Cable structure and underwater robot

Abstract

The utility model relates to the technical field of underwater equipment, in particular to a cable structure and an underwater robot. The connector is connected to the cable body; the protective sleeve assembly comprises a first protective sleeve and a second protective sleeve, and the connector is sleeved with the first protective sleeve; the second protective sleeve is sleeved on the cable body. According to the technical scheme, the protective sleeve assembly is arranged and comprises the first protective sleeve and the second protective sleeve, the first protective sleeve wraps the connecting position of the connector and the connector joint, and when the connecting position is impacted, the first protective sleeve can bear the impact force and play a role in protecting the connector; and the second protective sleeve sleeves the cable body, so that the cable body can be prevented from being impacted.

Description

Technical Field

[0001] This application relates to the field of underwater equipment technology, and in particular to a cable structure and an underwater robot. Background Technology

[0002] Underwater robots are robots specifically designed for underwater environments. They play an important role in scientific research, industry, military, and commerce.

[0003] Storage-type hydroelectric power stations generate electricity by pumping water to an upper reservoir during off-peak hours and releasing it to a lower reservoir during peak hours. The upper and lower reservoirs typically have a significant head difference and are connected by underground water diversion tunnels carved into the mountainside. These tunnels require regular inspection. Current inspection technologies primarily rely on vehicle-mounted equipment, but this usually requires emptying the tunnel, wasting significant amounts of energy from the upper reservoir and being time-consuming and labor-intensive. After drainage, the resulting pressure imbalance can cause secondary damage to the tunnel. Furthermore, the water diversion tunnels of storage-type hydroelectric power stations often include steep sections, increasing the difficulty of the operation. Therefore, using underwater robots for water diversion tunnel inspection is the most economical and safest option.

[0004] During underwater operations, optical fiber composite cables are typically used to connect to underwater robots for power and communication. Because the underwater robot needs to tow a relatively long optical fiber composite cable through underwater tunnels for inspection, the connector at the cable-robot connection point is prone to collisions during operation. The cable is also susceptible to friction with obstacles such as walls, mountains, or riverbeds. These external forces can affect the stability of the cable-robot connection, impacting the robot's lifespan and normal operation. Utility Model Content

[0005] This application provides a cable structure and an underwater robot to protect the cable body and connectors.

[0006] On one hand, this application provides a cable structure, including:

[0007] Cable body;

[0008] Connector, which is attached to the cable body;

[0009] The protective sleeve assembly includes a first protective sleeve and a second protective sleeve, wherein the first protective sleeve is fitted onto the connector and the second protective sleeve is fitted onto the cable body.

[0010] Furthermore, the first protective sleeve is made of metal;

[0011] And / or, the outer wall surface of the first protective sleeve is a cylindrical surface.

[0012] Furthermore, the connector is provided at the connection between the connector and the cable body, and the outer wall of the connector is provided with a sealing groove. The first protective sleeve is provided with a sealing block at one end near the connector, and the sealing block is inserted into the sealing groove.

[0013] Furthermore, the second protective sleeve includes:

[0014] The protective sleeve is fitted onto the cable body;

[0015] A connecting part is attached to one end of the protective part near the first protective sleeve; the connecting part is used to connect with an external structure.

[0016] Furthermore, the connecting portion has two ends, and the two ends are connected to the same end of the protective portion.

[0017] Furthermore, it also includes a snap fastener, through which the connecting part is connected to the external structure.

[0018] Furthermore, there are multiple buckles, which are distributed on both sides of the connecting portion;

[0019] And / or, the buckle has a buckle hole, and the connecting part passes through the buckle hole.

[0020] Furthermore, the protective part is a metal mesh tube and / or a nylon braided mesh tube.

[0021] Furthermore, the end of the protective part away from the connecting part is vulcanized together with the outer layer of the cable body.

[0022] On the other hand, this application also provides an underwater robot, comprising:

[0023] The robot itself;

[0024] A protective frame having a protective cavity, wherein the robot body is disposed within the protective cavity;

[0025] As described above, the cable body of the cable structure is connected to the robot body; the first protective sleeve and the second protective sleeve of the cable structure are respectively connected to the protective frame.

