CN107344607A - A kind of amphibious robot applied in submarine cable operation maintenance - Google Patents
A kind of amphibious robot applied in submarine cable operation maintenance Download PDFInfo
- Publication number
- CN107344607A CN107344607A CN201710377049.2A CN201710377049A CN107344607A CN 107344607 A CN107344607 A CN 107344607A CN 201710377049 A CN201710377049 A CN 201710377049A CN 107344607 A CN107344607 A CN 107344607A
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- China
- Prior art keywords
- cable
- carrier
- submarine cable
- underwater
- power
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
Proposed by the present invention is a kind of amphibious robot applied in submarine cable operation maintenance.The system composition of submarine cable operation maintenance amphibious robot mainly includes underwater carrier system, water surface extension and retraction system, control system and power and auxiliary subsystem.Invention amphibious robot carrier is used for submarine cable operation maintenance, possess good compatibility and upgradability, the work under different waters, different sea situations is can adapt to, and coordinates a variety of detecting instruments, Daily Round Check, fault location and the elimination of equipment and sensor completion submarine cable and cable to grab and drag for, rush and bury work.Suitably as a kind of amphibious robot application applied in submarine cable operation maintenance.
Description
Technical field
Proposed by the present invention is the construction equipment of power domain, and specifically one kind should in submarine cable operation maintenance
Amphibious robot.
Background technology
With the application of submarine cable, submarine cable running environment is severe and sea fisheries frequent activity factor causes
Submarine cable damage problem also increasingly highlight.Not only maintenance time is long for the submarine cable of manual maintenance's damage, maintenance cost is high,
And security risk is big.Underwater robot can replace diver to carry out prolonged operation at deep-sea, at present both at home and abroad
There is the example that underwater robot coordinates submarine cable maintenance work, but the function of participating in operation is relatively easy, single, it is and automatic
Change, efficient requirement also has a certain distance.
The content of the invention
In order to solve the technical problem of submarine cable operation maintenance, run the invention provides one kind in submarine cable
The amphibious robot applied in maintenance.The amphibious robot by increasing caterpillar system on the basis of the robot carrier that swims, with
Realize can under seabed and shoal environment operation amphibious underwater robot carrier, improve the practicality of robot carrier, solution
The certainly technical problem of submarine cable operation maintenance.
The present invention solves the scheme that technical problem uses：
Submarine cable operation maintenance amphibious robot system composition mainly include underwater carrier system, water surface extension and retraction system,
Control system and power and auxiliary subsystem.
1st, underwater carrier system
Underwater carrier system mainly by manipulator, carrier frame, buoyancy compartment and ballast, promotes system based on amphibious robot
System, dynamical system, control cabinet, crawler belt of creeping, water spray ditching, cable tracker, attitude transducer, sonar video camera and operation work
Tool composition.
Attitude transducer is used to detect attitude of carrier, depth and course of creeping, and can utilize the value of feedback of these sensors
Automatically controlled.Sonar, video camera are used for the detection and trouble shooting of extra large cable, and cable tracker is used for accurate cable burial
Acquisition of information, creeped tracing control feedback information as carrier.
Underwater carrier configures two manipulators and a cable binding clasp.Manipulator carries out underwater operation, cable binding clasp
For the pickup of submerged cable, extra large cable can be salvaged by coordinating with drag rope.According to the different special works of job requirements bearer configuration
Industry instrument, cable cutter and with cable instrument coordinate with manipulator and carry out extra large cable cutting, salvage task.
2nd, water surface extension and retraction system
Water surface extension and retraction system, which is undertaken, to be applied in water by boat deck of constructing by carrier and carrier is recovered into workboat from water
Task.
Water surface extension and retraction system includes：Workboat 1, rack winch 2, swing span 7, armour cable winch 5, hydraulic power system 6
With control system 4.
Swing span completes carrier inside and outside movement on the quarter；Armour cable winch completes the release and recovery of armour cable；Hydraulic power
System realizes the total movement function of extension and retraction system.
3rd, control system
Subsystem is controlled to complete motion control function, monitoring function for monitoring, water spray ditching operation function, power tool control function
Mission.
4th, power and auxiliary subsystem
Power distribution unit is each power unit of the electric power distribution to underwater robot.
Good effect, amphibious robot carrier of the present invention are used for submarine cable operation maintenance, possess good compatibility and
Upgradability, the work under different waters, different sea situations is can adapt to, and coordinate a variety of detecting instruments, equipment and sensor complete
Grabbed into the Daily Round Check of submarine cable, fault location and elimination and cable and drag for, rush and bury work.Suitably as a kind of in seabed electricity
The amphibious robot application applied in cable operation maintenance.
Brief description of the drawings
Fig. 1 is process chart of the present invention；
Fig. 2 is underwater carrier system diagram of the present invention；
Fig. 3 is water surface extension and retraction system figure of the present invention.
In figure：1. workboat, 2. rack winches, 3. amphibious robots, 3.1. manipulators, 3.2. creeps crawler belt, 3.3.
