A cable protection device for an underwater robot for cleaning a ship

Abstract

The application relates to the technical field of underwater robot cable protection, in particular to a cable protection device of an underwater robot for ship cleaning, which comprises a base assembly, a flexible support assembly, a limiting and guiding assembly, a buffer assembly and a protective shell. The base assembly is fixed to a robot main body, the flexible support assembly realizes segmented support of the cable through hinged arc-shaped support pieces, the limiting and guiding assembly adjusts the bending angle of the cable, the buffer assembly alleviates external impact, and the protective shell enhances the compression resistance and corrosion resistance. The application can effectively reduce cable stress concentration, prevent excessive bending or breaking, adapt to the dynamic operation requirements of complex underwater environments, improve the impact resistance and service life of the cable, and provide protection for efficient operation of the underwater robot.

Description

Technical Field

[0001] This utility model belongs to the field of underwater robot and cable protection technology, specifically a cable protection device for an underwater robot used in ship cleaning. Background Technology

[0002] When underwater robots are used for ship cleaning operations, cables are required to provide power and signal transmission support, making cable protection devices a critical component. Cable protection devices effectively reduce the impact of water flow, mechanical wear, and external object compression on the cables, thus ensuring the normal operation of the underwater robot. However, some existing cable protection devices have limitations in practical use. For example, in complex underwater environments, cables are easily displaced or even damaged by water flow or external forces, affecting the stability of signal transmission. Furthermore, the design of some devices fails to adequately consider adaptability to dynamic environments, making them unsuitable for underwater robot operations.

[0003] A search revealed an underwater cable protection device with publication number CN103915788B, published on February 15, 2017. This design uses a combination of a fixing plate and a pressure plate to secure the cable, preventing damage from bending at the end of the pipe section. However, this design is primarily suitable for cable protection in static environments, with limited effectiveness in dynamic environments (such as underwater robot operations). Furthermore, due to its reliance on the mechanical fixing method of the fixing plate and pressure plate, the cable may still shift or be damaged due to insecure fixing when facing complex water currents or external impacts.

[0004] A search revealed a cable protection device for a steering wheel system, publication number CN113270822B, published on March 25, 2025. This design protects the cable using a cable clamp adapter plate, a separate retaining ring, and a rubber sleeve, effectively preventing cable breakage due to torsion or friction during steering wheel rotation. However, this design primarily addresses the specific scenario of a steering wheel system and does not adequately consider the cable protection needs of underwater robots used in complex environments. For example, it does not fully account for the effects of underwater high pressure, corrosive environments, and prolonged immersion on the cable protection device, potentially leaving the cable at risk of damage even under extreme conditions.

[0005] The aforementioned problems indicate that traditional cable protection devices currently on the market have certain limitations in addressing the specific needs of underwater robots in complex environments. Therefore, this invention provides a cable protection device for underwater robots used in ship cleaning, overcoming the shortcomings of existing technologies and offering a more reliable, efficient, and adaptable solution for complex underwater environments. Utility Model Content

[0006] This invention provides a cable protection device for an underwater robot used in ship cleaning, aiming to solve the problems mentioned in the background art, such as the difficulty of existing cable protection devices adapting to dynamic operation requirements in complex underwater environments and their susceptibility to water flow impact and external force compression leading to cable damage. To solve these problems, this invention provides a cable protection device for an underwater robot used in ship cleaning, comprising: a base assembly fixedly installed on the underwater robot body; a flexible support assembly disposed on the base assembly for segmented support of the cable; a limiting guide assembly rotatably connected to both ends of the flexible support assembly for adjusting the cable bending angle; and a buffer assembly disposed between the flexible support assembly and the base assembly for mitigating external impacts.

[0007] The base assembly includes a fixed plate and side plates bolted to both sides of the fixed plate. The fixed plate is rigidly connected to the underwater robot body by welding to ensure the stability of the overall structure. Multiple through holes are provided on the side plates for securing the buffer assembly to the base assembly using threaded fasteners.

[0008] The flexible support assembly comprises multiple sequentially hinged arc-shaped support plates. Each arc-shaped support plate has ear plates at both ends. Adjacent arc-shaped support plates are hinged by pins to form a flexible, bendable chain structure. A rubber pad is provided on the inner side of each arc-shaped support plate to reduce friction between the cable and the support plate and to provide cushioning when the cable is subjected to external impact. The two ends of the flexible support assembly are connected to the base assembly via limiting and guiding components, thereby achieving segmented support and angle adjustment of the cable.

