Detection device for locked state of tethered underwater robot and cable management system

Abstract

The utility model relates to a kind of detection devices for the locking state of cable underwater robot and cable management system, including cylindrical shell, piston assembly, reset unit and magnetic control proximity switch, end cap is installed in one end of the cylindrical shell, and the other end is installed with magnetic control proximity switch;The piston assembly is coaxially arranged with the cylindrical shell, and is slidably installed in the cavity of the cylindrical shell, the magnetic control proximity switch is fixedly installed in the end of the cylindrical shell, and the sensing end of the magnetic control proximity switch is towards the inside of cavity.The utility model has the advantages that: by mechanical transmission and non-contact magnetic induction are combined, which brings significant performance improvement.Its work is not restricted by underwater visibility and illumination conditions, fundamentally solves the problem of insufficient reliability of artificial visual judgment in harsh underwater environment, and has excellent environmental adaptability and detection reliability.

Description

Technical Field

[0001] This utility model relates to a detection device for the locking status of a tethered underwater robot and its cable management system, belonging to the field of underwater operation equipment technology. Background Technology

[0002] In a work-class ROV underwater operation system, the TMS (Transportation System) is responsible for the deployment and retrieval of relay cables and serves as the platform for underwater deployment and recovery of the ROV. During recovery operations, the ROV connects and mechanically locks itself to the TMS via a locking mechanism on its top (the Bullet). A reliable locking mechanism is a prerequisite for the safe recovery of the TMS and ROV combined system.

[0003] Currently, the confirmation of this locking status generally adopts a manual interpretation method based on an underwater vision system. That is, an underwater camera and lighting unit are installed at a suitable position on the TMS frame, and the surface control room operator observes the transmitted video images in real time and judges whether the ROV Bullet is inserted in place and whether the locking mechanism has completed its operation based on experience.

[0004] This method is essentially a manual-assisted judgment approach, with significant limitations: it is highly subjective, and the accuracy of the judgment is greatly affected by the operator's state and experience; it has poor environmental adaptability, as underwater visibility, lighting conditions, and water turbidity can all directly affect image quality and even cause the judgment function to fail; and it has low automation integration, unable to output logic signals that can be directly used by the control system, making it difficult to achieve true closed-loop automation of the recovery process. Furthermore, the purchase and maintenance costs of high-definition underwater video systems are high.

[0005] Therefore, there is an urgent need for a locking status detection device that can automatically and reliably output clear electrical signals and adapt to complex underwater environments. Utility Model Content

[0006] To overcome the shortcomings of existing technologies, this utility model provides a detection device for the locking state of a tethered underwater robot and its cable management system. The technical solution of this utility model is as follows:

[0007] A detection device for the locking state of a tethered underwater robot and its cable management system includes a cylindrical shell (1), a piston assembly, a reset unit, and a magnetic proximity switch. An end cap (2) is installed at one end of the cylindrical shell (1), and a magnetic proximity switch (3) is installed at the other end. The piston assembly is coaxially arranged with the cylindrical shell (1) and slidably installed in the cavity of the cylindrical shell (1). The piston assembly includes a first piston (5) with a built-in permanent magnet (4) and a second piston (6) for contacting a connector. One end of the second piston (6) is located inside the cylindrical shell (1), and the other end extends out of the end cap (2) and is connected to a contact plate (7), and is mechanically linked with the first piston (5). The first piston (5) and the second piston (6) are reset by the reset unit. The magnetic proximity switch (3) is fixedly installed at the end of the cylindrical shell (1), and the sensing end of the magnetic proximity switch (3) faces the inside of the cavity.

[0008] The reset unit includes a first reset spring (8) and a second reset spring (9). The first reset spring (8) is installed in the cavity of the cylindrical outer shell (1) and abuts against the inner end face of the cavity of the first piston (5). The second reset spring (9) is installed between the first piston (5) and the second piston (6) and abuts against the first piston (5) and the second piston (6) respectively.

