Tail end telescopic structure of riprap underwater robot

Abstract

The utility model discloses a riprap underwater robot end telescopic structure, including fixed flange, fixed riprap pipe, telescopic riprap pipe, lifting rope, winch and base, fixed riprap pipe top passes through fixed flange and is connected with fixed flange, telescopic riprap pipe one end is sleeved on fixed riprap pipe surface, the other end is fixedly connected with base, and the fixed riprap pipe top is connected with the lifting rope. A plurality of first pulleys are arranged at the bottom of the fixed flange, a plurality of second pulleys are arranged at the top of the base, the winch is fixed on the base, one end of the lifting rope is wound on the winch, and the other end of the lifting rope penetrates through the first pulleys and the second pulleys according to the staggered sequence of the first pulleys and the second pulleys and then is fixed on the base. According to the utility model, the telescopic function of the riprap pipe is realized, the length of the riprap pipe can be adjusted as required, and the flexibility and adaptability of riprap operation are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of submarine riprapping, and particularly relates to a riprapping underwater robot terminal telescopic structure. BACKGROUND

[0002] When laying submarine cables, in order to avoid damage to the cables by external environment, such as scouring of sea currents, etc., it is necessary to lay riprapping on the cables to protect the cables and improve the stability of the cables during use.

[0003] At present, when laying riprapping on submarine cables, a plurality of pipelines connected by flanges are generally used to extend to a preset depth, and then riprapping is transported to the upper side of the submarine cable through the pipelines to cover the surface of the submarine cable. However, when laying riprapping on the submarine cable by this laying method, since the submarine surface is uneven, the length of the pipeline cannot be continuously adjusted, and for cables at different depths, when the distance between the end of the pipeline and the cable is too large, the riprapping cannot be accurately and uniformly covered on the upper side of the cable. In order to ensure that the riprapping can cover the cable, the position of the pipeline may need to be adjusted multiple times or additional laying steps may need to be added, which will reduce the overall laying efficiency. Therefore, a device needs to be designed on the riprapping pipeline terminal of the riprapping ROV to continuously adjust the height within a certain range. SUMMARY

[0004] The utility model aims at solving the insufficient of the prior art, and provides a riprapping underwater robot terminal telescopic structure.

[0005] The utility model adopts the technical scheme: a riprapping underwater robot terminal telescopic structure, including fixed flange, fixed riprapping pipe, telescopic riprapping pipe, sling, winch and base, the fixed riprapping pipe top passes through fixed flange and is connected with fixed flange, the telescopic riprapping pipe one end is sleeved in fixed riprapping pipe surface, and the other end is fixedly connected with base, the fixed flange bottom is equipped with a plurality of first pulleys, the base top is equipped with a plurality of second pulleys, the winch is fixed on the base, one end of the sling is wound on the winch, and the other end of the sling is fixed on the base after passing through a plurality of first pulleys and second pulleys in the order of first pulley and second pulley alternately.

[0006] Further, an axial guide groove is arranged on the side wall of the telescopic riprapping pipe, a limiting block is arranged at the top end of the guide groove, a guide block is arranged on the fixed riprapping pipe, and the guide block is matched with the guide groove.

[0007] Further, the adjacent first pulley and second pulley through which the sling passes are arranged perpendicularly.

[0008] Further, the base is a hollow cylindrical structure, the other end of the telescopic riprap pipe passes through the base and extends to the bottom of the base.

[0009] Further, the top surface and the side surface of the base are both hollow structures.

[0010] Further, the bottom of the base is provided with a mounting plate, and the winch is fixed on the mounting plate.

[0011] Further, the mounting plate is provided with a plurality of through holes.

[0012] Further, the bottom of the base is provided with a plurality of supporting feet.

[0013] Further, the top of the fixing flange is provided with a plurality of lifting points, and the plurality of lifting points are used for being connected with the steel wire rope on the riprap ship.

