Feeding and discharging control mechanism applied to submarine cable laying auxiliary robot

Abstract

The invention relates to the technical field of conveying and storage of submarine cable laying auxiliary equipment, in particular to a feeding and discharging control mechanism applied to a submarine cable laying auxiliary robot. The feeding and discharging control mechanism comprises a fixed mounting base mounted at a submarine cable laying stern and a robot body, and a fixed mounting frame is movably mounted on the upper surface of the fixed mounting base; and an electric control type outer frame is movably assembled in the fixed mounting frame. According to the feeding and discharging control mechanism applied to the submarine cable laying auxiliary robot, feeding and discharging are conducted on the robot body through full-automatic control, control is convenient, manual intervention is not needed, time and labor are saved, and safety is high; the internal overturning cable guide wheel set is movably assembled in the electric control type external frame, so that the height of the submarine cable can be adjusted, feeding and discharging of the robot are facilitated, and transition is smoother; the first electric control combined guide rail and the second electric control combined guide rail are arranged on the two sides of the opening of the arc-shaped adjusting guide rail correspondingly, material guiding can be facilitated, and the transition effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying and storing submarine cable laying auxiliary equipment, in particular to a loading and unloading control mechanism applied to a submarine cable laying auxiliary robot. Background Art

[0002] Submarine cables are mainly used to connect long-distance islands and cross-sea facilities. They are usually wrapped in insulating materials and laid on the seabed, and have strong compressive strength and waterproof properties. To facilitate the laying of submarine cables, the existing submarine cable laying method is mainly carried out by tugboats. The hull structure is relatively large, resulting in the inability to adjust its position within the water body and on the seabed during the laying process, resulting in poor laying stability of the submarine cable. Therefore, auxiliary robots are set up during the laying process to clean and adjust the submarine cable, thereby controlling the submarine cable and improving the accuracy of the submarine cable laying. However, the current auxiliary robots need to be manually installed and disassembled, which is time-consuming and labor-intensive, and is also inconvenient to operate and has low safety. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that the existing auxiliary robots need to be manually assembled and disassembled, which is time-consuming and labor-intensive, inconvenient to operate, and low in safety.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a loading and unloading control mechanism applied to a submarine cable laying auxiliary robot, including a fixed mounting base and a robot body installed at the stern of the submarine cable laying ship, a fixed mounting frame movably installed on the upper surface of the fixed mounting base, an electrically controlled external frame movably assembled inside the fixed mounting frame, an internal flip cable guide wheel group movably assembled inside the electrically controlled external frame, the robot body movably mounted on the outside of the electrically controlled external frame, and a matching electrically controlled conduction wheel group assembled at the connection end between the robot body and the electrically controlled external frame.

[0005] The lower end of the fixed installation frame is located inside the fixed installation base and is fixedly equipped with a bottom-mounted adjusting worm gear. The side wall of the fixed installation base is fixedly equipped with an electric-controlled worm that matches the bottom-mounted adjusting worm gear.

[0006] The electrically controlled external frame includes an annular assembly frame fixed to the inner side of a fixed installation frame by a lateral bracket, an arc-shaped adjustment guide rail slidably sleeved on the outer side of the annular assembly frame, a lateral adjustment motor installed on the side wall of the annular assembly frame, and a first electrically controlled combined guide rail and a second electrically controlled combined guide rail movably installed on both sides of the opening of the arc-shaped adjustment guide rail.

[0007] The internal turnover fairlead assembly comprises an electrically controlled fairlead frame movably mounted inside the annular assembly frame, a first fairlead wheel and a second fairlead wheel movably mounted inside the electrically controlled fairlead frame.

[0008] The first electrically controlled combined guide rail and the second electrically controlled combined guide rail both consist of arc-shaped guide frames movably mounted on both sides of the arc-shaped adjustment guide rail opening and outer adjustment struts for controlling the arc-shaped guide frames.

[0009] The electrically controlled cable guide frame comprises an external cable guide frame movably mounted inside the annular assembly frame through shafts on both sides and an inner regulating strut used for controlling the flipping of the external cable guide frame.

[0010] An optical positioning module is installed on the outer side surface of the arc-shaped adjustment guide rail.

[0011] The electrically controlled transmission wheel assembly includes outer extrusion guide wheels and inner electric drive gears elastically mounted on both sides of the robot body. The inner arc surfaces of the arc-shaped adjustment guide rail and the arc-shaped guide frame are both provided with arc-shaped drive tooth grooves that match the inner electric drive gears.

[0012] An electrically controlled flip adjustment frame is movably mounted on the outer side of the fixed installation frame, and a solar panel for power supply is mounted on the outer side of the electrically controlled flip adjustment frame.

