Umbilical cable management system

Abstract

The invention discloses an umbilical cable management system which comprises a main frame, a locking mechanism and an underwater robot, the locking mechanism comprises a fixed base, a telescopic part, a movable base and a locking disc, the upper end of the telescopic part is connected to the fixed base, and the lower end of the telescopic part is fixed to the movable base; the telescopic part stretches and retracts to drive the movable base to reciprocate relative to the fixed base, the locking disc is installed on the lower portion of the movable base, a containing cavity for containing the underwater robot is formed in the main frame, the fixed base is fixed to the portion, beside the containing cavity, of the main frame, and when the underwater robot moves into the containing cavity, the telescopic part stretches, and the movable base moves. The locking disc is driven to press and fix the underwater robot in the containing cavity, the telescopic part contracts, the movable base moves, and the locking disc is driven to be away from the underwater robot. An automatic locking and unlocking mode is provided when the underwater robot is laid and recycled, and the situation that the underwater robot collides with the main frame and is damaged due to violent shaking under the complex sea condition is effectively prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an umbilical cable management system. Background Art

[0002] Underwater robots are generally lowered underwater from the deck operating platform via an umbilical cable. During this process, the umbilical cable may be damaged or entangled due to various accidents, and the cable is subject to greater resistance from the ocean current. For this reason, the umbilical cable management system (TMS) was developed. The umbilical cable management system (TMS) is a relay device used for deep-sea deployment and recovery of underwater robots. The umbilical cable management system includes a deployment frame, an underwater robot and a winch. The underwater robot and the winch are mounted on the deployment frame. First, the umbilical cable management system is vertically lowered to the operating depth through a lifting device. The underwater robot drives out of the deployment frame to operate. During the process, the winch deploys or recovers the umbilical cable according to the operating range of the underwater robot and tows it. It can be seen that the underwater robot needs to be locked and unlocked with the deployment frame through a locking mechanism. For example, the patent with publication number CN209241284U discloses a cable-controlled underwater robot deployment and recovery device. The deployment device is provided with a chamber for accommodating the underwater robot. One side of the chamber is a deployment port. The underwater robot enters the chamber through the deployment port. A locking mechanism is provided in the chamber. The remote control device controls the locking and unlocking of the locking mechanism to connect or disconnect the robot body to the deployment device. One end of the umbilical cable assembly passes through the deployment device and is connected to the robot body. However, the existing locking structure is complex. For this reason, the present invention provides a locking mechanism that facilitates the underwater robot to be fixed and disconnected from the deployment frame, and also provides a corresponding deployment frame.

[0003] The winch is an important part of the umbilical cable management system. It can be divided into a manual winch and an automatic winch (also known as an electric winch) according to the driving mode. Both winches include a drum for accommodating cables and a cable arrangement assembly. The difference lies in whether the power for driving the drum and the cable arrangement assembly is human or electric. The applicant unit has previously developed a manual winch with a cable arrangement device (Announcement No. CN213416092U), including a winch module, a transmission module and a cable arrangement module, wherein the cable arrangement module includes a reciprocating screw, an optical axis, a transmission nut, a guide wheel, a guide fixing rod and a fixing plate, the reciprocating screw, the optical axis and the drum shaft in the winch module are arranged parallel, the drum shaft is connected to the reciprocating screw through the transmission module, driving the reciprocating screw and the drum transmission shaft to rotate together according to a certain transmission ratio, the transmission nut is rotationally connected to the reciprocating screw, the transmission nut is sleeved on the optical axis, the fixing plate is placed above the transmission nut, the two guide wheels are fixed to the fixing plate by the guide wheel fixing rod and the butterfly nut respectively, the two guide wheels are close to each other, and a guide hole for the cable to pass through is formed in the middle. The following problems exist during its use: (1) Workers must assist in laying out the cables on site and cannot remotely control the device; (2) The two guide wheels in the cable assembly only serve as guides and cannot tension the cables between the cable assembly and the drum, so the cables are prone to confusion, tangling, and squeezing; (3) After the drive motor is connected to the end of the reel to form an automatic control device, it is difficult to automatically monitor the process of retracting and releasing the cables to determine whether the operation is complete. Summary of the invention

[0004] The object of the present invention is to provide an umbilical cable management system, which solves the problems of cumbersome locking and unlocking of the underwater robot and the system body in the umbilical cable management system, and the inability of the electric winch to automatically arrange the cable and timely and automatically monitor the cable retraction and release.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An umbilical cable management system comprises a main frame, a locking mechanism and an underwater robot, wherein the locking mechanism comprises a fixed base, a telescopic part, a mobile base and a locking disc, the upper end of the telescopic part is connected to the fixed base, and the lower end of the telescopic part is fixed to the mobile base, the extension and contraction of the telescopic part drives the mobile base to reciprocate relative to the fixed base, the locking disc is installed at the lower part of the mobile base, a accommodating cavity for accommodating the underwater robot is arranged in the main frame, the fixed base is fixed on the main frame next to the accommodating cavity, the underwater robot moves into the accommodating cavity, the telescopic part extends, the mobile base moves, driving the locking disc to press and fix the underwater robot in the accommodating cavity, the telescopic part contracts, the mobile base moves, driving the locking disc to move away from the underwater robot.

