High strength composite cable for underwater robots

Abstract

The application relates to the cable technical field and discloses a high-strength composite cable for an underwater robot, which comprises a cable core assembly, a strong shielding layer, a resistance strengthening assembly, an outer protective layer and an anticorrosion layer, wherein the resistance strengthening assembly comprises a plurality of annular support framework assemblies and piezoelectric assemblies. The resistance strengthening assembly is additionally arranged between the cable core assembly and the outer protective assembly, can provide tensile and compressive forces in the length direction and the radial direction of the cable, can effectively avoid the over-bending condition, has the pressure sensing data acquisition function and the magnetic positioning attraction function, can obtain the area where the cable is rubbed with the hard structure of the water bottom according to the pressure sensing data in real time, and can move the hard wear-resistant mechanism sleeved outside the cable to the corresponding friction area through the magnetic positioning attraction function, so that the wear-resistant protective structure is formed.

Description

Technical Field

[0001] This invention relates to the field of cable technology, and more specifically, to a high-strength composite cable for underwater robots. Background Technology

[0002] Underwater robots are used for underwater operations, often in the exploration and development of underwater resources. Their main operating environment is located in relatively deep underwater areas. The cable connected to the underwater robot serves as a channel to provide power to the robot, collect and transmit data, and is also one of the main mechanical recovery methods in case of underwater robot failure. Its strength and stability must meet the design conditions.

[0003] However, the underwater working environment is complex, and cables are prone to come into contact with hard structures such as seabed reefs during operation. Under the action of long-term movement and friction, the cables may be excessively bent and damaged, which may cause robot malfunctions or even make it impossible to recover the underwater robot. Summary of the Invention

[0004] The purpose of this invention is to provide a high-strength composite cable for underwater robots in order to solve the above-mentioned problems.

[0005] This invention provides a high-strength composite cable for underwater robots, comprising:

[0006] Cable core assembly;

[0007] A strong shielding layer is coaxially sleeved on the outside of the cable core assembly, and the strong shielding layer is used to isolate external interference signals from being transmitted to the cable core assembly;

[0008] A resistance-enhancing component is coaxially sleeved outside a strong shielding layer. The resistance-enhancing component includes several equally spaced annular support skeleton components and several piezoelectric components connected between the annular support skeleton components. The several piezoelectric components are evenly distributed between the several annular support skeleton components, and the two ends of the piezoelectric components are fixedly connected to the corresponding annular support skeleton components. When the piezoelectric component is deformed, it generates a charge corresponding to the deformation amount.

[0009] The outer protective layer and the anti-corrosion layer are sequentially and coaxially fitted onto the outside of the resistance-enhancing component.

[0010] As a further optimization of the present invention, the piezoelectric component includes a piezoelectric sheet and a lead wire connected to the piezoelectric sheet, and the two ends of the piezoelectric sheet are respectively fixedly connected to the corresponding annular support frame components.

[0011] As a further optimization of the present invention, the annular support frame assembly includes a first limiting ring, a hollow mounting ring and a second limiting ring, which are coaxially sleeved outside the strong shielding layer in sequence; a first radial connector fixedly connected between the first limiting ring and the hollow mounting ring; and a plurality of second radial connectors connected between the hollow mounting ring and the second limiting ring. The two ends of the piezoelectric sheet are respectively fixedly connected to the corresponding second limiting ring.

[0012] As a further optimization of the present invention, the materials of the limiting ring one, the radial connector one, the hollow mounting ring, the radial connector two, and the limiting ring two are all insulating materials.

[0013] As a further optimization of the present invention, it also includes several magnetic positioning and attraction components and several hard wear-resistant mechanisms. The hard wear-resistant mechanisms are detachably sleeved on the outside of the anti-corrosion layer. The magnetic positioning and attraction components are fixedly installed on the hollow mounting ring. The magnetic positioning and attraction components are used to drive the hard wear-resistant mechanisms to move a set distance along the length direction of the anti-corrosion layer.

