Submarine ditching and cable laying robot

Abstract

The submarine ditching and cable laying robot comprises a main frame, and a cable searching assembly, a cable grabbing assembly and an injection cutter assembly which are arranged on the main frame, the cable grabbing assembly and the injection cutter assembly are located at the two ends of the main frame respectively, the cable grabbing assembly and the cable searching assembly are located at the same end of the main frame, and the cable searching assembly is used for detecting the position of a cable; the cable grabbing assembly comprises a telescopic arm, a driving source, a base and a clamping jaw, one end of the telescopic arm is movably connected with the main frame, the other end of the telescopic arm is connected with the base, the clamping jaw is hinged to the telescopic arm through the base, and the driving source can drive the telescopic arm to swing relative to the main frame. When the telescopic arm swings, the clamping jaw can be driven to adjust the grabbing position of the cable. According to the robot, the cable grabbing accuracy of the clamping jaws is further improved through the fine adjustment effect.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine robot cable-laying, and in particular to a submarine trenching and cable-laying robot. Background Art

[0002] The cable laying work of submarine cable laying robots is mainly based on the technology of "laying first and burying later". When the robot moves on the seabed, it first uses high-pressure water flow to flush the mud and sand in front to form a deep trench. With the spray of water flow, the deep trench continues to extend forward; then the cable is pressed into the formed deep trench by the cable pressing device to ensure the stable laying of the cable. Finally, the cable trench is backfilled by the backfilling device to cover the cable and complete the laying process. During the entire cable laying process, in order to avoid scratches on the cable by the trenching equipment and affect the service life of the cable, the cable is generally lifted to a suitable height by the manipulator in advance, and then the trenching operation is carried out. However, under normal circumstances, with the movement of the submarine current, although the robot sits on the top of the cable, there will still be a situation where the manipulator cannot be located directly above the cable, that is, there will be a certain position offset. At this time, when the manipulator descends to the seabed, it will not be able to grab the cable. In severe cases, it may cause the robot to sit on the bottom again. This is a very time-consuming job. On the one hand, the cable grabbing effect of the manipulator is not ideal, and on the other hand, it also reduces the efficiency of the entire cable laying work.

[0003] Therefore, it is necessary to improve on the existing technology and provide a method that can improve the success rate of cable grabbing by manipulators and improve the overall intelligent effect of submarine trenching and cable laying robots. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a submarine trenching and cable-laying robot with better trenching and cable-laying effects.

[0005] In order to solve the above technical problems, the technical solution used in the present invention is: a submarine trenching and cable-laying robot, comprising a main frame, and a cable-finding assembly, a cable-grabbing assembly and a punching knife assembly arranged on the main frame; the cable-grabbing assembly and the punching knife assembly are respectively located at two ends of the main frame, and the cable-grabbing assembly and the cable-finding assembly are located at the same end of the main frame, and the cable-finding assembly is used to detect the position of the cable; the cable-grabbing assembly comprises a telescopic arm, a driving source, a base and a clamp, one end of the telescopic arm is movably connected to the main frame, and the other end is connected to the base, the clamp is hinged to the telescopic arm through the base, and the driving source can drive the telescopic arm to swing relative to the main frame, and when the telescopic arm swings, it can drive the clamp to adjust the gripping position of the cable.

[0006] Preferably, the cable grabbing assembly also includes a rotating rod, one end of the rotating rod is rotatably connected to the main frame, and the other end is connected to the telescopic arm. The rotating rod is also connected to an output end of the driving source, and the driving source can drive the rotating rod to rotate in a first direction and a second direction opposite to the first direction; when the rotating rod rotates, it can drive the telescopic arm to swing left and right relative to the main frame.

[0007] Preferably, the telescopic arm is a three-section structure, including a fixed section, a middle section and a tail section connected in sequence, the fixed section is connected to the main frame, the tail section is connected to the base, the middle section can be driven by a first driving part to retract relative to the fixed section, and the tail section can be driven by a second driving part to retract relative to the middle section.

[0008] Preferably, the fixed section, the middle section and the tail section are arranged on the same axis.

[0009] Preferably, the ejection knife assembly includes an ejection knife, a cable presser and a four-bar linkage, the ejection knife is hinged to the main frame through the four-bar linkage, the four-bar linkage is used to control the retraction and extension of the ejection knife, the cable presser is fixed to one end of the ejection knife away from the main frame, and is retracted and extended together with the ejection knife.