[0007] Furthermore, the umbilical cable management system also includes an electric winch, which is fixed to the main frame, the umbilical cable is wound around the electric winch, the free end of the umbilical cable is connected to the underwater robot, and the electric winch is used for automatic retraction and release of the umbilical cable.

[0008] Furthermore, the umbilical cable management system also includes a pan-tilt camera, which is fixed to the main frame and placed on the upper side of the underwater robot, and is used to collect underwater image data of the deployment of the underwater robot.

[0009] Furthermore, the fixed base and the movable base both include a base plate and a circular ring. A circular hole is provided in the middle of the base plate. The circular ring is fixed on the circular hole, and the umbilical cable passes through the circular ring.

[0010] As an implementation method, the telescopic part includes a first connecting rod, a first push rod and a second connecting rod. The top ends of the four first connecting rods are symmetrically hinged at the bottom of the fixed base, and the bottom ends of the four second connecting rods are symmetrically hinged at the upper part of the movable base. The bottom end of the first connecting rod is hinged to the corresponding top end of the second connecting rod. A first push rod is respectively arranged on the left and right sides, the top end of the first push rod is connected to the fixed base, and the bottom end of the first push rod is connected to the movable base.

[0011] As an implementation method, the main frame includes a bottom grid plate, a column, a guide grid plate, a front grid plate, a second push rod and a top frame; the bottom grid plate, the guide grid plate and the top frame are arranged in sequence from bottom to top, and the four corners of the bottom grid plate, the guide grid plate and the top frame are respectively fixed on the four columns to form a rectangular frame structure, a slot is provided on the front side of the guide grid plate, and the opening of the slot gradually narrows inward to form an isosceles trapezoidal structure, a receiving chamber for accommodating an underwater robot is surrounded by the slots of the bottom grid plate, the top frame and the front grid plate, and the opening side of the slot forms an entrance to the receiving chamber, the front grid plate is installed at the entrance of the receiving chamber, the bottom of the front grid plate is hinged to the bottom grid plate, and both sides of the front grid plate are connected to the columns on both sides of the entrance of the receiving chamber through a second push rod to form an automatic door for opening the receiving chamber, the electric winch is fixed in the top frame, and the fixed base is installed on the top frame at the upper part of the receiving chamber.

[0012] The electric winch comprises a fixed frame, a drum, a drum motor, an encoder, a transmission mechanism, a cable arrangement module and a screw slider mechanism; wherein the screw slider mechanism comprises a screw rod, a fixed rod and a slider; the rotating shafts at both ends of the drum are mounted on both sides of the fixed frame and are both rotatably connected to the fixed frame, the output shaft of the drum motor is connected to the rotating shaft at one end of the drum, both ends of the fixed rod are fixed to the fixed frame, the screw rod is arranged parallel to the fixed rod and is placed on the outside of the drum, threaded holes and through holes are respectively provided on the slider, the fixed rod passes through the through hole, the screw rod is threadedly connected to the threaded hole, one end of the screw rod is rotatably connected to the output shaft of the drum motor through the transmission mechanism, the other end of the screw rod is rotatably connected to the fixed frame, the cable arrangement module is mounted on the upper part of the slider, and the encoder is fixed on the output shaft of the drum motor to record the number of rotations of the drum.