[0014] As a further optimization of the present invention, the magnetic positioning and attraction component includes a ring electromagnet and a second lead wire connected to the ring electromagnet, wherein the ring electromagnet is installed inside a hollow mounting ring.

[0015] As a further optimization of the present invention, the hard anti-wear mechanism includes two detachably connected spindle-shaped anti-wear components and a magnetic adsorption component fixedly connected to the spindle-shaped anti-wear components. When the annular electromagnet is energized, it generates a magnetic force to attract the magnetic adsorption component to move.

[0016] As a further optimization of the present invention, the spindle-shaped anti-wear component includes a spindle-shaped semi-ring and symmetrically arranged through holes on the spindle-shaped semi-ring. The two spindle-shaped semi-rings are detachably connected by connecting bolts, and the through holes are configured to cooperate with the connecting bolts.

[0017] As a further optimization of the present invention, the magnetic adsorption component includes an installation groove on the inner circular surface of the spindle-shaped semi-ring and a permanent magnet fixedly connected inside the installation groove, and gaps are provided between the spindle-shaped semi-ring and the permanent magnet and the anti-corrosion layer.

[0018] As a further optimization of the present invention, the cable core assembly includes an inner protective layer, a plurality of wire cores disposed within the inner protective layer, an insulation layer wrapped around the wire cores, a heat insulation protective layer wrapped around the insulation layer, and a plurality of plastic limiting members disposed within the inner protective layer, wherein the plurality of plastic limiting members are evenly distributed in the gaps between the plurality of heat insulation protective layers and the inner protective layer.

[0019] The beneficial effects of this invention are as follows: This invention adds a resistance reinforcement component between the cable core assembly and the outer protective assembly, which can provide the cable with tensile and compressive forces in the length and radial directions, effectively preventing excessive bending. At the same time, the resistance reinforcement component also has pressure sensing data acquisition function and magnetic positioning attraction function. It can know the area of ​​friction between the cable and the underwater hard structure in real time according to the pressure sensing data, and move the hard anti-wear mechanism sleeved on the outside of the cable to the corresponding friction area through the magnetic positioning attraction function, thereby effectively preventing the outer protective assembly of the cable from wearing and breaking, and improving safety. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is the invention Figure 1 A partial sectional view;

[0022] Figure 3 This is the invention Figure 2 An enlarged view of point A in the image;

[0023] Figure 4 This is the invention Figure 2 An enlarged view of point B in the image;

[0024] Figure 5 This is the invention Figure 2 A magnified view of point C in the image.

[0025] In the diagram: 1. Cable core assembly; 101. Wire core; 102. Insulation layer; 103. Heat insulation protective layer; 104. Plastic limiting component; 105. Inner protective layer; 2. Strong shielding layer; 3. Resistance reinforcement component; 301. Limiting ring one; 302. Radial connector one; 303. Hollow mounting ring; 304. Radial connector two; 305. Limiting ring two; 306. Piezoelectric component; 4. Outer protective layer; 5. Corrosion-resistant layer; 6. Hard wear-resistant mechanism; 601. Spindle-shaped semi-ring; 602. Permanent magnet; 603. Perforation; 604. Connecting bolt. Detailed Implementation

[0026] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed merely to enable those skilled in the art to better understand and implement the subject matter described herein. Furthermore, features described in some examples may be combined in other examples.

[0027] like Figures 1 to 5 As shown, a high-strength composite cable for underwater robots includes:

[0028] Cable core assembly 1;

[0029] The cable core assembly 1 includes an inner protective layer 105, a plurality of wire cores 101 disposed within the inner protective layer 105, an insulation layer 102 wrapped around the wire cores 101, a heat insulation protective layer 103 wrapped around the insulation layer 102, and a plurality of plastic limiting members 104 disposed within the inner protective layer 105. The plurality of plastic limiting members 104 are evenly distributed in the gap between the plurality of heat insulation protective layers 103 and the inner protective layer 105.

[0030] A strong shielding layer 2 is coaxially sleeved on the outside of the cable core assembly 1. The strong shielding layer 2 is used to isolate external interference signals from being transmitted to the cable core assembly 1.

