CN111391985A - Submarine cable laying device suitable for underwater remote control operation robot - Google Patents
Submarine cable laying device suitable for underwater remote control operation robot Download PDFInfo
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- CN111391985A CN111391985A CN202010252402.6A CN202010252402A CN111391985A CN 111391985 A CN111391985 A CN 111391985A CN 202010252402 A CN202010252402 A CN 202010252402A CN 111391985 A CN111391985 A CN 111391985A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/04—Cable-laying vessels
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- 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
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The invention discloses a submarine cable laying device suitable for an underwater remote control operation robot. The device is carried at the bottom of an underwater ROV, and can realize accurate cable arrangement routing control and recording by utilizing the flight path control and recording functions of the ROV; the number of rotation turns is fed back through a tension pulley servo motor, the cable laying length is accurately measured and recorded, the tension state of a released cable is kept through the tension pulley drive servo motor torque, and the cable is released and recovered through the cooperation of a cable arrangement mechanism and the tension pulley; the attitude control of the ROV and the electric propulsion system of the cable arrangement device are combined to adjust the attitude, so that the submarine cable can be accurately plugged and pulled out. The invention is mainly used for the plugging connection and the laying operation of the photoelectric composite cable between the main and the secondary connection box nodes of the submarine scientific observation network and between the connection box and the scientific instrument, and can also be used for the connection and the laying of submarine cable wires used by underwater production equipment and underwater factories.
Description
Technical Field
The invention belongs to the field of underwater engineering equipment, and particularly relates to a submarine cable laying device suitable for an underwater remote control operation robot.
Background
Currently, the ocean is observed internationally mainly through 3 platforms: firstly, a scientific research ship is used for navigation observation; secondly, marine satellite remote sensing observation is adopted; thirdly, establishing the submarine scientific observation network in-situ real-time observation. The seabed observation network is used for placing an observation instrument on the seabed or carrying the observation instrument by using an underwater mobile observation platform, supplying energy to each observation point through a wired network or the mobile platform and collecting information, thereby realizing all-weather long-time continuous automatic observation of the ocean seabed underground, the seabed ground and the seawater body, including the observation of ocean physics, ocean chemistry, ocean (micro) organisms and ocean geology.
At present, the major frameworks of the east sea bottom observation network and the south sea bottom observation network which are vigorously constructed in China are cable system bottom observation networks. To complete the photoelectric composite cable connection of the submarine observation node, namely the junction box, a high-efficiency and reliable cable laying device is needed for submarine cable laying operation. Usually, the arrangement of the seabed photoelectric composite cable is completed by adopting a jet type ditching plow and a ditching machine, and enterprises which are responsible for the construction are available in China. The operation of the ditching plow and the ditching machine needs to realize simultaneous paving and burying through the matching of a medium-large mother ship and the ditching plow and the ditching machine, and the engineering operation mode is suitable for the laying operation of the long-distance large-cable-diameter submarine transoceanic cable. And the node connecting cable of the submarine scientific observation network has the characteristics of short path and multiple distribution paths.
The outstanding problem of adopting the scheme of laying cables by a furrow plough to carry out cable laying among the submarine scientific observation net connection boxes is as follows:
1. the digger plough needs to be matched with a sea surface mother ship for operation, and the digger plough does not have a walking power source and can walk only by being dragged by the mother ship. And the digger plough is huge in size and needs to be matched with a large mother ship and a retraction system, the scheme is mainly used for laying the optical cable across the ocean for a long distance, and the advantage of long efficiency is more obvious when the operation path is longer. For the laying of optical cables among all the connection boxes of the submarine scientific observation network, the operation paths need to be frequently switched, and the laying paths cannot be accurately controlled due to the fact that a system formed by a mother ship and a ditching plow is huge.
2. The digger plough cannot be too far from the sea surface due to the need for the mother ship to pull the digger plough forward through the steel cable. The working depth of the furrow plough is at most 2000 meters deep, typically 500 to 1000 meters. This is also the reason why the digger plough cannot control the track precisely. This in turn results in the trencher plow cabling solution not being suitable for higher water depths of cabling operations.
The scheme of laying the cable by adopting the trencher is relatively superior to that of laying the photoelectric composite cable of the seabed scientific observation network by using a trencher plow. However, the following problems still remain:
1. the trencher is tracked instead of towed by a trencher plow, and the primary vessel is required to provide electrical power support, although the primary vessel is not required to provide towing force and not required to be towed by a wire rope. The trencher receives the electric energy provided by the mother ship, and the deep sea hydraulic station and the hydraulic motor of the trencher drive the track to actively walk. However, the trencher is huge in size, a large-scale mother ship and a large-scale collecting and releasing system are required, the system complexity is more complicated than that of the trencher plow, and the offshore operation cost is quite huge.
2. The trencher is generally used for laying submarine power cables and communication optical cables, the diameter of the submarine cables is large, the trencher cannot accurately plug and pull out an underwater connector when laying the submarine cables, and for laying the photoelectric composite cables of a submarine scientific observation network, an underwater robot is required to assist in laying a scientific node connection box and plugging and pulling out a cable connector on the connection box. And accurately laying the seabed photoelectric composite cable according to the planned path. Such requirements cannot be met by trenchers.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a submarine cable laying device suitable for an underwater remote control operation robot. The submarine cable laying device provided by the invention is mainly used for plugging connection and laying operation of photoelectric composite cables between the nodes of a main connection box and a secondary connection box of a submarine scientific observation network and between the connection box and a scientific instrument, and can also be used for connecting and laying submarine cable wires used by underwater production equipment and underwater factories.