[0010] Preferably, it also includes a water circuit assembly, one end of which is fixed to the main frame, and the other end is connected to the jetting knife; the water circuit assembly includes a pump body, a manifold, a first pipe and a second pipe, the first pipe is respectively connected to the two ends of the manifold, and the first pipe is also connected to the pump body; one end of the second pipe is connected to the manifold, and the other end is connected to the jetting knife; the jetting knife is provided with a nozzle connected to the second pipe body, and the pump body can transport the water in the first pipe to the manifold for collection, and transport it to the nozzle of the jetting knife through the second pipe to eject high-pressure water flow.

[0011] Preferably, walking components are respectively provided on both sides of the main frame, and the walking components are used to drive the robot to move; the walking components include a track beam, a track shoe, a chain belt and a power component, the track beam is movably connected to the main frame, the track shoe is fixed on the chain belt, one end of the power component is fixed to the track beam, and the other end is connected to the chain belt, and can drive the chain belt to rotate relative to the track beam.

[0012] Preferably, it also includes a first connecting rod assembly and a second connecting rod assembly that are connected to each other, one end of the first connecting rod assembly is connected to the main frame, and the other end is hinged to the track beam of the walking assembly, the first connecting rod assembly can drive the walking assembly to reciprocate along the horizontal axis direction, and the walking assembly can drive the main frame to perform lifting movements when it moves; one end of the second connecting rod assembly is hinged to the first connecting rod assembly, and the other end is connected to the track beam of the walking assembly, and the second connecting rod assembly can drive the walking assembly to tilt and rotate relative to the main frame.

[0013] Preferably, the first connecting rod assembly includes a first driver, a main rod, a connecting rod, a secondary rod and a movable rod, and the main rod, connecting rod, secondary rod and movable rod are hinged in sequence; the two ends of the first driver are respectively connected to the main frame and the main rod, and the movable rod is also connected to the walking assembly, and the first driver can drive the movable rod to move along the horizontal axis direction through the main rod.

[0014] Preferably, the second connecting rod assembly includes a second driver and a pull rod, the first connecting rod assembly includes a moving rod, one end of the pull rod and the moving rod are respectively hinged to the second driver, the other end of the pull rod is fixed to the walking assembly, and the other end of the moving rod is hinged to the walking assembly; the second driver can drive the pull rod and the moving rod to move at the same time, and when the pull rod and the moving rod move, the walking assembly can be tilted and rotated relative to the main frame.

[0015] The beneficial effects of the present invention are mainly reflected in: the submarine trenching and cable-laying robot provided by the present invention adjusts the different gripping positions of the gripper by swinging the telescopic arm at a certain angle (radian) to achieve the effect of fine-tuning, further improving the accuracy of cable grabbing. In addition, the robot walking assembly is rotated and tilted by the first connecting rod assembly and the second connecting rod assembly to adjust the robot's walking posture, thereby improving the robot's adaptability to different submarine terrains; the above improvements improve the overall intelligent effect of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features and advantages of the present invention will become more clear by more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0017] Figure 1 It is a schematic diagram of the connection structure between the main frame, the connecting rod device and the traveling assembly in the present invention;

[0018] Figure 2 It is a schematic diagram of the translation state of the walking component in the present invention;

[0019] Figure 3 is a schematic structural diagram of the first connecting rod assembly in the present invention;

[0020] Figure 4 It is a schematic diagram of the translation and rotation states of the walking assembly in the present invention;

[0021] Figure 5 This is a schematic diagram of the overall structure of the submarine robot of the present invention;

[0022] Figure 6 This is a flow chart of the posture adjustment control of the robot in the present invention;

[0023] Figure 7 This is a schematic diagram of the structure of the robot in the present invention from a top view;

[0024] Figure 8 Schematic diagram of the three-dimensional perspective structure of the robot in the present invention;

[0025] Fig. 9 This is a schematic diagram of the main viewing angle structure of the robot in the present invention;

[0026] Fig.10 is a control flow chart of the cable grabbing assembly in the present invention;

[0027] Fig.11 It is a schematic diagram of the overall structure of the cable grabbing assembly in the present invention;

[0028] Fig.12 It is a schematic diagram of the overall structure of the cable grabbing assembly in the present invention from another perspective;

[0029] Fig.13 It is a schematic diagram of the connection structure of the water channel assembly and the jetting knife assembly in the present invention;

[0030] In the figure: main frame 1, cable detector 10, thruster 11;