[0009] The first return spring (8) is installed in the cavity of the cylindrical shell (1) and is fitted around the periphery of the first piston (5). One end of the first piston (5) abuts against the annular shoulder inside the cylindrical shell (1), and the other end abuts against the stepped end face of the first piston (5). The second return spring (9) is installed between the first piston (5) and the second piston (6). One end of the second return spring (9) abuts against the stepped end face of the first piston (5), and the other end abuts against the stepped end face of the second piston (6).

[0010] The end cap (2) and the cylindrical shell (1) are detachably connected, as are the magnetic proximity switch (3) and the cylindrical shell (1). A first drain hole (14) and a second drain hole (15) are provided on the cylindrical shell (1). The first drain hole (14) and the second drain hole (15) are both close to the magnetic proximity switch (3).

[0011] The end cap (2) is provided with a central hole for the sliding extension of the second piston (6), and the end cap (2) is provided with a first drainage groove (16) and a second drainage groove (17), which are close to the edge of the central hole.

[0012] The magnetic proximity switch (3) is screwed into the threaded hole (13) of the cylindrical housing (1) through the external thread and locked in place by the first nut (10) and the second nut (11).

[0013] The permanent magnet (4) is fixedly embedded in the pre-set mounting cavity inside the first piston (5); the first piston (5) is made of non-magnetic material, and a third drainage groove (18), a fourth drainage groove (19) and a fifth drainage groove (20) are arranged sequentially along the length direction of the first piston (5).

[0014] A threaded hole (24) is provided at the end of the second piston (6). A sixth drainage groove (21) and a seventh drainage groove (22) are sequentially provided on the second piston (6) along its length.

[0015] The contact plate (7) is fixedly connected to the protruding end of the second piston (6) by screws (12).

[0016] The first piston (5) and the second piston (6) are both cylindrical in shape, and stepped grooves are provided on both the first piston (5) and the second piston (6).

[0017] The advantages of this utility model are:

[0018] By combining mechanical transmission with non-contact magnetic induction, significant performance improvements are achieved. Its operation is completely unaffected by underwater visibility and lighting conditions, fundamentally solving the problem of insufficient reliability of manual visual judgment in harsh underwater environments, and possessing excellent environmental adaptability and detection reliability.

[0019] It can output clear electrical signals that can be directly recognized by the control system, realizing automatic real-time monitoring of the locking status between the ROV (Tethered Underwater Robot) and the TMS (Tethered Management System), laying the foundation for fully automated closed-loop control of the recovery process. In addition, the device has a compact structure and high integration, with strong anti-interference ability, corrosion resistance, long service life and low maintenance requirements, making it easy to install and deploy on existing TMS structures and highly practical for engineering applications. Attached Figure Description

[0020] Figure 1 This is a cross-sectional view of the main structure of this utility model in its extended state.

[0021] Figure 2 This is a cross-sectional view of the main structure of this utility model under compressed conditions.

[0022] Figure 3 yes Figure 1 A schematic diagram of the main structure of the cylindrical outer shell.

[0023] Figure 4 yes Figure 1 A schematic diagram of the main structure of the middle end cap.

[0024] Figure 5 This is a schematic diagram of the main structure of the first piston.

[0025] Figure 6 This is a schematic diagram of the main structure of the second piston. Detailed Implementation

[0026] The present invention will be further described below with reference to specific embodiments, and the advantages and features of the present invention will become clearer as a result of the description. However, these embodiments are merely exemplary and do not constitute any limitation on the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and form of the technical solution of the present invention without departing from the spirit and scope of the present invention, but all such modifications and substitutions fall within the protection scope of the present invention.

[0027] See Figures 1 to 6 This utility model relates to a detection device for the locking state of a tethered underwater robot and its cable management system. It includes a cylindrical housing 1, a piston assembly, a reset unit, and a magnetic proximity switch. An end cap 2 is installed at one end of the cylindrical housing 1, and a magnetic proximity switch 3 is installed at the other end. The piston assembly is coaxially arranged with the cylindrical housing 1 and slidably installed within the cavity of the cylindrical housing 1. The piston assembly includes a first piston 5 with a built-in permanent magnet 4 and a second piston 6 for contacting a connector. One end of the second piston 6 is located inside the cylindrical housing 1, and the other end extends out of the end cap 2 and is connected to a contact plate 7, and is mechanically linked with the first piston 5. The first piston 5 and the second piston 6 are reset by the reset unit. The magnetic proximity switch 3 is fixedly installed at the end of the cylindrical housing 1, with its sensing end facing the interior of the cavity.