[0009] The limiting and guiding assembly includes guide wheel sets rotatably connected to both ends of the flexible support assembly, and a bracket for fixing the guide wheel sets. The guide wheel sets consist of multiple ball bearings, each with an arc-shaped groove on its outer ring surface for limiting and guiding the cable. The bracket is fixedly connected to the lugs of the flexible support assembly by bolts, and a ball joint is provided at the bottom of the bracket. The ball joint is embedded in a ball socket on the side plate of the base assembly, thereby enabling the angle adjustment function of the limiting and guiding assembly.

[0010] The buffer assembly includes an elastic element installed between the base assembly and the flexible support assembly, and a connector for fixing the elastic element. The elastic element employs a spring sleeve structure, with an internal compression spring and an external corrosion-resistant coating to withstand high-pressure and corrosive underwater environments. The connector includes flanges fixed to both ends of the elastic element; one flange is bolted to a side plate of the base assembly, and the other flange is bolted to a lug of the flexible support assembly, thereby transmitting and absorbing external impact forces to the elastic element.

[0011] In addition, a protective shell is provided on the outer side of the flexible support component. The protective shell is composed of multiple arc-shaped plates spliced ​​together. Each arc-shaped plate is connected to the adjacent arc-shaped plate through a snap-fit ​​structure to form a closed protective space. The inner wall of the protective shell is provided with multiple longitudinal reinforcing ribs to enhance its compressive strength. At the same time, an anti-corrosion coating is sprayed on the outer surface of the protective shell to extend its service life.

[0012] Compared with existing technologies, the cable protection device for underwater robots used in ship cleaning provided in this solution has the following characteristics: First, the design of the flexible support component effectively reduces stress concentration caused by water flow impact or mechanical vibration during dynamic operations, preventing excessive bending or breakage of the cable. Second, the introduction of the limiting and guiding component not only precisely limits the cable's position but also adjusts the cable's bending angle according to actual operational needs, improving the device's adaptability. Third, the buffer component significantly mitigates the impact of external forces on the cable, further enhancing its impact resistance. Finally, the protective shell design not only protects the cable from direct compression by external objects but also provides additional protection in high-pressure and corrosive underwater environments, extending the cable's service life.

[0013] In summary, the cable protection device for underwater robots used in ship cleaning provided by this utility model solves the problem of insufficient adaptability of existing cable protection devices in complex underwater environments through the synergistic effect of flexible support components, limiting and guiding components, buffer components, and protective shells. It improves the stability and reliability of cables under dynamic operating conditions and provides a strong guarantee for the efficient operation of underwater robots. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention, showing the connection relationship between the base assembly, flexible support assembly, limiting and guiding assembly and buffer assembly.

[0015] Figure 2 This is a magnified view of a portion of the flexible support assembly, showing in detail the hinge method of the arc-shaped support plate and the arrangement of the rubber pad layer.

[0016] Figure 3 This is a schematic diagram of the limiting guide assembly, which focuses on the arc-shaped groove of the guide wheel assembly and the ball joint connection between the bracket and the base assembly.

[0017] Figure 4 The cross-sectional view of the buffer assembly clearly shows the spring sleeve structure of the elastic element and the connection details between it and the base assembly and the flexible support assembly.

[0018] Figure 5 The schematic diagram of the protective shell shows the snap-fit ​​connection method of the arc-shaped plate and the distribution of the inner wall reinforcing ribs.

[0019] The attached figures are labeled as follows:

[0020] 1. Base assembly; 2. Flexible support assembly; 3. Limiting and guiding assembly; 4. Buffer assembly; 5. Protective shell; 6. Fixing plate; 7. Side plate; 8. Arc-shaped support piece; 9. Ear plate; 10. Rubber pad layer; 11. Guide wheel assembly; 12. Bracket; 13. Ball joint; 14. Elastic element; 15. Connector; 16. Arc-shaped plate; 17. Longitudinal reinforcing rib. Detailed Implementation

[0021] This utility model provides a cable protection device for underwater robots used in ship cleaning, and its specific implementation is described in detail with reference to the accompanying drawings. The device includes a base assembly 1, a flexible support assembly 2, a limiting and guiding assembly 3, a buffer assembly 4, and a protective shell 5. These components, through specific connection methods and structural designs, achieve comprehensive protection for the underwater robot's cables, adapting to the dynamic operational needs of complex underwater environments.

