A submarine cable repair apparatus and method thereof

Abstract

The application discloses a submarine cable repairing device and method, and belongs to the technical field of submarine cable repairing, which comprises an underwater traction robot one, an underwater traction robot two, an underwater connecting robot one, an underwater connecting robot two, a connecting mechanism and a position patrolling locking mechanism; the underwater connecting robot one and the underwater connecting robot two are the same in structure and are mirror image distributed; the connecting mechanism comprises a traction rope, a traction moving assembly and a fixed plate, and the underwater traction robot one and the underwater connecting robot one are respectively provided with the traction moving assembly; the underwater traction robot one, the underwater traction robot two and the underwater connecting robot one are provided with the position patrolling locking mechanism; the underwater traction robot one, the underwater traction robot two and the underwater connecting robot one are all provided with a submarine cable position patrolling fixing mechanism; and the underwater traction robot one and the underwater traction robot two are provided with a pretreatment assembly. In the above manner, the disconnected submarine cable is quickly aligned.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submarine cable repair, in particular to a submarine cable repair device and method thereof. BACKGROUND

[0002] Submarine cables located underwater may be damaged or even broken due to external forces during use. In order to ensure the use of power or communication, the submarine cable needs to be repaired quickly. Currently, there are two main repair technologies. One is to salvage the cable and then connect and repair it. The other is to assist the human in connecting and repairing the cable underwater through an underwater robot.

[0003] For example, a submarine cable repair device and method thereof are disclosed in Chinese patent No. CN115609224B. The device directly passes through a submersible vehicle to the top of the submarine cable to be repaired, and then repairs the submarine cable in the submersible vehicle after the submarine cable to be repaired enters the repair box.

[0004] However, the repair of broken submarine cables is more complex, and the force condition and damage condition of the submarine cable need to be considered to selectively connect directly or connect by supplementing the cable at the broken part. The current equipment is difficult to realize the connection of the broken submarine cable, thereby increasing the required time for repair.

[0005] Therefore, the present application provides a submarine cable repair device and method thereof to solve the above problems. SUMMARY

[0006] In view of the above shortcomings of the prior art, the present application provides a submarine cable repair device and method thereof.

[0007] To achieve the above purpose, the present application realizes the following technical solutions:

[0008] A submarine cable repair device includes an underwater traction robot one, an underwater traction robot two, an underwater connection robot one, an underwater connection robot two, and a connection mechanism.

[0009] The underwater connection robot one and the underwater connection robot two have the same structure and are mirror images.

[0010] The connection mechanism includes a traction rope, a traction moving assembly, and a fixed plate. One fixed plate is fixedly installed on each of the underwater traction robot one and the underwater connection robot one, and two fixed plates are fixedly installed on the underwater traction robot two. The traction moving assembly is installed on each of the underwater traction robot one and the underwater connection robot one.

[0011] There are three traction ropes in total.

[0012] One end of a traction rope is fixedly connected with a fixing plate on the underwater traction robot two, and the other end is fixedly connected with the output end of the cable winding machine on the ship for winding and unwinding the traction rope after passing through the traction moving assembly on the underwater connection robot one.

[0013] One end of a traction rope is fixedly connected with a fixing plate on the underwater traction robot two, and the other end is fixedly connected with the output end of the cable winding machine on the ship for winding and unwinding the traction rope after passing through the traction moving assembly on the underwater connection robot one.

[0014] One end of a traction rope is fixedly connected with a fixing plate on the underwater traction robot two, and the other end is fixedly connected with the output end of the cable winding machine on the ship for winding and unwinding the traction rope after passing through the traction moving assembly on the underwater connection robot one.

[0015] The underwater traction robot one, the underwater traction robot two and the underwater connection robot one are provided with a position locking mechanism, and the underwater traction robot one, the underwater traction robot two and the underwater connection robot one are provided with a submarine cable position fixing mechanism.

[0016] Further, the position locking mechanism comprises an auxiliary position component, an auxiliary positioning component and a locking component, and the traction rope passes through the middle of the auxiliary position component; the underwater traction robot one and the underwater connection robot two are provided with a group of auxiliary position components, and the auxiliary position component is provided with a locking component; the underwater traction robot one is provided with a group of auxiliary positioning components, and the underwater traction robot two is provided with two groups of auxiliary positioning components; the auxiliary position component and the auxiliary positioning component are connected through the locking component.

[0017] Further, the submarine cable position fixing mechanism comprises a displacement linear module, a clamping driving component, a rolling connection component and a clamping component, the lower side of the underwater traction robot one, the underwater traction robot two and the underwater connection robot one is fixedly provided with a displacement linear module, the lower side of the underwater traction robot one, the underwater traction robot two and the underwater connection robot one is provided with a group of clamping driving components, and the moving end of the displacement linear module is symmetrically provided with two groups of clamping driving components; the clamping driving component is uniformly provided with the rolling connection component at equal intervals, and the clamping driving component is provided with the clamping component.

[0018] Further, the traction moving assembly comprises a cable traction machine, a guide wheel, a guide roller one and a guide roller two, the underwater traction robot one and the underwater connecting robot two are internally provided with the cable traction machine for driving the traction rope to move, and a plurality of guide wheels for guiding the traction rope are rotationally installed in the underwater traction robot one and the underwater connecting robot two; the underwater traction robot one and the underwater connecting robot two are symmetrically rotationally installed with the guide roller one and the guide roller two, the guide roller one and the guide roller two are vertically distributed, and the traction rope passes between the guide roller one and the guide roller two.