[0014] The utility model discloses the beneficial effects are:

[0015] The utility model discloses the combination of fixing flange, fixed riprap pipe, telescopic riprap pipe, sling, winch and base, realizes the telescopic function of riprap pipe, can adjust the length of riprap pipe according to need, improves the flexibility and adaptability of riprap operation, and simultaneously, the combination of winch and pulley makes telescopic operation more labor-saving, efficient and reliable.

[0016] The utility model discloses the cooperation design of guide groove, limit block and guide block, can prevent fixed riprap pipe and telescopic riprap pipe from separating, also ensures the stability and accuracy of telescopic riprap pipe in the telescopic process, prevents the deflection or autorotation of telescopic riprap pipe when telescoping, improves the stability and safety of whole structure.

[0017] The utility model discloses the perpendicular arrangement between the adjacent pulleys, and when being applied, the angle exists between the two ropes on the two sides of the pulley, and the stress on the pulley is divided to the two ropes, so that the sling is more labor-saving and the stress is more uniform in the pulling process, and the abrasion of the pulley and the sling is reduced.

[0018] The utility model discloses the hollow cylindrical structure design of base, reduces the weight of base, and also facilitates the passing and fixing of telescopic riprap pipe, and the whole structure is more compact and light, and is convenient to carry and install.

[0019] The utility model discloses the through hole design on the mounting plate, and the through hole design can reduce the weight of base and water resistance.

[0020] The utility model discloses the design of supporting foot on the bottom of base, and the base can be more stably supported on the ground, and the transportation and maintenance are facilitated, and the stability and safety of whole structure are improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural schematic view of the utility model.

[0022] In the drawing: 1-fixed flange; 2-fixed riprap pipe; 3-telescopic riprap pipe; 4-hoisting rope; 5-winch; 6-first pulley; 7-second pulley; 8-base; 9-guide slot; 10-limiting block; 11-guide block; 12-mounting plate; 13-through hole; 14-supporting leg; 15-lifting ring; 16-lifting point; 17-steel wire rope; 18-stone inlet. DETAILED DESCRIPTION

[0023] The specific embodiments of the utility model will be further described below in combination with the drawings. It needs to be explained here that the description of these embodiments is used to help understanding the utility model, but does not constitute the limitation to the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0024] As Figure 1 shown, the utility model provides a kind of riprap underwater robot end telescopic structure, including fixed flange 1, fixed riprap pipe 2, telescopic riprap pipe 3, hoisting rope 4, winch 5 and base 8, the fixed riprap pipe 2 top passes through fixed flange 1 and is connected with fixed flange 1, and fixed riprap pipe 2 top end projects on the top surface of fixed flange 1 as stone inlet 18.The telescopic riprap pipe 3 one end is sleeved on the surface of fixed riprap pipe 2, and the other end is fixedly connected with base 8, the bottom of fixed flange 1 is equipped with a plurality of first pulleys 6, the top of base 8 is equipped with a plurality of second pulleys 7, winch 5 is fixed on base 8, hoisting rope 4 one end is wound on winch 5, and hoisting rope 4 other end is sequentially passed through a plurality of first pulleys 6 and second pulleys 7 in the order of first pulley 6, second pulley 7, first pulley 6, second pulley 7 after, and is fixed on base 8 by lifting ring 15.

[0025] The utility model is combined by fixed flange 1, fixed riprap pipe 2, telescopic riprap pipe 3, hoisting rope 4, winch 5 and base 8, realizes the telescopic function of riprap pipe, can be adjusted according to the need riprap pipe length, improves the flexibility and adaptability of riprap operation;Meanwhile, the combination of winch and pulley makes telescopic operation more labor-saving and efficient.

[0026] In some embodiments, the telescopic riprap pipe 3 is provided with a guide groove 9 penetrating the top along the axial direction on the side wall, and a limiting block 10 is arranged at the top end of the guide groove 9, and a guide block 11 is arranged on the outer wall of the fixed riprap pipe 2 and is located in the guide groove 9 and cooperates with the guide groove 9. The cooperation of the guide groove 9, the limiting block 10 and the guide block 11 can prevent the fixed riprap pipe 2 from being separated from the telescopic riprap pipe 3, and also ensures the stability and accuracy of the telescopic riprap pipe 3 during the telescopic process, prevents the telescopic riprap pipe 3 from deviating or rotating during the telescopic process, and improves the stability and safety of the whole structure. The length of the guide groove 9 can be designed to control the maximum telescopic amount of the telescopic riprap pipe.