The technical scheme adopted by the invention is as follows
Submarine cable laying device suitable for underwater remote control operation robot
The submarine cable laying device comprises a main body frame, a cable storage cylinder, a cable arrangement mechanism, a tensioning pulley, an electric propulsion system, an underwater transformer and an electric seven-function mechanical arm;
the cable storage cylinder is positioned in the main body frame, two ends of the cable storage cylinder are fixed on two sides of the main body frame, and cables are uniformly wound on the cable storage cylinder; the two sides of the main body frame are fixedly provided with transverse shafts arranged in parallel to the cable storage barrel, the tensioning pulley is fixed on the transverse shafts through rolling bearings, and a tensioning pulley driving motor is connected with the tensioning pulley; a cable arrangement mechanism is arranged between the transverse shaft and the cable storage barrel, the cable arrangement mechanism comprises a reciprocating screw rod, a sliding shaft and a sliding block sleeved on the sliding shaft, two ends of the reciprocating screw rod and the sliding shaft are fixed on two sides of the main body frame and arranged in parallel to the cable storage barrel, one end of the sliding block is arranged on the reciprocating screw rod in a sliding mode, and the other end of the sliding block is provided with a round hole; the cable wound on the cable storage cylinder penetrates through the round hole at the other end of the sliding block and then is wound on the pulley groove of the tensioning pulley; the same ends of the cable storage cylinder and the reciprocating screw rod are respectively connected with a cable storage cylinder gear and a screw rod gear, the cable storage cylinder gear and the screw rod gear are connected through a transmission chain, and the cable storage cylinder is connected with a cable storage cylinder driving motor;
the underwater transformer is arranged at the bottom of the main body frame and mainly comprises an annular shell and an annular transformer positioned in the shell, the inner side surface of a middle cavity of the annular shell is provided with an upper annular gap and a lower annular gap which enable the inside and the outside of the annular shell to be communicated, the inner side surface of the middle cavity is embedded with a rubber cup, the annular gap at the upper part is blocked by the outer side surface of the rubber cup, and the bottom surface of the rubber cup is horizontally arranged between the upper annular gap and the lower annular gap; a bottom plate for sealing the bottom of the middle cavity is arranged at the bottom of the annular shell, and a motor controller is arranged on the bottom plate; the bottom of the outer side surface of the annular shell is provided with a through hole;
the electric propulsion system comprises three electric thrusters, the three electric thrusters are arranged at the top of the main body frame, two electric thrusters are positioned at two sides of the rear part of the main body frame, and the third electric thruster is positioned at the front part of the main body frame; the annular shell is respectively connected to the shells of the three electric thrusters through oil pipes; the oil pipe is connected with the annular shell through a through hole, and the through hole is also used for leading out a lead connected with the electric propeller;
an electric seven-function mechanical arm is arranged on one side of the main body frame close to the tension pulley; the lighting and camera system comprises three groups of visual auxiliary modules, each group of visual auxiliary module mainly comprises a camera and an underwater lamp, the three groups of visual auxiliary modules are uniformly distributed in the top area of the main body frame, and the two groups of visual auxiliary modules are arranged on two sides of the tensioning pulley.
The submarine cable laying device is carried at the bottom of an ROV (remote operated vehicle) of an underwater remote control operation robot, a control container provides electric energy and transmission control signals for the underwater remote control operation robot through an umbilical cable, the umbilical cable on an umbilical cable winch puts the underwater remote control operation robot down to an area with the water depth of 0-4500 m through an A-shaped hanging bracket for working, and the control container, the umbilical cable winch and the A-shaped hanging bracket are all located on a mother ship.
The underwater cable laying device is characterized by further comprising an underwater pressure-resistant electronic control box, the underwater cable laying device is used for providing electric energy and transmitting control signals for the underwater remote control operation robot, a power supply interface of the underwater remote control operation robot is connected with the underwater pressure-resistant electronic control box through an underwater transformer, a communication interface of the underwater remote control operation robot is connected to the underwater pressure-resistant electronic control box, and the electric seven-function mechanical arm, the motor controller, the tensioning pulley driving motor, the cable storage cylinder driving motor and the illumination and camera system are all connected with the underwater pressure-resistant electronic control box.
The underwater pressure-resistant electronic control box adopts a thicker metal shell to bear the pressure of seawater.
The three electric thrusters are powered by an underwater transformer through a motor controller.
Three-degree-of-freedom posture adjustment of the submarine cable arrangement device is realized through the three electric thrusters, and the underwater pressure-resistant electronic control box controls the three electric thrusters to work through the motor controller.
The tensioning pulley mainly comprises a driving wheel and a driven wheel which are tightly attached to each other, the driving wheel is connected with a tensioning pulley driving motor, the cable sequentially passes through a driving wheel groove and then penetrates out of the middle of a wheel groove at the joint of the driving wheel and the driven wheel, and two sides of the wheel groove of the driven wheel are mutually attached to two sides of the driving wheel groove to compress the cable in the middle of the wheel groove. When the cable is wound and unwound under the driving of the driving wheel, the driven wheel rotates relatively along with the driving wheel under the action of cable friction force between the two wheels.
The bottom surface of the rubber leather cup is made of a metal sheet.
The rubber cup is pressed into the annular shell from the annular gap at the upper part under the action of seawater pressure, oil in the annular shell flows out of the through hole under the action of pressure and then flows into the shells of the three electric thrusters through the oil pipes, so that the pressure of the underwater transformer is transmitted to the insides of the shells of the electric thrusters, and pressure compensation is realized.