[0031] Traveling assembly 2, crawler beam 20, crawler shoe 21, chain belt 22, sprocket 23, guide wheel 24;

[0032] The connecting rod device 3, the first connecting rod assembly 30, the main rod 301, the connecting rod 302, the auxiliary rod 303, the moving rod 304, the first driver 305, the second connecting rod assembly 31, the pulling rod 310, and the second driver 311;

[0033] Cable grabbing assembly 4, telescopic arm 40, fixed section 401, middle section 402, tail section 403, driving source 41, rotating rod 42, first driving component 43, second driving component 44, clamping claw 45, power source 450, base 46;

[0034] Punching knife assembly 5, punching knife 50, cable press 51, four-bar linkage 52;

[0035] Water channel assembly 6 , pump body 60 , manifold 61 , first pipeline 62 , and second pipeline 63 . DETAILED DESCRIPTION

[0036] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings.

[0037] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to another element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0039] refer to Figure 1-13 A submarine trenching and cable laying robot comprises a main frame 1, and a cable finding assembly, a cable grabbing assembly 4 and a punching knife assembly 5 arranged on the main frame; the main frame 1 is the bearing core of the entire robot and is mainly used for connecting and installing various devices; the cable grabbing assembly 4 and the punching knife assembly 5 are respectively located at both ends of the main frame 1 (i.e. Figure 7 The cable grabbing assembly 4 and the cable finding assembly are located at the same end of the main frame 1. The cable finding assembly is used to detect the position of the cable. The cable grabbing assembly includes a telescopic arm 40, a driving source 41 (such as an oil cylinder or a gas cylinder), a base 46 and a clamp 45. One end of the telescopic arm 40 is movably connected to the main frame 1, and the other end is connected to the base 46. The clamp 45 is hinged on the telescopic arm 40 through the base 46. The driving source 41 can drive the telescopic arm 40 to swing relative to the main frame 1. When the telescopic arm 40 swings, it can drive the clamp 45 to adjust the gripping position of the cable. At the same time, power sources 450 for controlling the opening and closing of the clamp 45 are respectively provided on both sides of the clamp 45. The power source 450 can be a cylinder. One end of the cylinder is connected to the base 46, and the other end is connected to the clamp 45 (specifically hinged). The cylinder controls the opening or closing of the clamp 45 through the telescopic movement of the piston rod, thereby realizing the gripping and releasing action of the clamp 45 on the cable.

[0040] In a further preferred embodiment, the cable grabbing assembly 4 also includes a rotating rod 42, one end of the rotating rod 42 is rotatably connected to the main frame 1, and the other end is connected to the telescopic arm 40. The rotating rod 42 is also connected to the output end of the driving source 41. The driving source 41 can drive the rotating rod 42 to rotate in a first direction (in this embodiment, the first direction mainly refers to the clockwise direction) and a second direction opposite to the first direction (the second direction mainly refers to the counterclockwise direction); when the rotating rod 42 rotates, it can drive the telescopic arm 40 to swing left and right relative to the main frame.

[0041] In this embodiment, the driving source 41 is fixed on the main frame 1, and the telescopic arm 40 is connected to the main frame 1 through the rotating rod 42, that is, one end of the rotating rod 42 is rotatably connected to the main frame 1, and the other end is connected to the telescopic arm 40. The bottom of the rotating rod (the so-called bottom refers to the side closer to the seabed) is provided with an outwardly protruding connecting piece, and the rotating rod is connected to the output end of the driving source 41 through the connecting piece. The connecting piece can be a connecting plate, a connecting column, etc., as long as it can achieve force transmission. Therefore, its specific working process is:

[0042] When the output end of the driving source 41 is in motion, the telescopic arm 40 can be driven to swing relative to the main frame. The swing mentioned here means that the telescopic arm 40 swings relative to the main frame along a certain arc. Specifically, when the output end of the driving source 41 is in motion, a thrust is generated on the rotating rod 42 through the connecting member, causing it to rotate. The rotating rod 42 rotates and drives the telescopic arm 40 to move. Fig. 9 , from this perspective as the first perspective, when the driving source 41 is in motion (taking the driving source 41 as an oil cylinder, when the piston rod of the oil cylinder is extended, it is considered that the output end of the driving source 41 is in motion), a thrust is generated on the rotating rod 42, and at this time the rotating rod 42 rotates to the left (or counterclockwise), and drives the upper end of the telescopic arm 40 to swing to the left (i.e. Fig. 9 In the left direction), since the telescopic arm 40 is tilted, when its upper end swings relatively to the left, its lower end swings relatively to the right, thereby driving the clamping claw 45 to adjust the clamping position; similarly, taking the driving source 41 as an oil cylinder as an example, when the piston rod of the oil cylinder retracts, a pulling force is generated on the rotating rod 42, and the rotating rod 42 rotates to the right (or clockwise), and synchronously drives the upper end of the telescopic arm 40 to swing relatively to the right, and the lower end thereof to swing to the left.