[0027] In some embodiments, the adjacent first pulleys 6 and the second pulleys 7 through which the hoisting ropes 4 pass are arranged perpendicularly to each other. The adjacent pulleys are arranged perpendicularly to each other in the utility model, and there is an included angle between the two ropes on both sides of the pulley when the pulley is applied, so that the stress on the pulley is evenly distributed to the two ropes, the hoisting rope is more labor-saving and the stress is more uniform during the pulling process, and the wear of the pulley and the hoisting rope is reduced. At the same time, this arrangement also makes the pulling of the hoisting rope more smooth, and improves the efficiency of the telescopic operation.

[0028] It should be noted that the above-mentioned perpendicular arrangement refers to the rotating directions of the pulley wheels being perpendicular to each other. Specifically, four first pulleys 6 and three second pulleys 7 are arranged in the utility model, the adjacent first pulleys 6 are arranged perpendicularly, the adjacent second pulleys 7 are arranged perpendicularly, and the second pulleys 7 and the corresponding first pulleys 6 are arranged perpendicularly, so that the adjacent first pulleys 6 and the second pulleys 7 through which the hoisting ropes pass are arranged perpendicularly to each other. The corresponding of the second pulley 7 and the first pulley 6 means that they are on the same vertical line, and the eye ring 15 fixing the other end of the hoisting rope 4 and the last first pulley 6 are also arranged perpendicularly.

[0029] In some embodiments, the base 8 is a hollow cylindrical structure, and the top surface and the side surface of the base 8 are both hollow structures, the base 8 is formed into a cylindrical frame by splicing a plurality of rod-shaped structures, a supporting rod is arranged in the middle, the telescopic riprap pipe 3 passes through the base 8 and extends to the bottom of the base 8, that is, the bottom end of the telescopic riprap pipe 3 is flush with or slightly protrudes from the bottom surface of the base 8, and the top end and the bottom end of the telescopic riprap pipe 3 are fixedly connected with the base 8. The hollow cylindrical structure design of the base 8 not only reduces the weight of the base, but also facilitates the passing and fixing of the telescopic riprap pipe, and the whole structure is more compact, light and portable and easy to carry and install.

[0030] In some embodiments, the base 8 bottom is provided with a mounting plate 12, the winch 5 is fixed on the mounting plate 12, and the mounting plate 12 is provided with a plurality of through holes 13. The hollow structure of the base 8, the top surface and the side surface of the base 8 are all hollow structures, and the through holes on the mounting plate 12 are designed, which can all reduce the weight of the base 8 and the water resistance, and improve the operation flexibility of the riprap pipe. The mounting plates at different positions of the base 8 can also be provided with power equipment, positioning equipment and the like to cooperate to realize the seabed riprap operation.

[0031] The working principle of the utility model is:

[0032] When the riprap underwater robot reaches the preset position of the seabed, the three steel wires 17 are preliminarily tensioned and fixed, and the base 8 and the telescopic riprap pipe 3 can be realized up and down telescopic along the fixed riprap pipe 2 through the cooperation of the winch 5 in the base 8 and the lifting rope 4, so as to adapt to different seabed topographies.

[0033] When the seabed surface on the riprap track rises, the lifting rope 4 can be retracted through the winch 5, at this time, the base 8 and the telescopic riprap pipe 3 make unbiased swing linear motion under the action of the guide block 11 and the guide groove 9, the base 8 rises along the fixed riprap pipe 2, realizes real-time control of the distance between the base 8 and the seabed surface, adjusts to the position, and the gravel enters the cable trench after falling into the cable through the fixed riprap pipe 2 and the telescopic riprap pipe 3 after entering the stone inlet 15; when the seabed surface falls, the lifting rope 4 can be stretched through the winch 5, at this time, the base 8 and the telescopic riprap pipe 3 make unbiased swing linear motion under the action of the guide block 11 and the guide groove 9, the base 8 falls along the fixed riprap pipe 2, and the distance between the base 8 and the seabed surface is realized. The limiting block 10 at the top end of the guide groove 9 can prevent the fixed riprap pipe 2 and the telescopic riprap pipe 3 from being separated, and can also strengthen the structural rigidity of the telescopic riprap pipe 3.