[0026] The technical solution provided in this application has the following advantages compared with the prior art:

[0027] In the technical solution of this application, a protective sleeve assembly is provided, including a first protective sleeve and a second protective sleeve. The first protective sleeve covers the connection between the connector and the connector joint. When the connection is impacted, the first protective sleeve can withstand the impact force and protect the connector. The second protective sleeve is fitted on the cable body and can defend against the impact on the cable body. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0031] Figure 1 This is a schematic diagram of the structure of the underwater robot provided in the embodiments of this application;

[0032] Figure 2 for Figure 1 Assembly diagram of the cable structure and protection frame;

[0033] Figure 3 for Figure 2 Enlarged view at point A;

[0034] Figure 4 for Figure 3 A schematic diagram of the interior of the first protective sleeve.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Cable body;

[0037] 2. Connector joint; 21. Enclosed groove;

[0038] 3. Connectors;

[0039] 4. Protective cover assembly;

[0040] 41. First protective sleeve; 411. Sealing block;

[0041] 42. Second protective sleeve; 421. Protective part; 422. Connecting part;

[0042] 5. The robot itself;

[0043] 6. Protective frame; 61. Buckle; 62. Buckle hole. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0046] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0047] To address the lack of protection for the cable itself in existing technologies, this application provides a cable structure that can protect the cable body 1 and connector 3 during repeated underwater robot operations, effectively improving the cable's service life.

[0048] Figures 1 to 4A cable structure provided in this application embodiment includes a cable body 1 and a protective sleeve assembly 4. The cable body 1 is used to connect to an underwater robot. The cable body 1 and the underwater robot are connected by a connector 3. The connector 3 includes a power transmission connector for providing power to the underwater robot and an optical signal transmission connector for transmitting signals and data. The protective sleeve assembly 4 is sleeved on the outer side of the cable body 1 and the connector 3. The protective sleeve assembly 4 includes a first protective sleeve 41 and a second protective sleeve 42. The first protective sleeve 41 is sleeved on the connector 3 to protect the connector 3; the second protective sleeve 42 is sleeved on the cable body 1 to protect the cable body 1.

[0049] Thus, by setting a first protective sleeve and a second protective sleeve, the first protective sleeve covers the connection between the connector and the connector joint. When the connection is impacted, the first protective sleeve can withstand the impact force and protect the connector. The second protective sleeve is fitted on the cable body and can defend against the impact on the cable body.

[0050] like Figures 1 to 4 As shown in the technical solution of this application embodiment, the outer wall surface of the first protective sleeve 41 is a cylindrical surface. The cylindrical protective sleeve can provide a uniform pressure distribution, especially when subjected to external impact. Since the cylindrical curved surface can disperse pressure and reduce local stress concentration, it can more effectively protect the internal connector 3 and prevent damage caused by impact.

[0051] In this embodiment, the center of the first protective sleeve 41 is hollow and can be divided into two parts. During installation, the middle part of the first protective sleeve 41 is first separated and placed on the outside of the connector 3. Then, the first protective sleeve 41 is closed, ensuring a tight seal, which can be achieved by providing a sealing gasket at the closure point. The closure can be achieved by providing a connecting block on one side of the first protective sleeve 41 for creating a through hole for bolt connection, or by using a snap-fit ​​connection. The first protective sleeve 41 can be further made of high-strength materials such as metal or ceramic to prevent damage to the connector protective sleeve from foreign objects in water or from friction with the wall during equipment operation.

[0052] like Figure 4 As shown in the technical solution of this application embodiment, a connector joint 2 is provided at the connection between the connector 3 and the cable body 1. A sealing groove 21 is provided on the outer wall of the connector joint 2. A sealing block 411 is provided at one end of the first protective sleeve 41 near the connector joint 2. The sealing block 411 is inserted into the sealing groove 21. This setting can disperse the impact force of the first protective sleeve 41 to the connector joint 2 when the equipment is working, so as to reduce the impact on the connector 3. At the same time, the sealing block 411 and the sealing groove 21 can also improve the sealing effect.

[0053] Preferably, connector joint 2 can be vulcanized to withstand underwater environments. Vulcanized connector joints are commonly used in electrical or electronic systems, especially in environments requiring enhanced durability, corrosion resistance, and reliability. The manufacturing process of vulcanized joints typically involves treating rubber materials with heat and the use of vulcanizing agents to enhance their physical properties. This treatment improves the joint's elasticity, sealing, and heat resistance, preventing electrical failures or leaks at the joint.