Second, operation method adopting submarine cable laying device
The method comprises the following steps:
step 1) installing a submarine cable laying device to the bottom of an underwater remote control operation robot, leading out a joint at one end of a cable from a tensioning pulley through a sliding block, and then holding the joint by an electric seven-function mechanical arm, wherein the submarine cable laying device stops laying the cable and keeps the cable between the tensioning pulley and a cable storage cylinder in a tensioning state;
step 2) carrying a submarine cable laying device by the underwater remote control operation robot to sink into the seabed, carrying the submarine cable laying device by the underwater remote control operation robot under the control of the control container to reach the position of the connection box/scientific instrument, and inserting and locking a connector at one end of the cable onto the connection box/scientific instrument by the underwater pressure-resistant electronic control box through controlling an electric seven-function mechanical arm;
and 3) carrying the submarine cable laying device by the underwater remote control operation robot to move, normally laying the submarine cable laying device in the moving process, releasing all the rest cables on the cable storage cylinder after the submarine cable laying device reaches the position of the other end connection box, winding the rest cables on the other end connection box on a cable winding column, and inserting and locking the other end connector of the cable into the connection box connector by the underwater pressure-resistant electronic control box through controlling an electric seven-function mechanical arm.
The underwater pressure-resistant electronic control box controls the cable laying of the submarine cable laying device through a cable storage cylinder driving motor and a tensioning pulley driving motor: the cable storage cylinder is driven by the cable storage cylinder driving motor to rotate and simultaneously drive the cable storage cylinder gear to rotate, the lead screw gear is driven by the cable storage cylinder gear to rotate and simultaneously drive the reciprocating lead screw to rotate, and the sliding block on the sliding shaft slides back and forth along the reciprocating lead screw, so that the cable on the cable storage cylinder is gradually released;
when the submarine cable laying device normally lays the cable, the rotating linear speed of the cable storage cylinder is smaller than that of the tensioning pulley, and the cable between the cable storage cylinder and the tensioning pulley is in a tensioning state;
when the submarine cable laying device stops laying cables, the linear speeds of the rotation of the cable storage cylinder and the rotation of the tensioning pulley are both 0, but the tensioning pulley drives the motor to continuously work, so that the tensioning pulley keeps the rotating acceleration, and the cables are in a tensioning state;
when the submarine cable laying device recovers the cable, the rotating linear speed of the cable storage cylinder is greater than that of the tensioning pulley, and the cable between the cable storage cylinder and the tensioning pulley is still in a tensioning state.
The tension wheel driving motor adopts a torque motor, and the cable storage cylinder driving motor adopts a stepping motor.
The invention has the beneficial effects that:
1. the invention has small volume and light weight, is convenient to be arranged at the bottom of the ROV, changes the extensive cable arrangement scheme of the submarine trenching plow and the trencher in the background technology into an accurate cable arrangement scheme of adopting the ROV to carry a submarine cable arrangement device, can accurately record the underwater part path of the cable through the ROV, and records the cable arrangement length through the submarine cable arrangement device.
2. The invention adopts electric drive, reduces the leakage risk of hydraulic oil and is better environment-friendly.
3. The invention adopts the cable tensioning technology to solve the problem of cable looseness in the cable reeling and unreeling process; the length information of the laid cable is fed back through the number of rotating turns of the servo motor for driving the tensioning pulley, the tensioning state of the released cable is kept through torque control of the servo motor for driving the tensioning pulley, cable arrangement is achieved through the reciprocating lead screw and the sliding block, and the cable can be released and recovered through cooperation with the tensioning pulley.
4. According to the invention, the buoyancy and attitude dynamic regulation technical scheme is carried out through the electric thruster, and the degree of freedom of the underwater attitude regulation of the device is increased, so that the maneuvering performance of the whole underwater movement is enhanced.
5. The self-compensating underwater transformer is used for carrying out pressure compensation on the electric thruster, and an additional pressure compensator is not needed.
6. The laying device can be used for accurately laying submarine cables, and can also be optical cables or photoelectric composite cables. The cables with different cable diameters can be wound and unwound by adjusting the distance between the driving wheel and the driven wheel of the tensioning pulley.
Drawings
FIG. 1 is a schematic diagram of the operation of the entire cabling system
FIG. 2 is a schematic view of the cable arrangement mechanism of the present invention
FIG. 3 is a schematic view of a tension sheave of the present invention
FIG. 4 is a schematic view of the self-compensating underwater transformer of the present invention
FIG. 5 is a general layout of the device of the present invention
FIG. 6 is a view showing the overall structure of the apparatus of the present invention
FIG. 7 is a diagram of the electrical connection of the present invention as a whole
FIG. 8 is a diagram illustrating a tension control scheme according to the present invention
FIG. 9 is a schematic block diagram of the apparatus of the present invention
In the figure: the cable-storage-type underwater remote control device comprises a main body frame (1), a cable storage cylinder (2), an underwater pressure-resistant electronic control box (3), a tensioning pulley (4), an electric power propeller (5), a camera (6), an underwater lamp (7), an underwater transformer (8), an electric seven-function mechanical arm (9), a reciprocating screw rod (10), a cable storage cylinder driving motor (11), a cable storage cylinder gear (12), a cable (13), a transmission chain (14), a screw rod gear (15), a sliding block (16), a sliding shaft (17), a hydraulic power station (18), an annular transformer (19), a motor controller (20), a rubber cup (21), an annular shell (22), a through hole (23), a control container (24), an umbilical cable winch (25), an underwater remote control robot (26) and an A-shaped hanger (27).
