Underwater cable laying auxiliary robot

Abstract

The utility model discloses an underwater cable laying auxiliary robot which comprises a fixed frame, a diving robot is fixedly connected to the upper portion of the fixed frame, a set of lead screws are arranged in the middle of the fixed frame, sliding rails are arranged on the two sides of the fixed frame, one side of each lead screw is connected with a motor, the other side of each lead screw is connected with a sliding block, and moving blocks are arranged on the sliding rails. The sliding block and the moving block are located on one side of the fixed frame, the bottom ends are connected with the top end of the connecting frame, the motor is located on the other side of the fixed frame, the bottom end is connected with the top end of the connecting frame, and the bottom end of the connecting frame is connected with the clamping assembly. The device is moved through the diving robot, large-range laying detection of the cable is achieved through the device, the trapezoidal clamps on the two connecting plates are driven to move relatively through operation of the electric push rod, clamping of cables of different sizes is achieved, and universality of the device is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater cable laying technical field, concretely is an underwater cable laying auxiliary robot. BACKGROUND

[0002] Underwater cable laying as an important part of modern communication and energy system not only promotes globalization process, also provides new power for sustainable development, the laying of underwater cable usually needs to explore the target sea area to select suitable cable laying path first, then places the cable above the preset path through the ship, is fixed on the sea surface through the suspension ball, is adjusted to the preset path, and the suspension ball is released to make the cable fall to the seabed under the action of self gravity after, finally the cable is buried to the seabed bottom end about three meters through the machine of seabed trenching.

[0003] In the prior art, the cable of the offset path is usually returned to the original position by manpower, which consumes a lot of manpower and causes safety hazards to the workers due to marine organisms, and has a large error. UTILITY MODEL CONTENT

[0004] The utility model aims at providing an underwater cable laying auxiliary robot.

[0005] The utility model achieves the purpose by the following technical scheme:

[0006] An underwater cable laying auxiliary robot, comprising a fixed frame, a submersible robot is fixedly connected above the fixed frame, a group of lead screws are arranged in the middle of the fixed frame, slide rails are arranged on both sides, a motor is connected to one side of the lead screw, and a sliding block is connected to the other side; a moving block is arranged on the slide rail; the sliding block and the moving block are located on one side of the fixed frame, the bottom end is connected to the top end of a connecting frame, the motor is located on the other side of the fixed frame, the bottom end is connected to the top end of the connecting frame, and a clamping assembly is connected to the bottom end of the connecting frame.

[0007] Further, the clamping assembly is an axisymmetric figure, comprising two limiting blocks, a group of guide rods are fixedly connected in the middle of the two limiting blocks, a fixed block is fixedly connected to the middle of the guide rod, and a clamp assembly is slidably connected to both sides of the fixed block.

[0008] Further, the clamp assembly comprises an electric push rod, the electric push rod is located on the guide rod and can slide relative to the guide rod, a connecting plate is fixedly connected to the bottom end of the electric push rod, and a trapezoidal clamp is fixedly connected to the inner side of the connecting plate.

[0009] Further, the electric push rod is connected to the limiting block through a flange.

[0010] Further, the underwater cable laying auxiliary robot further comprises a sonar detector, the sonar detector is located on one side of the fixed frame and is on the same side as the motor.

[0011] Further, a monitoring assembly is further included, and the monitoring assembly is located at the bottom of the fixed frame.

[0012] Further, the monitoring assembly includes a front camera, a front searchlight, a rear camera and a rear searchlight.

[0013] Further, the lead screw, the sliding block, the moving block and the sliding rail are made of a waterproof and corrosion-resistant material.

[0014] Further, the electric push rod, the guide rod, the trapezoidal clamp and the connecting plate are made of a waterproof and corrosion-resistant material.

[0015] The utility model discloses the beneficial effect lies in:

[0016] Through the submersible robot, the device is moved, the device is laid to the cable wide range detection, and the use manpower is greatly reduced to the detection of laying cable, and through the assembly echo sounder, the cable that needs to move is positioned fast, guarantees the accuracy of laying cable detection, through the cooperation of the front camera, the front searchlight, the rear camera and the rear searchlight, the accurate observation to target cable section is realized, and the accurate movement of the device to target cable section is increased, the connecting frame is moved through the rotation of the lead screw driven by the motor, and the movement of the clamping assembly is driven, the movement of target cable section of different lengths is realized, the error of target cable movement is reduced, the relative movement of two connecting plates is realized through the electric push rod operation, the cable clamping of different sizes is realized, and the versatility of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the perspective drawing of underwater cable laying auxiliary robot of the utility model;

[0018] Figure 2 It is the device perspective drawing of underwater cable laying auxiliary robot of the utility model;

[0019] Figure 3 It is the device bottom view of underwater cable laying auxiliary robot of the utility model;

[0020] Figure 4 It is the movable device schematic drawing of underwater cable laying auxiliary robot of the utility model;

[0021] Figure 5 It is the clamping assembly schematic drawing of underwater cable laying auxiliary robot of the utility model.