[0013] An embedded energy replenishment module is elastically assembled on the inner side of the arc-shaped adjustment guide rail.

[0014] The beneficial effects of the present invention are: (1) The loading and unloading control mechanism of the submarine cable laying auxiliary robot of the present invention adopts fully automatic control to load and unload the robot body, which is convenient to control, does not require manual intervention, saves time and effort, and has strong safety; (2) By assembling an internal flip cable guide wheel assembly inside the electrically controlled external frame, the height of the submarine cable can be adjusted to facilitate the loading and unloading of the robot and make the transition smoother; (3) A first electrically controlled combined guide rail and a second electrically controlled combined guide rail are respectively provided on both sides of the arc-shaped adjustment guide rail opening, which can facilitate material guiding and improve the transition effect; (4) The rotatable structure design can change the angle of the cable guide as needed to reduce the stability of the ship when turning; (5) By integrating the cable guide, height adjustment and guide rail extension and retraction into the fixed installation frame, the structure is more compact and the functional integration is greatly improved; (6) The robot body is placed on the outside of the electrically controlled external frame by sliding, without taking up extra space on the hull. At the same time, it can be automatically powered on the outside, making it more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and examples.

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 It is a side schematic diagram of the present invention.

[0018] Figure 3 It is a schematic diagram of the inner structure of the present invention.

[0019] Figure 4 It is a partial schematic diagram of the position of the embedded energy charging module in the present invention.

[0020] In the figure, 1. fixed mounting base, 2. robot body, 3. fixed mounting frame, 4. electrically controlled external frame, 5. internal flip cable guide wheel assembly, 7. electrically controlled conduction wheel assembly, 8. bottom adjustment worm gear, 9. electrically controlled worm, 41. annular assembly frame, 42. arc-shaped adjustment guide rail, 43. lateral adjustment motor, 44. first electrically controlled combined guide rail, 45. second electrically controlled combined guide rail, 51. electrically controlled cable guide frame, 52. first cable guide wheel, 53. second cable guide wheel, 451. arc-shaped guide frame, 452. outer adjustment support rod, 511. outer cable guide frame, 512. inner adjustment support rod, 10. optical positioning module, 71. outer extrusion guide wheel, 72. inner electric drive gear, 11. arc-shaped drive tooth groove, 12. electrically controlled flip adjustment frame, 13. solar panel, 14. embedded energy charging module. DETAILED DESCRIPTION

[0021] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0022] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0023] Figure 1 、 Figure 2 、 Figure 3 and Figure 4The shown embodiment is a loading and unloading control mechanism for a submarine cable laying auxiliary robot, comprising a fixed mounting base 1 and a robot body 2 installed at the stern of a submarine cable laying ship; a fixed mounting frame 3 is movably mounted on the upper surface of the fixed mounting base 1; an electrically controlled external frame 4 is movably assembled inside the fixed mounting frame 3; an internal flip cable guide wheel assembly 5 is movably assembled inside the electrically controlled external frame 4; the robot body 1 is movably mounted on the outside of the electrically controlled external frame 4; and a matching electrically controlled conductive wheel assembly 7 is assembled at the connection end between the robot body 2 and the electrically controlled external frame 4.

[0024] Working principle: when the robot needs to be released, the internal flip guide wheel group 5 is flipped counterclockwise to control the cable discharge end to descend, and then the electrically controlled external frame 4 is controlled to flip outward, and then the robot body 2 located on the outside of the electrically controlled external frame 4 slides to the surface of the submarine cable, and then the arc-shaped limit frames on both sides of the robot body 2 are flipped and sleeved on the outside of the submarine cable, and then the electric drive wheels on the inner wall of the arc-shaped limit frame are used to drive the robot body 2 to move along the submarine cable into the water body; conversely, when it is necessary to recover and love, the internal flip guide wheel group 5 is flipped clockwise to control the cable discharge end to rise, and then the electrically controlled external frame 4 is controlled to flip outward, and then the robot body 2 located on the outside of the submarine cable will slide along the submarine cable and be inserted into the electrically controlled external frame 4, and then the arc-shaped limit frames on both sides of the robot body 2 are flipped outward to separate from the submarine cable, and then the robot body 1 slides and adjusts along the electrically controlled external frame 4, and finally the electrically controlled external frame 4 flips and resets.

[0025] In order to perform lateral horizontal adjustment, the lower end of the fixed mounting frame 3 is fixedly equipped with a bottom adjustment worm gear 8 inside the fixed mounting base 1, and the side wall of the fixed mounting base 1 is fixedly equipped with an electric control worm 9 that matches the bottom adjustment worm gear 8.