[0019] Further, the auxiliary patrol assembly comprises a mounting box one, a rotating seat, a guide roller three, a gear ring, a gear and a rotating motor, the underwater traction robot one and the underwater connecting robot two are fixedly installed with the mounting box one, the rotating seat is rotationally installed on the mounting box one, and a central groove for the traction rope to pass through is formed in the mounting box one; a plurality of guide roller threes for guiding the traction rope are circumferentially and equidistantly and uniformly rotationally installed on the outer end of the mounting box one; the gear ring is fixedly installed on the inner side of the rotating seat; the gear is rotationally installed in the mounting box one and is in meshing connection with the gear ring; and the rotating motor is fixedly installed in the mounting box one and is in fixed connection with the gear.

[0020] Further, the auxiliary patrol assembly further comprises a positioning block one, and the rotating seat is fixedly installed with the positioning block one.

[0021] Further, the auxiliary positioning assembly comprises a mounting box two, a positioning hydraulic cylinder, a moving plate, an annular fixing frame and a positioning block two, the underwater traction robot one and the underwater connecting robot two are fixedly installed with the mounting box two, the positioning hydraulic cylinder is fixedly installed on the inner side of the mounting box two, and the fixed plate is in fixed connection with the middle part of the mounting box two; the output end of the positioning hydraulic cylinder is fixedly installed with the moving plate, the moving plate is in limiting sliding connection with the mounting box two, the annular fixing frame is fixedly installed on the moving plate, the positioning block two for pushing the positioning block one is fixedly installed on the inner wall of the annular fixing frame; and the electromagnet is fixedly installed in the mounting box two and the mounting box one.

[0022] Further, the locking assembly comprises a moving piston and a locking block, the rotating seat is internally provided with an annular hydraulic groove, the annular hydraulic groove is in communication with the hydraulic actuator fixedly installed in the underwater traction robot one and the underwater connecting robot two through a hose; a plurality of hydraulic moving cavities in communication with the annular hydraulic groove are circumferentially and equidistantly and uniformly formed in the side edge of the rotating seat; a plurality of locking grooves are circumferentially and equidistantly and uniformly formed in the side wall of the annular fixing frame; the moving piston is in limiting sliding in the hydraulic moving cavity, the inner end of the locking block is in fixed connection with the moving piston, and the outer end of the locking block is in plug-in connection with the locking groove through the rotating seat.

[0023] Further, the embracing and clamping driving assembly comprises support frames, double-stroke hydraulic cylinders, synchronous blocks, connecting rods and rotating frames, one set of support frames are fixedly installed on the underwater traction robots one, underwater traction robots two and underwater connecting robots one; the moving ends of the displacement linear modules are fixedly installed with two sets of support frames, which are located on the two sides of the support frames fixedly installed on the underwater traction robots one, underwater traction robots two and underwater connecting robots one; the double-stroke hydraulic cylinders are fixedly installed on the support frames, the output ends of the double-stroke hydraulic cylinders are fixedly connected with the synchronous blocks, the rotating frames are symmetrically and rotatably installed on the support frames, one end of the connecting rod is rotatably connected with the upper end of the rotating frame, and the other end of the connecting rod is rotatably connected with the synchronous block.

[0024] In order to better achieve the purpose of the present application, the present application further provides a submarine cable repairing method, comprising the following steps:

[0025] Step one: after the underwater traction robots one and two embrace the submarine cable through the embracing and clamping driving assembly, the submarine cable is moved along the submarine cable, and after moving to the end of the submarine cable, the submarine cable end is embraced through the embracing assembly;

[0026] Step two: the traction moving assembly shortens the length of the traction rope between the underwater traction robots one and two, and helps the underwater traction robots one and two to move close to each other; the tension of the traction rope is detected through the tension sensor; if the submarine cable tension set value is greater than the tension of the traction rope, step four is directly executed;

[0027] Step three: the submarine cable to be connected is prepared on the ship body, the two ends of the submarine cable are fixed through the embracing assemblies on the lower sides of the underwater connecting robots one and two, respectively; the underwater connecting robots two and one drive the two ends of the submarine cable to move close to the underwater traction robots one and two through the embracing assemblies, respectively;

[0028] Step four: after the auxiliary patrol assembly cooperates with the auxiliary positioning assembly to realize preliminary positioning, the locking assembly is locked; the auxiliary patrol assembly drives the underwater traction robots one and two to move relatively, and the two ends of the submarine cable are aligned.

[0029] Compared with the prior art, the underwater traction robot one and the underwater traction robot two move along the submarine cable after being clamped on the outer side of the submarine cable by the clamping driving assembly, and clamp the end of the submarine cable after moving to the end of the submarine cable; the traction moving assembly shortens the length of the traction rope between the underwater traction robot one and the underwater traction robot two, and assists the underwater traction robot one and the underwater traction robot two to move close to each other; the tension of the traction rope is detected by the tension sensor; the submarine cable to be connected is prepared on the ship body, and the two ends of the submarine cable are fixed by the clamping assemblies on the lower sides of the underwater connection robot one and the underwater connection robot two; the underwater connection robot two and the underwater connection robot one drive the two ends of the submarine cable to move close to the underwater traction robot one and the underwater traction robot two by the clamping assemblies; the auxiliary patrol assembly is locked by the locking assembly after preliminary positioning by the auxiliary positioning assembly; the auxiliary patrol assembly drives the underwater traction robot one and the underwater traction robot two to move relative to each other, and the two ends of the submarine cable are aligned; and the disconnected submarine cable is quickly aligned. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0031] Figure 1 A perspective view of the submarine cable repairing device of the present application Figure 1 ;