[0054] When the cable structure is applied to an underwater robot, the connector 3 is connected to the protective frame of the underwater robot. The protective frame can provide a stable connection position for the connector 3. When the connector 3 is pulled by the cable body 1, the first protective sleeve 41 can disperse the pulling force and improve the protection performance of the connector 3.

[0055] like Figures 1 to 3 As shown in the technical solution of this application embodiment, the second protective sleeve 42 includes a protective part 421 and a connecting part 422, with the connecting part 422 connected to the end of the protective part 421 near the first protective sleeve 41. The protective part 421 is sleeved on the cable body 1, effectively protecting the cable body 1 and preventing it from directly rubbing against the edge of the tunnel during repeated underwater robot operations, thus avoiding wear caused by friction or collision and effectively improving the service life of the cable body 1. The protective part 421 can be made of nylon braided mesh or metal mesh.

[0056] The nylon braided mesh tube is made of nylon. The braided structure gives the mesh tube strong tensile and torsional resistance, preventing damage to the cable body 1 when bent or pulled; nylon has high tensile strength and abrasion resistance, as well as good elasticity and impact toughness.

[0057] The protective section can also be made of metal. While providing protection, the metal mesh also has a certain electromagnetic shielding function, which can effectively reduce electromagnetic interference (EMI) or prevent cable signal leakage, thereby improving the stability of communication or power systems.

[0058] like Figures 1 to 3As shown in the technical solution of this application embodiment, the end of the protective part 421 away from the connecting part 422 is vulcanized integrally with the outer layer of the cable body 1. This process mainly involves introducing sulfur or a vulcanizing agent into the material through a chemical cross-linking reaction, followed by heating to form a three-dimensional network structure. This process not only improves the physical properties of the material but also enhances its adaptability in specific working environments. First, vulcanization can significantly improve the mechanical strength of the material, giving it higher tensile strength and wear resistance. This is because the molecular chain structure after cross-linking is more stable than that of uncross-linked materials, effectively enhancing the material's ability to withstand external forces and extending its service life. Under conditions of friction and pressure, vulcanized materials exhibit stronger durability, especially in high-friction applications.

[0059] In addition to improving mechanical strength, vulcanization also enhances the elasticity and impact resistance of materials. The cross-linked structure allows vulcanized materials to better recover their original shape, increases the elastic modulus, and reduces permanent deformation or cracking caused by external impacts. At high temperatures, the cross-linked three-dimensional structure provides better thermal stability, preventing aging and degradation of physical properties caused by high temperatures.

[0060] Another important advantage of vulcanization is dimensional stability; even during long-term use, the material exhibits minimal dimensional changes and maintains good shape and structural stability.

[0061] like Figures 1 to 3 As shown, in the technical solution of this application embodiment, the connecting part 422 is used to connect with an external structure. The connecting part 422 has two ends, and the two ends are connected to the same end of the protective part 421. When the cable body 1 is pulled, the protective part 421 will also be subjected to a pulling force, and at this time, the pulling force can be transmitted to the external structure through the connecting part 422.

[0062] Optionally, the connection between the connecting part 422 and the external structure is as follows: the connecting part 422 is provided with a buckle 61, the buckle 61 has a buckle hole 62, the connecting part 422 passes through the buckle hole 62, and the connecting part 422 is connected to the external structure through the buckle 61.

[0063] To improve the stability of the connection, this application uses multiple clips, optionally two clips, with the two clips located on both sides of the first protective sleeve 41. This can evenly distribute the pulling force to both ends, thereby avoiding localized excessive stress and extending the service life of the connection 422.

[0064] When the cable structure is applied to an underwater robot, the connector is connected to the protective frame of the underwater robot to relieve the force on the second protective sleeve 42. When the second protective sleeve 42 is subjected to a pulling force, the second protective sleeve 42 will distribute the pulling force to the frame through the connector 422 to reduce the pulling force on the cable body 1.

[0065] like Figure 3 As shown, in the technical solution of this application embodiment, the buckle 61 is preferably a lobster buckle, which is convenient for quick installation and removal. The opening of the buckle 61 is provided with threads, and a nut is fitted on the threads. The nut is used to close the opening of the buckle 61. During installation, the buckle 61 is connected to the external structure through the buckle hole 62. After the buckle 61 is connected to the external structure, the nut is rotated so that the nut is fitted into the opening of the buckle hole 62, and the buckle 61 cannot be opened, so as to ensure that the buckle 61 will not accidentally fall off during the connection process.