[0034] Lifting rope stress analysis: three second pulleys 7 and a lifting ring 15 are uniformly installed on the top of the base 8, that is, four stress points, the total mass of the base and the telescopic riprap pipe is M, each stress point bears M / 4, each second pulley 7 has two lifting ropes on both sides, the force on the stress point is evenly distributed to the two ropes, that is, each rope bears M / 8, finally the end of the lifting rope is connected to the winch 5 after the direction is changed by the first pulley 6, the stress of this section of rope only changes the direction of the force but not the size of the force, that is, the stress is M / 8. In actual application, there is friction between the second pulley 7 and the lifting rope 4, and there is an angle between the two lifting ropes of the second pulley 7, the reference tension of the winch 5 is greater than M / 8, but since the riprap underwater robot is used in water, the water lubricates the pulley and the lifting rope, reduces the friction, the angle between the two lifting ropes of the pulley is very small, and the tension of the winch 5 is slightly greater than M / 8, that is, the cooperation of the first pulley 6, the second pulley 7 and the lifting rope 4 of the utility model can effectively reduce the weight of the base and the telescopic section of the riprap pipe, and further improve the operation flexibility.

[0035] The above merely illustrates the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. The contents not described in detail in the specification belong to the prior art known by the person skilled in the art.

Claims

1. A telescopic end effector structure for a stone-throwing underwater robot, characterized in that: The utility model relates to a kind of flexible riprap pipes and fixed riprap pipes, including fixed flange (1), fixed riprap pipe (2), flexible riprap pipe (3), sling (4), winch (5) and pedestal (8), the fixed riprap pipe (2) top passes through fixed flange (1) and is connected with fixed flange, the flexible riprap pipe (3) one end is sleeved on the surface of fixed riprap pipe (2), the other end is fixedly connected with pedestal, the fixed flange (1) bottom is equipped with a plurality of first pulley (6), the pedestal top is equipped with a plurality of second pulley (7), the winch (5) is fixed on pedestal (8), the sling (4) one end is wound on winch (5), sling (4) other end is fixed on pedestal (8) after passing through a plurality of first pulley (6) and second pulley (7) according to the order of first pulley (6), second pulley (7) stagger.

2. The riprap underwater robot end effector of claim 1, wherein: The flexible riprap pipe (3) side wall is equipped with guide slot (9) of top penetration along axis direction, and the top of guide slot (9) is provided with limiting block (10), the fixed riprap pipe (2) is equipped with guide block (11), and the guide block (11) is matched with guide slot (9).

3. The riprap underwater robotic end effector of claim 1, wherein: Adjacent first pulley (6) and second pulley (7) between which sling (4) passes through are arranged perpendicularly.

4. The riprap underwater robotic end effector of claim 1, wherein: The pedestal (8) is hollow cylindrical structure, and the other end of the flexible riprap pipe (3) passes through the pedestal (8) and extends to the bottom of the pedestal (8).

5. The riprap underwater robotic end effector of claim 4, wherein: The top surface and side surface of the pedestal (8) are both hollow structure.

6. The riprap underwater robotic end effector of claim 4, wherein: The pedestal (8) bottom is equipped with mounting plate (12), and the winch (5) is fixed on the mounting plate (12).

7. The riprap underwater robotic end effector of claim 6, wherein: The mounting plate (12) is equipped with a plurality of through holes (13).

8. The riprap underwater robotic end effector of claim 4, wherein: The pedestal (8) bottom is equipped with a plurality of supporting legs (14).

9. The riprap underwater robotic end effector of claim 1, wherein: The top of the fixed flange (1) is equipped with a plurality of lifting points (16), and the plurality of lifting points (16) are used to be connected with steel wire rope (17) on ripracing ship.

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