[0032] Figure 2 A top view of the submarine cable repairing device of the present application

[0033] Figure 3 A structural schematic view of the underwater traction robot one and the underwater traction robot two

[0034] Figure 4 A front view of the underwater traction robot one and the underwater traction robot two

[0035] Figure 5 A perspective view of the underwater traction robot one after removing the shell cover Figure 1 ;

[0036] Figure 6 A perspective view of the underwater traction robot one after removing the shell cover Figure 2 ;

[0037] Figure 7 A schematic view of the installation box two and its connection structure

[0038] Figure 8 Figure 1 is a schematic view of the installation box one and its connecting structure;

[0039] Figure 9 Figure 2 is a schematic view of the installation box two and its connecting structure; Figure 8 Figure 3 is an enlarged view of A in figure 2;

[0040] Figure 10 Figure 4 is a schematic view of the ball and its connecting structure.

[0041] The reference signs in the figures respectively represent:

[0042] 11, underwater traction robot one; 12, underwater traction robot two; 131, underwater connecting robot one; 132, underwater connecting robot two; 2, connecting mechanism; 21, traction rope; 22, traction moving assembly; 221, cable traction machine; 222, guide wheel; 223, guide roller one; 224, guide roller two; 23, fixed plate; 3, patrol locking mechanism; 31, auxiliary patrol assembly; 311, installation box one; 312, rotating seat; 313, guide roller three; 314, gear ring; 315, gear; 316, rotating motor; 317, positioning block one; 32, auxiliary positioning assembly; 321, installation box two; 322, positioning hydraulic cylinder; 323, moving plate; 324, annular fixed frame; 325, positioning block two; 33, locking assembly; 331, hydraulic moving cavity; 332, moving piston; 333, locking block; 334, locking groove; 4, submarine cable patrol fixing mechanism; 41, displacement linear module; 42, clamping driving assembly; 421, support frame; 422, double-stroke hydraulic cylinder; 423, synchronization block; 424, connecting rod; 425, rotating frame; 43, rolling connecting assembly; 431, installation cylinder; 432, sliding cylinder; 433, ball; 44, clamping assembly; 441, conforming frame; 442, pressing and pasting air bag; 443, connecting hose; 5, pretreatment assembly; 51, moving linear module; 52, vertical driving linear module; 53, electric reciprocating saw. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] In the following description, "left", "right", "front", "back", "up", "down" are oriented in the perspective of the front view.

[0045] Embodiment one: in some embodiments, please refer to the drawings of the specification Figures 1-6A submarine cable repairing device comprises an underwater traction robot 1, an underwater traction robot 2, an underwater connecting robot 1, an underwater connecting robot 2 and a connecting mechanism 2.

[0046] The structures on the underwater connecting robot 1 and the underwater connecting robot 2 are the same and are mirror images.

[0047] As shown in Figure 2 , Figure 5 and Figure 6 , the connecting mechanism 2 comprises a traction rope 21, a traction moving assembly 22 and a fixed plate 23, one fixed plate 23 is fixedly installed on the underwater traction robot 1 and the underwater connecting robot 1 respectively, and two fixed plates 23 are fixedly installed on the underwater traction robot 2; the traction moving assembly 22 is installed on the underwater traction robot 1 and the underwater connecting robot 1 respectively.

[0048] The underwater traction robot 1, the underwater traction robot 2 and the underwater connecting robot 1 are fixedly installed with a high-definition camera and an underwater searchlight; the underwater traction robot 1, the underwater traction robot 2 and the underwater connecting robot 1 are fixedly installed with a tension sensor for detecting the tension of the traction rope 21.

[0049] There are three traction ropes 21 in total.

[0050] One end of one traction rope 21 is fixedly connected with the fixed plate 23 on the underwater traction robot 1, and the other end is fixedly connected with the output end of a cable winding machine on the ship for winding and unwinding the traction rope 21 after passing through the traction moving assembly 22 on the underwater connecting robot 2.

[0051] One end of one traction rope 21 is fixedly connected with the fixed plate 23 on the front side of the underwater traction robot 2, and the other end is fixedly connected with the output end of a cable winding machine on the ship for winding and unwinding the traction rope 21 after passing through the traction moving assembly 22 on the underwater traction robot 1.

[0052] One end of one traction rope 21 is fixedly connected with the fixed plate 23 on the rear side of the underwater traction robot 2, and the other end is fixedly connected with the output end of a cable winding machine on the ship for winding and unwinding the traction rope 21 after passing through the traction moving assembly 22 on the underwater connecting robot 1.

[0053] The underwater towing robot 11, underwater towing robot 212, and underwater connecting robot 131 are equipped with a patrol and locking mechanism 3 for assisting docking; the underwater towing robot 11, underwater towing robot 212, and underwater connecting robot 131 are all equipped with a submarine cable patrol and fixing mechanism 4 for fixing submarine cables; the underwater towing robot 11 and underwater towing robot 212 are equipped with a pre-treatment component 5 for sawing submarine cables.

[0054] like Figure 2 , Figure 3 and Figure 6 As shown, the positioning and locking mechanism 3 includes an auxiliary positioning component 31, an auxiliary positioning component 32, and a locking component 33. The traction rope 21 passes through the middle of the auxiliary positioning component 31. A set of auxiliary positioning components 31 is installed on the underwater towing robot 11 and the underwater connecting robot 131, and the locking component 33 is installed on the auxiliary positioning component 31. A set of auxiliary positioning components 32 is installed on the underwater towing robot 11, and two sets of auxiliary positioning components 32 are installed on the underwater towing robot 212. The auxiliary positioning component 31 and the auxiliary positioning component 32 are connected by the locking component 33.