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
One or a whole set of cable laying system
As shown in fig. 1, to complete submarine cable laying is a systematic project, and a cable laying mother ship and a whole cable laying operation system are required. The whole system comprises a control container 24, an A-shaped hanger 27, an ROV umbilical cable winch 25, an underwater remote control operation Robot (ROV)26 and a matched submarine cable laying device thereof.
The control container 24 is internally provided with a power supply and operation system of the ROV, and the power supply and operation system supplies power and control signals to the ROV through an umbilical cable. The control system has the functions of controlling the underwater ROV and displaying ROV working condition data, provides an ROV operating handle, buttons and an image display interface for an operator, and can observe the underwater operation video live and perform remote control operation.
The A-shaped hanger and umbilical cable winch 25 belongs to a laying and recovery system, and mainly has the functions of collecting and releasing an underwater ROV, laying the ROV from a deck of a mother ship to the seabed, and recovering the ROV to the deck of the mother ship after operation is completed. The arrangement system provides 0-4500 m ROV operation deck supporting facilities.
The umbilical winch 25 and the a-cradle 27 are powered by the hydraulic power station 18.
The underwater remote control operation robot is a controlled unit and an underwater carrying platform, the working water depth can reach 4500 m, equipment is independently developed in China, and the functions are very powerful. The underwater scientific investigation robot has the real-time monitoring functions of the height from the sea bottom, the depth from the sea surface, the moving speed, the underwater position and the like, and can carry different underwater tools such as a manipulator, a sonar, a camera, a water sampling bottle, a mud suction tube and the like to carry out underwater scientific investigation operation. An ROV is a mobile underwater vehicle with vision and perception systems, and uses manipulators and other tools to replace or assist in manual work to accomplish underwater tasks in a remote or autonomous mode of operation.
As shown in figure 6, the submarine cable laying device is mainly used for precisely laying cables on the seabed, and the device is carried on the bottom of an underwater ROV through four mounting bolts at the bottom of the ROV, so that the overall rigid scientific investigation connection is realized, and the stability requirement of the ROV in underwater motion and the gravity center requirement in the laying process are met. Only four connecting points are provided, and the ROV can be simply disassembled and assembled, so that the efficiency of the offshore operation of the ROV is improved. By utilizing the self-carried track control and recording function of the ROV, the accurate cable laying routing control and recording can be realized, and the cable laying length can be accurately measured, calculated and recorded by feeding back the number of rotation turns through the tension pulley servo motor. The device is provided with an electric seven-function manipulator which can pick up and plug in and pull out the cable connector. The attitude control of the ROV and the electric propulsion system of the cable arrangement device are combined to adjust the attitude, so that the submarine cable can be accurately plugged and pulled out.
Second, submarine cable laying device assembly
As shown in fig. 5, the working device is mainly composed of:
(1) a main body frame 1. In order to reduce the weight of the equipment, the main body frame 1 adopts a 6082 aluminum alloy groove type structure, the strength and the rigidity performance are ensured, and in order to further reduce the weight, a circular hole is formed in the groove type aluminum alloy. .
(2) Store up cable section of thick bamboo and actuating system. As shown in fig. 2, the cable storage drum 2 is used for storing the laid cables 13, and the cables 13 are wound on the cable storage drum 2 layer by layer. The rotation of the cable storage cylinder is realized by the drive of a stepping motor. The adoption of the stepping motor is convenient for realizing the speed regulation control and the direction control.
(3) And a cable arrangement mechanism. As shown in fig. 2, the cable arranging mechanism includes a reciprocating lead screw 10, a slide shaft 17, and a slider 16. When the cable 13 is released from the cable storage barrel 2, the cable is not in a loose state, otherwise, the cable arrangement on the whole cable storage barrel is loose and irregular, and when the cable is recycled, the orderly and compact arrangement of the cable is ensured, and the cable arrangement function is realized by a cable arrangement mechanism. The cable arranging mechanism adopts a mode that the reciprocating screw rod 10 rotates to drive the sliding block 16 to move along the sliding shaft 17. The sliding block 16 slides back and forth along the sliding shaft 17, the sliding progress of the sliding block 16 is consistent with the cable retracting pace of the cable storage barrel 2, the cable storage barrel 2 rotates for a circle, and the sliding block 16 moves to the position of the diameter of one cable.
The cable storage cylinder gear 12 is connected with the lead screw gear 15 through the transmission chain 14, the cable storage cylinder gear 12 drives the lead screw gear 15 to rotate and simultaneously drives the reciprocating lead screw 10 to rotate, and the rotation pace of the cable storage cylinder and the lead screw is changed by adjusting the tooth number proportion of the cable storage cylinder gear 12 and the lead screw gear 15. Keeping the slide block position and the wire outlet position synchronous.