[0043] In the actual process, with the movement of seawater, the actual position of the cable / pipeline may not be accurately located directly below the clamp 45, that is, there will be a certain offset, that is, it may be slightly to the left or right. At this time, the grasping position of the clamp 45 can be adjusted by adjusting the swing angle of the telescopic arm 40. Through this fine-tuning effect, accurate grasping of the cable / pipeline is achieved, further improving the accuracy of cable grasping.

[0044] In a preferred embodiment, the telescopic arm 40 is a multi-section structure, specifically a three-section structure, including a fixed section 401, a middle section 402 and a tail section 403 connected in sequence, the fixed section 401 is connected to the main frame through a rotating rod 42, and the tail section 403 is connected to the base 46, the middle section 402 can be driven by the first driving component 43 to retract relative to the fixed section 401, and the tail section 403 can be driven by the second driving component 44 to retract relative to the middle section 402. In this embodiment, the first driving component 43 and the second driving component 44 are both telescopic cylinders. Compared with the previous one-section mechanical arm structure, this multi-section telescopic structure can reduce the overall volume of the telescopic arm 40 and occupy less space. On the other hand, it can also achieve a deeper gripping depth of the clamp 45.

[0045] In a further preferred embodiment, the cable grabbing assembly 4 can be used in conjunction with an audio-visual device, which includes a camera and a sonar. Fig.10 In the control flow chart of the cable grasping assembly 4 (the control system in the figure is the controller, the manipulator specifically refers to the telescopic arm 40 in this embodiment, and the gripper specifically refers to the clamping claw 45 in this embodiment), the specific working process is: first, the specific position of the cable / pipeline is detected by the camera, sonar and cable detector 10. After the specific position of the cable is determined, the telescopic arm 40 is extended to a length sufficient to achieve the grasping depth of the clamping claw 45. At this time, if the position of the clamping claw 45 is slightly offset from the cable, the telescopic arm 40 can be swung (that is, Fig.10 The robot rotation adjustment in the flowchart is used to adjust a certain angle and the relevant adjustment angle is fed back to the controller (i.e. Fig.10 The control system in the apparatus) then places the clamp 45 directly above the cable / pipeline, and the oil cylinders on both sides of the clamp 45 are actuated to drive the clamp 45 to open and close (specifically: the piston rods of the oil cylinders on both sides of the clamp 45 are contracted to drive the clamp 45 to open, and the piston rods of the oil cylinders are extended to drive the clamp 45 to close); after the clamp 45 has finished grabbing, the telescopic arm 40 can be shortened to drive the clamp 45 to lift the cable / pipeline to a certain height (the specific height position can be set according to actual needs), and then the flushing knife assembly 5 flushes the seabed surface, so that the cable is buried in the trench. In this process, the telescopic length and swing angle information of the telescopic arm 40 will be fed back to the controller so that the system can determine whether it is necessary to adjust the various information of the telescopic arm 40 in a timely manner.

[0046] In a preferred embodiment, the fixed section 401, the middle section 402 and the tail section 403 are arranged on the same axis. The so-called same axis means that the axes between the sections of the telescopic arm 40 are on the same straight line. The arrangement of the same axis makes the overall structure of the telescopic arm 40 more compact, further saves the occupied space, and at the same time, the telescopic movement stability of the telescopic arm 40 is better.

[0047] In a preferred embodiment, the ejection knife assembly 5 includes an ejection knife 50, a cable presser 51 and a four-bar linkage 52. The ejection knife 50 is hinged on the main frame through the four-bar linkage 52. The four-bar linkage 52 is used to control the retraction and extension of the ejection knife 50. The cable presser 51 is fixed to the end of the ejection knife 50 away from the main frame 1 (that is, the cable presser 51 is fixed to the end of the ejection knife 50, the so-called front end is the end close to the main frame 1, and the end is the end away from the main frame 1, which will not be repeated hereafter), and is retracted and extended together with the ejection knife 50.