[0013] The cable arrangement module includes a fixed seat, a bearing seat, a spring, a first tensioning wheel, a plug screw, a second tensioning wheel and a tensioning motor, a guide shaft, a first wheel shaft, a slot and a micro switch. A bearing seat is fixed on the left and right sides of the front end of the fixed seat respectively, and the first tensioning wheel and the second tensioning wheel are arranged in sequence between the two bearing seats. A gap is formed between the first tensioning wheel and the second tensioning wheel for the umbilical cable to pass through. The two ends of the axle of the second tensioning wheel are rotatably connected to the left and right bearing seats respectively, and one end of the axle of the second tensioning wheel is connected to the output shaft of the tensioning motor. The first tensioning wheel is rotatably connected to the first wheel shaft, and the two ends of the first wheel shaft are rotatably connected to the slots of the bearing seats on both sides and can move up and down along the slots. A through hole is opened on the first wheel shaft, and a plug screw is fixed on the top plate of the fixing seat after passing through the through hole and the spring. The spring is compressed, and a pair of guide shafts are fixed in the cavity at the rear end of the fixing seat. A gap for the umbilical cable to pass through is formed between the two guide shafts. The umbilical cable passes through the gap between the first tensioning wheel and the second tensioning wheel and between the two guide shafts. A micro switch is fixed on the upper part of the top plate of the fixing seat, and the micro switch is connected with the electrical signal of the tensioning motor. The diameter of the thick handle at the free end of the umbilical cable is larger than the diameter of the umbilical cable. When the thick handle at the free end of the umbilical cable enters the gap between the first tensioning wheel and the second tensioning wheel, the first tensioning wheel is lifted up, and the first tensioning wheel touches the micro switch, sending a control signal to the tensioning motor, and the tensioning motor stops working.

[0014] The electric winch also includes a photoelectric switch, which is installed on the drum and shielded by the fixed end of the umbilical cable wound on the drum. The photoelectric switch is connected to the drum motor and the tensioning motor by electrical signals.

[0015] The electric winch and the control cabinet are respectively connected with the drum motor, the encoder, the tensioning motor, the micro switch, the photoelectric switch, the pan / tilt camera, the first push rod, the second push rod and the underwater robot to control the operation of the corresponding components.

[0016] The beneficial effects of the present invention are as follows: (1) It provides an automatic locking and unlocking method for an underwater robot during deployment and recovery. The underwater robot is locked with the main frame to prevent the underwater robot from colliding with the main frame and being damaged due to severe shaking in complex sea conditions. At the same time, the main frame surrounds the outside of the underwater robot to prevent the underwater robot from colliding with the external environment and being damaged; (2) It provides a method and a guide structure for realizing robot deployment and recovery, so that the underwater robot can return to the interior of the umbilical cable management system more accurately; (3) The drum motor and the tensioner are connected to the umbilical cable management system to realize the automatic locking and unlocking of the underwater robot. The combination of two motors realizes the functions of motor tensioning and cable arrangement, and automatically retracts and releases the umbilical cable; (4) The thick handle at the free end of the umbilical cable cooperates with the micro switch, and the umbilical cable fixing tube cooperates with the photoelectric switch to timely determine the end point of the cable retraction and release, and the system stops running after being triggered; (5) The umbilical cable tensioning module structure can retract and release the umbilical cable through elastic force and friction force; (6) The setting of the guide shaft can guide the umbilical cable when the umbilical cable tensioning module translates, so that the umbilical cable translates accordingly; (7) It has the function of umbilical cable status detection to prevent accidental damage to the umbilical cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a stereoscopic diagram of the umbilical cable management system involved in Example 1.

[0018] Figure 2 This is a main view of the status of the umbilical cable management system involved in Example 1.

[0019] Figure 3 This is the second main view of the umbilical cable management system status involved in Example 1.

[0020] Figure 4 This is a three-dimensional diagram of the locking mechanism involved in Example 1.

[0021] Figure 5 This is a diagram showing the state of the locking mechanism involved in Example 1.

[0022] Figure 6 This is a second diagram showing the state of the locking mechanism involved in Example 1.

[0023] Figure 7 This is a partial exploded view of the main frame involved in Example 1.

[0024] Figure 8 This is a three-dimensional diagram of the electric winch involved in Example 2.

[0025] Fig. 9 for Figure 8 Schematic diagram of the inner structure of the electric winch drum.

[0026] Fig.10 This is a three-dimensional diagram of the cable arrangement module involved in Example 2.

[0027] Fig.11 The front view (left) and side view (right) of the cable arrangement module involved in Example 2.

[0028] Fig.12 This is a side view of the cable arrangement module when the micro switch involved in Example 2 is triggered.

[0029] Fig.13 This is the flow chart of cable reeling with electric winch.

[0030] Fig.14 This is the flow chart of cable release by electric winch. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0032] Example 1

[0033] like Figure 1-6 As shown, an umbilical cable management system involved in this embodiment includes a main frame 1, a locking mechanism 5 and an underwater robot 6, wherein the locking mechanism 5 includes a fixed base 501, a telescopic part, a mobile base 505 and a locking disc 506, the upper end of the telescopic part is connected to the fixed base 501, and the lower end of the telescopic part is fixed to the mobile base 505, the extension and contraction of the telescopic part drives the mobile base 505 to reciprocate relative to the fixed base 501, the locking disc 506 is installed at the lower part of the mobile base 505, a receiving cavity for accommodating the underwater robot 6 is provided in the main frame 1, and the fixed base 501 is fixed on the main frame 1 next to the receiving cavity, the underwater robot 6 moves into the receiving cavity, the telescopic part extends, the mobile base 505 moves, and drives the locking disc 506 to press and fix the underwater robot 6 in the receiving cavity, so as to lock the underwater robot, the telescopic part contracts, the mobile base 505 moves, and drives the locking disc 506 to move away from the underwater robot 6, so as to unlock the underwater robot 6.