[0055] like Figure 5 and Figure 6 As shown, the submarine cable positioning and fixing mechanism 4 includes a shifting linear module 41, a clamping drive assembly 42, a rolling connection assembly 43, and a clamping assembly 44. The shifting linear module 41 is fixedly installed on the lower side of the underwater traction robot 11, the underwater traction robot 2 12, and the underwater connecting robot 131. A set of clamping drive assemblies 42 is installed on the lower side of the underwater traction robot 11, the underwater traction robot 2 12, and the underwater connecting robot 131. Two sets of clamping drive assemblies 42 are symmetrically installed on the moving end of the shifting linear module 41. Rolling connection assemblies 43 are evenly installed at equal intervals on the clamping drive assembly 42, and clamping assemblies 44 are installed on the clamping drive assembly 42.

[0056] In this embodiment, when the submarine cable repair device is working normally, the underwater traction robot 11 and the underwater traction robot 212 drive the displacement linear module 41 and the clamping drive assembly 42 to move to positions close to both ends of the submarine cable. During this process, the traction rope 21 connected to the underwater traction robot 21 is continuously unwound to facilitate the movement of the underwater traction robot 11 and the underwater traction robot 212. After approaching the submarine cable, the clamping drive assembly 42 drives multiple sets of rolling connection assemblies 43 to clamp the outside of the submarine cable. Then, the underwater traction robot 212 drives the clamping drive assembly 42 and the rolling connection assembly 43 to move until the underwater traction robot 212 moves to the end of the submarine cable. The clamping drive assembly 42 drives the clamping assembly 44 to further clamp the submarine cable, so that the clamping assembly 44 is fixed to the submarine cable.

[0057] During the moving process, the high-definition camera can be used to observe the damage of the submarine cable. If the submarine cable is seriously damaged, the pre-processing assembly 5 will cut the submarine cable clamped between the two sets of holding assemblies 44, thereby completing the pre-processing of the end of the submarine cable.

[0058] After the underwater traction robot one 11 and the underwater traction robot two 12 fix the end of the submarine cable through the holding drive assembly 42 and the holding assembly 44 respectively, the traction moving assembly 22 on the underwater traction robot one 11 is started, thereby shortening the length of the traction rope 21 between the underwater traction robot one 11 and the underwater traction robot two 12, assisting the underwater traction robot one 11 and the underwater traction robot two 12 to move closer to each other, and the ship cable winding machine winds the traction rope 21; during this process, the tension sensor detects the tension of the traction rope 21, and compares the submarine cable tension set value with the traction rope 21;

[0059] If the submarine cable tension set value is greater than the tension of the traction rope 21, the underwater traction robot one 11 and the underwater traction robot two 12 continue to move closer until the auxiliary patrol assembly 31 and the auxiliary positioning assembly 32 contact; the auxiliary patrol assembly 31 cooperates with the auxiliary positioning assembly 32 to achieve preliminary positioning, and then the auxiliary patrol assembly 31 and the auxiliary positioning assembly 32 are locked through the locking assembly 33; after the auxiliary patrol assembly 31 and the auxiliary positioning assembly 32 are locked, the auxiliary patrol assembly 31 drives the underwater traction robot one 11 and the underwater traction robot two 12 to move relatively, thereby driving the submarine cable to move through the holding assembly 44, so that the end of the submarine cable clamped by the holding assembly 44 on the underwater traction robot one 11 and the underwater traction robot two 12 is aligned, facilitating the subsequent maintenance personnel to connect and repair;

[0060] If the tension of the submarine cable is less than or equal to the tension of the traction rope 21, the underwater traction robot one 11 and the underwater traction robot two 12 are no longer close to each other, the traction rope 21 stops winding, and the traction moving assembly 22 is closed; the submarine cable with a length equal to that of the traction rope 21 between the underwater traction robot one 11 and the underwater traction robot two 12 is prepared on the ship body, the two ends of the submarine cable are fixed through the two groups of underwater connection robots one 131 and underwater connection robots two 132 on the lower side of the holding assembly 44 respectively, and then the underwater connection robots one 131 and underwater connection robots two 132 drive the two ends of the submarine cable to the underwater traction robot one 11 and the underwater traction robot two 12 through the holding assembly 44; in this process, the traction moving assembly 22 on the underwater connection robots one 131 and underwater connection robots two 132 is started, so that the length of the traction rope 21 between the underwater connection robots one 131 and the underwater traction robot two 12 and the underwater connection robots two 132 and the underwater traction robot one 11 is shortened, thereby assisting the underwater connection robots one 131 and underwater connection robots two 132 to approach the underwater traction robot one 11 and the underwater traction robot two 12; and then the underwater connection robots two 132 and the underwater traction robot one 11 and the underwater connection robots one 131 and the underwater traction robot two 12 are positioned and locked through the auxiliary positioning assembly 32 and the locking assembly 33; thereby quickly aligning the disconnected submarine cable.