Water spray ditching system, 3.4. propulsion systems, 3.5. cable trackers, 3.6. attitude transducers, 3.7. carrier frames, 3.8. power
System, 3.9. control cabinets, 3.10. buoyancy compartments and ballast, 4. control systems, 5. armour cable winches, 6. hydraulic power systems, 7. swing
Frame.
Embodiment
The system composition of submarine cable operation maintenance amphibious robot mainly includes underwater carrier system, water surface folding and unfolding system
System, control system and power and auxiliary subsystem.
1st, underwater carrier system
Underwater carrier system is based on amphibious robot 3, mainly by manipulator 3.1, carrier frame 3.7, buoyancy compartment and ballast
3.10th, propulsion system 3.4, dynamical system 3.8, control cabinet 3.9, crawler belt 3.2 of creeping, water spray ditching 3.3, cable tracker 3.5,
Attitude transducer 3.6, sonar video camera and power tool composition.
Attitude transducer is used to detect attitude of carrier, depth and course of creeping, and can utilize the value of feedback of these sensors
Automatically controlled.Sonar, video camera are used for the detection and trouble shooting of extra large cable, and cable tracker is used for accurate cable burial
Acquisition of information, creeped tracing control feedback information as carrier.
Underwater carrier configures two manipulators and a cable binding clasp.Manipulator carries out underwater operation, cable binding clasp
For the pickup of submerged cable, extra large cable can be salvaged by coordinating with drag rope.According to the different special works of job requirements bearer configuration
Industry instrument, cable cutter and with cable instrument coordinate with manipulator and carry out extra large cable cutting, salvage task.
2nd, water surface extension and retraction system
Water surface extension and retraction system, which is undertaken, to be applied in water by boat deck of constructing by carrier and carrier is recovered into workboat from water
Task.
Water surface extension and retraction system includes：Workboat 1, rack winch 2, swing span 7, armour cable winch 5, hydraulic power system 6
With control system 4.
Swing span completes carrier inside and outside movement on the quarter；Armour cable winch completes the release and recovery of armour cable；Hydraulic power
System realizes the total movement function of extension and retraction system.
3rd, control system
Subsystem is controlled to complete motion control function, monitoring function for monitoring, water spray ditching operation function, power tool control function
Mission.
4th, power and auxiliary subsystem
Power distribution unit is each power unit of the electric power distribution to underwater robot.Folding and unfolding subsystem and the water surface support system
It is that underwater carrier is powered directly with workboat electricity, 3000 volts of workboat voltage, 3000 volts of voltages directly drive carrier motor, under water
Control section electricity consumption is handled using 3000 volts of decompressions as needed.
System the key technical indexes is as follows：
Power：400HP
The maximum operation depth of water：300m
Maximum buries/punching digging cable depth：2.0m
The operation speed of travel：0—300m/h
Underwater carrier general power is about 400hp
Underwater carrier key dimension, configuration equipment and performance indications are as follows：
The key dimension and performance indications of water surface extension and retraction system are as follows：
The operation principle of the present invention：
Amphibious robot carrier, which can be realized, to swim and crawler belt is creeped two kinds of motor patterns, to adapt to different operation marine site sea situations
And perform the lower job task carried out in a variety of seas.The motor pattern that swims is mainly used in the search, detection and inspection of submarine cable；
Crawler belt creep mode is mainly used in burying, detect and safeguarding for mudflat operation and submarine cable, and caterpillar system of creeping is removable
Unload, be easy to install, being easy to it flexibly to switch in two kinds of motor patterns.
The features of the present invention：
Using the seabed operation maintenance amphibious robot carrier, the service requirements in shoal marine site can be ensured, coordinate correlator
Device, sensor can realize quick fault location and elimination, save human cost, improve extra large cable power supply reliability, overhaul people
Member only need to carry out simple underwater operation training can be on duty, saves cost of overhaul use and repair time, improves power supply reliability, wound
Make economic benefit.
Claims (1)
1. a kind of amphibious robot applied in submarine cable operation maintenance, it is characterized in that：Submarine cable operation maintenance is with two
The system composition of robot of dwelling mainly includes underwater carrier system, water surface extension and retraction system, control system and power and auxiliary point is
System：
（One）, underwater carrier system
Underwater carrier system is with amphibious robot（3）For main body, mainly by manipulator（3.1）, carrier frame（3.7）, buoyancy compartment
With ballast（3.10）, propulsion system（3.4）, dynamical system（3.8）, control cabinet（3.9）, crawler belt of creeping（3.2）, water spray ditching
（3.3）, cable tracker（3.5）, attitude transducer（3.6）, sonar video camera and power tool composition；
Attitude transducer is used to detect attitude of carrier, depth and course of creeping, and can utilize the value of feedback progress of these sensors
Automatically control；
Sonar, video camera are used for the detection and trouble shooting of extra large cable, and cable tracker is used for accurate cable burial acquisition of information,
Creeped tracing control feedback information as carrier；
Underwater carrier configures two manipulators and a cable binding clasp；
Manipulator carries out underwater operation, and cable binding clasp is used for the pickup of submerged cable, and extra large cable can be salvaged by coordinating with drag rope；
According to different job requirements bearer configuration special operation instruments, cable cutter and with cable instrument, coordinate with manipulator
Carry out extra large cable cutting, salvage task；
（Two）, water surface extension and retraction system
Water surface extension and retraction system, which is undertaken, to be applied in water by boat deck of constructing by carrier and carrier is recovered into workboat from water
Task；
Water surface extension and retraction system includes：Workboat（1）, rack winch（2）, swing span（7）, armour cable winch（5）, hydraulic power system
System（6）And control system（4）；
Swing span completes carrier inside and outside movement on the quarter；Armour cable winch completes the release and recovery of armour cable；Hydraulic power system
Realize the total movement function of extension and retraction system；
（Three）, control system
Subsystem is controlled to complete motion control function, monitoring function for monitoring, water spray ditching operation function, power tool control function
Mission；
（Four）, power and auxiliary subsystem
Power distribution unit is each power unit of the electric power distribution to underwater robot.