[0031] The resistance reinforcement component 3 is coaxially sleeved outside the strong shielding layer 2. The resistance reinforcement component 3 includes several equally spaced annular support skeleton components and several piezoelectric components 306 connected between the annular support skeleton components. The several piezoelectric components 306 are evenly distributed between the several annular support skeleton components, and the two ends of the piezoelectric components 306 are respectively fixedly connected to the corresponding annular support skeleton components. When the piezoelectric component 306 is deformed, it generates a charge corresponding to the deformation amount.

[0032] The outer protective layer 4 and the anti-corrosion layer 5 are sequentially and coaxially sleeved on the outside of the resistance-reinforcing component 3.

[0033] It should be noted that the resistance reinforcement component 3, which is fitted outside the strong shielding layer 2, forms a cage-like pressure-resistant protection structure through multiple equally spaced annular support skeleton components and multiple piezoelectric components 306 fixedly connected between the annular support skeleton components. This structure provides tensile strength along the length of the cable core component 1, enabling the cable to effectively resist radially applied water pressure and tensile forces during movement underwater. Furthermore, the piezoelectric components 306 possess a certain degree of self-elasticity, generating a predetermined amount of charge when deformed under stress. This allows for effective determination of the specific length and position of the cable at the bottom of the water where it is subjected to significant pressure. The external force acting on the cable may be caused by the contact between the cable and the underwater rigid structure. On the one hand, it can provide resistance to excessive bending. On the other hand, by observing the pressure data changes transmitted by the piezoelectric component 306 at the same location, it can be determined whether there is lateral reciprocating friction in this part of the cable. If multiple piezoelectric components 306 in this area continuously show reciprocating pressure data changes, it indicates that there is continuous friction affecting this part of the cable during the robot's operation. At this time, the robot's movement path can be changed according to its position to avoid the friction affecting the current path, thereby effectively reducing the occurrence of excessive wear and breakage of the cable.

[0034] In an optional embodiment of the invention, such as Figure 2 and Figure 4As shown, the piezoelectric component 306 includes a piezoelectric sheet and a lead wire connected to the piezoelectric sheet. The two ends of the piezoelectric sheet are respectively fixedly connected to the corresponding annular support frame components.

[0035] It should be noted that the piezoelectric element is made of piezoelectric material. When the piezoelectric material is subjected to force, an electric charge is generated on its surface. When the piezoelectric element is deformed by the external force, a charge corresponding to the deformation is generated. This charge is led out through the lead wire, and after being amplified and the impedance is transformed by the charge amplifier and the measuring circuit, it becomes an electric output proportional to the external force. This not only allows us to know the current force and bending value, but also the current stress area of ​​the cable, thereby adjusting the robot's movement path to avoid the wear and tear that has occurred.

[0036] In an optional embodiment of the invention, such as Figures 2 to 4 As shown, the annular support frame assembly includes a first limiting ring 301, a hollow mounting ring 303 and a second limiting ring 305, which are coaxially sleeved outside the strong shielding layer 2 in sequence; a first radial connector 302 fixedly connected between the first limiting ring 301 and the hollow mounting ring 303; and a plurality of second radial connectors 304 connected between the hollow mounting ring 303 and the second limiting ring 305. The two ends of the piezoelectric sheet are respectively fixedly connected to the corresponding second limiting ring 305.

[0037] The materials of limiting ring 301, radial connector 302, hollow mounting ring 303, radial connector 304, and limiting ring 305 are all insulating materials.

[0038] It should be noted that the limiting ring 301 and the strong shielding layer 2 form a tight limiting and fixing effect, while the limiting ring 305 serves as the connecting base of the piezoelectric sheet and can withstand the radial pressure transmitted from the outside. Multiple limiting rings 305 form a cage-like protective structure through the connection of the piezoelectric assembly 306, which has strong resistance to pressure, tension, torque and bending, and can effectively protect the structure of the internal cable core assembly 1 from being affected.