[0061] In some embodiments, as a preferred embodiment of the present application, as shown in Figure 8 and Figure 9 The traction moving assembly 22 includes a cable traction machine 221, a guide wheel 222, a guide roller one 223 and a guide roller two 224, the underwater traction robot one 11 and the underwater connection robot two 132 are internally provided with the cable traction machine 221 for driving the traction rope 21 to move, and a plurality of guide wheels 222 for guiding the traction rope 21 are rotationally installed in the underwater traction robot one 11 and the underwater connection robot two 132; the guide roller one 223 and the guide roller two 224 are symmetrically rotationally installed in the underwater traction robot one 11 and the underwater connection robot two 132, the guide roller one 223 and the guide roller two 224 are vertically distributed, and the traction rope 21 passes between the guide roller one 223 and the guide roller two 224.

[0062] The cable traction machine 221 includes a traction box, a traction wheel and a compression wheel, the traction box is fixedly installed in the underwater traction robot one 11 and the underwater connection robot two 132, a plurality of traction wheels driven by motors are uniformly and equidistantly rotationally installed in the traction box, and a plurality of compression wheels for compressing the traction rope 21 in cooperation with the traction wheels are uniformly and equidistantly rotationally installed in the traction box.

[0063] As shown in Figures 5-9As shown, the auxiliary patrol assembly 31 comprises a mounting box 311, a rotating seat 312, a guide roller 313, a gear ring 314, a gear 315 and a rotating motor 316, the mounting box 311 is fixedly installed on the underwater traction robot 11 and the underwater connecting robot 132, the rotating seat 312 is rotatably installed on the mounting box 311, and a central groove is formed in the middle of the mounting box 311 for the traction rope 21 to pass through; a plurality of guide rollers 313 for guiding the traction rope 21 are uniformly and equidistantly rotatably installed on the outer end of the mounting box 311 in a circumferential array; the gear ring 314 is fixedly installed on the inner side of the rotating seat 312; the gear 315 is rotatably installed in the mounting box 311, and the gear 315 is connected with the gear ring 314 in meshing; and the rotating motor 316 is fixedly installed in the mounting box 311, and the output end of the rotating motor 316 is fixedly connected with the gear 315.

[0064] The auxiliary patrol assembly 31 further comprises a positioning block 317, and the positioning block 317 is fixedly installed on the side edge of the rotating seat 312.

[0065] The auxiliary positioning assembly 32 comprises a mounting box 321, a positioning hydraulic cylinder 322, a moving plate 323, an annular fixing frame 324 and a positioning block 325, the mounting box 321 is fixedly installed on the underwater traction robot 11 and the underwater traction robot 12, the positioning hydraulic cylinder 322 is fixedly installed on the inner side of the mounting box 321, and the fixed plate 23 is fixedly connected with the middle part of the mounting box 321; the output end of the positioning hydraulic cylinder 322 is fixedly installed with the moving plate 323, the moving plate 323 is limitingly and slidably connected with the mounting box 321, the annular fixing frame 324 is fixedly installed on the moving plate 323, and the positioning block 325 for pushing the positioning block 317 is fixedly installed on the inner wall of the annular fixing frame 324; the electromagnet is fixedly installed in the mounting box 321 and the mounting box 311.

[0066] The locking assembly 33 comprises a moving piston 332 and a locking block 333, an annular hydraulic groove is formed in the rotating seat 312, the annular hydraulic groove is communicated with the hydraulic actuator fixedly installed in the underwater traction robot 11 and the underwater traction robot 12 through a hose; a plurality of hydraulic moving cavities 331 communicated with the annular hydraulic groove are uniformly and equidistantly formed in the side edge of the rotating seat 312 in a circumferential array; a plurality of locking grooves 334 are uniformly and equidistantly formed in the side wall of the annular fixing frame 324 in a circumferential array; the moving piston 332 is limitingly and slidably arranged in the hydraulic moving cavity 331, the inner end of the locking block 333 is fixedly connected with the moving piston 332, and the outer end of the locking block 333 penetrates through the rotating seat 312 and is inserted into the locking groove 334.

[0067] As Figure 10As shown, the embrace clamp driving assembly 42 comprises a support frame 421, a double-stroke hydraulic cylinder 422, a synchronous block 423, a connecting rod 424 and a rotating frame 425, one set of support frames 421 is fixedly installed on the underwater traction robot one 11, the underwater traction robot two 12 and the underwater connecting robot one 131; the moving end of the displacement linear module 41 is fixedly installed with two sets of support frames 421, which are located on the two sides of the support frames 421 fixedly installed on the underwater traction robot one 11, the underwater traction robot two 12 and the underwater connecting robot one 131; the double-stroke hydraulic cylinder 422 is fixedly installed on the support frame 421, the output end of the double-stroke hydraulic cylinder 422 is fixedly connected with the synchronous block 423, the rotating frame 425 is symmetrically and rotatably installed on the support frame 421, one end of the connecting rod 424 is rotatably connected with the upper end of the rotating frame 425, and the other end of the connecting rod 424 is rotatably connected with the synchronous block 423;

[0068] The rolling connection assembly 43 comprises a mounting cylinder 431, a sliding cylinder 432 and a ball 433, the mounting cylinder 431 is fixedly installed on the rotating frame 425, and the sliding cylinder 432 is limitingly and slidably connected with the mounting cylinder 431 on the inner side of the rotating frame 425; the mounting cylinder 431 is internally provided with springs, one end of the spring is fixedly connected with the mounting cylinder 431, and the other end of the spring is fixedly connected with the sliding cylinder 432; the ball 433 is installed at the inner end of the sliding cylinder 432, and part of the ball 433 extends out of the inner end of the sliding cylinder 432;

[0069] The embrace assembly 44 comprises a conforming frame 441, a pressing and pasting air bag 442 and a communicating hose 443, the arc-shaped conforming frame 441 is fixedly installed on the inner side of the rotating frame 425, and the radius of the inner side of the conforming frame 441 is one centimeter larger than the radius of the submarine cable; the pressing and pasting air bag 442 for pasting with the submarine cable is fixedly installed in the conforming frame 441; the pressing and pasting air bag 442 is communicated with the cavity on the support frame 421 through the hose; the cavity on the support frame 421 is communicated with the air pump in the underwater traction robot one 11, the underwater traction robot two 12, the underwater connecting robot one 131 and the underwater connecting robot two 132.

