An undersea cable laying robot

Abstract

The present invention relates to the technical field of cable laying, and particularly relates to a submarine cable laying robot, which includes a suspension chamber and a grooving component. When the suspension chamber moves along a preset path, the suspension chamber drives two support plates to move on the seabed through a robotic arm. By arranging a pushing plate between the two support plates, during the movement of the two support plates on the seabed, the pushing plate guides the sludge to the outside of the two support plates, thereby forming a cable embedding groove between the two support plates. If the pushing plate touches a stone during the movement, the resistance of the pushing plate during the movement increases, resulting in the deformation of the pushing plate. When the pushing plate deforms, if the stone can be driven by the pushing plate to move in the vertical direction, the depth where the stone is located is changed; if the stone cannot be driven by the pushing plate to move in the vertical direction, during the deformation process of the pushing plate, the contact with the stone is avoided, thereby preventing the stone from hindering the movement of the pushing plate and the support, and ensuring the smoothness of laying the cable on the seabed.

Description

Technical Field

[0001] The present invention relates to the technical field of cable laying, and particularly relates to a subsea cable laying robot. Background Art

[0002] In the process of modern marine resource development and communication network construction, the subsea cable laying project has become a key infrastructure for realizing marine energy transmission and information interaction. In the prior art, for example, a Chinese patent with the authorization announcement number CN221885883U discloses a burying device for subsea cable laying. In the published document, through the ditch dug out by the plow plate, the sand and stones on the seabed will be scattered to both sides of the plow plate by the plow plate. At this time, the connecting frame is relied on to drive the deflector plate, and the deflector plate is in an inclined plane to contact the scattered stones and sand, so that they are quickly gathered together. Then, through the inclined plane of the push plate and its own weight, the gathered stones and sand are assisted to be flattened, thereby improving the compactness of the cable burial. However, in the actual laying process, there may be various obstacles on the seabed. The existence of obstacles seriously hinders the smooth progress of cable laying. When the plow plate encounters an obstacle, the robot may be forced to interrupt the cable laying because it cannot recognize or avoid the obstacle in time, which not only affects the project progress, but also may damage the cable, reduce the insulation performance and service life of the cable, and further threaten the stability and reliability of the entire subsea cable system. Summary of the Invention

[0003] The present invention provides a subsea cable laying robot to solve the problem that the existing subsea cable laying device is prone to interrupt the laying of cables when encountering obstacles.

[0004] The following technical solutions are adopted for a subsea cable laying robot of the present invention:

[0005] A subsea cable laying robot includes a suspension chamber and a grooving assembly.

[0006] The suspension bin can be suspended inside the sea water and can move along a preset path on the seabed; a cable is stored inside the suspension bin, one end of the cable is fixed to the seabed, and when the suspension bin moves, the cable can gradually break away from the suspension bin; a robotic arm is connected to the suspension bin; the grooving assembly includes a bracket, a support plate and a pushing plate, the bracket is fixedly connected to the robotic arm, there are two support plates, both support plates are connected to the bracket, the two support plates are arranged in parallel at intervals, and the cable is arranged between the two support plates; the pushing plate is arranged between the two support plates, the upper end of the pushing plate is connected to the bracket, the pushing plate has an initial curvature, and the curvature of the pushing plate can be changed; when the suspension bin moves along the preset path, the pushing plate can contact the seabed sludge or stones, the pushing plate can push the sludge to both sides of the two support plates, and when the pushing plate contacts the stones, the horizontal height of the lower end of the pushing plate rises.

[0007] Further, the support plate includes a support frame and a support cloth, the support cloth is a flexible plate, the support frame can support the support cloth, when the pushing plate deforms, it can drive the support frame to deform, and the support frame can actively reset after deformation.

[0008] Further, the support frame includes three frame rods, the support plate has an arc edge and three straight edges, each frame rod is fixedly connected to one of the straight edges of the support plate, and adjacent two frame rods are rotatably connected, and initially, adjacent two frame rods are perpendicular to each other; the pushing plate is arranged in an arc shape, the edge of the pushing plate is connected to the arc edge, and the end of the pushing plate is rotatably connected to the end of the frame rod.