[0039] In an optional embodiment of the present invention, the insulating materials used for the limiting ring 301, radial connector 302, hollow mounting ring 303, radial connector 304, and limiting ring 305 may be ceramic, polyvinyl chloride, oxidized metal, or composite insulating metal.

[0040] In an optional embodiment of the present invention, the strong shielding layer 2 is one or more of the following: a metal braided shielding layer, a metal foil shielding layer, and a conductive plastic shielding layer.

[0041] In an optional embodiment of the invention, such as Figures 2 to 5As shown, it also includes several magnetic positioning and attraction components and several hard anti-wear mechanisms 6. The hard anti-wear mechanism 6 is detachably sleeved on the outside of the anti-corrosion layer 5. The magnetic positioning and attraction components are fixedly installed on the hollow mounting ring 303. The magnetic positioning and attraction components are used to drive the hard anti-wear mechanism 6 to move a set distance along the length direction of the anti-corrosion layer 5.

[0042] The magnetic positioning and attraction assembly includes a ring electromagnet and a lead wire connected to the ring electromagnet. The ring electromagnet is installed inside the hollow mounting ring 303.

[0043] The hard anti-wear mechanism 6 includes two detachably connected shuttle-shaped anti-wear components and a magnetic adsorption component fixedly connected to the shuttle-shaped anti-wear components. When the annular electromagnet is energized, a magnetic force is generated to attract the magnetic adsorption component to move.

[0044] The spindle-shaped anti-wear component includes a spindle-shaped semi-ring 601 and through holes 603 symmetrically arranged on the spindle-shaped semi-ring 601. The two spindle-shaped semi-rings 601 are detachably connected by connecting bolts 604, and the through holes 603 are configured to cooperate with the connecting bolts 604.

[0045] The magnetic adsorption assembly includes a mounting groove on the inner circular surface of the spindle-shaped semi-annular body 601 and a permanent magnet 602 fixedly connected inside the mounting groove. There are gaps between the spindle-shaped semi-annular body 601 and the permanent magnet 602 and the anti-corrosion layer 5.

[0046] It should be noted that, as mentioned above, when the underwater robot still has wear areas after changing its path, or when it cannot change its path, a hard anti-wear mechanism 6 can be fitted onto the outside of the anti-corrosion layer 5. Then, by sequentially supplying power to the annular electromagnets distributed along the cable length, the magnetic force of the annular electromagnets attracts the hard anti-wear mechanism 6 to move along the cable length until it reaches the specific location where the cable generates a signal due to wear. The hard anti-wear mechanism 6 can block the connection between the anti-corrosion layer 5 and the underwater hard structure, thereby effectively reducing the risk of wear and cracking of the anti-corrosion layer 5. During installation, the hard anti-wear mechanism 6 is installed by merging two shuttle-shaped semi-annular bodies 601 and fitting them onto the outside of the anti-corrosion layer 5, and then passing the connecting bolts 604 through the aligned perforations 603 on the shuttle-shaped semi-annular bodies 601. The two spindle-shaped semi-rings 601 are now combined into a complete hollow spindle-shaped protective structure. After the corresponding annular electromagnet is energized, the permanent magnet 602 on the spindle-shaped semi-ring 601 can be attracted by magnetic force and move toward the corresponding annular electromagnet. As the annular electromagnets distributed along the cable length are powered in sequence, they can continuously attract the spindle-shaped semi-rings 601 to move along the cable length. Due to its spindle-shaped structure, its movement resistance at the bottom of the water is small until the first fitted hard anti-wear mechanism 6 moves to the bottom area of ​​the underwater cable where wear is most severe. Subsequent hard anti-wear mechanisms 6 move to the corresponding friction areas in sequence, thereby effectively improving the safety and stability of the cable underwater. The strong shielding layer 2 can effectively isolate the piezoelectric component 306 and the electromagnetic interference signals generated when the annular electromagnet is working.

[0047] The above description of this embodiment is not limited to the specific implementation described above. The specific implementation described above is merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of this embodiment, all of which are within the protection scope of this embodiment.