[0066] like Figure 1 This application also provides an underwater robot, including: a robot body 5, a protective frame 6, and a cable structure as described in the above embodiment; the protective frame 6 has a protective cavity, and the robot body 5 is disposed in the protective cavity; the cable body 1 of the cable structure is connected to the robot body 5; the first protective sleeve 41 and the second protective sleeve 42 of the cable structure are respectively connected to the protective frame 6.

[0067] The protective frame 6 is used to protect the robot body 5. The end of the first protective sleeve 41 away from the connector 2 is connected to the protective frame 6. The protective frame 6 reduces the direct impact of foreign objects on the robot body 5 when the robot is working underwater. The attached figure only shows the basic four frames. In the implementation process, the frame density can be appropriately increased as needed to prevent impact from small foreign objects. The first protective sleeve 41 is connected to the protective frame 6. If the first protective sleeve 41 is impacted or pulled by a foreign object, the first protective sleeve 41 will disperse the external force to the frame to reduce the impact and pulling force received by the connector 3 inside the first protective sleeve 41.

[0068] like Figures 1 to 3 In the technical solution of this application embodiment, the connecting part 422 of the second protective sleeve 42 is connected to the protective frame 6 to relieve the force on the second protective sleeve 42. When the second protective sleeve 42 is subjected to a pulling force, the second protective sleeve 42 will distribute the pulling force to the protective frame 6 through the connecting part 422 to reduce the pulling force on the cable body 1.

[0069] For example, a connecting rod can be installed on the protective frame 6, and the wiring terminals of the robot body 5 are fixedly connected to the connecting rod. A retaining ring is fixedly connected to the connecting rod, and the buckle 61 is connected to the retaining ring. When the cable body 1 receives a pulling force, the second protective sleeve 42 will transmit the pulling force to the retaining ring through the buckle 61, thereby distributing the pulling force to the protective frame 6. In addition, the connecting rod can also be fixedly connected to the robot body 5 to prevent the protective frame 6 from moving relative to the robot body 5 during the operation of the robot body 5, which would affect the normal operation of the robot body 5.

[0070] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0071] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0073] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0074] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0076] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0077] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cable structure, characterized in that, include: Cable body (1); Connector (3), connected to the cable body (1); The protective sleeve assembly (4) includes a first protective sleeve (41) and a second protective sleeve (42), wherein the first protective sleeve (41) is fitted onto the connector (3) and the second protective sleeve (42) is fitted onto the cable body (1).

2. The cable structure according to claim 1, characterized in that, The first protective sleeve (41) is made of metal; And / or, the outer wall surface of the first protective sleeve is a cylindrical surface.

3. The cable structure according to claim 1, characterized in that, The connector (3) is provided with a connector joint (2) at the connection between the connector (3) and the cable body (1). The outer wall of the connector joint (2) is provided with a closed groove (21). The first protective sleeve (41) is provided with a closed block (411) at one end near the connector joint (2). The closed block (411) is inserted into the closed groove (21).

4. The cable structure according to claim 1, characterized in that, The second protective sleeve (42) includes: The protective part (421) is fitted onto the cable body (1); A connecting part (422) is connected to one end of the protective part (421) near the first protective sleeve (41); the connecting part (422) is used to connect with an external structure.

5. The cable structure according to claim 4, characterized in that, The connecting part (422) has two ends, and the two ends are connected to the same end of the protective part (421).

6. The cable structure according to claim 4, characterized in that, It also includes a buckle (61), through which the connecting part (422) is connected to the external structure.

7. The cable structure according to claim 6, characterized in that, The number of the buckles (61) is multiple, and the multiple buckles (61) are distributed on both sides of the connecting part (422); And / or, the buckle (61) has a buckle hole (62), and the connecting part (422) passes through the buckle hole (62).

8. The cable structure according to claim 4, characterized in that, The protective part (421) is a metal mesh tube and / or a nylon braided mesh tube.

9. The cable structure according to claim 5, characterized in that, The protective part (421) is vulcanized together with the outer layer of the cable body (1) at the end away from the connecting part.

10. An underwater robot, characterized in that, include Robot body (5); The protective frame (6) has a protective cavity, and the robot body (5) is disposed in the protective cavity; According to any one of claims 1-9, the cable body (1) of the cable structure is connected to the robot body (5); the first protective sleeve (41) and the second protective sleeve (42) of the cable structure are respectively connected to the protective frame (6).

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