[0009] Further, the support frame further includes a first support rod and a second support rod, a guide rail is arranged on the bracket, and the extending direction of the guide rail is arranged on the connection line of the two ends where adjacent two frame rods are far away from each other; a slider is slidably arranged on the guide rail; there are three first support rods, one end of each first support rod is fixedly connected to the slider, and the other end of each first support rod is rotatably connected to the end of the frame rod; one end of the second support rod is rotatably connected to the end of the pushing plate, and the other end of the second support rod is rotatably connected to the slider. Initially, the second support rod is coaxial with one of the first support rods, and the other two first support rods are in a coaxial state; the first support rod and the second support rod are both telescopic rods and have the same initial length.

[0010] Further, a first elastic member is provided on the first support rod, and the first elastic member is configured to drive the first support rod to recover to its initial length when the length of the first support rod changes; a second elastic member is provided on the second support rod, and the second elastic member is configured to drive the second support rod to recover to its initial length when the length of the second support rod changes.

[0011] Further, the pushing plate includes a first plate body and a second plate body, the first plate body and the second plate body are fixedly connected, and a preset included angle is formed between the first plate body and the second plate body.

[0012] Further, a first clamping plate is fixedly provided on the first plate body, a second clamping plate is fixedly provided on the second plate body, a plurality of sludge discharge holes are provided on both the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate are arranged oppositely.

[0013] Further, an inlet is provided on the pushing plate, and the cable can enter between two adjacent support plates through the inlet.

[0014] Further, a conveying roller is provided on the bracket, and the conveying roller is configured to convey the cable in the suspension bin to the inlet.

[0015] Further, two pre-pressing plates are provided on the bracket, the two pre-pressing plates are fixedly connected to the bracket, each pre-pressing plate is coplanar with one support plate, and an upwardly inclined guiding plate is fixedly provided at one end of the pre-pressing plate, and the guiding plate is arranged on the front side of the movement of the bracket.

[0016] The beneficial effects of the present invention are as follows: A submarine cable laying robot of the present invention includes a suspension chamber and a grooving assembly. When laying a cable on the seabed, one end of the cable is fixed to the seabed, and the remaining cable is stored inside the suspension chamber. The suspension chamber can float in seawater, and moreover, the floating depth of the suspension chamber in seawater can be adjusted. The suspension chamber can move along a preset path in seawater. When the suspension chamber reaches a specified depth, the robotic arm on the suspension chamber pulls the support frame to penetrate into the seabed, so that part of the support plate is inside the seabed. When the suspension chamber moves along the preset path, the suspension chamber drives the two support plates to move on the seabed through the robotic arm. By arranging a push plate between the two support plates, during the movement of the two support plates on the seabed, the push plate guides the sludge to the outside of the two support plates, thereby forming a cable embedding groove between the two support plates. If the push plate touches a stone during the movement, the resistance of the push plate during the movement increases, resulting in the deformation of the push plate. When the push plate deforms, if the stone can be driven by the push plate to move in the vertical direction, the depth where the stone is located is changed; if the stone cannot be driven by the push plate to move in the vertical direction, then during the deformation of the push plate, it avoids contact with the stone, thereby preventing the stone from hindering the movement of the push plate and the support frame, and ensuring the smoothness of laying the cable on the seabed. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 Structural schematic diagram of a submarine cable laying robot provided by an embodiment of the present invention;

[0019] Figure 2 Structural schematic diagram of a grooving assembly in a submarine cable laying robot provided by an embodiment of the present invention;

[0020] Figure 3 Front view of a grooving assembly in a submarine cable laying robot provided by an embodiment of the present invention;

[0021] Figure 4 Cross-sectional view of a grooving assembly in a submarine cable laying robot provided by an embodiment of the present invention;

[0022] Figure 5 State diagram when the push plate in the grooving assembly of a submarine cable laying robot provided by an embodiment of the present invention touches a stone;

[0023] Figure 6This is a state diagram of the pushing plate in the grooving component of a submarine cable laying robot provided by an embodiment of the present invention when it passes over a stone.