[0022] In the figure: 1, fixed frame; 2, submersible robot; 3, connecting frame; 4, sonar detector; 5, moving block; 6, screw rod; 7, sliding block; 8, front camera; 9, front searchlight; 10, rear camera; 11, rear searchlight; 12, motor; 13, fixed block; 14, slide rail; 15, trapezoidal clamp; 16, guide rod; 17, electric push rod; 18, connecting plate; 19, limit block. DETAILED DESCRIPTION

[0023] The utility model will be further described below with reference to the drawings.

[0024] It should be noted that: unless specifically stated, the relative arrangement, numerical expressions and values of components and steps set forth in these embodiments do not limit the scope of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the utility model.

[0025] In the description of the utility model, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting" and "connection" should be understood broadly, for example, it can be fixed connection, can also be detachable connection, or integrally connected, can be mechanical connection, can also be electrical connection, can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the application can be understood according to specific circumstances.

[0026] Reference Figures 1 to 5 The utility model provides a technical scheme:

[0027] The fixed frame 1 is used for the main body support structure, integrating all components; the submersible robot 2 is used to provide underwater power and control device movement. The connecting frame 3 is used to connect the clamping assembly. The sonar detector 4 is used to detect the cable position and path deviation. The moving block 5 is used to slide along the slide rail 14, driving the connecting frame 3 to move. The lead screw 6 is used to drive the sliding block 7 to move by rotating, realizing the translation function. The sliding block 7 is used to cooperate with the lead screw 6, transmitting power to the moving block 5. The front camera 8 and the rear camera 10 are used to monitor the cable status from front and rear view angles. The front searchlight 9 and the rear searchlight 11 are used to provide underwater illumination, assisting the camera work. The motor 12 is used to drive the lead screw 6 to rotate. The fixed block 13 is used to support the guide rod 16, enhancing the stability of the clamping assembly. The slide rail 14 is used to guide the moving block 5 to slide, ensuring the translation accuracy. The trapezoidal clamp 15 is used to clamp cables of different sizes, and the clamp can be replaced to adapt to different cable sizes. The guide rod 16 is used to constrain the movement trajectory of the clamp, keeping stable clamping. The electric push rod 17 is used to drive the connecting plate 18, realizing the clamping / unclamping action. The connecting plate 18 is used to connect the electric push rod 17 and the trapezoidal clamp 15, transmitting power. The limit block 19 is used to limit the travel of the clamp, preventing overload.

[0028] The fixed frame 1 is connected to the submersible robot 2 by bolts, and the device is placed in water. The submersible robot 2 starts to sink, and the sonar detector 4 detects the cable. According to the comparison between the pre-planned cable laying route and the current cable laying position, the misaligned cable is detected. The submersible robot 2 brings the device to the target cable segment. The front searchlight 9 and the rear searchlight 11 are turned on to illuminate the cable around. The target cable is located by the front camera 8 and the rear camera 10. According to the length of the target cable, the motor 12 is powered on to rotate the lead screw 6. The lead screw 6 drives the sliding block 7 to move, making the moving block 5 slide on the slide rail 14, driving the connecting frame 3 to move, and making the clamping assembly move to the appropriate position. The electric push rod 17 is powered on to drive the two connecting plates 18 to move relatively, making the trapezoidal clamp 15 move relatively to clamp the target cable. Then the submersible robot 2 rises to move the cable to the pre-planned route.

[0029] The specific operation is as follows: M12 stainless steel bolts are used to fix the interface between the fixed frame 1 and the submersible robot 2, aligning and fastening the connection surface to ensure no gaps. The submersible robot 2 needs to be of a type with a six-degree-of-freedom propulsion system, supporting a maximum diving depth of 500 meters, and built-in pressure compensation device to prevent structural deformation caused by water pressure. The sonar detector 4 is fixed on one side of the frame, and the detection frequency is set to 200 kHz, the scanning angle is 120°, and the resolution is 0.1 m through software setting. When used for the first time, calibration needs to be performed in the known cable path area to ensure that the detection error is less than ±5 cm.

[0030] Two guide rods 16 are inserted into the guide holes of the limiting block 19 in parallel, and the ends of the guide rods are fixed by the fixing block 13 to ensure that the distance between the guide rods matches the diameter of the target cable (the default distance is adjustable between 50-200 mm). The electric push rod 17 is connected to the limiting block 19 through a flange, and the output end is fixed to the connecting plate 18 using anti-loose bolts. The inner surface of the trapezoidal clamp 15 is designed as a sawtooth-shaped rubber pad (Shore hardness 70A) to enhance the friction with the cable. By replacing the trapezoidal clamp of different sizes (adapted to the diameter of 30-150 mm cable), quick adaptation is achieved. After power-on, the electric push rod 17 pushes the connecting plate 18 to the closed state, and the clamping force is monitored by a pressure sensor, with a safety threshold set (≤300 N) to prevent cable deformation.