[0048] In a further preferred embodiment, it also includes a water circuit component 6, which is located at the front end of the jetting knife 50, one end of the water circuit component 6 is fixed to the main frame 1, and the other end is connected to the jetting knife 50; the water circuit component 6 includes a pump body 60, a manifold 61, a first pipe 62 and a second pipe 63, the first pipe 62 is respectively connected to the two ends of the manifold 61, and the first pipe 62 is also connected to the pump body 60; one end of the second pipe 63 is connected to the manifold 61, and the other end is connected to the jetting knife 50; the jetting knife 50 is provided with a nozzle connected to the second pipe body, the pump body 60 can transport the water in the first pipe 62 to the manifold 61 for collection, and transport it to the nozzle of the jetting knife 50 through the second pipe 63 to eject high-pressure water flow, further improving the trenching effect of the jetting knife 50 during the trenching process.

[0049] In a further preferred embodiment, two thrusters 11 are further provided on the main frame. The two thrusters 11 are respectively provided at the front and rear ends of the main frame and are diagonally arranged. The thrusters 11 are mainly used to assist in adjusting the posture and position of the robot on the seabed.

[0050] In a preferred embodiment, walking components 2 are respectively provided on both sides of the main frame, and the walking components 2 are used to drive the robot to move; the walking components 2 include a track beam 20, a track shoe 21, a chain belt 22 and a power component, the track beam 20 is movably connected to the main frame 1, the track shoe 21 is fixed on the chain belt 22, one end of the power component is fixed to the track beam 20, and the other end is connected to the chain belt 22, and can drive the chain belt 22 to rotate relative to the track beam 20.

[0051] Furthermore, the power assembly includes a sprocket 23 and a power motor (not shown). The sprockets 23 are respectively arranged at both ends of the track beam 20 and meshed with the chain belt 22 respectively. The power motor is fixed on the track beam 20 and connected to at least one sprocket 23. The power motor can drive the chain belt 22 to rotate through the sprocket 23. The output end of the power motor is connected to one of the sprockets 23. When the motor rotates, it also drives the sprocket 23 to transmit. Under the meshing action of the sprocket 23 and the chain belt 22, the chain belt 22 is driven to rotate synchronously, and the other sprocket 23 is driven to rotate, thereby achieving a better transmission effect.

[0052] refer to Figure 5 The walking assembly 2 further includes a plurality of guide wheels 24, which are arranged at intervals along the length direction of the crawler beam 20, and are located at the upper and lower sides of the crawler beam 20, and abut against the chain belt 22. The guide wheels 24 can guide the chain belt 22, and also provide better support for the chain belt 22 in the middle position (i.e., the part between the two sprocket wheels 23) to ensure the effect of power transmission.

[0053] In the preferred embodiment, it also includes a first connecting rod assembly 30 and a second connecting rod assembly 31 connected to each other. One end of the first connecting rod assembly 30 is connected to the main frame 1, and the other end is hinged to the track beam 20 of the walking assembly 2. The first connecting rod assembly 30 can drive the walking assembly 2 to move back and forth along the horizontal axis direction. When the walking assembly 2 moves, it can drive the main frame 1 to move up and down; one end of the second connecting rod assembly 31 is hinged to the first connecting rod assembly 30, and the other end is connected to the track beam 20 of the walking assembly 2. The second connecting rod assembly 31 can drive the walking assembly 2 to tilt and rotate relative to the main frame 1. In this embodiment, the direction perpendicular to the forward direction of the robot is the horizontal axis direction, that is, Figure 1 The walking assembly 2 can drive the main frame 1 to move up and down when it moves; specifically, when the walking assemblies 2 on both sides of the main frame 1 move along the horizontal axis respectively, they can drive the main frame 1 to descend, thereby reducing the overall height of the robot; and when it moves back, it drives the main frame 1 to rise, thereby increasing the overall height of the robot; so that it can better adapt to the uneven terrain of the seabed; one end of the second connecting rod assembly 31 is hinged to the first connecting rod assembly 30, and the other end is connected to the walking assembly 2. The second connecting rod assembly 31 can drive the walking assembly 2 to tilt and rotate relative to the main frame 1, that is, the inclination angle of the walking assembly 2 relative to the seabed surface can be adjusted through the second connecting rod assembly 31, so as to further adapt to different terrains of the seabed.