(4) A tension pulley and a servo drive system. Maintaining the tension between the cable 13 and the cable storage drum 2 is achieved by means of a tension pulley 4, as shown in fig. 3, the tension pulley 4 comprising a driving pulley and a driven pulley. The rotation of the driving wheel is realized by a tension pulley driving motor. The tensioning pulley driving motor adopts a torque control motor, when normally laying cables, the tensioning pulley driving motor and the cable storage cylinder driving motor work simultaneously, the cable storage cylinder 2 is outwardly laid, the tensioning pulley 4 is also outwardly laid, but the cable laying speed of the tensioning pulley driving motor is higher than that of the cable storage cylinder, and a tensioning state is kept between a cable from the cable storage cylinder 2 to the cable 13 between the tensioning pulley 4. When the cable is stopped to be released, the cable storage cylinder driving motor stops working, when the tensioning pulley driving motor detects that the tensioning pulley 4 cannot drive the cable to be released, the rotating torque is reduced, and at the moment, the cable between the cable storage cylinder 2 and the tensioning pulley 4 is under a small tensioning force, so that the tensioning state is kept. When the cable is wound into the cable storage barrel, the underwater pressure-resistant electronic control box 3 adjusts the cable storage barrel driving motor to reversely rotate to wind the cable, the tensioning pulley driving motor rotates at the speed lower than the cable winding speed of the cable storage barrel 2, and the cable winding tension is also kept. The tensioning pulley driving motor adopts a servo motor, and the servo motor can accurately record the number of rotation turns of the motor, so that the accurate length of the cable can be calculated. Thereby realizing accurate cable laying. No additional counter needs to be added.
(5) Illumination and camera systems. Because there is not visible light under the deep sea environment, need design underwater lighting system, for the manipulator in the convenience of mother's ship directly perceivedly masters the underwater cabling condition, the device has carried high definition digtal camera. The underwater lamp 7 is matched with the camera 6 for use. 2 cameras 6 and underwater lamps 7 are arranged in front, the operation condition of the electric seven-function manipulator 9 is observed, 1 camera 6 and underwater lamp 7 are arranged at the rear part, and the working condition of the cable storage barrel 2 is observed.
(6) An electric propulsion system. Including 3 electric propulsion 5, adopt single-phase induction motor, simple structure reliability is high, and the rotational speed is controlled through withstand voltage electronic control box 3 under water.
(7) An underwater pressure-resistant electronic control box 3. The underwater pressure-resistant electronic control box 3 is a control center of the rectification device, and has the main functions of: 1. supplying power to the underwater light; 2. forwarding video data of the camera to the ROV, uploading the video data to a deck control container through an umbilical cable, and displaying an underwater video image on a display of the control system; 3. control signals are provided for a cable storage cylinder driving motor and a tensioning pulley driving motor, and the starting and stopping, the rotating speed and the torque of the motors are controlled; 4. and controlling and driving the electric seven-function manipulator.
(8) Self-compensating underwater transformer 8. For a container working in deep sea, the huge pressure of seawater needs to be resisted, and 2 ways are generally adopted, namely a way of adopting a pressure-resistant container, such as an underwater pressure-resistant electronic control box 3 used by the device, and a thicker metal shell is adopted to bear the pressure of seawater. The second one is an external pressure compensator, which compensates the pressure inside the shell. The device does not use a thick pressure-resistant shell and an external pressure compensator, and adopts a system self-compensation underwater transformer to perform pressure compensation on the electric power propeller 5. The components of the device which need to be pressure compensated are an underwater transformer 8 and an electric propeller 5. Whereas the power supply of the electric thruster 5 needs to pass through the underwater transformer 8. The motor of the electric thruster is a rotating part and cannot perform self-compensation, and the underwater transformer 8 is a static part and can adopt a self-compensation technical scheme. The principle is as follows: as shown in fig. 5, the underwater transformer 8 mainly comprises an annular housing 22 and an annular transformer 19 located in the housing, wherein the inner side surface of the middle cavity of the annular housing 22 is provided with an upper ring and a lower ring of annular gaps for communicating the inside and the outside of the annular housing 22, the inner side surface of the middle cavity is embedded with a rubber cup 21, the annular gap located at the upper part is blocked by the outer side surface of the rubber cup 21, and the bottom surface of the rubber cup 21 is horizontally arranged between the upper ring and the lower ring of annular gaps; the bottom of the annular housing 22 is fitted with a bottom plate that seals the bottom of the central cavity, and the motor controller 20 is mounted on the bottom plate.
The cable between the underwater transformer 8 and the electric propeller 5 is connected through an oil pipe, namely the underwater transformer 8 is electrically connected with the electric propeller 5, and the shell of the underwater transformer 8 is connected with the shell of the electric propeller 5 through an oil way, so that the pressure of the underwater transformer 8 can be transmitted to the inside of the shell of the electric propeller 5, and the pressure compensation of the rectification system is realized.
(9) The seven-function mechanical arm 9 is electrically driven. The electric mechanical arm is a mature product in the market, the device is driven by full electricity, a hydraulic power unit and a hydraulic motor are not arranged, and the risk of oil leakage and environmental pollution is reduced.
Connection relation
The cable deployment device is a relatively self-contained device and the connection to the ROV includes both a mechanical lock connection and an electrical connection. The mechanical locking connection is fixed by fastening a connecting bolt at the bottom connecting point of the ROV and the top of the cable laying device. The bottom of the ROV provides four fixing points, and the reliable connection of the whole device can be ensured.
The cable laying device adopts an all-electric drive control system, and the electrical connection description is shown in figure 7. The control is mainly realized by a control system which takes a central processing unit as a core and is arranged in the underwater pressure-resistant electronic control box 3. The underwater pressure-resistant electronic control box comprises a video-to-Ethernet board card module, an 8-port Ethernet switch, a central processing unit, a power supply module and an Ethernet-to-serial port module, wherein the 8-port Ethernet switch is connected with an Ethernet communication interface of an ROV (remote operated vehicle), and the ROV forwards the ROV to a water surface control container; the 8-port Ethernet switch is connected with the central processing unit; the lighting and camera system is connected with the 8-port Ethernet switch through a video-to-Ethernet board card module, and the electric seven-function mechanical arm 9, the tension pulley driving motor and the cable storage cylinder driving motor 11 are connected with the underwater pressure-resistant electronic control box 3 through an Ethernet-to-serial port module. The three electric thrusters 5 are connected to the central processing unit through a motor controller.