[0028] This invention adopts a mechanical transmission + non-contact magnetic induction detection method, which is not affected by underwater visibility, light, water turbidity and other environmental factors, and solves the problem of low reliability of traditional visual judgment under harsh underwater conditions.

[0029] It can output a clear electrical signal that can be directly recognized by the control system, enabling automatic real-time monitoring of the locking state and providing a foundation for fully automated closed-loop control of the ROV recycling process.

[0030] Using a magnetically controlled proximity switch as the sensing element, it has no mechanical contact and no wear, and has good anti-vibration and anti-pollution capabilities, making it suitable for long-term underwater operation environments.

[0031] The reset unit includes a first reset spring 8 and a second reset spring 9. The first reset spring 8 is installed inside the cavity of the cylindrical outer shell 1 and abuts against the inner end face of the cavity of the outer shell 1 between the first piston 5 and the second piston 6. The second reset spring 9 is installed between the first piston 5 and the second piston 6 and abuts against the first piston 5 and the second piston 6 respectively. The first reset spring 8 and the second reset spring 9 act on the first piston and the second piston respectively, forming a two-stage buffer and linkage. This allows the piston assembly to absorb energy through the stepwise compression of the springs when subjected to the impact of ROV docking, resulting in smoother and gentler movement, effectively improving the service life and reliability of the entire device. When the second piston is pushed, the displacement can be transmitted to the first piston without delay or loss by compressing the second spring, ensuring that its built-in magnet can accurately reach the sensing position of the magnetic control switch, ultimately ensuring the accuracy and repeatability of the output signal.

[0032] The first return spring 8 is installed inside the cavity of the cylindrical outer shell 1 and fitted around the periphery of the first piston 5. One end of the first piston 5 abuts against the annular shoulder inside the cylindrical outer shell 1, and the other end abuts against the stepped end face of the first piston 5. The second return spring 9 is installed between the first piston 5 and the second piston 6. One end of the second return spring 9 abuts against the stepped end face of the first piston 5, and the other end abuts against the stepped end face of the second piston 6. This design achieves independent return and precise linkage of the two-stage pistons within a limited space, ensuring both the compactness and linearity of the device's structure, as well as the reliability and accuracy of force transmission.

[0033] The end cap 2 and the cylindrical outer shell 1, as well as the magnetic proximity switch 3 and the cylindrical outer shell 1, are detachably connected. A first drainage hole 14 and a second drainage hole 15 are provided on the cylindrical outer shell 1, both of which are close to the magnetic proximity switch 3. The provision of these first drainage holes 14 and second drainage holes 15 effectively protects the magnetic proximity switch from long-term immersion in water, significantly improving the durability and reliability of the detection device in underwater environments.

[0034] The end cap 2 has a central hole for the sliding extension of the second piston 6, and a first drainage groove 16 and a second drainage groove 17 are provided on the end cap 2, which are close to the edge of the central hole. The first drainage groove 16 and the second drainage groove 17 effectively eliminate the hydraulic damping and airlock phenomenon generated in the back cavity of the second piston when it moves, ensuring the high sensitivity and reliability of the dynamic response of the detection device.

[0035] The magnetic proximity switch 3 is screwed into the threaded hole 13 of the cylindrical housing 1 through an external thread and locked in place by the first nut 10 and the second nut 11.

[0036] The permanent magnet 4 is fixedly embedded in a pre-set mounting cavity inside the first piston 5. The first piston 5 is made of non-magnetic material, and a third drainage groove 18, a fourth drainage groove 19, and a fifth drainage groove 20 are sequentially arranged on the first piston 5 along its length. By combining non-magnetic material isolation with built-in magnet encapsulation, and supplemented by an axial multi-stage drainage groove design, the high accuracy and stability of the magnetic control signal triggering are fundamentally ensured, while also guaranteeing smooth piston movement throughout its entire stroke.