[0034] Furthermore, the umbilical cable management system involved in this embodiment further includes an electric winch 2, the electric winch 2 is fixed to the main frame 1, the umbilical cable is wound around the electric winch 2, the free end of the umbilical cable is connected to the underwater robot 6, and the electric winch 2 is used for automatic retraction and release of the umbilical cable. The specific structure of the electric winch 2 is not limited in this embodiment.

[0035] Preferably, in order to facilitate the retraction and deployment of the umbilical cable and the underwater robot 6, the electric winch 2 is fixed above the main frame 1, the accommodating chamber is placed below the main frame 1, and the fixed base 501 is fixed on the main frame 1 between the electric winch 2 and the accommodating chamber. Of course, other feasible discharge methods can also be adopted.

[0036] Furthermore, the umbilical cable management system involved in this embodiment also includes a pan-tilt camera 4, which is fixed to the main frame 1 and placed on the upper side of the underwater robot, and is used to collect underwater image data of the underwater robot.

[0037] It should be noted that: in order to facilitate the lowering of the umbilical cable, the fixed base 501 and the movable base 505 both include a base plate and a circular ring. A circular hole is opened in the middle of the base plate, and the circular ring is fixed on the circular hole. The umbilical cable passes through the circular ring, which can protect the umbilical cable and also has a certain restraining and guiding effect on the umbilical cable.

[0038] It should be noted that the telescopic part can be one or more, such as two, and the two telescopic parts are fixed symmetrically between the fixed base 501 and the movable base 505. As an implementation method, Figure 4-6 As shown, the telescopic part includes a first connecting rod 502, a first push rod 503 and a second connecting rod 504. The top ends of the four first connecting rods 502 are symmetrically hinged at the bottom of the fixed base 501, and the bottom ends of the four second connecting rods 504 are symmetrically hinged at the upper part of the movable base 505. The bottom end of the first connecting rod 502 is hinged to the top end of the corresponding second connecting rod 504. A first push rod 503 is respectively arranged on the left and right sides. The top end of the first push rod 503 is connected to the fixed base 501, and the bottom end of the first push rod 503 is connected to the movable base 505.

[0039] As a way to achieve this, Figure 7As shown, the main frame 1 includes a bottom grid plate 101, a column 102, a guide grid plate 103, a front grid plate 104, a second push rod 105 and a top frame 106; the bottom grid plate 101, the guide grid plate 103 and the top frame 106 are arranged in sequence from bottom to top, and the four corners of the bottom grid plate 101, the guide grid plate 103 and the top frame 106 are respectively fixed on four columns to form a rectangular frame structure, a slot is provided on the front side of the guide grid plate 103, and the opening of the slot gradually narrows inward to form an isosceles trapezoidal structure, and a holding chamber for holding the underwater robot is surrounded by the slots of the bottom grid plate 101, the top frame 106 and the front grid plate 104, and the opening side of the slot forms an entrance to the holding chamber, and the front grid plate 104 is installed at the entrance of the holding chamber The bottom of the front grid plate 104 is hinged to the bottom grid plate 101, and both sides of the front grid plate 104 are connected to the columns 102 on both sides of the entrance of the accommodating chamber through a second push rod 105, forming an automatic door for opening the accommodating chamber, the electric winch 2 is fixed in the top frame 106, and the fixed base 501 is installed on the top frame 106 at the upper part of the accommodating chamber. The electric winch 2, the locking mechanism 5 and the accommodating chamber (underwater robot 6) are vertically distributed on the same straight line. The underwater robot 6 moves into the accommodating chamber, the telescopic part extends, the movable base 505 and the locking disc 506 move downward, and the underwater robot 6 is pressed against the bottom grid plate 101, the telescopic part shrinks, the movable base 505 and the locking disc 506 move upward, and the underwater robot 6 is released, and the underwater robot 6 moves out of the accommodating chamber.

[0040] The umbilical cable management system involved in this embodiment also includes a control cabinet 3, which is connected to the electric winch 2, the pan-tilt camera 4, the first push rod 503, the second push rod 105 and the underwater robot 6 respectively to control the operation of the corresponding components.

[0041] Example 2

[0042] The present embodiment relates to an umbilical cable management system, which is the same as the first embodiment except for the electric winch 2 .