[0054] refer to Figure 1-4In a preferred embodiment, the first connecting rod assembly 30 includes a first driver 305, a main rod 301, a connecting rod 302, a secondary rod 303 and a moving rod 304. The main rod 301, the connecting rod 302, the secondary rod 303 and the moving rod 304 are hinged in sequence. In this embodiment, the first driver 305 is a hydraulic cylinder. The two ends of the first driver 305 are respectively connected to the main frame 1 and the main rod 301. The moving rod 304 is also connected to the walking assembly 2. The first driver 305 can drive the moving rod 304 to move along the horizontal axis through the main rod 301. Specifically, the main rod 301, the connecting rod 302, the secondary rod 303 and the moving rod 304 are hinged to each other and together form a parallel four-bar linkage structure. When the first driver 305 (hydraulic cylinder) performs telescopic movement, a linkage effect is generated by driving the main rod 301 to move, thereby driving the moving rod 304 to translate along the horizontal axis, such as Figure 2 The walking component 2 located on the left side of the main frame 1 is in a translation state.

[0055] refer to Figure 1-4 , the process of the first connecting rod assembly 30 driving the overall height of the robot to be lowered is as follows: when the first driver 305 performs a contraction movement (i.e., the piston rod of the hydraulic cylinder performs a contraction movement), a pulling force is generated on the main rod 301, and at the same time, the lower end of the main rod 301 (the end hinged to the moving rod 304) also generates an upward pulling force on the moving rod 304. At this time, the upper end of the main rod 301 moves backward (i.e., moves in the direction of the auxiliary rod 303). Based on the characteristics of the parallel four-bar linkage, when the main rod 301 moves, the auxiliary rod 303 also moves relatively. At this time, the lower end of the auxiliary rod 303 (the end hinged to the moving rod 304) generates a thrust on the moving rod 304, such as Figure 2 As shown, the auxiliary rod 303 is changed from its original relatively vertical state to an inclined state, thereby forming an action of pushing the moving rod 304 outward, realizing the translational movement of the moving rod 304, and the moving rod 304 is hinged to the walking component 2, so when the moving rod 304 moves, the walking component 2 is also translated outward (the so-called outward translation refers to movement in the direction away from the main frame 1). When the walking components 2 on both sides of the main frame 1 are translated outward respectively, the overall height of the main frame 1 is reduced, thereby achieving the effect of lowering the overall height of the robot.

[0056] Based on the same principle, when the first driver 305 extends (i.e., the piston rod of the hydraulic cylinder extends), a thrust is generated on the main rod 301. Based on the characteristics of the parallelogram linkage, the main rod 301 moves while generating a linkage effect on other rods, and finally drives the walking assembly 2 to translate back (i.e., translate in the direction of the main frame 1) through the moving rod 304, thereby changing the robot as a whole from a descending state to an ascending state.

[0057] refer to Figure 3In a further preferred embodiment, the main rod 301, the connecting rod 302, the auxiliary rod 303 and the moving rod 304 are sequentially hinged at four hinge points, and the four hinge points ( Figure 3 The connecting lines of the four hinge points A, B, C, and D in the robot form a parallelogram structure in the same plane. Through this parallelogram connecting rod structure, on the one hand, the structure is relatively simple, and on the other hand, the translation of the walking component 2 can be well realized, thereby driving the overall height of the robot to rise and fall, and better adapt to different terrains on the seabed.

[0058] refer to Figure 4 In a preferred embodiment, the second connecting rod assembly 31 includes a second driver 311 and a pull rod 310, and the first connecting rod assembly 30 includes a moving rod 304. One end of the pull rod 310 and the moving rod 304 are respectively hinged to the second driver 311, and the other end of the pull rod 310 is fixed to the traveling assembly 2. In this embodiment, one end of the pull rod 310 is hinged to the output end of the second driver 311 (i.e., hinged to the piston rod of the hydraulic cylinder), and the other end of the pull rod 310 is welded and fixed to the traveling assembly 2; the other end of the moving rod 304 is hinged to the traveling assembly 2; the second driver 311 can drive the pull rod 310 and the moving rod 304 to move at the same time, and when the pull rod 310 and the moving rod 304 move, the traveling assembly 2 can be tilted and rotated relative to the main frame 1. In this embodiment, the second driver 311 can be a hydraulic cylinder like the first driver 305.