[0022] like Figure 1 As shown, the base assembly 1 consists of a fixed plate 6 and side plates 7. The fixed plate 6 is rigidly connected to the underwater robot body by welding to ensure the stability of the overall device. The side plates 7 are symmetrically installed on both sides of the fixed plate 6 by bolts, and multiple through holes are provided on the side plates 7 for fixing the buffer assembly 4 to the base assembly 1. This connection method allows the base assembly 1 to be firmly fixed to the underwater robot body, while providing basic support for the installation of other components.

[0023] Flexible support component 2 is mounted on base component 1, and its specific structure is as follows: Figure 2As shown, the flexible support assembly 2 is composed of multiple arc-shaped support plates 8 hinged together sequentially, with ear plates 9 at both ends of each arc-shaped support plate 8. Adjacent arc-shaped support plates 8 are hinged together by pins, forming a flexible chain structure that can be bent freely. A rubber pad 10 is provided on the inner side of the arc-shaped support plate 8, which directly contacts the cable, reducing friction between the cable and the support plate, and providing a certain buffering effect when the cable is subjected to external impact. The first and last ends of the flexible support assembly 2 are connected to the base assembly 1 through limiting guide assemblies 3, thereby realizing segmented support and angle adjustment of the cable.

[0024] The specific structure of the limit guide component 3 is as follows: Figure 3 As shown, the assembly includes a guide wheel group 11 and a bracket 12. The guide wheel group 11 consists of multiple ball bearings, each with an arc-shaped groove on its outer ring surface for guiding and limiting the cable. The bracket 12 is fixedly connected to the ear plate 9 of the flexible support assembly 2 by bolts. The bottom of the bracket 12 is provided with a ball joint 13, which is embedded in a ball socket on the side plate 7 of the base assembly 1. Through the design of the ball joint 13, the limiting and guiding assembly 3 can achieve multi-angle adjustment to adapt to the bending requirements of the cable under different operating conditions.

[0025] The buffer component 4 is disposed between the flexible support component 2 and the base component 1, and its specific structure is as follows: Figure 4 As shown. The buffer assembly 4 includes an elastic element 14 and a connector 15. The elastic element 14 adopts a spring sleeve structure, with an internal compression spring and an external corrosion-resistant coating to withstand underwater high pressure and corrosive environments. The connector 15 includes flanges fixed to both ends of the elastic element 14. One flange is bolted to the side plate 7 of the base assembly 1, and the other flange is bolted to the ear plate 9 of the flexible support assembly 2. When an external impact force acts on the flexible support assembly 2, the impact force is transmitted to the elastic element 14 through the connector 15. The elastic element 14 absorbs the impact energy through the compression spring, thereby mitigating the impact of external impact on the cable.

[0026] The protective shell 5 is disposed on the outside of the flexible support assembly 2, and its specific structure is as follows: Figure 5 As shown, the protective housing 5 is composed of multiple arc-shaped plates 16 spliced ​​together. Each arc-shaped plate 16 is connected to adjacent arc-shaped plates 16 via a snap-fit ​​structure, forming a closed protective space. The inner wall of the protective housing 5 is provided with multiple longitudinal reinforcing ribs 17 to enhance its compressive strength. The outer surface of the protective housing 5 is coated with an anti-corrosion coating to extend its service life. The design of the protective housing 5 not only protects the cable from direct compression by external objects but also provides additional protection in high-pressure and corrosive underwater environments.

[0027] In practical applications, the working process of this device is as follows: When the underwater robot performs ship cleaning tasks, the cable passes through the flexible support component 2 and is limited by the guide wheel group 11 of the limiting guide component 3. Since the flexible support component 2 is composed of multiple arc-shaped support plates 8 hinged together, its chain structure can freely adjust its shape according to the bending requirements of the cable, avoiding damage to the cable due to excessive bending. When water flow impacts or external forces act on the flexible support component 2, the elastic element 14 of the buffer component 4 absorbs the impact energy, reducing the impact of external impacts on the cable. The protective shell 5 further protects the cable from direct compression by external objects and corrosion from corrosive environments. In addition, the ball joint 13 design of the limiting guide component 3 allows the guide wheel group 11 to be adjusted according to the actual bending angle of the cable, ensuring the stability and reliability of the cable under different operating conditions.