[0026] The electric-controlled worm 9 rotates to adjust the bottom-mounted adjusting worm wheel 8 to rotate, and the electric-controlled worm 9 and the bottom-mounted adjusting worm wheel 8 are meshed with each other.

[0027] In order to cooperate with the sliding adjustment, the electrically controlled external frame 4 includes an annular assembly frame 41 fixed to the inner side of the fixed installation frame 3 through a lateral bracket, an arc-shaped adjustment guide rail 42 slidably sleeved on the outer side of the annular assembly frame 41, a lateral adjustment motor 43 installed on the side wall of the annular assembly frame 41, and a first electrically controlled combined guide rail 44 and a second electrically controlled combined guide rail 45 movably installed on both sides of the opening of the arc-shaped adjustment guide rail 42.

[0028] The lateral adjustment motor 43 controls the arc-shaped adjustment guide rail 42 to slide and adjust outside the annular assembly frame 41. Three lateral adjustment motors 43 are provided to ensure that the arc-shaped adjustment guide rail 42 can be stably adjusted.

[0029] In order to guide the submarine cable, the internal flip fairlead assembly 5 includes an electrically controlled fairlead frame 51 movably mounted inside the annular assembly frame 41 , and a first fairlead wheel 52 and a second fairlead wheel 53 movably mounted inside the electrically controlled fairlead frame 51 .

[0030] The submarine cable passes between the first cable guide wheel 52 and the second cable guide wheel 53 for guidance.

[0031] In order to cooperate with the flip adjustment, the first electrically controlled combined guide rail 44 and the second electrically controlled combined guide rail 45 are both composed of arc guide frames 451 movably mounted on both sides of the opening of the arc adjustment guide rail 42 and outer adjustment struts 452 for controlling the arc guide frames 451.

[0032] The outer adjustment strut 452 controls the arc-shaped guide frame 451 to perform flip adjustment by extending and retracting.

[0033] When idle, the arc-shaped guide frame 451 flips inward to the inside of the annular assembly frame 41 , and at this time, the arc-shaped adjustment guide rail 42 is disconnected from the first electrically controlled combined guide rail 44 and the second electrically controlled combined guide rail 45 .

[0034] In order to cooperate with angle adjustment, the electrically controlled cable guide frame 51 includes an outer cable guide frame 511 movably mounted inside the annular assembly frame 41 through two side shafts and an inner adjustment support rod 512 for controlling the flipping of the outer cable guide frame 511 .

[0035] The inner adjustment strut 512 adjusts the angle of the outer cable guide frame 511 by telescoping, thereby raising the submarine cable to facilitate its introduction onto the first electrically controlled modular guide rail 44 ; or lowering the submarine cable to facilitate its introduction onto the second electrically controlled modular guide rail 45 .

[0036] In order to cooperate with optical positioning, an optical positioning module 10 is installed on the outer surface of the arc-shaped adjustment guide rail 42.

[0037] The function of the optical positioning module 10 is to control the angle of the first electrically-controlled combined guide rail 44 or the second electrically-controlled combined guide rail 45 according to the position of the submarine cable, so as to ensure that the robot body 2 can be smoothly introduced from the first electrically-controlled combined guide rail 44 to the outside of the submarine cable or from the submarine cable to the second electrically-controlled combined guide rail 45.

[0038] In order to cooperate with the drive adjustment, the electrically controlled transmission wheel group 7 includes an outer extrusion guide wheel 71 and an inner electric drive gear 72 elastically mounted on both sides of the robot body 2. The inner arc-shaped surfaces of the arc-shaped adjustment guide rail 42 and the arc-shaped guide frame 451 are both provided with arc-shaped drive tooth grooves 11 that cooperate with the inner electric drive gear 72.

[0039] The outer extrusion guide wheel 71 is squeezed from the outside onto the outer side of the arc-shaped adjustment guide rail 42 and the arc-shaped guide frame 451 , thereby improving the fit between the inner electric drive gear 72 and the arc-shaped drive tooth groove 11 , and ensuring the guidance and stability of the robot body 2 .

[0040] In order to cooperate with energy replenishment and facilitate the conversion of optical energy into electrical energy, an electrically controlled flip adjustment frame 12 is movably mounted on the outer surface of the fixed installation frame 3 , and a solar panel 13 for energy supply is installed on the outer side of the electrically controlled flip adjustment frame 12 .

[0041] The electrically controlled flip adjustment frame 12 includes an outer mounting frame fixed on the outer side of the fixed mounting frame 3, a flip frame movably mounted inside the outer mounting frame, a lateral flip support rod for controlling the flip frame, an external mounting frame movably mounted on the outside of the flip frame for assembling the solar panel 13, and an external adjustment support rod for controlling the external mounting frame.

