Underwater cable laying robot chassis structure

Abstract

An underwater cable laying robot chassis structure comprises a sliding shoe, lug plates, a mounting column, a main body mounting frame, a spraying knife and an oil cylinder, the sliding shoe comprises a bottom groove plate and a cover plate, the cover plate is sealed on the bottom groove plate to form the sliding shoe with an inner cavity, the width of the front portion of the sliding shoe is larger than that of the rear portion of the sliding shoe, and the lug plates are fixed to the upper surface of the cover plate. The plurality of mounting columns are fixed on the upper surface of the cover plate, the two sliding shoes are arranged in parallel, and a space capable of allowing the spraying knife to work is formed between the two sliding shoes; a plurality of supporting columns are arranged at the bottom of the main body mounting frame, the main body mounting frame is fixed on the two sliding shoes through a mounting flange, the spraying knife and the oil cylinder are mounted on the main body mounting frame, and the oil cylinder is connected with the spraying knife to drive the spraying knife to ascend and descend. According to the utility model, the ground pressure of the cable laying robot can be reduced, the risk of sinking of the cable laying robot is reduced, the ground specific pressures of the front and back parts of the sliding shoes are kept consistent, the whole machine is prevented from inclining, the weight can be reduced, and the cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater cable laying, in particular to a chassis structure of an underwater cable laying robot. Background Art

[0002] The burial of submarine cables requires cable-laying equipment to first lay the cable on the seabed, followed by trenching and burying equipment to perform operations such as cable tracing, trenching, and burying. The cable-laying process typically begins with a cable-laying vessel transporting the cable to a predetermined route, then slowly unwinding it. The cable is then laid on the seabed by a cable-laying robot, which is towed forward by a cable-laying vessel and other equipment. In some sea areas where trenching isn't necessary, such as those with low seabed biological activity and soft seabed sediment, laying the cable on the seabed simply requires flushing the sediment to bury it in place. In these cases, the cable-laying robot must flush the sediment while laying the cable, requiring the appropriate flushing components. However, in soft-sand seabed environments, the cable-laying robot is prone to sinking while sliding and towing, becoming stuck in the sediment and affecting its sliding speed. It can even become stuck due to the high and low seabed conditions, making it difficult to move forward and hindering cable laying. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a chassis structure for an underwater cable-laying robot which reduces the sinking of the entire machine by reducing the pressure against the ground.

[0004] The utility model is realized through the following technical solutions:

[0005] A chassis structure of an underwater cable-laying robot includes a sliding shoe, an ear plate, a mounting column, a main body mounting frame, a spray knife and an oil cylinder, the sliding shoe includes a bottom groove plate and a cover plate, the cover plate is sealed on the bottom groove plate to form a sliding shoe with an internal cavity, the width of the front part of the sliding shoe is larger than the width of the rear part, several ear plates are fixed on the upper surface of the cover plate, the ear plates are provided with towing holes for towing the entire cable-laying robot, several mounting columns are fixed on the upper surface of the cover plate, two sliding shoes are arranged in parallel, and a space allowing the spray knife to work is formed between the two sliding shoes; several support columns are provided at the bottom of the main body mounting frame, the bottom of the support columns is provided with a first mounting flange, and the top of the mounting column is provided with a second mounting flange, the main body mounting frame is fixed on the two sliding shoes by connecting the first mounting flange and the second mounting flange, the spray knife and the oil cylinder are installed on the main body mounting frame, and the oil cylinder is connected to the spray knife to drive the spray knife to be lifted and lowered.

[0006] Furthermore, a front tilted plate extends from the front end of the sliding shoe, and the front tilted plate is connected to the front end of the bottom groove plate.

[0007] Furthermore, a reinforcing rib is provided between the front tilting plate and the cover plate.

[0008] Furthermore, a rear tilted plate extends from the rear end of the sliding shoe, and the rear tilted plate is connected to the rear end of the bottom groove plate.

[0009] Furthermore, a reinforcing rib is provided between the rear tilting plate and the cover plate.

[0010] Furthermore, a rotating shaft is provided on the main mounting frame, one end of the spray knife is connected to the rotating shaft, the telescopic end of the oil cylinder is connected to the rotating shaft, the telescopic end of the oil cylinder drives the rotating shaft to rotate, and the rotating shaft drives the spray knife to rotate, so that the spray knife is lifted or lowered.

[0011] Furthermore, there are two groups of oil cylinders, the telescopic ends of the two groups of oil cylinders are respectively connected to the two ends of the rotating shaft, and the spray knife is located in the middle of the two groups of oil cylinders.

[0012] Furthermore, two ear plates are provided on the cover plate of each sliding shoe, and the two ear plates are respectively located at the front end and the rear end of the cover plate.