[0070] As shown in the figure, Figure 6 The pretreatment assembly 5 comprises a moving linear module 51, a vertical driving linear module 52 and an electric reciprocating saw 53, the moving linear module 51 is fixedly installed in the underwater traction robot one 11 and the underwater traction robot two 12, the moving end of the moving linear module 51 is fixedly installed with the vertical driving linear module 52, and the moving end of the vertical driving linear module 52 is fixedly installed with the electric reciprocating saw 53.

[0071] In the embodiment, when the connecting mechanism 2, the position locking mechanism 3, the submarine cable position fixing mechanism 4 and the pretreatment assembly 5 work normally, the underwater traction robot one 11 and the underwater traction robot two 12 approach the submarine cable, the posture of the underwater traction robot one 11 and the underwater traction robot two 12 is adjusted through the underwater traction robot one 11, the underwater traction robot two 12 and the high-definition camera, until the submarine cable is located between the rotating frames 425; the double-acting hydraulic cylinder 422 is started to drive the synchronous block 423 to move, the synchronous block 423 synchronously drives the rotating frames 425 on both sides to rotate through the connecting rods 424, the sliding cylinders 432 and the balls 433 are clamped to the submarine cable through the rotating frames 425, the balls 433 are in contact with the surface of the submarine cable, which is convenient for moving along the submarine cable; the underwater traction robot one 11 and the underwater traction robot two 12 move along the submarine cable to the end through the balls 433; the state of the submarine cable is observed through the high-definition camera, if serious damage of the submarine cable is found, the double-acting hydraulic cylinder 422 drives the synchronous block 423, the connecting rods 424 and the rotating frames 425 to further clamp, at the same time, the internal air pump makes the pressing air bag 442 expand through the cavity and the communication hose 443, and the submarine cable is clamped through the pressing air bag 442; then the moving linear module 51 drives the vertical driving linear module 52 to move to the position aligned with the submarine cable; the vertical driving linear module 52 drives the electric reciprocating saw 53 to move to cut off the submarine cable.

[0072] Then the pressing air bag 442 installed at the moving end of the displacement linear module 41 is no longer close to the submarine cable, so that the submarine cable on the side of the end damage is no longer clamped by the pressing air bag 442; the displacement linear module 41 drives the two groups of support frames 421, the double-acting hydraulic cylinders 422, the synchronous blocks 423, the connecting rods 424, the rotating frames 425, the mounting cylinders 431, the sliding cylinders 432 and the balls 433 to move along the submarine cable, so that the pressing air bag 442 originally in contact with the submarine cable on the damaged side moves to the end of the submarine cable; at this time, the pressing air bag 442 installed at the moving end of the displacement linear module 41 is inflated again, and the submarine cable is clamped through the pressing air bag 442.

[0073] In this process, the cable traction machine 221 drives the traction rope 21 to move, so that the traction rope 21 at one end of the cable traction machine 221 moves to the other side of the cable traction machine 221; thereby assisting in shortening the distance between the installation box one 311 and the rotating seat 312, facilitating the docking of the underwater traction robot one 11 and the underwater traction robot two 12; in this process, the traction rope 21 is guided by the guide wheel 222, the guide roller one 223, the guide roller two 224 and the guide roller three 313; the length of the traction rope 21 between the installation box one 311 and the rotating seat 312 gradually shortens, until the installation box one 311 and the rotating seat 312 are close, at this time the electromagnet between the installation box one 311 and the rotating seat 312 is started, so that the installation box one 311 and the rotating seat 312 are tightly attached under the action of the electromagnetic attraction; and then the positioning hydraulic cylinder 322 drives the annular fixing frame 324 and the positioning block two 325 to move towards the installation box one 311; the annular fixing frame 324 is covered outside the rotating seat 312, at this time the rotating motor 316 drives the rotating seat 312 and the positioning block one 317 to rotate through the gear 315 and the gear ring 314, until the positioning block one 317 contacts with the positioning block two 325; the moving piston 332 and the locking block 333 are inserted into the locking groove 334 by the internal hydraulic actuator, completing the locking of the rotating seat 312 and the annular fixing frame 324;

[0074] Then the rotating motor 316 drives the rotating seat 312 to reset through the gear 315 and the gear ring 314, so that the annular fixing frame 324 is rotated by the moving piston 332 and the locking block 333, and the underwater traction robot two 12 is rotated by the annular fixing frame 324, so that the end of the submarine cable tightly held by the underwater traction robot two 12 is moved to the position aligned with the end of the submarine cable tightly held by the underwater traction robot one 11.