[0028] This device, through the synergistic action of the base assembly 1, flexible support assembly 2, limiting and guiding assembly 3, buffer assembly 4, and protective housing 5, solves the problem of insufficient adaptability of existing cable protection devices in complex underwater environments. The connection and positional relationships between the components are carefully designed to ensure that the device can provide comprehensive protection for cables under dynamic operating conditions, improving cable stability and service life.

[0029] To enable those skilled in the art to fully understand and implement this utility model, the following supplementary explanation of the specific implementation principle of this utility model is provided in conjunction with a specific application scenario.

[0030] When the underwater robot performs ship cleaning tasks, the base assembly 1 must first be fixedly installed on the underwater robot body. The fixing plate 6 is rigidly connected to the robot body by welding, and the side plates 7 are symmetrically installed on both sides of the fixing plate 6 by bolts, forming a stable base structure. The through holes on the side plates 7 are used to fix the buffer assembly 4 to the base assembly 1 with threaded fasteners, thereby providing a reliable support platform for the installation of subsequent components.

[0031] Step 1: Cable Arrangement and Dynamic Adjustment of Flexible Support Assembly 2. The cable passes through the flexible support assembly 2, which is composed of multiple arc-shaped support plates 8 hinged sequentially. Each arc-shaped support plate 8 has ear plates 9 at both ends, and adjacent arc-shaped support plates 8 are hinged by pins to form a freely bendable chain structure. When the cable needs to adjust its bending angle due to changes in the underwater environment, the flexible support assembly 2 can flexibly deform according to the actual needs of the cable. The rubber pad layer 10 on the inner side of the arc-shaped support plate 8 directly contacts the cable, reducing friction between the cable and the support plate and providing cushioning when the cable is subjected to external impact. This design ensures that the cable will not be damaged by excessive bending or mechanical wear, while improving the cable's service life.

[0032] Step 2: Angle Adjustment and Cable Limitation of the Limiting and Guiding Component 3. After the cable passes through the flexible support component 2, it is limited by the guide wheel assembly 11 of the limiting and guiding component 3. The guide wheel assembly 11 consists of multiple ball bearings, each with an arc-shaped groove on its outer ring surface for precise cable limiting and guidance. The bracket 12 is fixedly connected to the ear plate 9 of the flexible support component 2 by bolts, and the ball joint 13 at the bottom of the bracket 12 is embedded in the ball socket on the side plate 7 of the base component 1. When the cable needs to be adjusted for bending angle, the design of the ball joint 13 allows the limiting and guiding component 3 to achieve multi-angle adjustment to adapt to the cable bending requirements under different operating conditions. This limiting and angle adjustment function effectively prevents cable displacement or kinking in complex underwater environments, improving cable stability.

[0033] Step 3: Energy Absorption and Impact Mitigation of Buffer Component 4. When water flow impacts or external forces act on the flexible support component 2, the buffer component 4 begins to function. The elastic element 14 adopts a spring sleeve structure with an internal compression spring and an external corrosion-resistant coating to withstand high-pressure and corrosive underwater environments. The connector 15 includes flanges fixed to both ends of the elastic element 14. One flange is bolted to the side plate 7 of the base component 1, and the other flange is bolted to the ear plate 9 of the flexible support component 2. When an external impact force acts on the flexible support component 2, the impact force is transmitted to the elastic element 14 through the connector 15. The elastic element 14 absorbs the impact energy through the compression spring, thereby significantly mitigating the impact of external impacts on the cable. This buffering mechanism effectively protects the cable from damage caused by sudden impacts, further improving the cable's safety and reliability.

[0034] Step 4: Enhanced Comprehensive Protection and Pressure Resistance of the Protective Housing 5. The protective housing 5 is located on the outside of the flexible support assembly 2 and is composed of multiple arc-shaped plates 16. Each arc-shaped plate 16 is connected to adjacent arc-shaped plates 16 via a snap-fit ​​structure, forming a closed protective space. The inner wall of the protective housing 5 is provided with multiple longitudinal reinforcing ribs 17 to enhance its pressure resistance. The outer surface of the protective housing 5 is coated with an anti-corrosion coating to extend its service life. When external objects apply pressure to the device, the protective housing 5 effectively disperses the pressure through its closed structure and reinforcing rib design, preventing the cable from being directly squeezed. Furthermore, the anti-corrosion coating design allows the protective housing 5 to be used for extended periods in high-pressure and corrosive underwater environments, providing an additional protective barrier for the cable.