Priority Applications (1)
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| CN201710377049.2A CN107344607A (en) | 2017-05-25 | 2017-05-25 | A kind of amphibious robot applied in submarine cable operation maintenance |
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| CN201710377049.2A CN107344607A (en) | 2017-05-25 | 2017-05-25 | A kind of amphibious robot applied in submarine cable operation maintenance |
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| CN107344607A true CN107344607A (en) | 2017-11-14 |
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| CN201710377049.2A Pending CN107344607A (en) | 2017-05-25 | 2017-05-25 | A kind of amphibious robot applied in submarine cable operation maintenance |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108736371A (en) * | 2018-06-13 | 2018-11-02 | 仝相宝 | A kind of intelligent protection system based on submarine cable |
| CN109501983A (en) * | 2018-11-20 | 2019-03-22 | 西安工业大学 | A kind of underwater actuators and its method |
| CN110029696A (en) * | 2019-04-08 | 2019-07-19 | 国网浙江省电力有限公司舟山供电公司 | A kind of double work pattern submarine cable ditchers |
| CN110576953A (en) * | 2019-09-23 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system |
| CN110588925A (en) * | 2019-09-23 | 2019-12-20 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater detection robot system for large-diameter long diversion tunnel |
| CN110954167A (en) * | 2019-12-11 | 2020-04-03 | 云南电网有限责任公司昆明供电局 | Line inspection robot fault maintenance and self-checking data acquisition method |
| CN112478108A (en) * | 2020-11-13 | 2021-03-12 | 国网浙江省电力有限公司舟山供电公司 | Method for removing submarine cable obstacles by submarine cable robot |
| CN112706904A (en) * | 2021-01-26 | 2021-04-27 | 自然资源部第一海洋研究所 | Underwater robot |
| CN112758287A (en) * | 2021-01-26 | 2021-05-07 | 中建三局集团有限公司 | Underwater remote control detection and disposal operation equipment and construction method thereof |
| WO2023165095A1 (en) * | 2022-03-01 | 2023-09-07 | 广东海洋大学 | Underwater manipulator |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10947695B2 (en) | 2018-04-08 | 2021-03-16 | Zhoushan Electric Power Supply Company Of State Grid Zhejiang Electric Power Company | Submarine cable trencher |
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| CN109501983A (en) * | 2018-11-20 | 2019-03-22 | 西安工业大学 | A kind of underwater actuators and its method |
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| CN110029696A (en) * | 2019-04-08 | 2019-07-19 | 国网浙江省电力有限公司舟山供电公司 | A kind of double work pattern submarine cable ditchers |
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| CN110576953A (en) * | 2019-09-23 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system |
| CN110588925A (en) * | 2019-09-23 | 2019-12-20 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater detection robot system for large-diameter long diversion tunnel |
| CN110954167A (en) * | 2019-12-11 | 2020-04-03 | 云南电网有限责任公司昆明供电局 | Line inspection robot fault maintenance and self-checking data acquisition method |
| CN110954167B (en) * | 2019-12-11 | 2022-02-15 | 云南电网有限责任公司昆明供电局 | Line inspection robot fault maintenance and self-checking data acquisition method |
| CN112478108A (en) * | 2020-11-13 | 2021-03-12 | 国网浙江省电力有限公司舟山供电公司 | Method for removing submarine cable obstacles by submarine cable robot |
| CN112706904A (en) * | 2021-01-26 | 2021-04-27 | 自然资源部第一海洋研究所 | Underwater robot |
| CN112758287A (en) * | 2021-01-26 | 2021-05-07 | 中建三局集团有限公司 | Underwater remote control detection and disposal operation equipment and construction method thereof |
| CN112758287B (en) * | 2021-01-26 | 2022-08-12 | 中建三局集团有限公司 | Underwater remote control detection and disposal operation equipment and construction method thereof |
| WO2023165095A1 (en) * | 2022-03-01 | 2023-09-07 | 广东海洋大学 | Underwater manipulator |
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Application publication date: 20171114 |
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