Tail end telescopic structure of riprap underwater robot

Abstract

The invention discloses a riprap underwater robot tail end telescopic structure which comprises a fixed flange, a fixed riprap pipe, a telescopic riprap pipe, a lifting rope, a winch and a base, the top of the fixed riprap pipe penetrates through the fixed flange and is connected with the fixed flange, one end of the telescopic riprap pipe is connected to the surface of the fixed riprap pipe in a sleeving mode, and the other end of the telescopic riprap pipe is fixedly connected with the base. A plurality of first pulleys are arranged at the bottom of the fixed flange, a plurality of second pulleys are arranged at the top of the base, the winch is fixed on the base, one end of the lifting rope is wound on the winch, and the other end of the lifting rope penetrates through the first pulleys and the second pulleys according to the staggered sequence of the first pulleys and the second pulleys and then is fixed on the base. The telescopic function of the riprap pipe is achieved, the length of the riprap pipe can be adjusted according to needs, and the flexibility and adaptability of riprap operation are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of seabed riprap, and in particular relates to a terminal telescopic structure of a riprap underwater robot. Background Art

[0002] When laying submarine cables, in order to protect the cables from damage by the external environment, such as erosion by ocean currents, it is necessary to lay gravel on the cables to protect them and improve their stability during use.

[0003] At present, when laying gravel on submarine cables, generally multiple sections of pipes connected by flanges are used to extend to a preset depth, and then the gravel is transported to the top of the submarine cable through multiple pipes to cover the surface of the submarine cable. However, when laying gravel on the submarine cable through this laying method, since the seabed surface is uneven and the pipe length is fixed and cannot be continuously adjusted, for cables at different depths, when the distance between the end of the pipe and the cable is too large, the gravel cannot be accurately and evenly covered on the cable. In order to ensure that the gravel can cover the cable, it may be necessary to adjust the position of the pipe multiple times or add additional laying steps, which will reduce the overall laying efficiency; therefore, it is necessary to design a device for the riprap ROV at the end of the riprap pipe that can perform continuous height adjustment within a certain range. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and provide a terminal telescopic structure of a riprap underwater robot.

[0005] The technical solution adopted by the present invention is: a telescopic structure at the end of a riprap underwater robot, comprising a fixed flange, a fixed riprap tube, a telescopic riprap tube, a lifting rope, a winch and a base, the top of the fixed riprap tube passes through the fixed flange and is connected to the fixed flange, one end of the telescopic riprap tube is sleeved on the surface of the fixed riprap tube, and the other end is fixedly connected to the base, a plurality of first pulleys are provided at the bottom of the fixed flange, a plurality of second pulleys are provided at the top of the base, the winch is fixed on the base, one end of the lifting rope is wound around the winch, and the other end of the lifting rope passes through the plurality of first pulleys and the second pulley in an alternating order of the first pulley and the second pulley and is then fixed to the base.

[0006] Furthermore, a guide groove penetrating the top is axially provided on the side wall of the telescopic riprap tube, a limiting block is provided on the top of the guide groove, and a guide block is provided on the fixed riprap tube, and the guide block cooperates with the guide groove.

[0007] Furthermore, the adjacent first pulleys and second pulleys through which the suspension rope passes in sequence are arranged perpendicular to each other.

[0008] Furthermore, the base is a cylindrical structure with a hollow interior, and the other end of the telescopic riprap tube passes through the base and extends to the bottom of the base.

[0009] Furthermore, the top surface and side surfaces of the base are both hollow structures.

[0010] Furthermore, a mounting plate is provided at the bottom of the base, and the winch is fixed on the mounting plate.

[0011] Furthermore, the mounting plate is provided with a plurality of through holes.

[0012] Furthermore, a plurality of supporting feet are provided at the bottom of the base.

[0013] Furthermore, a plurality of lifting points are provided on the top of the fixed flange, and the plurality of lifting points are used to be connected with the steel wire rope on the riprap ship.