[0024] In the figure: 110, suspension bin; 111, first propeller; 112, second propeller; 120, bracket; 130, support cloth; 140, pushing plate; 141, first plate body; 142, second plate body; 150, support frame; 151, frame rod; 152, first support rod; 153, second support rod; 160, guide rail; 170, slider; 180, robotic arm; 210, first spring; 220, second spring; 230, first clamping plate; 240, second clamping plate; 250, inlet; 260, conveying roller; 270, pre-pressing plate. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The "connection" and "coupling" mentioned in this application, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0027] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0028] Such as Figures 1 to 6As shown in the figure, a subsea cable laying robot provided by an embodiment of the present invention includes a suspension chamber 110 and a grooving assembly.

[0029] The suspension chamber 110 has a water storage cavity inside. An adjustment pump is provided on the suspension chamber 110. The adjustment pump can supply water to the water storage cavity, or the adjustment pump can pump the water in the water storage cavity out of the water storage cavity, so that the suspension depth of the suspension chamber 110 inside the seawater can be adjusted. A first propeller 111 and a second propeller 112 are provided on the suspension chamber 110. The first propeller 111 can push the suspension chamber 110 to move in the horizontal direction, and the second propeller 112 can push the suspension chamber 110 to move in the vertical direction. An angle sensor is provided on the suspension chamber 110. After the suspension chamber 110 is tilted, the angle sensor gives an early warning, and the staff can timely control the rotation speeds of the first propeller 111 and the second propeller 112 to change, so that the suspension chamber 110 runs stably at an angle on the seabed. When laying a cable on the seabed, the staff can plan a preset path in advance, and the suspension chamber 110 can move along the preset path inside the seawater. The suspension chamber 110 has a temporary storage cavity inside, and a cable is stored in the temporary storage cavity. Further, a winding roller is rotatably provided in the temporary storage cavity, and the cable is wound around the winding roller. One end of the cable passes through the suspension chamber 110, and one end of the cable is fixed to the seabed. When the suspension chamber 110 moves along the preset path, the cable gradually detaches from the winding roller. A robotic arm 180 is fixedly connected to the suspension chamber 110. The robotic arm 180 can extend into the seabed. A power supply is carried on the suspension chamber 110. The power supply provides electric energy for the extension of the robotic arm 180. At the same time, the power supply can also provide electric energy for the electrical equipment in the suspension chamber 110.

[0030] The grooving assembly includes a bracket 120, a support plate, and a pushing plate 140. The bracket 120 is fixedly connected to the robotic arm 180. When the robotic arm 180 is in the extended state, the bracket 120 can abut against the seabed. There are two support plates. Both support plates are connected to the bracket 120. The two support plates are arranged in parallel at intervals. The plane where the support plates are located is parallel to the preset path. And, when the two support plates are in an aligned state, the orthographic projections of the two support plates overlap each other. In the initial state, the lower half of the support plate is inside the seabed, and the upper half of the support plate is above the seabed. The cable is arranged between the two support plates. The pushing plate 140 is arranged between the two support plates. Specifically, the pushing plate 140 is arranged at the ends of the two support plates. When the suspension chamber 110 moves along the preset path, the support plates move synchronously on the seabed. The pushing plate 140 can first contact the sludge on the seabed, and the pushing plate 140 can push the sludge to both sides where the two support plates are away from each other, so as to draw a cable embedding groove on the seabed.