[0037] Multiple drainage grooves arranged along the length of the piston form a pressure balance channel, allowing the liquid on both sides of the first piston to flow freely at any position of movement. This eliminates hydraulic damping and ensures that the first piston and its carried permanent magnet can respond sensitively and accurately to mechanical thrust, thereby reliably reaching the signal trigger point.

[0038] A threaded hole 24 is provided at the end of the second piston 6. A sixth drainage groove 21 and a seventh drainage groove 22 are sequentially provided on the second piston 6 along its length. The threaded hole 24 makes the contact plate, which directly bears the impact, a quick-replaceable independent component, reducing the risk of scrapping the entire piston assembly due to wear or deformation of the contact plate.

[0039] The sixth drainage groove 21 and the seventh drainage groove 22 ensure that the pressure in the front and rear chambers of the second piston can be balanced in real time at any stroke position of the second piston during the reciprocating and compression, avoiding local vacuum or pressure accumulation, thereby ensuring the sensitivity of its movement and the accuracy of its linkage with the first piston.

[0040] The contact plate 7 is fixedly connected to the protruding end of the second piston 6 by screws 12.

[0041] Both the first piston 5 and the second piston 6 are cylindrical in shape, and stepped grooves are provided on both the first piston 5 and the second piston 6.

[0042] The overall working principle of this utility model is as follows:

[0043] 1. Initial state (not locked): such as Figure 1 As shown, the device is in the extended state. The reset unit (including the first reset spring 8 and the second reset spring 9) holds the piston assembly in its initial position. The first piston 5 and the second piston 6 extend outward under the action of the springs, with the second piston 6 protruding from the end cap 2 through the contact plate 7. At this time, the permanent magnet 4 built into the first piston 5 is away from the magnetically controlled proximity switch 3, the switch is not triggered, and there is no signal output.

[0044] 2. Docking and locking process: When the ROV (Tethered Underwater Robot) docks with the TMS (Tethered Management System), the connector on top of the ROV makes physical contact with the contact plate 7 of the detection device. The connector applies axial pressure to the contact plate 7, pushing the second piston 6 to slide into the cylindrical outer shell 1.

[0045] 3. Second Piston Movement and Spring Compression: Under pressure, the second piston 6 moves inward, compressing the second return spring 9. Simultaneously, the second piston 6 transmits its movement to the first piston 5 via the second return spring 9. The sixth drainage groove 21 and the seventh drainage groove 22 on the second piston 6 ensure pressure balance between the front and rear chambers during its movement, avoiding hydraulic damping or airlock phenomena and ensuring sensitive movement.

[0046] 4. First Piston Movement and Magnet Displacement: The first piston 5 moves towards the magnetic proximity switch 3 under the push of the second piston 6, compressing the first return spring 8. The first piston 5 is made of non-magnetic material, and the internal permanent magnet 4 moves along with the first piston 5. The third drainage groove 18, the fourth drainage groove 19, and the fifth drainage groove 20 on the first piston 5 play a pressure balancing role, ensuring smooth movement of the first piston without hydraulic resistance.

[0047] 5. Magnetic induction triggering: When the first piston 5 moves to the predetermined position (e.g., Figure 2 (As shown in the compressed state), the permanent magnet 4 enters the sensing range of the magnetic proximity switch 3. The magnetic proximity switch 3 detects the change in magnetic field, closes its internal circuit, and outputs a clear electrical signal (such as a high level or a switching signal).

[0048] 6. Signal Output and Status Confirmation: The electrical signal output by the magnetic proximity switch 3 is transmitted to the surface control system via cable. Upon receiving the signal, the control system automatically determines that the ROV and TMS have been successfully locked, thereby triggering subsequent automated recovery processes (such as TMS lifting or cable deployment / retraction).

[0049] 7. Reset Process (After Unlocking): When the ROV separates from the TMS, the connector disengages from the contact plate 7. The reset unit activates: the first reset spring 8 and the second reset spring 9 release their stored energy, pushing the first piston 5 and the second piston 6 back to their initial positions. The permanent magnet 4 moves away from the magnetically controlled proximity switch 3, the switch returns to the open state, the signal output stops, and the device returns to its initial waiting state.