Claims

1. A high-strength composite cable for underwater robots, characterized in that, include: Cable core assembly (1); A strong shielding layer (2) is coaxially sleeved outside the cable core assembly (1), the strong shielding layer (2) is used to isolate external interference signals from being transmitted to the cable core assembly (1); A resistance-enhancing component (3) is coaxially sleeved outside the strong shielding layer (2). The resistance-enhancing component (3) includes several equally spaced annular support skeleton components and several piezoelectric components (306) connected between the annular support skeleton components. The several piezoelectric components (306) are evenly distributed between the several annular support skeleton components, and the two ends of the piezoelectric components (306) are fixedly connected to the corresponding annular support skeleton components. When the piezoelectric components (306) are deformed, they generate a charge corresponding to the deformation amount. The outer protective layer (4) and the anti-corrosion layer (5) are coaxially sleeved on the outside of the resistance reinforcement component (3); The ring support frame assembly includes a first limiting ring (301), a hollow mounting ring (303) and a second limiting ring (305) coaxially sleeved outside the strong shielding layer (2), a first radial connector (302) fixedly connected between the first limiting ring (301) and the hollow mounting ring (303), and a plurality of second radial connectors (304) connected between the hollow mounting ring (303) and the second limiting ring (305). The two ends of the piezoelectric sheet are respectively fixedly connected to the corresponding second limiting ring (305). It also includes several magnetic positioning and attraction components and several hard anti-wear mechanisms (6). The hard anti-wear mechanism (6) is detachably sleeved on the outside of the anti-corrosion layer (5). The magnetic positioning and attraction components are fixedly installed on the hollow mounting ring (303). The magnetic positioning and attraction components are used to drive the hard anti-wear mechanism (6) to move a set distance along the length direction of the anti-corrosion layer (5). The magnetic positioning and attraction assembly includes a ring electromagnet and a second lead wire connected to the ring electromagnet. The ring electromagnet is installed inside the hollow mounting ring (303). The hard anti-wear mechanism (6) includes two detachably connected shuttle-shaped anti-wear components and a magnetic adsorption component fixedly connected to the shuttle-shaped anti-wear components. When the annular electromagnet is energized, it generates a magnetic force to attract the magnetic adsorption component to move.

2. The high-strength composite cable for underwater robots according to claim 1, characterized in that, The piezoelectric component (306) includes a piezoelectric sheet and a lead wire connected to the piezoelectric sheet. The two ends of the piezoelectric sheet are respectively fixedly connected to the corresponding annular support frame components.

3. The high-strength composite cable for underwater robots according to claim 2, characterized in that, The materials of the limiting ring one (301), radial connector one (302), hollow mounting ring (303), radial connector two (304) and limiting ring two (305) are all insulating materials.

4. A high-strength composite cable for underwater robots according to claim 3, characterized in that, The spindle-shaped anti-wear component includes a spindle-shaped semi-ring (601) and symmetrical perforations (603) on the spindle-shaped semi-ring (601). The two spindle-shaped semi-rings (601) are detachably connected by connecting bolts (604), and the perforations (603) are configured to cooperate with the connecting bolts (604).

5. A high-strength composite cable for underwater robots according to claim 4, characterized in that, The magnetic adsorption assembly includes an installation groove on the inner circular surface of the spindle-shaped semi-ring (601) and a permanent magnet (602) fixedly connected inside the installation groove. There are gaps between the spindle-shaped semi-ring (601) and the permanent magnet (602) and the anti-corrosion layer (5).

6. A high-strength composite cable for underwater robots according to claim 1, characterized in that, The cable core assembly (1) includes an inner protective layer (105), a plurality of wire cores (101) disposed within the inner protective layer (105), an insulation layer (102) wrapped around the wire cores (101), a heat insulation protective layer (103) wrapped around the insulation layer (102), and a plurality of plastic limiting members (104) disposed within the inner protective layer (105). The plurality of plastic limiting members (104) are evenly distributed in the gap between the plurality of heat insulation protective layers (103) and the inner protective layer (105).

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