[0043] like Figure 8-9As shown, an electric winch involved in this embodiment includes a fixed frame 2-1, a drum 2-2, a drum motor 2-3, an encoder 2-4, a transmission mechanism 2-5, a cable arrangement module 2-7 and a screw slider mechanism 2-8; wherein the screw slider mechanism 2-8 includes a screw 2-801, a fixed rod 2-802 and a slider 2-803; the rotating shafts at both ends of the drum 2-2 are installed on both sides of the fixed frame 2-1 and are rotatably connected to the fixed frame 2-1, the output shaft of the drum motor 2-3 is connected to the rotating shaft at one end of the drum 2-2, and both ends of the fixed rod 2-802 are fixed to the fixed frame 2 -1, the screw rod 2-801 is arranged parallel to the fixed rod 2-802 and is placed on the outside of the reel 2-2, and a threaded hole and a through hole are respectively provided on the slider 2-803. The fixed rod 2-802 passes through the through hole, and the screw rod 2-801 is threadedly connected to the threaded hole. One end of the screw rod 2-801 is rotatably connected to the output shaft of the reel motor 2-3 through the transmission mechanism 2-5, and the other end of the screw rod 2-801 is rotatably connected to the fixed frame 2-1. The cable arrangement module 2-7 is installed on the upper part of the slider 2-803, and the encoder 2-4 is fixed on the output shaft of the reel motor 2-3 to record the number of rotations of the reel 2-2.

[0044] like Figure 10-12 As shown, the cable arrangement module 2-7 includes a fixed seat 2-701, a bearing seat 2-702, a spring 2-703, a first tensioning wheel 2-704, a plug screw 2-705, a second tensioning wheel 2-706 and a tensioning motor 2-707, a guide shaft 2-708, a first wheel shaft 2-710, and a slot 2-712. A bearing seat 2-702 is fixed on the left and right sides of the front end of the fixed seat 2-701, and the first tensioning wheel 2-704 and the second tensioning wheel 2-706 are arranged in sequence between the two bearing seats 2-702. A gap for the umbilical cable to pass through is formed between the first tensioning wheel 2-704 and the second tensioning wheel 2-706. The two ends of the wheel shaft of the second tensioning wheel 2-706 are rotatably connected to the left and right bearing seats 2-702 respectively, and one end of the wheel shaft of the second tensioning wheel 2-706 is connected to the tensioning motor 2-707 output shaft is connected, the first tensioning wheel 2-704 is rotatably connected to the first wheel shaft 2-710, both ends of the first wheel shaft 2-710 are rotatably connected to the slots 2-712 of the bearing seats 2-702 on both sides and can move up and down along the slots 2-712, a through hole is opened on the first wheel shaft 2-710 between the first tensioning wheel 2-704 and the bearing seat 2-702, and the plug screw 2-705 is fixed on the top plate of the fixed seat 2-701 after passing through the through hole and the spring 2-703, the spring 2-703 is tightened, and a pair of guide shafts 2-708 are fixed in the cavity at the rear end of the fixed seat 2-701, and a gap for the umbilical cable to pass through is formed between the two guide shafts 2-708, and the umbilical cable passes through the gap between the first tensioning wheel 2-704 and the second tensioning wheel 2-706 and between the two guide shafts 2-708.

[0045] It should be noted that the cable arrangement module 2-7 involved in this embodiment also includes a first bearing 2-711. The first tensioning wheel 2-704 is rotatably connected to the first axle 2-710 through the first bearing 2-711. Both ends of the first axle 2-710 are inserted into the slots 2-712 of the bearing seats 2-702 on both sides and can move up and down along the slots 2-712.

[0046] It should be noted that the cable arrangement module 2-7 involved in this embodiment also includes a second wheel axle 2-713 and a second bearing 2-714. The second tensioning wheel 2-706 is fixed on the second wheel axle 2-713. The two ends of the second wheel axle 2-713 are respectively fixed on the left and right bearing seats 2-702 through a second bearing 2-714, and one end of the second wheel axle 2-713 is connected to the tensioning motor 2-707.

[0047] The cable arrangement module 2-7 involved in this embodiment also includes a micro switch 2-709, which is fixed on the upper part of the top plate of the fixing seat 2-701. The micro switch 2-709 is electrically connected to the tensioning motor 2-707. The diameter of the thick handle at the free end of the umbilical cable is larger than the diameter of the umbilical cable. When the thick handle at the free end of the umbilical cable enters the gap between the first tensioning wheel 2-704 and the second tensioning wheel 2-706, the first tensioning wheel 2-704 is lifted up, and the first tensioning wheel 2-704 triggers the micro switch 2-709 and sends a control signal to the tensioning motor 2-707, and the tensioning motor 2-707 stops working.