[0050] Through the above steps, this utility model converts the underwater physical locking state into an electrical signal that can be automatically recognized by a remote control system through a continuous process of mechanical contact, two-stage spring buffer transmission, and magnetic induction triggering, thus achieving automated detection, high reliability, and environmental adaptability.

[0051] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A detection device for the locking state of a tethered underwater robot and a cable management system, characterized in that, It includes a cylindrical housing (1), a piston assembly, a reset unit and a magnetic proximity switch, with an end cap (2) installed at one end of the cylindrical housing (1) and a magnetic proximity switch (3) installed at the other end; The piston assembly is coaxially arranged with the cylindrical shell (1) and slidably installed in the cavity of the cylindrical shell (1). The piston assembly includes a first piston (5) with a built-in permanent magnet (4) and a second piston (6) for contacting the connector. One end of the second piston (6) is located inside the cylindrical shell (1), and the other end extends out of the end cap (2) and is connected to the contact plate (7), and is mechanically linked with the first piston (5). The first piston (5) and the second piston (6) are reset by the reset unit. The magnetic proximity switch (3) is fixedly installed at the end of the cylindrical housing (1), with the sensing end of the magnetic proximity switch (3) facing the inside of the cavity.

2. The detection device for the locking state of a tethered underwater robot and its cable management system according to claim 1, characterized in that, The reset unit includes a first reset spring (8) and a second reset spring (9). The first reset spring (8) is installed in the cavity of the cylindrical outer shell (1) and abuts against the inner end face of the cavity of the first piston (5). The second reset spring (9) is installed between the first piston (5) and the second piston (6) and abuts against the first piston (5) and the second piston (6) respectively.

3. The detection device for the locking state of a tethered underwater robot and its cable management system according to claim 2, characterized in that, The first return spring (8) is installed in the cavity of the cylindrical shell (1) and is fitted around the periphery of the first piston (5). One end of the first piston (5) abuts against the annular shoulder inside the cylindrical shell (1), and the other end abuts against the stepped end face of the first piston (5). The second return spring (9) is installed between the first piston (5) and the second piston (6). One end of the second return spring (9) abuts against the stepped end face of the first piston (5), and the other end abuts against the stepped end face of the second piston (6).

4. The detection device for the locking state of a tethered underwater robot and a cable management system according to claim 3, characterized in that, The end cap (2) and the cylindrical outer shell (1) are detachably connected, as are the magnetic proximity switch (3) and the cylindrical outer shell (1). A first drain hole (14) and a second drain hole (15) are provided on the cylindrical outer shell (1). The first drain hole (14) and the second drain hole (15) are both close to the magnetic proximity switch (3).

5. The detection device for the locking state of a tethered underwater robot and its cable management system according to claim 4, characterized in that, The end cap (2) is provided with a central hole for the sliding extension of the second piston (6), and the end cap (2) is provided with a first drainage groove (16) and a second drainage groove (17), which are close to the edge of the central hole.

6. The detection device for the locking state of a tethered underwater robot and its cable management system according to claim 5, characterized in that, The magnetic proximity switch (3) is screwed into the threaded hole (13) of the cylindrical housing (1) through the external thread and locked in place by the first nut (10) and the second nut (11).

7. The detection device for the locking state of a tethered underwater robot and a cable management system according to claim 6, characterized in that, The permanent magnet (4) is fixedly embedded in the pre-set mounting cavity inside the first piston (5); the first piston (5) is made of non-magnetic material, and a third drainage groove (18), a fourth drainage groove (19) and a fifth drainage groove (20) are arranged sequentially along the length direction of the first piston (5).

8. The detection device for the locking state of a tethered underwater robot and a cable management system according to claim 7, characterized in that, A threaded hole (24) is provided at the end of the second piston (6). A sixth drainage groove (21) and a seventh drainage groove (22) are sequentially provided on the second piston (6) along its length.

9. The detection device for the locking state of a tethered underwater robot and a cable management system according to claim 8, characterized in that, The contact plate (7) is fixedly connected to the protruding end of the second piston (6) by screws (12).

10. The detection device for the locking state of a tethered underwater robot and a cable management system according to claim 8, characterized in that, The first piston (5) and the second piston (6) are both cylindrical in shape, and stepped grooves are provided on both the first piston (5) and the second piston (6).

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