The underwater transformer obtains AC110V power from the ROV, and power supply to various electric components of the system is realized through transformation, rectification and power supply. The AC110V acquired by the underwater transformer supplies power to the three electric thrusters through the motor control box; the underwater transformer converts AC110V into AC68V which is then input into a rectification module of the underwater voltage-resistant electronic control box into DC48V, the DC48V is transmitted to the power module, the electric seven-function mechanical arm 9, the tension pulley driving motor, the cable storage cylinder driving motor 11 and the underwater lamp 7 through the power terminal row, and the power module reduces DC48V into DC5V which supplies power to the underwater voltage-resistant electronic control box.
Fourth, withstand voltage electronic control case under water
As shown in fig. 9, the underwater voltage-resistant electronic control box is connected with the ROV through an ethernet communication interface, the underwater voltage-resistant electronic control box 3 is connected with an AC110V power supply interface of the ROV through an underwater transformer 8 and the underwater voltage-resistant electronic control box 3, and the electric seven-function mechanical arm 9, the tension pulley driving motor, the cable storage drum driving motor 11, the lighting and camera system are all connected with the underwater voltage-resistant electronic control box 3.
The control functions of the underwater pressure-resistant electronic control box include device attitude control, cable retracting control, cable joint picking and plugging and visual auxiliary functions.
The attitude control of the device is realized by an electric propulsion system. The control system controls the direction and magnitude of the thrust provided by the electric thrusters by adjusting the direction and speed of rotation of the three electric thrusters. The attitude of the cable laying device can be adjusted by the magnitude and direction of resultant force generated by a system consisting of the three electric vector thrusters, and three-degree-of-freedom attitude adjustment can be realized. The attitude adjustment freedom degree provided by the electric propulsion system is consistent with the three freedom degree adjustment modes of the ROV in vertical lifting, rolling and pitching, and the integral consistency control is convenient to realize.
The picking up and plugging in and out of the cable joint are realized by an electric seven-function manipulator 9.
The vision is supplementary through connecting lamp 7 and camera 6 under water, realizes storing up cable section of thick bamboo 2, tensioning pulley 4 and electronic seven function manipulator 9's observation.
As shown in fig. 8, the cable winding and unwinding control is mainly realized by the rotation direction and speed of the cable storage drum driving motor and the tensioning pulley driving motor.
When the cable is normally unwound, the cable storage drum 2 rotates anticlockwise at the rotating speed of V1, the tensioning pulley 4 rotates anticlockwise at the rotating speed of V2, the linear speed of V2 is greater than that of V1, and the cable between the cable storage drum 2 and the tensioning pulley 4 is in a tensioning state.
When the payout is stopped, V1 equals 0 and the tension pulley drive motor provides a counterclockwise torque, the linear velocity is 0 since V1 equals 0, but the tension pulley maintains a counterclockwise rotational acceleration, the velocity V2 equals 0 and the cable is under tension.
When the cable is recovered, the cable storage drum 2 rotates clockwise, the rotating speed is V1, the tensioning pulley 4 rotates clockwise, the rotating speed is V2, the linear speed of V1 is greater than that of V2, and the cable between the cable storage drum and the tensioning pulley is still in a tensioning state.
Fifth, the device is externally connected
The working equipment is mainly connected with the ROV externally, and only electrical interfaces are needed to be provided, namely an Ethernet communication interface and an AC110V power interface.
Sixth, construction method
1) Before the ROV is used for launching water, the ROV function detection is completed firstly, and whether all parts in the ROV work normally or not is checked through electrifying.
2) The submarine cable deployment device set is mounted to the bottom of the ROV.
3) The cable 13 joint is led out from the sliding block and the tension pulley 4 and is held on the electric seven-function mechanical arm 9. The cable between the tensioning pulley 4 and the cable drum 2 is kept under tension.
4) The ROV is distributed to the seabed through the distribution system, the seabed position of a scientific instrument or a connection box is found through a positioning beacon, the electric seven-function mechanical arm 9 is operated to insert the cable connector to the scientific instrument or the connection box, and the connector is locked.
5) The ROV is operated to fly and release the reel cable. When the other end of the cable reaches the connection box, all the rest cables are released and wound on the cable winding column of the connection box. And inserting the cable connector at the other end into the connector box interface and locking by operating the electric seven-function mechanical arm 9.
The connection box is an underwater electrical device and comprises a frame, an electronic box and a scientific detection instrument, wherein the inside of the electronic box is usually in a semi-vacuum state and is used for accommodating an electronic board card or a device to complete a signal conversion function. The junction box is divided into a main junction box and a secondary junction box, and the main junction box mainly has the functions of connecting a shore-based power supply and communication equipment and transferring electric power and signals to the secondary junction box. The secondary junction box is mainly responsible for connecting the terminal observation equipment and the main junction box. Generally, thin photoelectric composite cables are arranged between the main junction box and the secondary junction box and between the secondary junction box and the instrument.
