CN-121992836-A - Ditching, distributing and burying integrated robot for submarine cable

CN121992836ACN 121992836 ACN121992836 ACN 121992836ACN-121992836-A

Abstract

The invention relates to the technology of submarine equipment, and aims to provide a ditching, laying and burying integrated robot for submarine cables. The robot uses a crawler-type carrying chassis to bear a robot frame and equipment, a deep ditching operation mechanism comprises a bevel gear set driven by a motor, a deep ditching shovel and a deep ditching rotary blade driven by a linear rotary stepping motor, a cable guiding and laying mechanism comprises a cable tray, a pulley block and a delivery pipeline, cables are conveyed to the delivery pipeline by the pulley block and put into the groove from the rear side below the robot, an in-situ backfilling burying mechanism comprises a down-pressing sledge, and the deep ditching shovel, the deep ditching rotary blade, the delivery pipeline and the down-pressing sledge are sequentially arranged along the axial direction of the integrated robot. The invention adopts a modularized design, can sequentially execute ditching, laying and burying operations in the running process, greatly improves the working efficiency, fault tolerance and flexibility, reduces the deep sea working cost and realizes high economy.

Inventors

LI JUNHUI
CUI YARU
CHEN JIAWANG
GUO JIN
XIAO FENG
FANG YUPING
XU JING
HAN BO
REN XUEYU

Assignees

浙江大学
东海实验室
浙江问海科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260308

Claims (10)

1. The ditching, laying and burying integrated robot for the submarine cable is characterized by comprising a crawler-type carrying chassis, a deep ditching operation mechanism, a cable guiding, laying mechanism and an in-situ backfilling and burying mechanism; the crawler-type carrying chassis is used for carrying a robot frame and equipment and advancing according to a set path or real-time instructions; The deep ditching operation mechanism comprises a forward ditching mechanism and a vertical ditching mechanism which are arranged at the front part of the robot frame, wherein the forward ditching mechanism is used for ditching operation and comprises a bevel gear set driven by a motor and a deep ditching shovel connected with the bevel gear set; The cable guiding and laying mechanism comprises a cable tray, a pulley block and a delivery pipeline, wherein the cable tray, the pulley block and the delivery pipeline are arranged in the robot frame; The in-situ backfill burying mechanism comprises a down-pressing sledge arranged at the rear part of the robot frame and used for backfilling compacted sludge to bury cables in the grooves; The deep trench shovel, the deep trench rotating blade, the delivery pipeline and the down-pressing sledge are sequentially arranged along the axial direction of the integrated robot.
2. The robot of claim 1 wherein the tracked carrier chassis comprises a centrally located equipment chassis on both sides of which are symmetrically arranged two sets of tracked running gear, each set of running gear comprising a support frame, a drive motor and gear set mounted on the support frame, and tracks disposed around the gear set.
3. The robot of claim 1, wherein the forward ditching operation mechanism comprises an axial main bevel gear installed inside the robot frame, two auxiliary bevel gears engaged with the main bevel gear are symmetrically arranged on two sides of the main bevel gear, each auxiliary bevel gear is driven by a waterproof packaging motor, and the axial direction of the main bevel gear is adjusted by controlling the rotation speeds of the two auxiliary bevel gears through differential or synchronous control, so that the attitude angle of the deep trench shovel is changed.
4. The robot of claim 1, wherein the deep trench shovel comprises a curved shovel handle, a wedge shovel is arranged at the front end of the shovel handle, and the tail end of the shovel handle is rigidly and fixedly connected with the output shaft of the bevel gear set through a connector.
5. The robot of claim 1, wherein the vertical ditch expanding mechanism comprises a linear rotary stepper motor vertically fixed on the robot frame, and the deep ditch rotary blade is mounted at the output end of the motor through a linear push rod.
6. The robot of claim 1, wherein the pulley block comprises a friction movable pulley block and a plurality of fixed pulleys, the fixed pulleys are mounted on a fixed pulley bracket for changing the direction of the cable, two movable pulleys mounted through a fastening spring are arranged opposite to each other in the friction movable pulley block, and the two movable pulleys are driven to synchronously rotate by a hydraulic motor for conveying the cable in a stable clamping state.
7. The robot of claim 1 wherein the delivery tube has a downwardly arcuate end with an opening facing rearward, the cable being routed through the delivery tube and into the channel.
8. The robot according to claim 1, wherein a control box for configuring underwater sealing, a hydraulic valve group and a battery box are arranged in the robot frame, a control main board is arranged in the control box, the hydraulic valve group is connected to a hydraulic motor in the pulley block through a hydraulic pipe, the battery box is respectively connected to a driving motor of the crawler-type carrying chassis and a motor in the deep ditching operation mechanism through cables, and a camera and an illumination lamp group are arranged above the front end of the robot frame.
9. The robot of claim 1, wherein there are at least two sets of cable trays, and wherein the switching operation of cables in the pulley sets is performed by means of a robotic arm mounted on the robot frame or on a separate underwater ROV device.
10. The method for realizing the submarine cable laying operation by utilizing the ditching, laying and burying integrated robot is characterized by comprising the following steps of: loading the cable into a cable drum on a mother ship, guiding the tail end of the cable to a position between two groups of friction movable pulleys through fixed pulleys, and then passing through a delivery pipeline; Lowering the robot to a seabed operation starting point through hoisting equipment, and acquiring a real-time image through a camera; The motor is started to drive the two auxiliary bevel gears to rotate, the main bevel gears are driven by differential transmission, and the deep trench shovel is adjusted to a specified depth; the crawler-type carrying chassis is driven to move along a set path to enable a deep trench shovel to cut into shallow silt of a seabed to form a preliminary trench, a linear rotating stepping motor drives a deep trench rotating blade to a designated depth through a push rod to rotate to perform trench expansion operation, a hydraulic motor drives two friction movable pulleys to rotate, constant tension is applied to a cable under the cooperation of a fastening spring to enable the cable to be stably delivered, the cable is distributed into the trench under the guidance of a delivery pipeline, a pushing-down type sledge is used for backfilling the seabed sediment turned up in the process of trench opening and trench expansion operation into the trench to bury and fix the cable, and the operations of trench opening, trench expansion, trench distribution and burying are sequentially performed in the moving process are realized through the operations; When the operation is finished, the linear rotation stepping motor stops rotating, and the push rod is used for retracting the deep trench rotating blade to realize resetting; and cutting off the power supply of each executing mechanism, stopping power output of the robot, and then controlling the robot to recycle the robot to the mother ship through a remote instruction or a preset program.