[0013] Furthermore, three of the mounting columns are provided on the cover plate of each sliding shoe.

[0014] The utility model designs the sliding shoe of the robot chassis to be wide at the front and narrow at the rear, which conforms to the structure of the towed submarine cable-laying robot with the center of gravity at the front, and can distribute the weight of the cable-laying robot to the front part of the sliding shoe, thereby reducing the pressure of the robot on the ground, thereby reducing the risk of the cable-laying robot sinking on the soft seabed. At the same time, the narrowing of the rear part can reduce weight and save costs, and can also ensure that the relative pressure of the front and rear of the sliding shoe to the ground is consistent, and the whole machine will not tilt; the structure of the sliding shoe cavity can also reduce the weight of the whole machine, increase buoyancy, reduce the relative pressure to the ground, and further reduce the chance of the whole machine sinking; the lifting or lowering of the spray knife is controlled by the oil cylinder to cope with the undulations of the seabed, and avoid the whole machine sinking or getting stuck due to the angle of the spray knife; the structure of the sliding shoe with the front and rear raised can improve the smoothness of the sliding of the cable-laying robot, and the raised plate can further play a role of pressure distribution. When the head of the sliding shoe is raised, the pressure can be further dispersed and the pressure on the ground can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a top view of an embodiment of the present utility model.

[0016] Figure 2 It is a side view of an embodiment of the present utility model.

[0017] Figure 3 It is a partial structural diagram of an embodiment of the present utility model.

[0018] Figure 4 It is a partial structural top view of an embodiment of the present utility model.

[0019] Figure 5It is a partial structural side view of an embodiment of the present utility model.

[0020] Figure 6 This is a schematic diagram of a working state of an embodiment of the utility model.

[0021] Figure markings: 1-slip shoe; 2-ear plate; 3-mounting column; 4-second mounting flange; 5-main body mounting frame 56-oil cylinder; 7-rotating shaft; 8-spray knife; 11-bottom groove plate; 12-cover plate; 13-front tilting plate; 14-rear tilting plate; 15-reinforcement rib; 51-support column; 52-first mounting flange. DETAILED DESCRIPTION

[0022] An underwater cable laying robot chassis structure, such as Figures 1 to 5 As shown, the slide shoe 1 comprises a lug plate 2, a mounting post 3, a main mounting frame 5, a spray knife 8, and a hydraulic cylinder 6. The slide shoe 1 includes a bottom trough plate 11 and a cover plate 12. The cover plate 12 is seal-welded to the bottom trough plate 11, forming the slide shoe 1 with an internal cavity. This internal cavity generates buoyancy, reducing the overall weight and ground pressure. The front portion of the slide shoe 1 is wider than the rear portion, meaning the front portion is wider and the rear portion is narrower. While the center of gravity of a typical towed submarine cable-laying robot is at the front, this design distributes the majority of the weight to the front half of the slide shoe 1. The wide front portion significantly reduces ground pressure and the chance of sinking, while the narrow rear portion reduces costs and ensures consistent ground pressure between the front and rear slide shoes 1, preventing the entire robot from tilting.

[0023] Several ear plates 2 are fixed on the upper surface of the cover plate 12, and towing holes are provided on the ear plates 2 for towing the entire cable-laying robot. Several mounting columns 3 are fixed on the upper surface of the cover plate 12, and the two sliding shoes 1 are arranged in parallel, and a space allowing the spray knife 8 to work is formed between the two sliding shoes 1; a plurality of support columns 51 are provided at the bottom of the main mounting frame 5, and a first mounting flange 52 is provided at the bottom of the support column 51, and a second mounting flange 4 is provided at the top of the mounting column 3. The main mounting frame 5 is fixed on the two sliding shoes 1 by connecting the first mounting flange 52 with the second mounting flange 4, and the spray knife 8 and the oil cylinder 6 are installed on the main mounting frame 5, and the oil cylinder 6 is connected to the spray knife 8 to drive the spray knife 8 to be lifted and lowered, so that the spray knife 8 can adapt to the undulations of the seabed and avoid sinking or jamming of the entire machine due to the angle problem of the spray knife 8.

[0024] In this embodiment, a rotating shaft 7 is provided on the main mounting frame 5. One end of the spray blade 8 is connected to the rotating shaft 7. The telescopic ends of the oil cylinder 6 are respectively connected to the rotating shaft 7. The telescopic movement of the oil cylinder 6 drives the rotating shaft 7 to rotate, and the rotating shaft 7 drives the spray blade 8 to rotate, thereby raising or lowering the spray blade 8. The oil cylinder 6 is provided in two groups. The telescopic ends of the two groups of oil cylinders 6 are respectively connected to the two ends of the rotating shaft 7. The spray blade 8 is located in the middle of the two groups of oil cylinders 6. To better achieve the raising and lowering of the spray blade 8, the middle part of the spray blade 8 should also be connected to an oil cylinder 6 (not shown in the figure) to drive the movement of the middle part of the spray blade 8, cooperating with the end of the spray blade 8 to make the rotation of the spray blade 8 more stable.