[0048] Since the umbilical cable is stacked layer by layer on the drum 2-2, and the speed of the drum motor 2-3 remains unchanged, the linear speed of the umbilical cable of each layer is also different. It is necessary to control the speed ratio between the drum motor 2-3 and the tensioning motor 2-707 to make the linear speed of the drum 2-2 and the second tensioning wheel 2-706 basically consistent, so as to ensure that the umbilical cable always remains in a tensioned state during the retraction and release process.

[0049] As an implementation method, the transmission mechanism 2-5 is a belt drive structure, including a first rotating wheel (not shown in the figure), a second rotating wheel 2-501 and a conveyor belt 2-502. The center hole of the first rotating wheel is sleeved on the output shaft of the drum motor 2-3 (or the rotating shaft of the drum 2-2), the center hole of the second rotating wheel 2-501 is fixed to one end of the screw rod 2-801, and the other end of the screw rod 2-801 is rotatably connected to the fixed frame 2-1. The first rotating wheel and the second rotating wheel 2-501 are connected by the conveyor belt 2-502. By adjusting the transmission ratio between the first rotating wheel and the second rotating wheel 2-501, it is ensured that for every rotation of the drum 2-2, the cable arrangement module 2-7 moves linearly by a distance of an umbilical cable diameter. Of course, the transmission mechanism 2-5 can also be other transmission structures such as gear transmission well known to those skilled in the art.

[0050] It should be noted that: Fig. 9 As shown, the electric winch involved in this embodiment also includes a photoelectric switch 2-6, which is installed on the drum and blocked by the fixed end of the umbilical cable wound on the drum. The photoelectric switch 2-6 is connected to the drum motor 2-3 and the tensioning motor 2-707 by electrical signals. When the umbilical cable is completely released, the photoelectric switch 9 located inside the drum 2-2 is triggered due to the loss of the umbilical cable shielding, and sends an electrical signal to stop the rotation to the drum motor 2-3 and the tensioning motor 2-707.

[0051] This embodiment involves an electric winch, in which the control cabinet 3 is respectively connected to the drum motor 2-3, the encoder 2-4, the tensioning motor 2-707, the micro switch 2-709, the photoelectric switch 2-6, the pan-tilt camera 4, the first push rod 503, the second push rod 105 and the underwater robot 6 to control the operation of the corresponding components.

[0052] The specific process of deploying the underwater robot in the umbilical cable management system involved in this embodiment is as follows:

[0053] (1) The second push rod 105 on the main frame 1 is extended, and the front grid plate 104 is opened;

[0054] (2) The telescopic part contracts, the mobile base 505 moves, and the locking disc 506 moves away from the underwater robot 6, so that the underwater robot 6 is unlocked, and the underwater robot 6 moves out of the accommodation chamber, the electric winch 2 releases the cable, and the pan / tilt camera 4 observes the deployment situation;

[0055] The specific process of underwater robot recovery in the umbilical cable management system is as follows:

[0056] (1) The electric winch 2 reels in the cable, driving the underwater robot 6 to return to the accommodation chamber, and the pan / tilt camera 4 observes the recovery situation, and controls the underwater robot 6 to land on the front grid plate 104, eliminating the relative movement between the underwater robot 6 and the main frame 1 in the vertical direction;

[0057] (2) The electric winch 2 continues to reel in the cable, while controlling the underwater robot 6 to translate along the opening of the guide frame 103 toward the inside of the main frame 1 and into the accommodation cavity;

[0058] (4) The telescopic portion extends, the mobile base 505 moves, and drives the locking disc 506 to press and fix the underwater robot 6 in the accommodating chamber. The underwater robot 6 is locked directly below the mobile base 505;

[0059] (5) The locking mechanism 5 moves downward to lock the underwater robot 6, and the front grid plate 104 is closed, completing the recovery.