Description

Ditching, distributing and burying integrated robot for submarine cable Technical Field The invention relates to the technology of submarine equipment, in particular to a ditching, laying and burying integrated robot for submarine cables. Background With the development of the fields of ocean resource development, ocean science research and the like, the construction and maintenance demands of submarine cables (such as communication optical cables and power cables) and submarine sensing arrays (such as earthquake monitoring arrays, hydrophone arrays and environment monitoring arrays) are increasing. In the traditional construction scheme, the laying of the submarine cable and the wires in the sensor array mainly depend on a large special ship, and the operation is performed through a cable laying machine or a traction device at the stern. This method typically requires first coiling the cable in a large cable compartment on the vessel, and deploying the vessel along a predetermined course while releasing the cable or array unit to the seafloor. For the sensor array, underwater precise docking, burying or fixing is often required by matching with a diver or a Remote Operated Vehicle (ROV). However, the conventional deployment scheme has many limitations such as high cost, poor flexibility, single function, large interference to marine environment and large personnel dependence and risk. Therefore, there is an urgent need in the art for a highly integrated, intelligent, adaptable dedicated robot to solve the above problems. Disclosure of Invention The invention aims to solve the technical problem of overcoming the defects in the prior art and providing a ditching, laying and burying integrated robot for a submarine cable. In order to solve the technical problems, the invention adopts the following solutions: the ditching, laying and burying integrated robot for the submarine cable comprises a crawler-type carrying chassis, a deep ditching operation mechanism, a cable guiding, laying mechanism and an in-situ backfilling and burying mechanism; the crawler-type carrying chassis is used for carrying a robot frame and equipment and advancing according to a set path or real-time instructions; The deep ditching operation mechanism comprises a forward ditching mechanism and a vertical ditching mechanism which are arranged at the front part of the robot frame, wherein the forward ditching mechanism is used for ditching operation and comprises a bevel gear set driven by a motor and a deep ditching shovel connected with the bevel gear set; The cable guiding and laying mechanism comprises a cable tray, a pulley block and a delivery pipeline, wherein the cable tray, the pulley block and the delivery pipeline are arranged in the robot frame; The in-situ backfill burying mechanism comprises a down-pressing sledge arranged at the rear part of the robot frame and used for backfilling compacted sludge to bury cables in the grooves; The deep trench shovel, the deep trench rotating blade, the delivery pipeline and the down-pressing sledge are sequentially arranged along the axial direction of the integrated robot. The crawler-type carrying chassis comprises a central equipment chassis, two groups of crawler-type travelling mechanisms are symmetrically arranged on two sides of the equipment chassis, and each group of travelling mechanisms comprises a supporting frame, a driving motor and a gear set which are arranged on the supporting frame, and a crawler arranged around the gear set. As a preferable scheme of the invention, the forward ditching operation mechanism comprises an axial main bevel gear arranged in the robot frame, two auxiliary bevel gears meshed with the axial main bevel gear are symmetrically arranged on two sides of the robot frame, each auxiliary bevel gear is driven by a waterproof packaging motor, and the axial direction of the main bevel gear is adjusted by controlling the rotating speeds of the two auxiliary bevel gears in a differential or synchronous mode, so that the attitude angle of the deep ditching shovel is changed. As a preferable scheme of the invention, the deep trench shovel is provided with a curved shovel handle, a wedge shovel is arranged at the front end of the shovel handle, and the tail end of the shovel handle is rigidly and fixedly connected with an output shaft of the bevel gear set through a connector. As a preferable scheme of the invention, the vertical ditch expanding mechanism comprises a linear rotating stepping motor vertically fixed on a robot frame, and a deep ditch rotating blade is arranged at the output end of the motor through a linear push rod. The pulley block comprises a friction movable pulley block and a plurality of fixed pulleys, wherein the fixed pulleys are arranged on a fixed pulley bracket and used for changing the direction of a cable, two movable pulleys arranged through a fastening spring in the friction movable pulley block are arranged oppositely, and the two