Claims (9)
1. A submarine cable laying device suitable for an underwater remote control operation robot is characterized by comprising a main body frame (1), a cable storage barrel (2), a cable arrangement mechanism, a tensioning pulley (4), an electric propulsion system, an underwater transformer (8) and an electric seven-function mechanical arm (9);
the cable storage cylinder (2) is positioned in the main body frame (1), two ends of the cable storage cylinder are fixed on two sides of the main body frame (1), and cables (13) are uniformly wound on the cable storage cylinder (2); a cross shaft arranged in parallel to the cable storage barrel (2) is fixed on two sides of the main body frame (1), a tension pulley (4) is fixed on the cross shaft through a rolling bearing, and a tension pulley driving motor is connected with the tension pulley (4); a cable arrangement mechanism is arranged between the transverse shaft and the cable storage barrel (2), the cable arrangement mechanism comprises a reciprocating screw rod (10), a sliding shaft (17) and a sliding block (16) sleeved on the sliding shaft (17), two ends of the reciprocating screw rod (10) and the sliding shaft (17) are fixed on two sides of the main body frame (1) and arranged in parallel to the cable storage barrel (2), one end of the sliding block (16) is arranged on the reciprocating screw rod (10) in a sliding mode, and a round hole is formed in the other end of the sliding block; the cable (13) wound on the cable storage barrel (2) passes through the round hole at the other end of the sliding block (16) and then is wound on the wheel groove of the tensioning pulley (4); the same end of the cable storage cylinder (2) and the reciprocating screw rod (10) is respectively connected with a cable storage cylinder gear (12) and a screw rod gear (15), the cable storage cylinder gear (12) and the screw rod gear (15) are connected through a transmission chain (14), and the cable storage cylinder (2) is connected with a cable storage cylinder driving motor (11);
the underwater transformer (8) is arranged at the bottom of the main body frame (1), the underwater transformer (8) mainly comprises an annular shell (22) and an annular transformer (19) positioned in the shell, the inner side surface of a middle cavity of the annular shell (22) is provided with an upper ring and a lower ring of annular gaps for communicating the inside and the outside of the annular shell (22), the inner side surface of the middle cavity is embedded with a rubber cup (21), the annular gap positioned at the upper part is blocked by the outer side surface of the rubber cup (21), and the bottom surface of the rubber cup (21) is horizontally arranged between the upper ring and the lower ring of annular gaps; a bottom plate which seals the bottom of the middle cavity is arranged at the bottom of the annular shell (22), and a motor controller (20) is arranged on the bottom plate; the bottom of the outer side surface of the annular shell (22) is provided with a through hole (23);
the electric propulsion system comprises three electric thrusters (5), the three electric thrusters (5) are arranged at the top of the main body frame (1), two electric thrusters (5) are positioned at two sides of the rear part of the main body frame (1), and the third electric thruster (5) is positioned at the front part of the main body frame (1); the annular shell (22) is respectively connected into the shells of the three electric thrusters (5) through oil pipes; the oil pipe is connected with the annular shell (22) through a through hole (23);
an electric seven-function mechanical arm (9) is arranged on one side of the main body frame (1) close to the tension pulley (4); the lighting and camera system comprises three groups of visual auxiliary modules, each group of visual auxiliary modules mainly comprises a camera (6) and an underwater lamp (7), the three groups of visual auxiliary modules are uniformly distributed in the top area of the main body frame (1), and the two groups of visual auxiliary modules are arranged on two sides of the tensioning pulley (4).
2. The submarine cable laying device suitable for the underwater remote control operation robot according to claim 1, wherein the submarine cable laying device is mounted at the bottom of the underwater remote control operation robot (26), the control container (24) provides electric energy and transmission control signals for the underwater remote control operation robot (26) through an umbilical cable, the umbilical cable on the umbilical cable winch (25) lowers the underwater remote control operation robot (26) to the area with the water depth of 0-4500 m through the A-shaped hanger (27) for operation, and the control container (24), the umbilical cable winch (25) and the A-shaped hanger (27) are all located on a mother ship.
3. The submarine cable laying device suitable for the underwater remote control operation robot is characterized by further comprising an underwater pressure-resistant electronic control box (3), the submarine cable laying device is used for providing electric energy for the underwater remote control operation robot (26) and transmitting control signals, a power supply interface of the underwater remote control operation robot (26) is connected with the underwater pressure-resistant electronic control box (3) through an underwater transformer (8), a communication interface of the underwater remote control operation robot (26) is connected to the underwater pressure-resistant electronic control box (3), and the electric seven-function mechanical arm (9), the motor controller (20), the tensioning pulley driving motor, the cable storage cylinder driving motor (11) and the lighting and camera system are connected with the underwater pressure-resistant electronic control box (3).
4. The submarine cable laying device suitable for an underwater remote control operation robot according to claim 3, wherein three-degree-of-freedom attitude adjustment of the submarine cable laying device is realized by three electric thrusters (5), and the underwater pressure-resistant electronic control box (3) controls the three electric thrusters (5) to operate through the motor controller (20).
5. The submarine cable laying device suitable for the underwater remote control operation robot as claimed in claim 1, wherein the tension pulley (4) mainly comprises a driving wheel and a driven wheel which are tightly attached to each other, the driving wheel is connected with a tension pulley driving motor, the cable (13) sequentially passes through a driving wheel groove and then penetrates out of the middle of a wheel groove at the joint of the driving wheel and the driven wheel, and two sides of a driven wheel groove are mutually attached to two sides of the driving wheel groove to press the cable (13) in the middle of the wheel groove.
6. The submarine cable laying device suitable for an underwater remote-control operation robot according to claim 1, wherein the bottom surface of the rubber cup (21) is made of a metal sheet.