[0014] The beneficial effects of the present invention are:

[0015] The present invention realizes the telescopic function of the riprap tube through the combination of a fixed flange, a fixed riprap tube, a telescopic riprap tube, a hoisting rope, a winch and a base, and can adjust the length of the riprap tube as needed, thereby improving the flexibility and adaptability of the riprap operation; meanwhile, the combination of the winch and the pulley makes the telescopic operation more labor-saving, efficient and reliable.

[0016] The coordinated design of the guide groove, the limit block and the guide block of the present invention can prevent the fixed riprap tube from being separated from the telescopic riprap tube, and also ensure the stability and accuracy of the telescopic riprap tube during the extension and retraction process, and prevent the telescopic riprap tube from being offset or rotating during the extension and retraction, thereby improving the stability and safety of the entire structure.

[0017] The adjacent pulleys of the present invention are arranged perpendicularly to each other. When in use, there is an angle between the two ropes on both sides of the pulley, and the force on the pulley is evenly distributed to the two ropes, making the rope more labor-saving and more evenly stressed during the pulling process, reducing the wear of the pulley and the rope. At the same time, this arrangement also makes the pulling of the rope smoother and improves the efficiency of the telescopic operation.

[0018] The cylindrical hollow structure design of the base of the present invention not only reduces the weight of the base, but also facilitates the passage and fixation of the telescopic riprap tube, and the entire structure is more compact and light, and is convenient for transportation and installation.

[0019] The top surface and side surfaces of the base of the present invention are both hollow structures, and the through-hole design on the mounting plate can reduce the weight of the base and the water resistance.

[0020] The design of the supporting feet at the bottom of the base of the present invention enables the base to be more firmly supported on the ground, is convenient for transportation and maintenance, and improves the stability and safety of the entire structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] In the figure: 1-fixed flange; 2-fixed riprap tube; 3-telescopic riprap tube; 4-lifting rope; 5-winch; 6-first pulley; 7-second pulley; 8-base; 9-guide groove; 10-limiting block; 11-guide block; 12-mounting plate; 13-through hole; 14-support foot; 15-lifting ring; 16-lifting point; 17-wire rope; 18-stone inlet. DETAILED DESCRIPTION

[0023] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] like Figure 1 As shown, the present invention provides a telescopic structure of the terminal of a riprap underwater robot, comprising a fixed flange 1, a fixed riprap tube 2, a telescopic riprap tube 3, a hoisting rope 4, a winch 5 and a base 8. The top of the fixed riprap tube 2 passes through the fixed flange 1 and is connected to the fixed flange 1, and the top of the fixed riprap tube 2 protrudes from the top surface of the fixed flange 1 as a stone inlet 18. One end of the telescopic riprap tube 3 is sleeved on the surface of the fixed riprap tube 2, and the other end is fixedly connected to the base 8. A plurality of first pulleys 6 are provided at the bottom of the fixed flange 1, and a plurality of second pulleys 7 are provided at the top of the base 8. The winch 5 is fixed to the base 8, one end of the hoisting rope 4 is wound around the winch 5, and the other end of the hoisting rope 4 passes through the plurality of first pulleys 6 and second pulleys 7 in a staggered order of the first pulley 6, the second pulley 7, the first pulley 6, and the second pulley 7, and is fixed to the base 8 through a hoisting ring 15.

[0025] The present invention realizes the telescopic function of the riprap tube by combining a fixed flange 1, a fixed riprap tube 2, a telescopic riprap tube 3, a hoisting rope 4, a winch 5 and a base 8. The length of the riprap tube can be adjusted as needed, thereby improving the flexibility and adaptability of the riprap operation. At the same time, the combination of the winch and the pulley makes the telescopic operation more labor-saving and efficient.

[0026] In some embodiments, a guide groove 9 is axially provided on the side wall of the telescopic riprap tube 3, and a limit block 10 is provided on the top of the guide groove 9. A guide block 11 is provided on the outer wall of the fixed riprap tube 2, and the guide block 11 is located in the guide groove 9 and cooperates with the guide groove 9. The coordinated design of the guide groove 9, the limit block 10 and the guide block 11 can not only prevent the fixed riprap tube 2 from being separated from the telescopic riprap tube 3, but also ensure the stability and accuracy of the telescopic riprap tube 3 during the extension and contraction process, prevent the telescopic riprap tube 3 from being offset or rotating during extension and contraction, and improve the stability and safety of the entire structure. The maximum extension and contraction amount of the telescopic riprap tube can be controlled by designing the length of the guide groove 9.