[0060] like Fig.13As shown, during the cable reeling process of the electric winch 2, the umbilical cable passes through the gap between the first tensioning wheel 2-704 and the second tensioning wheel 2-706, and the tensioning motor 2-707 and the drum motor 2-3 are started synchronously. Driven by the tensioning motor 2-707, the second tensioning wheel 2-706 rotates, and the umbilical cable is pulled toward the drum 2-2 by the friction force of the first tensioning wheel 2-704 and the second tensioning wheel 2-706. At the same time, the drum motor 2-3 drives the drum 2-2 to rotate, and the transmission mechanism drives the slider 2-803 to move along the screw rod 2-801, and the umbilical cable is wound around the drum in circles. The transmission ratio between the first rotating wheel and the second rotating wheel 2-501 is adjusted to ensure that for every rotation of the drum 2-2, the cable arrangement module 2-7 moves linearly by a distance of an umbilical cable diameter, and the umbilical cable is wound around the drum in layers of positive and negative spirals to achieve the cable arrangement function. During the process, the number of umbilical cable layers being rolled up on the drum is calculated according to the number of turns of the drum 2-2 recorded by the encoder 2-4, the length of the stored umbilical cable is deduced, and the speed ratio of the drum motor 2-3 and the tensioning motor 2-707 is adjusted to ensure that the length of the umbilical cable pulled by the two is consistent, to avoid the umbilical cable from being knotted, confused, or squeezed during the cable collection process, and to ensure that the umbilical cable is evenly wound on the drum 2-2. The current of the drum motor 2-3 is detected in real time. If it exceeds the threshold, the drum motor 2-3 and the tensioning motor 2-707 stop running. If the micro switch is triggered, the drum motor 2-3 and the tensioning motor 2-707 stop running.

[0061] like Fig.14 As shown, during the cable releasing process of the electric winch 2, the tensioning motor 2-707 and the drum motor 2-3 are started synchronously.

[0062] The drum motor 2-3 drives the drum 2-2 to rotate, releasing the umbilical cable on the drum, and at the same time drives the slider 2-803 to move along the screw 2-801 through the transmission mechanism. By adjusting the transmission ratio between the first rotating wheel and the second rotating wheel 2-501, it is ensured that for every rotation of the drum 2-2, the cable arrangement module 2-7 moves linearly by a distance of an umbilical cable diameter, so that the layers of umbilical cables wound on the drum in positive and negative spirals are released one by one. At the same time, driven by the tensioning motor 2-707, the second tensioning wheel 2-706 rotates, and the released umbilical cable is released by the friction of the first tensioning wheel 2-704 and the second tensioning wheel 2-706. In the process, according to the number of turns of the drum 2-2 recorded by the encoder 2-4, the number of layers of umbilical cables being released on the drum is calculated, the length of the released umbilical cable is calculated, and the speed ratio of the drum motor 2-3 and the tensioning motor 2-707 is adjusted to ensure that the length of the umbilical cable pulled by the two is consistent. After the umbilical cable is completely released, the photoelectric switch 2-6 located inside the drum 2-2 is triggered due to the loss of the umbilical cable shielding, and the drum motor 2-3 and the 707 tensioning motor stop rotating.

[0063] During the process of cable winding and releasing, the control cabinet 6 detects in real time whether the current of the drum motor 2-3 exceeds the threshold value. When the current is too large, it means that the umbilical cable is subjected to great tension. It may be that the equipment connected to the umbilical cable (such as an underwater robot) is stuck. The whole operation will be suspended and will continue to work after manual inspection and restoration to normal.

Claims

1. An umbilical cable management system, characterized in that: The invention comprises a main frame, a locking mechanism and an underwater robot, wherein the locking mechanism comprises a fixed base, a telescopic part, a movable base and a locking disc, wherein the upper end of the telescopic part is connected to the fixed base, and the lower end of the telescopic part is fixed to the movable base, and the extension and contraction of the telescopic part drives the movable base to reciprocate relative to the fixed base, and the locking disc is installed at the lower part of the movable base, and a accommodating cavity for accommodating the underwater robot is arranged in the main frame, and the fixed base is fixed on the main frame next to the accommodating cavity, when the underwater robot moves into the accommodating cavity, the telescopic part extends, and the movable base moves, thereby driving the locking disc to press and fix the underwater robot in the accommodating cavity, and the telescopic part contracts, and the movable base moves, thereby driving the locking disc to move away from the underwater robot.

2. The umbilical cable management system according to claim 1, characterized in that: The umbilical cable management system also includes an electric winch, which is fixed to the main frame. The umbilical cable is wound around the electric winch. The free end of the umbilical cable is connected to the underwater robot. The electric winch is used for automatic retraction and release of the umbilical cable.

3. The umbilical cable management system according to claim 1, characterized in that: The umbilical cable management system also includes a pan-tilt camera, which is fixed to the main frame and placed on the upper side of the underwater robot to collect underwater image data of the underwater robot.

4. The umbilical cable management system according to claim 1, characterized in that: The fixed base and the movable base both include a base plate and a circular ring. A circular hole is arranged in the middle of the base plate, the circular ring is fixed on the circular hole, and the umbilical cable passes through the circular ring.

5. The umbilical cable management system according to claim 1, characterized in that: The telescopic part includes a first connecting rod, a first push rod and a second connecting rod. The top ends of the four first connecting rods are symmetrically hinged at the bottom of the fixed base, and the bottom ends of the four second connecting rods are symmetrically hinged at the upper part of the movable base. The bottom end of the first connecting rod is hinged to the corresponding top end of the second connecting rod. A first push rod is respectively arranged on the left and right sides. The top end of the first push rod is connected to the fixed base, and the bottom end of the first push rod is connected to the movable base.