[0059] The working process of the second connecting rod assembly 31 is as follows: when the second driver 311 extends (i.e., the piston rod of the hydraulic cylinder extends), a thrust is formed on the moving rod 304, and at the same time, the second driver 311 also drives one end of the first connecting rod to move downward (i.e., the end of the first connecting rod hinged to the second driver 311 rotates downward, and the so-called downward refers to the direction of the seabed surface), and at this time, the other end of the first connecting rod (the end welded and fixed to the walking assembly 2) moves upward; at the same time, the moving rod 304 rotates around the hinge point hinged to the walking assembly 2, and under the joint action of the first connecting rod and the moving rod 304, the walking assembly 2 rotates a certain angle, thereby forming a tilted state relative to the main frame 1 (such as Figure 4 When the second driver 311 performs a contraction movement (i.e., the piston rod of the hydraulic cylinder retracts), a pulling force is generated on the moving rod 304 and the first connecting rod. At this time, the movement state of the first connecting rod is opposite to the original state, and the moving rod 304 also rotates in the opposite direction around the hinge point hinged with the walking assembly 2. Similarly, under the joint action of the moving rod 304 and the first connecting rod, the walking assembly 2 returns to the initial state, that is, the bottom surface of the walking assembly 2 is in contact with the seabed surface.

[0060] refer to Figure 4The first connecting rod assembly 30 and the second connecting rod assembly 31 can be used in conjunction with each other, that is, the first connecting rod assembly 30 can first drive the walking assembly 2 to translate, so that the overall height of the robot is reduced, and then the second connecting rod assembly 31 can drive the walking assembly 2 to rotate a certain angle and tilt relative to the main frame 1. The two work together to better adapt to various types of terrain conditions on the seabed. The above control process logic for the robot's posture adjustment can be referred to Figure 6 The track control in the flow chart specifically refers to the control of the walking component 2.

[0061] In the present invention, the overall working steps of the submarine robot are as follows:

[0062] Step 1: After determining the approximate location of the cable, use the mother ship crane to lift the entire robot from the deck into the sea, place it on the bottom, and place it on top of the cable.

[0063] Step 2: The cable grabbing assembly 4 grabs the cable: the position of the cable is detected by sonar and the cable detector 10, and the spatial position of the cable is identified by the camera; at this time, if the position of the cable is offset relative to the position of the clamp 45, the clamp 45 can be located above the cable by adjusting the swing angle of the telescopic arm 40, and then the power sources 450 on both sides of the clamp 45 control the opening and closing of the clamp 45 to achieve the grasping of the cable. After the grasping action is completed, the telescopic arm 40 contracts, driving the clamp 45 to rise, and lifts the cable to a suitable height.

[0064] Step 3: The punching knife assembly 5 digs trenches: The punching knife assembly 5 is lowered to contact the seabed surface, and then the punching knife assembly 5 is activated, and as the walking assembly 2 continues to move, the punching knife assembly 5 continuously digs trenches along the direction of the robot's movement and buries the cable in the trench.

[0065] During the robot's moving construction process: the punching knife assembly 5 maintains the actions of lowering, punching and cable pressing. During the movement, the sonar and camera cooperate with each other, always taking into account the environmental conditions of the distant and near scenes, obtaining terrain feature images, and feeding back the information to the controller; at the same time, the pressure sensor also detects the pressure information (load information) of the walking assembly 2 in real time, and feeds it back to the controller, so as to adjust the robot's posture in time and balance the load on both sides of the main frame 1; for example, the first connecting rod assembly 30 is used to drive the robot to rise and fall as a whole, or the second connecting rod assembly 31 is used to adjust the inclination angle of the walking assembly 2 relative to the main frame 1, so as to ensure that the robot can safely pass through gullies or slopes and better adapt to different terrain conditions on the seabed.

[0066] Step 4: Recovery: After the cable-laying work is completed, the walking assembly 2 stops moving forward, the punching knife assembly 5 is retracted, the cable grabbing assembly 4 puts down the cable, and then the robot is hoisted as a whole by the mother ship crane and recovered to the deck, thus completing the submarine trenching and cable-laying work of the entire robot.

[0067] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A submarine trenching and cable-laying robot, characterized in that: It includes a main frame, and a cable-finding assembly, a cable-grabbing assembly and a punching knife assembly arranged on the main frame; the cable-grabbing assembly and the punching knife assembly are respectively located at two ends of the main frame, and the cable-grabbing assembly and the cable-finding assembly are located at the same end of the main frame, and the cable-finding assembly is used to detect the position of the cable; the cable-grabbing assembly includes a telescopic arm, a driving source, a base and a clamp, one end of the telescopic arm is movably connected to the main frame, and the other end is connected to the base, the clamp is hinged to the telescopic arm through the base, the driving source can drive the telescopic arm to swing relative to the main frame, and when the telescopic arm swings, it can drive the clamp to adjust the gripping position of the cable.