[0031] The pushing plate 140 has an initial curvature. When the pushing plate 140 moves on the seabed, if there are no rocks on the seabed, the pushing plate 140 will not deform; if there are rocks on the seabed, during the movement of the pushing plate 140, when the pushing plate 140 comes into contact with a rock, the resistance of the pushing plate 140 during its movement on the seabed increases, and the pushing plate 140 gradually deforms. When the pushing plate 140 deforms, the lower end of the pushing plate 140 generates movement in the vertical direction, causing the curvature of the pushing plate 140 to change. If the rock can be driven by the pushing plate 140 to move in the vertical direction, the pushing plate 140 changes the original depth of the rock. Under the guidance of the pushing plate 140, the rock moves to the two sides where the two support plates are far away from each other after changing its original depth, avoiding the rock directly contacting the cable; if the rock cannot be driven by the pushing plate 140 to move in the vertical direction, the pushing plate 140 dodges the rock during the deformation process to avoid the rock hindering the movement of the pushing plate 140. Then, when the pushing plate 140 encounters additional resistance during its movement on the seabed, the rotational speeds of the first propeller 111 and the second propeller 112 on the suspension bin 110 change to ensure the stability of the suspension bin 110, thereby ensuring the smoothness of laying the cable on the seabed.

[0032] For a submarine cable laying robot of the present invention, when laying a cable on the seabed, one end of the cable is fixed to the seabed, and the remaining cable is stored inside the suspension bin 110. The suspension bin 110 can float in the sea water, and moreover, the floating depth of the suspension bin 110 in the sea water can be adjusted. The suspension bin 110 can move in the sea water along a preset path. When the suspension bin 110 reaches the specified depth, the manipulator 180 on the suspension bin 110 pulls the support bracket 120 to extend towards the seabed, so that part of the support plates are inside the seabed. When the suspension bin 110 moves along the preset path, the suspension bin 110 drives the two support plates to move on the seabed through the manipulator 180. By arranging a pushing plate 140 between the two support plates, during the movement of the two support plates on the seabed, the pushing plate 140 guides the sludge to the outside of the two support plates, thereby forming a cable laying groove between the two support plates. If the pushing plate 140 comes into contact with a rock during the movement, the resistance of the pushing plate 140 during the movement increases, causing the pushing plate 140 to deform. When the pushing plate 140 deforms, if the rock can be driven by the pushing plate 140 to move in the vertical direction, the depth where the rock is located is changed; if the rock cannot be driven by the pushing plate 140 to move in the vertical direction, the pushing plate 140 dodges contact with the rock during the deformation process of the pushing plate 140, thereby avoiding the rock hindering the movement of the pushing plate 140 and the support bracket 120, and ensuring the smoothness of laying the cable on the seabed.

[0033] In one embodiment, the support plate includes a support frame 150 and a support cloth 130. The support cloth 130 is a flexible plate. The support frame 150 can support the support cloth 130. When the push plate 140 deforms, it can drive the support frame 150 to deform. After the support frame 150 deforms, it can actively reset, ensuring that after the push plate 140 avoids a stone, the push plate 140 can return to the original seabed depth. Specifically, the two support frames 150 are arranged on the two side walls of the two support cloths 130 close to each other, avoiding direct contact between the support frame 150 and the sludge, and at the same time ensuring the flatness of the side wall of the cable embedding groove.

[0034] In one embodiment, the support frame 150 includes three frame bars 151. The support cloth 130 is a quadrilateral plate structure. Among them, the support cloth 130 has an arc edge and three straight edges. Two adjacent straight edges are arranged perpendicular to each other. Each frame bar 151 is fixedly connected to a straight edge. Two adjacent frame bars 151 are rotatably connected, and the three frame bars 151 enclose a shape similar to a C. In the initial state, two adjacent frame bars 151 are perpendicular to each other. One of the frame bars 151 is in a vertical state, and the other two frame bars 151 are in a horizontal state. The frame bar 151 at the lower part is below the seabed. The push plate 140 is arranged in an arc shape. The push plate 140 has two edges and two ends. One edge of the push plate 140 is connected to the arc edge of a support cloth 130. One end of the push plate 140 is rotatably connected to the end of a frame bar 151. Specifically, the push plate 140 seals the opening of the shape similar to a C enclosed by the three frame bars 151. When the suspension bin 110 moves along a preset path, the push plate 140 can first contact the sludge or the stone. When the resistance received by the push plate 140 changes, the push plate 140 deforms. After the push plate 140 deforms, it drives the frame bar 151 to deflect at an angle, and at the same time the support cloth 130 deforms.

