly mounted on the third quick-mounting seat. The retrieval unhooking tube is embedded in... Inside the salvage fixing tube, one end of the salvage bearing block passes through the unhooking sliding elongated through hole and is fixedly installed on the outer wall of the salvage unhooking tube; the magnetic coil is fixedly embedded in the inner wall of the salvage unhooking tube, and one end of the magnet rod passes through the magnetic coil and is fixedly installed on one end face of the salvage fixing tube; the bottom end of the fourth automatic telescopic rod is set on the salvage bearing block, and the second gripping claw is set on the top end of the fourth automatic telescopic rod; the second gripping claw is connected to the winch on the mother ship at sea via a steel cable; two sets of gripping components are symmetrically distributed on the front and rear sides of the shearing component, and two sets of salvage components are symmetrically distributed on the front and rear sides of the shearing component, with the salvage components located outside the gripping components.

2. The submarine optical cable cutting robot according to claim 1, characterized in that, One side of the mounting connector is fixedly disposed on the lower surface of the main body of the machine, and the two mounting connectors are symmetrically distributed; the two mounting connectors and the main body of the machine together form a T-shaped groove for mounting the functional component; the main body of the machine is connected to the mother ship on the sea surface via a cable at its top.

3. The submarine optical cable cutting robot according to claim 1 or 2, characterized in that, The main body of the machine is provided with vertical through holes, and multiple vertical through holes are respectively distributed on the front left, rear left, front right, and upper right rear of the main body of the machine; the propulsion component includes a horizontal propeller and a differential propeller, the horizontal propeller is disposed in the vertical through holes, and the differential propeller is disposed on the rear side of the main body of the machine to propel the main body of the machine to move back and forth.

4. The submarine optical cable cutting robot according to claim 1 or 2, characterized in that, The balancing and lifting component includes a water tank and a gyroscope, both of which are mounted on the main body of the machine. The water tank includes a water tank and a bidirectional water pump, both of which are located inside the main body of the machine. The water tank is circumferentially divided into multiple smaller water tanks, which are symmetrically distributed on the main body of the machine. One end of the bidirectional water pump is connected to the water tank, and the other end passes through the lower side of the main body of the machine and communicates with the outside. The multiple bidirectional water pumps are arranged one-to-one inside the main body of the machine next to the multiple smaller water tanks, and each of the multiple bidirectional water pumps is connected to one of the multiple smaller water tanks.

5. The submarine optical cable cutting robot according to claim 1 or 2, characterized in that, The sonar detection device includes a three-dimensional real-time imaging sonar system, and multiple sets of the three-dimensional real-time imaging sonar systems are respectively distributed and installed on the inclined lower surface of the left front, left rear, right front and right rear of the main body of the machine; the biological expulsion device includes a biological expulsion device, which is disposed on the main body of the machine, and multiple biological expulsion devices are respectively distributed in front of and behind the main body of the machine.

6. The submarine optical cable cutting robot according to claim 1 or 2, characterized in that, The track component includes track support drive components and tracks. The track support drive components are mounted on the lower surface of the machine body component via multiple connecting brackets. The multiple track support drive components are symmetrically distributed on both sides of the lower surface of the machine body component. The tracks are fitted onto the track support drive components, and square protrusions are provided on the outer surface of the tracks to increase friction. The multiple tracks are fitted onto the multiple track support drive components one by one.

7. The submarine optical cable cutting robot according to claim 2, characterized in that, The water gun module is mounted on the first quick-mount base, which is T-shaped and mates with a T-shaped groove formed by the two mounting connectors. The water gun module is fixedly embedded in the two mounting connectors via the first quick-mount base. The water gun module includes a first rotating base, a second rotating base, and a high-pressure water gun. The first rotating base is mounted on the first quick-mount base to provide horizontal circumferential rotational force. The second rotating base is mounted on the first rotating base to provide vertical circumferential rotational force. The high-pressure water gun is mounted on the second rotating base. The first quick-mount base is equipped with a magnetic field detector and a multi-frequency three-dimensional synthetic aperture sonar, with its detection direction facing directly downwards.

8. The submarine optical cable cutting robot according to claim 7, characterized in that, The fixed pulley module includes a second quick-mounting seat and a fixed pulley module. The second quick-mounting seat has the same structure as the first quick-mounting seat. The fixed pulley module is embedded in the two mounting connectors through the second quick-mounting seat, and the fixed pulley module is located on the rear side of the water gun module. The fixed pulley module includes a fixed pulley mounting bracket, a first automatic telescopic rod, and a roller. The fixed pulley mounting bracket is disposed on one side of the second quick-mounting seat, and the two fixed pulley mounting brackets are symmetrically distributed on both sides of the second quick-mounting seat. The bottom end of the first automatic telescopic rod is disposed on the fixed pulley mounting bracket, and the roller is disposed on the top end of the first automatic telescopic rod.

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