[0031] Two motors 12 (underwater servo motors, rated torque 10 N·m) are connected to the lead screw 6 (T-type thread, lead 5 mm) through a shaft coupling. The motors are driven by the same controller to ensure that the speed synchronization error is ≤0.5% and to avoid the offset of the connecting frame 3. The surface of the sliding rail 14 is coated with a polytetrafluoroethylene coating, and the moving block 5 is embedded with a self-lubricating copper sleeve to reduce the risk of jamming caused by underwater silt. The controller sets the moving range of the connecting frame 3 (0.5-3 m), and after moving to the position, the electromagnetic brake is triggered to lock the sliding block 7 to prevent displacement caused by water flow impact.

[0032] The front camera 8 and the rear camera 10 are selected as 2 million pixel wide-angle lenses, supporting 1080P real-time video transmission; the front searchlight 9 and the rear searchlight 11 are LED cold light sources with an illumination distance ≥10 m and adjustable focusing range. The camera picture and the sonar data are fused by the built-in processor to generate a three-dimensional positioning model of the cable with an error accuracy ≤2 cm. An optical fiber communication module (transmission rate 1 Gbps) is used to connect with the surface control center for real-time data transmission. If the communication is interrupted, the device automatically switches to the preset path mode and triggers an audible and visual alarm.

[0033] The underwater robot 2 cruises along the preset path at a speed of 0.5 m / s, and the sonar detector 4 generates a seabed topographic map every 10 seconds to compare with the preset path marker to offset the cable segment. After positioning, the clamping distance is adjusted to 1.2 times the length of the cable, the electric push rod 17 closes the trapezoidal clamp 15, and the clamping force stops when it reaches 200 N. The underwater robot 2 vertically lifts the cable at a speed of 0.3 m / s and releases it after moving to the target path. After release, the sonar detector 4 is scanned again, and if the deviation is still >10 cm, the correction process is repeated. If abnormal resistance is detected during clamping (such as the cable being stuck in the rock), the electric push rod 17 immediately reverses to release the cable, and the underwater robot 2 urgently rises to a safe depth.

[0034] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater cable-laying assist robot, characterized by: The utility model provides a kind of underwater robot, including fixed frame (1);The fixed frame (1) is fixedly connected with submersible robot (2) above, a group of lead screws (6) are provided in the middle of the fixed frame (1), both sides are provided with slide rail (14), one side of the lead screw (6) is connected motor (12), the other side is connected sliding block (7), mobile block (5) is provided on the slide rail (14), the sliding block (7) and mobile block (5) are located in the one side of fixed frame (1), and bottom end is connected with the top of connecting frame (3), motor is located in the other side of fixed frame (1), and bottom end is connected with the top of connecting frame (3), and the bottom end of connecting frame (3) is connected with clamping assembly.

2. An underwater cable-laying auxiliary robot according to claim 1, characterised in that: The clamping assembly is axisymmetric figure, including two sides of limit block (19), a group of guide rods (16) are fixedly connected in the middle of the two sides of limit block (19), the middle of the guide rod (16) is fixedly connected with fixed block (13), and clamp assembly is slidably connected on both sides of the guide rod (16).

3. An underwater cable-laying assist robot according to claim 2, characterised in that: The clamp assembly includes electric push rod (17), and the electric push rod (17) is located on the guide rod (16) and can slide relative to the guide rod (16), the bottom of the electric push rod (17) is fixedly connected with connecting plate (18), and the inner side of the connecting plate (18) is fixedly connected with trapezoidal clamp (15).

4. An underwater cable-laying assist robot according to claim 3, characterised in that: The electric push rod (17) is connected with limit block (19) by flange.

5. An underwater cable-laying auxiliary robot according to claim 1, characterized in that: It also includes sonar detector (4), and the sonar detector (4) is located on the one side of fixed frame (1), and is on the same side with motor (12).

6. An underwater cable-laying auxiliary robot according to claim 1, characterised in that: It also includes monitoring assembly, and the monitoring assembly is located on the bottom of fixed frame (1) around.

7. An underwater cable-laying assist robot according to claim 6, characterised in that: The monitoring assembly includes front camera (8), front searchlight (9), rear camera (10) and rear searchlight (11).

8. An underwater cable-laying assist robot according to claim 1, characterised in that: The lead screw (6), sliding block (7), mobile block (5) and slide rail (14) are made of waterproof corrosion-resistant material.

9. An underwater cable-laying assist robot according to claim 3, characterised in that: The electric push rod (17), guide rod (16), trapezoidal clamp (15) and connecting plate (18) are made of waterproof corrosion-resistant material.

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