[0075] In some embodiments, as shown in Figures 1-10 As a preferred embodiment of the present application, a submarine cable repair method comprises the following steps:

[0076] Step one: after the underwater traction robot one 11 and the underwater traction robot two 12 are held on the outside of the submarine cable by the clamping driving assembly 42, they move along the submarine cable, and after moving to the end of the submarine cable, they hold the end of the submarine cable by the holding assembly 44;

[0077] Step two: the traction moving assembly 22 shortens the length of the traction rope 21 between the underwater traction robot one 11 and the underwater traction robot two 12, assisting the underwater traction robot one 11 and the underwater traction robot two 12 to approach each other; the tension of the traction rope 21 is detected by the tension sensor; if the submarine cable tension set value is greater than the tension of the traction rope 21, step four is directly executed;

[0078] Step three: the submarine cable to be connected is prepared on the hull, and the two ends of the submarine cable are fixed through the holding assemblies 44 on the lower sides of the underwater connecting robots one 131 and two 132 respectively; the underwater connecting robot two 132 and the underwater connecting robot one 131 drive the two ends of the submarine cable to approach the underwater traction robots one 11 and two 12 through the holding assemblies 44 respectively;

[0079] Step four: the auxiliary positioning assembly 32 is locked through the locking assembly 33 after preliminary positioning is realized by the auxiliary positioning assembly 31; the underwater traction robots one 11 and two 12 are relatively moved by the auxiliary positioning assembly 31, and the two ends of the submarine cable are aligned.

[0080] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the same; although the present application is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A submarine cable repair device, comprising an underwater traction robot (11), an underwater traction robot (12), an underwater connection robot (131), an underwater connection robot (132), and a connection mechanism (2), characterized in that: The underwater connecting robot 1 (131) and the underwater connecting robot 2 (132) have the same structure and are distributed in a mirror image; The connecting mechanism (2) includes a traction rope (21), a traction moving component (22), and a fixing plate (23). One fixing plate (23) is fixedly installed on each of the underwater traction robot one (11) and the underwater connecting robot one (131), and two fixing plates (23) are fixedly installed on the underwater traction robot two (12). The traction moving component (22) is installed on each of the underwater traction robot one (11) and the underwater connecting robot one (131). There are three tow ropes (21); One end of a traction rope (21) is fixedly connected to a fixed plate (23) on an underwater traction robot (11), and the other end passes through a traction movement assembly (22) on an underwater connecting robot (132) and is fixedly connected to the output end of a cable rewinder on a ship for winding and unwinding the traction rope (21). One end of a traction rope (21) is fixedly connected to a fixed plate (23) located in front of the underwater traction robot (22), and the other end passes through the traction moving assembly (22) on the underwater traction robot (11) and is fixedly connected to the output end of the cable rewinder located on the ship for winding and unwinding the traction rope (21). One end of a traction rope (21) is fixedly connected to a fixed plate (23) located behind the underwater traction robot (12), and the other end passes through the traction moving assembly (22) on the underwater connecting robot (131) and is fixedly connected to the output end of a cable winding machine located on the ship for winding and unwinding the traction rope (21). The underwater towing robot 1 (11), the underwater towing robot 2 (12), and the underwater connecting robot 1 (131) are equipped with a patrol and locking mechanism (3); the underwater towing robot 1 (11), the underwater towing robot 2 (12), and the underwater connecting robot 1 (131) are all equipped with a submarine cable patrol and fixing mechanism (4); the underwater towing robot 1 (11) and the underwater towing robot 2 (12) are equipped with a pre-treatment component for sawing submarine cables (5).

2. The submarine cable repair device according to claim 1, characterized in that, The positioning and locking mechanism (3) includes an auxiliary positioning component (31), an auxiliary positioning component (32), and a locking component (33). The traction rope (21) passes through the middle of the auxiliary positioning component (31). A set of auxiliary positioning components (31) is installed on the underwater towing robot (11) and the underwater connecting robot (132). The locking component (33) is installed on the auxiliary positioning component (31). A set of auxiliary positioning components (32) is installed on the underwater towing robot (11), and two sets of auxiliary positioning components (32) are installed on the underwater towing robot (12). The auxiliary positioning component (31) and the auxiliary positioning component (32) are connected by the locking component (33).

3. The submarine cable repair device according to claim 2, characterized in that, The submarine cable positioning and fixing mechanism (4) includes a shifting linear module (41), a clamping drive assembly (42), a rolling connection assembly (43), and a clamping assembly (44). The shifting linear module (41) is fixedly installed on the lower side of the underwater traction robot (11), the underwater traction robot (12), and the underwater connecting robot (131). A set of clamping drive assemblies (42) is installed on the lower side of the underwater traction robot (11), the underwater traction robot (12), and the underwater connecting robot (131). Two sets of clamping drive assemblies (42) are symmetrically installed on the moving end of the shifting linear module (41). Rolling connection assemblies (43) are evenly installed at equal intervals on the clamping drive assembly (42), and clamping assemblies (44) are installed on the clamping drive assembly (42).

4. The submarine cable repair device according to claim 3, characterized in that, The traction and movement assembly (22) includes a cable traction machine (221), a guide wheel (222), a guide roller one (223), and a guide roller two (224). The cable traction machine (221) for driving the traction rope (21) is installed inside the underwater traction robot one (11) and the underwater connecting robot two (132). Multiple guide wheels (222) for guiding the traction rope (21) are rotatably installed inside the underwater traction robot one (11) and the underwater connecting robot two (132). The guide roller one (223) and the guide roller two (224) are symmetrically rotatably installed inside the underwater traction robot one (11) and the underwater connecting robot two (132). The guide roller one (223) and the guide roller two (224) are vertically distributed, and the traction rope (21) passes between the guide roller one (223) and the guide roller two (224).