[0035] Further, in this embodiment, a torsion spring is connected between two adjacent frame bars 151. When the frame bar 151 deflects at an angle, the torsion spring starts to store energy. When the resistance received by the push plate 140 during movement returns to the initial state, the torsion spring drives the frame bar 151 to reset. At the same time, the push plate 140 can also actively reset after deforming. Under the combined action of the reset force of the push plate 140 and the reset force of the torsion spring, the push plate 140 and the support cloth 130 return to the initial state.

[0036] In one embodiment, the support frame 150 further includes a first support rod 152 and a second support rod 153. A guide rail 160 is provided on the bracket 120. In the initial state, the guide rail 160 is in an inclined state, and the extending direction of the guide rail 160 is set on the connection line between the two ends of adjacent frame rods 151 away from each other. A slider 170 is slidably provided on the guide rail 160. There are three first support rods 152. One end of each first support rod 152 is fixedly connected to the slider 170, and the other end of each first support rod 152 is rotatably connected to the end of the frame rod 151. The extending directions of two of the first support rods 152 are the same as the extending direction of the guide rail 160, and the extending direction of the other first support rod 152 is perpendicular to the extending direction of the guide rail 160. The first support rod 152 can be telescopic, and the initial lengths of the first support rods 152 are the same. When the length of the first support rod 152 changes, the first support rod 152 can actively reset. One end of the second support rod 153 is rotatably connected to the end of the push plate 140, and the other end of the second support rod 153 is rotatably connected to the slider 170. In the initial state, the length of the second support rod 153 is equal to the length of the first support rod 152, and the extending direction of the second support rod 153 is perpendicular to the extending direction of the guide rail 160. The second support rod 153 is a telescopic rod. When the length of the second support rod 153 changes, the second support rod 153 can actively reset.

[0037] Further, when the suspension bin 110 moves along a preset path, the push plate 140 pushes the sludge. If there are no stones in the sludge, the push plate 140 maintains its initial arc, and the lengths of the first support rod 152 and the second support rod 153 do not change. If there are stones in the sludge, the resistance of the push plate 140 when pushing the sludge increases, and the push plate 140 gradually deforms. When the push plate 140 deforms, the length of the second support rod 153 gradually decreases, and the second support rod 153 gradually rotates on the slider 170. If the stone is lifted upward during this process, the original depth of the stone is changed, reducing the probability of the stone contacting the cable; if the stone cannot be lifted upward during this process, the lower end of the push plate 140 gradually moves upward, and the lower frame rod 151 gradually tilts. When the lower end of the push plate 140 passes over the stone, the lower frame rod 151 contacts the stone. When the push plate 140 disengages from the stone, the push plate 140 starts to actively reset, and the second support rod 153 starts to actively extend and reset. At the same time, the first support rod 152 connected to the lower frame rod 151 starts to shorten, and the first support rod 152 coaxial with it shortens synchronously. Under the action of the frame rod 151, the first support rod 152 and the second support rod 153 perpendicular to the guide rail 160 start to extend. During this process, the tilting direction of the lower frame rod 151 changes. During the movement of the suspension bin 110 along the preset path, the lower frame rod 151 can recover to its original depth.