2. The submarine trenching and cable-laying robot according to claim 1, characterized in that: The cable grabbing assembly also includes a rotating rod, one end of which is rotatably connected to the main frame, and the other end is connected to the telescopic arm. The rotating rod is also connected to the output end of the driving source, and the driving source can drive the rotating rod to rotate in a first direction and a second direction opposite to the first direction; when the rotating rod rotates, it can drive the telescopic arm to swing left and right relative to the main frame.

3. The submarine trenching and cable-laying robot according to claim 1, characterized in that: The telescopic arm is a three-section structure, including a fixed section, a middle section and a tail section connected in sequence, the fixed section is connected to the main frame, and the tail section is connected to the base. The middle section can be driven by a first driving part to retract relative to the fixed section, and the tail section can be driven by a second driving part to retract relative to the middle section.

4. The submarine trenching and cable-laying robot according to claim 3, characterized in that: The fixed section, the middle section and the tail section are arranged on the same axis.

5. The submarine trenching and cable-laying robot according to claim 1, characterized in that: The ejection knife assembly includes an ejection knife, a cable presser and a four-bar linkage. The ejection knife is hinged on the main frame through the four-bar linkage. The four-bar linkage is used to control the retraction and extension of the ejection knife. The cable presser is fixed to one end of the ejection knife away from the main frame and is retracted and extended together with the ejection knife.

6. The submarine trenching and cable-laying robot according to claim 5, characterized in that: It also includes a water circuit component, one end of which is fixed to the main frame, and the other end is connected to the jetting knife; the water circuit component includes a pump body, a confluence pipe, a first pipe and a second pipe, the first pipe is respectively connected to the two ends of the confluence pipe, and the first pipe is also connected to the pump body; one end of the second pipe is connected to the confluence pipe, and the other end is connected to the jetting knife; the jetting knife is provided with a nozzle connected to the second pipe body, and the pump body can transport the water in the first pipe to the confluence pipe for collection, and transport it to the nozzle of the jetting knife through the second pipe to eject high-pressure water flow.

7. The submarine trenching and cable-laying robot according to claim 1, characterized in that: Walking components are respectively arranged on both sides of the main frame, and the walking components are used to drive the robot to move; the walking components include a track beam, a track shoe, a chain belt and a power component, the track beam is movably connected to the main frame, the track shoe is fixed on the chain belt, one end of the power component is fixed to the track beam, and the other end is connected to the chain belt, and can drive the chain belt to rotate relative to the track beam.

8. The submarine trenching and cable-laying robot according to claim 7, characterized in that: It also includes a first connecting rod assembly and a second connecting rod assembly that are connected to each other. One end of the first connecting rod assembly is connected to the main frame, and the other end is hinged to the track beam of the walking assembly. The first connecting rod assembly can drive the walking assembly to reciprocate along the horizontal axis direction, and the walking assembly can drive the main frame to perform lifting and lowering movements when it moves; one end of the second connecting rod assembly is hinged to the first connecting rod assembly, and the other end is connected to the track beam of the walking assembly. The second connecting rod assembly can drive the walking assembly to tilt and rotate relative to the main frame.

9. The submarine trenching and cable-laying robot according to claim 8, characterized in that: The first connecting rod assembly includes a first driver, a main rod, a connecting rod, a secondary rod and a moving rod, and the main rod, connecting rod, secondary rod and moving rod are hinged in sequence; the two ends of the first driver are respectively connected to the main frame and the main rod, and the moving rod is also connected to the walking assembly. The first driver can drive the moving rod to move along the horizontal axis direction through the main rod.

10. The submarine trenching and cable-laying robot according to claim 8, characterized in that: The second connecting rod assembly includes a second driver and a pull rod, and the first connecting rod assembly includes a moving rod, one end of the pull rod and the moving rod are respectively hinged to the second driver, the other end of the pull rod is fixed to the walking assembly, and the other end of the moving rod is hinged to the walking assembly; the second driver can drive the pull rod and the moving rod to move at the same time, and when the pull rod and the moving rod move, the walking assembly can be tilted and rotated relative to the main frame.

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