[0027] In some embodiments, the adjacent first pulleys 6 and second pulleys 7 through which the rope 4 passes sequentially are arranged perpendicular to each other. In the arrangement of the adjacent pulleys perpendicular to each other of the present invention, there is an angle between the two ropes on both sides of the pulley when applied, and the force on the pulley is evenly distributed to the two ropes, making the rope more labor-saving and more uniform during the pulling process, reducing the wear of the pulley and the rope. At the same time, this arrangement also makes the pulling of the rope smoother and improves the efficiency of the telescopic operation.

[0028] It should be noted that the vertical arrangement means that the rotation directions of the pulley wheels are perpendicular to each other. Specifically, in the present invention, four first pulleys 6 are provided, and three second pulleys 7 are provided. Adjacent first pulleys 6 are arranged vertically, adjacent second pulleys 7 are arranged vertically, and second pulleys 7 are arranged vertically with corresponding first pulleys 6, so that adjacent first pulleys 6 and second pulleys 7 through which the suspension rope passes in sequence are arranged vertically with each other. The second pulley 7 corresponds to the first pulley 6 in that the two are on the same vertical line, and the ring 15 fixing the other end of the suspension rope 4 is also arranged vertically with the first pulley 6 at the end.

[0029] In some embodiments, the base 8 is a cylindrical structure with a hollow interior, and the top and side surfaces of the base 8 are hollow structures. The base 8 is formed by splicing a number of rod-like structures to form a cylindrical frame, and a support rod is arranged in the middle. The other end of the telescopic riprap tube 3 passes through the base 8 and extends to the bottom of the base 8, that is, the bottom end of the telescopic riprap tube 3 is flush with the bottom surface of the base 8 or slightly protrudes from the bottom surface of the base 8, and the telescopic riprap tube 3 is fixedly connected to the top and bottom ends of the base 8. The cylindrical hollow structure design of the base 8 of the present invention not only reduces the weight of the base, but also facilitates the passage and fixation of the telescopic riprap tube, and the entire structure is more compact and lightweight, and is easy to carry and install.

[0030] In some embodiments, a mounting plate 12 is provided at the bottom of the base 8, the winch 5 is fixed on the mounting plate 12, and a plurality of through holes 13 are provided on the mounting plate 12. The hollow structure of the base 8, the hollow structure of the top and side surfaces of the base 8, and the through hole design on the mounting plate 12 of the present invention can reduce the weight and water resistance of the base 8 and improve the flexibility of the riprap operation. Power equipment, positioning equipment and other equipment can also be set on the mounting plates at different positions on the base 8 to cooperate in realizing the seabed riprap operation.

[0031] The working principle of the present invention is:

[0032] When the riprap underwater robot reaches the preset position on the seabed, the telescopic structure is initially tightened and fixed by three steel wires 17, and the winch 5 inside the base 8 cooperates with the suspension rope 4 to realize the base 8 and the telescopic riprap tube 3 to be telescoped up and down along the fixed riprap tube 2, thereby adapting to different seabed terrains.

[0033] When the seabed surface on the riprap track rises, the hoisting rope 4 can be retracted by the winch 5. At this time, the base 8 and the telescopic riprap tube 3 make a non-biased linear motion under the action of the guide block 11 and the guide groove 9. The base 8 rises along the fixed riprap tube 2 to achieve real-time control of the distance between the base 8 and the seabed surface. After being adjusted in place, the crushed stone enters from the stone inlet 15 through the fixed riprap tube 2 and the telescopic riprap tube 3 and then falls into the cable groove to cover the cable; when the seabed surface drops, the hoisting rope 4 can be extended by the winch 5. At this time, the base 8 and the telescopic riprap tube 3 make a non-biased linear motion under the action of the guide block 11 and the guide groove 9. The base 8 drops along the fixed riprap tube 2 to achieve real-time control of the distance between the base 8 and the seabed surface. The limit block 10 at the top of the guide groove 9 can prevent the fixed riprap tube 2 from being separated from the telescopic riprap tube 3 and can also strengthen the structural rigidity of the telescopic riprap tube 3.