[0035] Through the synergistic effect of the above steps, this device can effectively meet the dynamic operational needs of underwater robots in complex environments. The chain structure of the flexible support component 2 ensures that the cable will not be damaged due to excessive stress concentration during bending; the multi-angle adjustment function of the limiting guide component 3 ensures the stability and reliability of the cable under different operating conditions; the energy absorption mechanism of the buffer component 4 significantly mitigates the impact of external shocks on the cable; and the comprehensive protection design of the protective shell 5 further enhances the cable's resistance to pressure and corrosion in harsh environments. The connection and positional relationships between the components are carefully designed to ensure that the device can provide comprehensive protection for the cable under dynamic operating conditions, improving the cable's stability and service life.

[0036] All content not described in detail in this specification is prior art known to those skilled in the art, and the model parameters of each component are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are prior art and are therefore not shown in the figures, nor will they be described further here.

[0037] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cable protection device for an underwater robot used in ship cleaning, characterized in that, include: A base assembly (1) is fixedly installed on the body of the underwater robot; A flexible support assembly (2) is provided on the base assembly (1) for segmented support of the cable; a limiting guide assembly (3) is rotatably connected to both ends of the flexible support assembly (2) and is used to adjust the bending angle of the cable; A buffer assembly (4) is disposed between the flexible support assembly (2) and the base assembly (1) to mitigate external impacts.

2. The cable protection device for the underwater robot used in ship cleaning as described in claim 1, characterized in that, The base assembly (1) includes a fixed plate (6) and side plates (7) installed on both sides of the fixed plate (6) by bolt connection. The fixed plate (6) is rigidly connected to the underwater robot body by welding. The side plates (7) have multiple through holes.

3. The cable protection device for the underwater robot used in ship cleaning as described in claim 1, characterized in that, The flexible support assembly (2) includes a plurality of arc-shaped support pieces (8) that are hinged in sequence. Each arc-shaped support piece (8) has an ear plate (9) at both ends. Two adjacent arc-shaped support pieces (8) are hinged by a pin to form a chain structure. A rubber pad layer (10) is provided on the inner side of the arc-shaped support piece (8).

4. The cable protection device for the underwater robot used in ship cleaning as described in claim 1, characterized in that, The limiting guide assembly (3) includes a guide wheel assembly (11) rotatably connected to both ends of the flexible support assembly (2) and a bracket (12) for fixing the guide wheel assembly (11). The guide wheel assembly (11) is composed of multiple ball bearings, and each ball bearing has an arc-shaped groove on its outer ring surface. The bracket (12) has a ball joint (13) at its bottom, and the ball joint (13) is embedded in a ball socket on the side plate (7) of the base assembly (1).

5. The cable protection device for the underwater robot used in ship cleaning as described in claim 1, characterized in that, The buffer assembly (4) includes an elastic element (14) and a connector (15). The elastic element (14) adopts a spring sleeve structure, with a compression spring inside and a corrosion-resistant coating on the outside. The connector (15) includes flanges fixed at both ends of the elastic element (14). One flange is connected to the side plate (7) of the base assembly (1) by bolts, and the other flange is connected to the ear plate (9) of the flexible support assembly (2) by bolts.

6. The cable protection device for the underwater robot used in ship cleaning as described in claim 1, characterized in that, It also includes a protective shell (5) disposed on the outside of the flexible support assembly (2). The protective shell (5) is composed of multiple arc-shaped plates (16) spliced ​​together. Each arc-shaped plate (16) is connected to the adjacent arc-shaped plate (16) through a snap-fit ​​structure. The inner wall of the protective shell (5) is provided with multiple longitudinal reinforcing ribs (17).

7. The cable protection device for an underwater robot used in ship cleaning as described in claim 6, characterized in that, The outer surface of the protective housing (5) is coated with an anti-corrosion coating.

8. The cable protection device for the underwater robot used in ship cleaning as described in claim 3, characterized in that, The flexible support component (2) is connected to the base component (1) at both ends via limiting and guiding components (3).

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