5. The submarine cable repair device according to claim 4, characterized in that, The auxiliary positioning component (31) includes a mounting box (311), a rotating seat (312), a guide roller (313), a gear ring (314), a gear (315), and a rotary motor (316). The mounting box (311) is fixedly mounted on the underwater traction robot (11) and the underwater connecting robot (132). The rotating seat (312) is rotatably mounted on the mounting box (311). A central groove is provided in the middle of the mounting box (311) to facilitate the passage of the traction rope (21). Multiple guide rollers (313) for guiding the traction rope (21) are evenly rotated in a circular array at equal intervals on the outer end of the first (311); a gear ring (314) is fixedly installed on the inner side of the rotating seat (312); a gear (315) is rotatably installed in the first (311) mounting box, and the gear (315) is meshed with the gear ring (314); a rotary motor (316) is fixedly installed in the first (311) mounting box, and the output end of the rotary motor (316) is fixedly connected to the gear (315).

6. The submarine cable repair device according to claim 5, characterized in that, The auxiliary positioning component (31) also includes a positioning block (317), and the positioning block (317) is fixedly installed on the side of the rotating seat (312).

7. The submarine cable repair device according to claim 6, characterized in that, The auxiliary positioning component (32) includes a second mounting box (321), a positioning hydraulic cylinder (322), a moving plate (323), a ring-shaped fixing frame (324), and a second positioning block (325). The second mounting box (321) is fixedly installed on the first underwater traction robot (11) and the second underwater traction robot (12). The positioning hydraulic cylinder (322) is fixedly installed inside the second mounting box (321). The fixing plate (23) is fixedly connected to the middle of the second mounting box (321). The moving plate (323) is fixedly installed at the output end of the positioning hydraulic cylinder (322). The moving plate (323) is slidably connected to the second mounting box (321). The ring-shaped fixing frame (324) is fixedly installed on the moving plate (323). The second positioning block (325) for pushing the first positioning block (317) is fixedly installed on the inner wall of the ring-shaped fixing frame (324). Electromagnets are fixedly installed inside the second mounting box (321) and the first mounting box (311).

8. The submarine cable repair device according to claim 7, characterized in that, The locking assembly (33) includes a moving piston (332) and a locking block (333). An annular hydraulic groove is provided in the rotating seat (312). The annular hydraulic groove is connected to the hydraulic actuators fixedly installed in the underwater traction robot one (11) and the underwater traction robot two (12) through a hose. Multiple hydraulic moving chambers (331) connected to the annular hydraulic groove are evenly spaced in a circular array on the side of the rotating seat (312). Multiple locking grooves (334) are evenly spaced in a circular array on the side wall of the annular fixing frame (324). The moving piston (332) slides within the hydraulic moving chamber (331) and the inner end of the locking block (333) is fixedly connected to the moving piston (332). The outer end of the locking block (333) passes through the rotating seat (312) and is inserted into the locking groove (334).

9. The submarine cable repair device according to claim 8, characterized in that, The clamping drive assembly (42) includes a support frame (421), a double-stroke hydraulic cylinder (422), a synchronizing block (423), a connecting rod (424), and a rotating frame (425). One set of support frames (421) is fixedly installed on underwater traction robot one (11), underwater traction robot two (12), and underwater connecting robot one (131). The moving end of the shifting linear module (41) is fixedly installed with two sets of support frames (421). The two sets of support frames (421) are located on the underwater traction robot one (11), underwater traction robot two (12), and underwater connecting robot one (131). 1) Both sides of the support frame (421) on the underwater traction robot 2 (12) and the underwater connecting robot 1 (131); a double-stroke hydraulic cylinder (422) is fixedly installed on the support frame (421), the output end of the double-stroke hydraulic cylinder (422) is fixedly connected to the synchronization block (423), a rotating frame (425) is symmetrically rotated on the support frame (421), one end of the connecting rod (424) is rotatably connected to the upper end of the rotating frame (425), and the other end of the connecting rod (424) is rotatably connected to the synchronization block (423).

10. A method for repairing submarine cables, utilizing the submarine cable repair device according to claim 3, characterized in that, Includes the following steps: Step 1: Underwater traction robot 1 (11) and underwater traction robot 2 (12) drive the rolling connection component (43) to hug the outside of the submarine cable through the clamping drive component (42) and then move along the submarine cable. After moving to the end of the submarine cable, they hug the end of the submarine cable through the clamping component (44). Step 2: The traction moving component (22) shortens the length of the traction rope (21) between underwater traction robot 1 (11) and underwater traction robot 2 (12) to help them move closer to each other; the tension of the traction rope (21) is detected by the tension sensor; if the set value of the submarine cable tension is greater than the tension of the traction rope (21), then step 4 is executed directly; Step 3: Prepare the submarine cable to be connected on the hull, and fix the two ends of the submarine cable through the clamping components (44) on the lower side of the underwater connecting robot 1 (131) and the underwater connecting robot 2 (132) respectively; the underwater connecting robot 2 (132) and the underwater connecting robot 1 (131) respectively drive the two ends of the submarine cable to move closer to the underwater traction robot 1 (11) and the underwater traction robot 2 (12) through the clamping components (44); Step 4: The auxiliary positioning component (31) works with the auxiliary positioning component (32) to achieve initial positioning and then locks the position through the locking component (33); the auxiliary positioning component (31) drives the underwater traction robot one (11) and the underwater traction robot two (12) to move relative to each other, and the two ends of the submarine cable are aligned.

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