[0034] Force analysis of the lifting rope: three second pulleys 7 and a lifting ring 15 are evenly installed on the top of the base 8, that is, four force points. The total mass of the base and the telescopic riprap tube is M, and the force at each force point is M / 4. There are two lifting ropes on both sides of each second pulley 7, and the force on the force point is evenly distributed to the two ropes, that is, the force on each rope is M / 8. Finally, the end of the lifting rope is changed in direction by the first pulley 6 and connected to the winch 5. The force on this section of rope only changes the direction of the force but not the magnitude of the force, that is, the force is M / 8. In actual application, there is friction between the second pulley 7 and the suspension rope 4, and there is an angle between the two suspension ropes of the second pulley 7. The reference pulling force of the winch 5 is greater than M / 8. However, since the riprap underwater robot is used in water, water lubricates the pulley and the suspension rope, reducing the friction. The angle between the two suspension ropes of the pulley is very small, and the pulling force on the winch 5 is slightly greater than M / 8. That is, the cooperation of the first pulley 6, the second pulley 7 and the suspension rope 4 of the present invention can effectively reduce the overall weight of the base and the telescopic section of the riprap tube, thereby improving its operational flexibility.

[0035] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

Claims

1. A telescopic structure at the end of a riprap underwater robot, characterized in that: The invention comprises a fixed flange (1), a fixed riprap tube (2), a telescopic riprap tube (3), a lifting rope (4), a winch (5) and a base (8). The top of the fixed riprap tube (2) passes through the fixed flange (1) and is connected to the fixed flange. One end of the telescopic riprap tube (3) is sleeved on the surface of the fixed riprap tube (2) and the other end is fixedly connected to the base. A plurality of first pulleys (6) are arranged at the bottom of the fixed flange (1). A plurality of second pulleys (7) are arranged at the top of the base. The winch (5) is fixed on the base (8). One end of the lifting rope (4) is wound around the winch (5). The other end of the lifting rope (4) passes through a plurality of first pulleys (6) and second pulleys (7) in an alternating order and is then fixed to the base (8).

2. The telescopic structure at the end of the riprap underwater robot according to claim 1, characterized in that: A guide groove (9) penetrating the top is axially arranged on the side wall of the telescopic riprap tube (3), a limit block (10) is arranged at the top of the guide groove (9), and a guide block (11) is arranged on the fixed riprap tube (2), and the guide block (11) cooperates with the guide groove (9).

3. The telescopic structure at the end of the riprap underwater robot according to claim 1, characterized in that: The adjacent first pulleys (7) and second pulleys (6) through which the suspension ropes (4) pass in sequence are arranged perpendicular to each other.

4. The telescopic structure at the end of the riprap underwater robot according to claim 1, characterized in that: The base (8) is a cylindrical structure with a hollow interior, and the other end of the telescopic riprap tube (3) passes through the base (8) and extends to the bottom of the base (8).

5. The telescopic structure at the end of the riprap underwater robot according to claim 4, characterized in that: The top surface and side surfaces of the base (8) are both hollow structures.

6. The telescopic structure at the end of the riprap underwater robot according to claim 4, characterized in that: A mounting plate (12) is provided at the bottom of the base (8), and the hoist (5) is fixed on the mounting plate (12).

7. The telescopic structure at the end of the riprap underwater robot according to claim 6, characterized in that: The mounting plate (12) is provided with a plurality of through holes (13).

8. The telescopic structure at the end of the riprap underwater robot according to claim 4, characterized in that: A plurality of supporting legs (14) are provided at the bottom of the base (8).

9. The telescopic structure at the end of the riprap underwater robot according to claim 1, characterized in that: A plurality of lifting points (16) are arranged on the top of the fixed flange (1), and the plurality of lifting points (16) are used to be connected with a steel wire rope (17) on the riprap ship.

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