[0025] In order to make the sliding shoe 1 slide more smoothly, a front tilted plate 13 is extended from the front end of the sliding shoe 1. The front tilted plate 13 is welded to the front end of the bottom groove plate 11, and a reinforcing rib 15 is welded between the front tilted plate 13 and the cover plate 12. A rear tilted plate 14 is extended from the rear end of the sliding shoe 1. The rear tilted plate 14 is welded to the rear end of the bottom groove plate 11, and a reinforcing rib 15 is welded between the rear tilted plate 14 and the cover plate 12. In this embodiment, the reinforcing rib 15 between the front tilted plate 13 and the cover plate 12 and the reinforcing rib 15 between the rear tilted plate 14 and the cover plate 12 are combined into one. The reinforcing rib 15 spans the entire upper surface of the cover plate 12, with one end connected to the front tilted plate 13 and the other end connected to the rear tilted plate 14. Figure 6 When the soil is too hard to support the whole machine, the whole machine is pressed down. At this time, the front part is wider, and the sliding shoe 1 has a certain angle, the head is tilted, and the front tilting plate 13 can also disperse the pressure well and reduce the pressure on the ground.

[0026] In this embodiment, the cover plate 12 of each sliding shoe 1 is provided with two ear plates 2, which are respectively located at the front and rear ends of the cover plate 12. The cover plate 12 of each sliding shoe 1 is provided with three mounting posts 3, which are located between the two ear plates 2.

[0027] The above detailed description is a specific description of a feasible embodiment of the present invention. The embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification that does not depart from the present invention should be included in the patent scope of this case.

Claims

1. A chassis structure of an underwater cable-laying robot, characterized in that: The cable laying robot comprises a sliding shoe, an ear plate, a mounting column, a main body mounting frame, a spray knife and an oil cylinder, wherein the sliding shoe comprises a bottom groove plate and a cover plate, the cover plate is sealed on the bottom groove plate to form a sliding shoe with an internal cavity, the width of the front part of the sliding shoe is larger than the width of the rear part, several ear plates are fixed on the upper surface of the cover plate, and a towing hole is provided on the ear plate for towing the entire cable laying robot, several mounting columns are fixed on the upper surface of the cover plate, two sliding shoes are arranged in parallel, and a space allowing the spray knife to work is formed between the two sliding shoes; several support columns are provided at the bottom of the main body mounting frame, a first mounting flange is provided at the bottom of the support column, and a second mounting flange is provided at the top of the mounting column, and the main body mounting frame is fixed on the two sliding shoes by connecting the first mounting flange and the second mounting flange, the spray knife and the oil cylinder are installed on the main body mounting frame, and the oil cylinder is connected to the spray knife to drive the spray knife to be lifted and lowered.

2. The chassis structure of an underwater cable-laying robot according to claim 1, characterized in that: A front tilted plate extends from the front end of the sliding shoe, and the front tilted plate is connected to the front end of the bottom groove plate.

3. The chassis structure of an underwater cable-laying robot according to claim 2, characterized in that: A reinforcing rib is provided between the front tilting plate and the cover plate.

4. The chassis structure of an underwater cable-laying robot according to claim 1, characterized in that: A rear tilting plate extends from the rear end of the sliding shoe, and the rear tilting plate is connected to the rear end of the bottom groove plate.

5. The chassis structure of an underwater cable-laying robot according to claim 4, characterized in that: A reinforcing rib is provided between the rear tilting plate and the cover plate.

6. The chassis structure of an underwater cable-laying robot according to claim 1, characterized in that: A rotating shaft is provided on the main mounting frame, one end of the spray knife is connected to the rotating shaft, the telescopic end of the oil cylinder is connected to the rotating shaft, the telescopic end of the oil cylinder drives the rotating shaft to rotate, and the rotating shaft drives the spray knife to rotate, so that the spray knife is lifted or lowered.

7. The chassis structure of an underwater cable-laying robot according to claim 6, characterized in that: There are two groups of oil cylinders, the telescopic ends of the two groups of oil cylinders are respectively connected to the two ends of the rotating shaft, and the spray knife is located in the middle of the two groups of oil cylinders.

8. The chassis structure of an underwater cable-laying robot according to claim 1, characterized in that: The cover plate of each sliding shoe is provided with two ear plates, and the two ear plates are respectively located at the front end and the rear end of the cover plate.

9. The chassis structure of an underwater cable-laying robot according to claim 1, characterized in that: Three of the mounting posts are provided on the cover plate of each sliding shoe.

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