[0042] The lateral flip support rod controls the left and right flipping of the flip frame by telescoping, while the external adjustment support rod controls the up and down flipping of the external mounting frame by telescoping, thereby facilitating the control of the solar panel to convert solar energy at a more appropriate angle.

[0043] In order to cooperate with the extrusion energy charging, an embedded energy charging module 14 is elastically assembled on the inner side of the arc-shaped adjustment guide rail 42.

[0044] Metal conductive terminals that match the embedded energy charging module 14 are installed on both sides of the bottom of the robot body 2. When the robot body 2 is hung on the outside of the electrically controlled external frame 4, the embedded energy charging module 14 will pop out and squeeze on the metal conductive terminals. In this way, the lithium battery inside the robot body 2 can be powered by the electricity generated by the solar panel 13 and the stored electricity.

[0045] The embedded energy charging module 14 consists of an electromagnet installed in an embedded mounting groove on the inner side of the arc-shaped adjustment guide rail 42, an iron spring and a conductive terminal installed on the iron spring. When the electromagnet is closed, the iron spring is squeezed inward to control the conductive terminal to return to the embedded mounting groove for storage. When the electromagnet is turned on, the iron spring is controlled to be adsorbed, and the iron spring squeezes the conductive terminal outward, squeezing the conductive terminal to electrically connect it with the metal conductive terminal on the robot body 2.

[0046] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A loading and unloading control mechanism for a submarine cable laying auxiliary robot, comprising a fixed mounting base (1) mounted at the stern of a submarine cable laying vessel and a robot body (2), characterized in that: A fixed mounting frame (3) is movably mounted on the upper surface of the fixed mounting base (1), an electrically controlled external frame (4) is movably mounted inside the fixed mounting frame (3), an internal flip guide wheel assembly (5) is movably mounted inside the electrically controlled external frame (4), the robot body (2) is movably mounted on the outside of the electrically controlled external frame (4), and a matching electrically controlled conduction wheel assembly (7) is mounted at the connection end between the robot body (2) and the electrically controlled external frame (4).

2. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 1 is characterized by: The lower end of the fixed mounting frame (3) is located inside the fixed mounting base (1) and is fixedly equipped with a bottom-mounted adjusting worm wheel (8). The side wall of the fixed mounting base (1) is fixedly equipped with an electric-controlled worm (9) that matches the bottom-mounted adjusting worm wheel (8).

3. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 1 is characterized by: The electrically controlled external frame (4) comprises an annular assembly frame (41) fixed to the inner side of the fixed installation frame (3) via a lateral bracket, an arc-shaped adjustment guide rail (42) slidably sleeved on the outer side of the annular assembly frame (41), a lateral adjustment motor (43) mounted on the side wall of the annular assembly frame (41), and a first electrically controlled combined guide rail (44) and a second electrically controlled combined guide rail (45) movably mounted on both sides of an opening of the arc-shaped adjustment guide rail (42).

4. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 3 is characterized by: The internal flip fairlead assembly (5) comprises an electrically controlled fairlead frame (51) movably mounted inside the annular assembly frame (41), a first fairlead wheel (52) and a second fairlead wheel (53) movably mounted inside the electrically controlled fairlead frame (51).

5. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 3 is characterized by: The first electrically controlled combined guide rail (44) and the second electrically controlled combined guide rail (45) are both composed of arc-shaped guide frames (451) movably mounted on both sides of the opening of the arc-shaped adjustment guide rail (42) and outer adjustment struts (452) for controlling the arc-shaped guide frames (451).

6. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 4 is characterized by: The electrically controlled cable guide frame (51) comprises an external cable guide frame (511) movably mounted inside the annular assembly frame (41) via two side shafts, and an inner regulating strut (512) for controlling the flipping of the external cable guide frame (511).

7. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 3 is characterized by: An optical positioning module (8) is installed on the outer side of the arc-shaped adjustment guide rail (42).

8. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 5 is characterized by: The electrically controlled transmission wheel assembly (7) comprises an outer extrusion guide wheel (71) and an inner electric drive gear (72) elastically mounted on both sides of the robot body (2); and an arc-shaped drive tooth groove (11) matching the inner electric drive gear (72) is formed on the inner arc-shaped surfaces of the arc-shaped adjustment guide rail (42) and the arc-shaped guide frame (451).

9. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 1 is characterized by: An electrically controlled flip adjustment frame (12) is movably mounted on the outer surface of the fixed installation frame (3), and a solar panel (13) for power supply is mounted on the outer side of the electrically controlled flip adjustment frame (12).

10. The loading and unloading control mechanism for a submarine cable laying auxiliary robot according to claim 3, characterized in that: An embedded energy replenishment module (14) is elastically mounted on the inner side of the arc-shaped adjustment guide rail (42).

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