[0038] In one embodiment, a first elastic member is provided on the first support rod 152. The first elastic member is configured to drive the first support rod 152 to recover to its initial length when the length of the first support rod 152 changes. Specifically, the first elastic member is a first spring 210. The first spring 210 is coaxially arranged with the first support rod 152. The first support rod 152 includes a first section and a second section. The second section is hollow inside. One end of the first section is slidably inserted into the second section. The other end of the first section is fixedly connected to the slider 170. The first spring 210 is sleeved outside the first section. One end of the first spring 210 is fixedly connected to the slider 170, and the other end of the first spring 210 is fixedly connected to the second section. A second elastic member is provided on the second support rod 153. The second elastic member is configured to drive the second support rod 153 to recover to its initial length when the length of the second support rod 153 changes. Specifically, the second elastic member is a second spring 220. The second spring 220 is coaxially arranged with the second support rod 153. The second support rod 153 includes a third section and a fourth section. The fourth section is hollow inside. One end of the third section is slidably inserted into the fourth section. The other end of the third section is rotatably connected to the slider 170. The second spring 220 is sleeved outside the third section. One end of the second spring 220 is connected to the slider 170, and the other end of the second spring 220 is fixedly connected to the fourth section.

[0039] In one embodiment, the pushing plate 140 includes a first plate body 141 and a second plate body 142. The first plate body 141 and the second plate body 142 are fixedly connected. There is a preset angle between the first plate body 141 and the second plate body 142. During the movement of the suspension chamber 110 along a preset path, the connection part of the first plate body 141 and the second plate body 142 can first contact the sludge. The preset angle between the first plate body 141 and the second plate body 142 can facilitate the guiding of the sludge, so that the sludge moves to both sides of the two support cloths 130.

[0040] In one embodiment, a first clamping plate 230 is fixedly arranged on the first plate body 141, and a second clamping plate 240 is fixedly arranged on the second plate body 142. The first clamping plate 230 and the second clamping plate 240 are parallel to each other, the first clamping plate 230 and the second clamping plate 240 are arranged oppositely, and both the first clamping plate 230 and the second clamping plate 240 are arranged at the lower end of the push plate 140. During the movement of the suspension bin 110 along a preset path, the first clamping plate 230 and the second clamping plate 240 can first come into contact with the sludge. If there are stones in the sludge and the diameter of the stones is slightly larger than the gap between the first clamping plate 230 and the second clamping plate 240, during the deformation process of the push plate 140, the first clamping plate 230 and the second clamping plate 240 can pull the stones inside the sludge upward, thereby changing the depth of the stones. Further, a plurality of sludge discharge holes are arranged on both the first clamping plate 230 and the second clamping plate 240. When the sludge enters between the first clamping plate 230 and the second clamping plate 240, under the guidance of the first plate body 141 and the second plate body 142, the sludge passes through the sludge discharge holes on the first clamping plate 230 and the second clamping plate 240.

[0041] In one embodiment, a cable inlet 250 is arranged on the push plate 140, and the cable can enter between two adjacent support cloths 130 through the cable inlet 250. By arranging the cable inlet 250, it is ensured that the cable can pass through the push plate 140 smoothly. Further, the cable inlet 250 is arranged at the upper part of the push plate 140 to prevent the sludge from entering between two adjacent support cloths 130 through the cable inlet 250.

[0042] In one embodiment, a conveying roller 260 is arranged on the support 120. The conveying roller 260 is used to convey the cable in the suspension bin 110 towards the cable inlet 250. Specifically, the conveying roller 260 can rotate actively on the support 120, the surface of the conveying roller 260 is set as a rough surface, the conveying roller 260 is in contact with the cable, and when the conveying roller 260 rotates, the conveying roller 260 pulls the cable out of the suspension bin 110 and conveys the cable towards the cable inlet 250.

[0043] In one embodiment, two pre-pressing plates 270 are arranged on the support 120. The two pre-pressing plates 270 are fixedly connected to the support 120, each pre-pressing plate 270 is coplanar with a support cloth 130, and an upwardly inclined guiding plate is fixedly arranged at one end of the pre-pressing plate 270. The guiding plate is arranged on the front side of the movement of the support 120. During the movement of the suspension bin 110 along a preset path, each guiding plate can pre-press the movement path of a support cloth 130, reducing the probability of collapse of the cable embedding groove formed between the two support cloths 130.