7. The submarine cable laying device suitable for the underwater remote-control operation robot according to claim 1, wherein the rubber cup (21) is pressed into the annular housing (22) from the annular gap at the upper part under the pressure of seawater, oil in the annular housing (22) flows into the housings of the three electric propellers (5) through oil pipes after flowing out of the through hole under the pressure, and the pressure of the underwater transformer (8) is transmitted to the interiors of the housings of the electric propellers (5), so that pressure compensation is realized.
8. A method of operating a submarine cable laying apparatus suitable for use in an underwater remote-controlled working robot according to any one of claims 1 to 7, comprising the steps of:
step 1) installing a submarine cable laying device to the bottom of an underwater remote control operation robot (26), leading out a joint at one end of a cable (13) from a tensioning pulley (4) through a sliding block (16) and then holding the joint by an electric seven-function mechanical arm (9), stopping laying the cable by the submarine cable laying device and keeping the cable between the tensioning pulley (4) and a cable storage barrel (2) in a tensioning state;
step 2), carrying a submarine cable laying device by an underwater remote control operation robot (26) to sink into the seabed, carrying the submarine cable laying device by the underwater remote control operation robot (26) under the control of a control container (24) to reach the position of a connection box/scientific instrument, and inserting and locking a connector at one end of a cable into the connection box/scientific instrument by an underwater pressure-resistant electronic control box (3) through controlling an electric seven-function mechanical arm (9);
and step 3) carrying the submarine cable laying device by the underwater remote control operation robot (26) to move, normally laying the submarine cable laying device in the moving process, releasing all the rest cables on the cable storage cylinder (2) and winding the rest cables on the other end connection box winding cable column after reaching the position of the other end connection box, and inserting and locking the other end connector of the cable (13) into the connection box connector by the underwater pressure-resistant electronic control box (3) through controlling the electric seven-function mechanical arm (9).
9. The method for operating a submarine cable laying apparatus suitable for use in an underwater remote-controlled working robot according to claim 8,
the underwater pressure-resistant electronic control box (3) controls the cable laying device to lay cables through a cable storage cylinder driving motor (11) and a tensioning pulley driving motor: the cable storage cylinder (2) is driven by a cable storage cylinder driving motor (11) to rotate and simultaneously drive a cable storage cylinder gear (12) to rotate, a screw rod gear (15) is driven by the cable storage cylinder gear (12) to rotate and simultaneously drive a reciprocating screw rod (10) to rotate, and a sliding block (16) on a sliding shaft (17) slides back and forth along the reciprocating screw rod (10), so that a cable (13) on the cable storage cylinder (2) is gradually released;
when the submarine cable laying device normally lays cables, the linear speed of rotation of the cable storage cylinder (2) is less than the linear speed of the tensioning pulley (4), and a cable (13) between the cable storage cylinder (2) and the tensioning pulley (4) is in a tensioning state;
when the submarine cable laying device stops laying cables, the linear speed of rotation of the cable storage cylinder (2) and the tensioning pulley (4) is 0, but the tensioning pulley driving motor continues to work, so that the tensioning pulley (4) keeps rotating acceleration, and the cable (13) is in a tensioning state;
when the submarine cable laying device recovers cables, the linear speed of rotation of the cable storage cylinder (2) is greater than that of the tensioning pulley (4), and the cables between the cable storage cylinder and the tensioning pulley are still in a tensioning state.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111847088A (en) * | 2020-07-16 | 2020-10-30 | 湖北蓝砚智能科技有限公司 | Deep water automatic paying-off mechanism with special purpose |
| CN112051654A (en) * | 2020-08-17 | 2020-12-08 | 山东英特力光通信开发有限公司 | Automatic laying device and method for special optical cable in unmanned environment |
| CN113148030A (en) * | 2021-03-17 | 2021-07-23 | 深圳海油工程水下技术有限公司 | Laying and installing method for deepwater submarine cable side launching |
| CN113922881A (en) * | 2021-09-17 | 2022-01-11 | 中国科学院深海科学与工程研究所 | Optical fiber release management repeater for deep sea equipment |
| CN114279608A (en) * | 2021-12-22 | 2022-04-05 | 中国极地研究中心(中国极地研究所) | Umbilical cable underwater torque monitoring system |
| CN114313153A (en) * | 2021-12-29 | 2022-04-12 | 眼点(上海)智能科技有限公司 | Device and method for recovering submarine seismograph in ice area environment |
| CN114325836A (en) * | 2021-12-31 | 2022-04-12 | 安徽陶博士环保科技有限公司 | Submarine optical cable and photoelectric composite cable tracing method and device |
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| CN111847088A (en) * | 2020-07-16 | 2020-10-30 | 湖北蓝砚智能科技有限公司 | Deep water automatic paying-off mechanism with special purpose |
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| CN112051654A (en) * | 2020-08-17 | 2020-12-08 | 山东英特力光通信开发有限公司 | Automatic laying device and method for special optical cable in unmanned environment |
| CN112051654B (en) * | 2020-08-17 | 2022-05-31 | 山东英特力光通信开发有限公司 | Automatic laying device and method for special optical cable in unmanned environment |
| CN113148030A (en) * | 2021-03-17 | 2021-07-23 | 深圳海油工程水下技术有限公司 | Laying and installing method for deepwater submarine cable side launching |
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| CN114735173A (en) * | 2022-05-13 | 2022-07-12 | 武汉理工大学 | Quick laying robot for submarine cables of ocean wind power plant |
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