6. The umbilical cable management system according to claim 1, characterized in that: The main frame includes a bottom grid plate, columns, a guide grid plate, a front grid plate, a second push rod and a top frame; the bottom grid plate, the guide grid plate and the top frame are arranged in sequence from bottom to top, and the four corners of the bottom grid plate, the guide grid plate and the top frame are respectively fixed on the four columns to form a rectangular frame structure, a slot is provided on the front side of the guide grid plate, and the opening of the slot gradually narrows inward to form an isosceles trapezoidal structure, a receiving chamber for accommodating an underwater robot is formed between the slots of the bottom grid plate, the top frame and the front grid plate, and the opening side of the slot forms an entrance to the receiving chamber, the front grid plate is installed at the entrance of the receiving chamber, the bottom of the front grid plate is hinged to the bottom grid plate, and both sides of the front grid plate are connected to the columns on both sides of the entrance of the receiving chamber through a second push rod to form an automatic door for opening the receiving chamber, the electric winch is fixed in the top frame, and the fixed base is installed on the top frame at the upper part of the receiving chamber.

7. The umbilical cable management system according to claim 1, characterized in that: The electric winch comprises a fixed frame, a drum, a drum motor, an encoder, a transmission mechanism, a cable arrangement module and a screw slider mechanism; wherein the screw slider mechanism comprises a screw rod, a fixed rod and a slider; the rotating shafts at both ends of the drum are mounted on both sides of the fixed frame and are both rotatably connected to the fixed frame, the output shaft of the drum motor is connected to the rotating shaft at one end of the drum, both ends of the fixed rod are fixed to the fixed frame, the screw rod is arranged parallel to the fixed rod and is placed on the outside of the drum, threaded holes and through holes are respectively provided on the slider, the fixed rod passes through the through hole, the screw rod is threadedly connected to the threaded hole, one end of the screw rod is rotatably connected to the output shaft of the drum motor through the transmission mechanism, the other end of the screw rod is rotatably connected to the fixed frame, the cable arrangement module is mounted on the upper part of the slider, and the encoder is fixed on the output shaft of the drum motor to record the number of rotations of the drum.

8. The umbilical cable management system according to claim 7, characterized in that: The cable arrangement module includes a fixed seat, a bearing seat, a spring, a first tensioning wheel, a plug screw, a second tensioning wheel and a tensioning motor, a guide shaft, a first wheel shaft, a slot and a micro switch. A bearing seat is fixed on the left and right sides of the front end of the fixed seat respectively, and the first tensioning wheel and the second tensioning wheel are arranged in sequence between the two bearing seats. A gap is formed between the first tensioning wheel and the second tensioning wheel for the umbilical cable to pass through. The two ends of the axle of the second tensioning wheel are rotatably connected to the left and right bearing seats respectively, and one end of the axle of the second tensioning wheel is connected to the output shaft of the tensioning motor. The first tensioning wheel is rotatably connected to the first wheel shaft, and the two ends of the first wheel shaft are rotatably connected to the slots of the bearing seats on both sides and can move up and down along the slots. A through hole is opened on the first wheel shaft, and a plug screw is fixed on the top plate of the fixing seat after passing through the through hole and the spring. The spring is compressed, and a pair of guide shafts are fixed in the cavity at the rear end of the fixing seat. A gap for the umbilical cable to pass through is formed between the two guide shafts. The umbilical cable passes through the gap between the first tensioning wheel and the second tensioning wheel and between the two guide shafts. A micro switch is fixed on the upper part of the top plate of the fixing seat, and the micro switch is connected with the electrical signal of the tensioning motor. The diameter of the thick handle at the free end of the umbilical cable is larger than the diameter of the umbilical cable. When the thick handle at the free end of the umbilical cable enters the gap between the first tensioning wheel and the second tensioning wheel, the first tensioning wheel is lifted up, and the first tensioning wheel touches the micro switch, sending a control signal to the tensioning motor, and the tensioning motor stops working.

9. The umbilical cable management system according to claim 8, characterized in that: The electric winch also includes a photoelectric switch, which is installed on the drum and shielded by the fixed end of the umbilical cable wound on the drum. The photoelectric switch is connected to the drum motor and the tensioning motor by electrical signals.

10. The umbilical cable management system according to claim 9, characterized in that: The electric winch and the control cabinet are respectively connected with the drum motor, the encoder, the tensioning motor, the micro switch, the photoelectric switch, the telescopic part and the underwater robot to control the operation of the corresponding components.

Images