[0044] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An undersea cable laying robot, characterized in that, Including: A suspension chamber that can be suspended inside seawater and move along a preset path on the seabed; A cable is stored in the suspension chamber. One end of the cable is fixed to the seabed. When the suspension chamber moves, the cable can gradually detach from the suspension chamber; A robotic arm is connected to the suspension chamber; A grooving assembly, the grooving assembly includes a bracket, a support plate and a pushing plate. The bracket is fixedly connected to the robotic arm. There are two support plates. Both support plates are connected to the bracket. The two support plates are arranged in parallel at intervals. The cable is arranged between the two support plates; The pushing plate is arranged between the two support plates. The upper end of the pushing plate is connected to the bracket. The pushing plate has an initial curvature, and the curvature of the pushing plate can change; When the suspension chamber moves along the preset path, the pushing plate can contact the seabed sludge or rock, and the pushing plate can push the sludge to both sides of the two support plates. When the pushing plate contacts the rock, the horizontal height of the lower end of the pushing plate rises; The support plate includes a support frame and a support cloth. The support cloth is a flexible plate. The support frame can support the support cloth. When the pushing plate deforms, it can drive the support frame to deform, and the support frame can actively reset after deformation; The support frame includes three frame rods. The support cloth has an arc edge and three straight edges. Each frame rod is fixedly connected to one of the straight edges of the support cloth. Adjacent two frame rods are rotatably connected. Initially, adjacent two frame rods are perpendicular to each other; The pushing plate is set as an arc, and the edge of the pushing plate is connected to the arc edge. The end of the pushing plate is rotatably connected to the end of the frame rod.

2. The undersea cable laying robot according to claim 1, wherein: The support frame further includes a first support rod and a second support rod. A guide rail is arranged on the bracket. The extending direction of the guide rail is set on the connection line of the two ends where adjacent two frame rods are far away from each other; A slider is slidably arranged on the guide rail; There are three first support rods. One end of each first support rod is fixedly connected to the slider, and the other end of each first support rod is rotatably connected to the end of the frame rod; One end of the second support rod is rotatably connected to the end of the pushing plate, and the other end of the second support rod is rotatably connected to the slider. Initially, the second support rod is coaxial with one of the first support rods, and the other two first support rods are in a coaxial state; The first support rod and the second support rod are both telescopic rods and have the same initial length.

3. The submarine cable laying robot according to claim 2, wherein: A first elastic member is arranged on the first support rod, and the first elastic member is used to drive the first support rod to recover to the initial length when the length of the first support rod changes; A second elastic member is arranged on the second support rod, and the second elastic member is used to drive the second support rod to recover to the initial length when the length of the second support rod changes.

4. The undersea cable laying robot according to claim 1, characterized in that: The pushing plate includes a first plate body and a second plate body. The first plate body and the second plate body are fixedly connected. There is a preset included angle between the first plate body and the second plate body.

5. The underwater cable laying robot according to claim 4, wherein: A first clamping plate is fixedly arranged on the first plate body, a second clamping plate is fixedly arranged on the second plate body, a plurality of sludge discharge holes are arranged on both the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate are arranged oppositely.

6. The submarine cable laying robot according to claim 1, characterized in that: A cable inlet is arranged on the pushing plate, and the cable can enter between two adjacent support plates through the cable inlet.

7. The undersea cable laying robot according to claim 6, characterized in that: A conveying roller is arranged on the bracket, and the conveying roller is used for conveying the cable in the suspension bin to the cable inlet.

8. The undersea cable laying robot according to claim 1, characterized in that: Two pre-pressing plates are arranged on the bracket, the two pre-pressing plates are fixedly connected to the bracket, each pre-pressing plate is coplanar with one support plate, and an upwardly inclined guiding plate is fixedly arranged at one end of the pre-pressing plate, and the guiding plate is arranged on the front side of the movement of the bracket.

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