The invention discloses an underwater obstacle removing robot for submarine cable maintenance, and belongs to the technical field of submarine cable maintenance equipment. At present, an obstacle removing device has the problems that submarine cables are prone to being damaged, large stones are difficult to remove, and operation is unstable. The robot comprises two walking units, a carrying rear harrow frame assembly, a front harrow frame assembly and a suction and discharge assembly, and in the advancing process of the robot, the harrow pushing angle and depth of the front harrow frame assembly are adjusted through rotation and stretching of two rotating telescopic arms and stretching cooperation of the other four telescopic arms; in the bulldozing and raking process, large stones can be pushed away to one side, meanwhile, sludge or sand mud is cut, the front raking frame assembly synchronously controls the bulldozing and raking angle and depth of the rear raking frame assembly, the rear raking frame assembly secondarily cuts the sludge or the sand mud, meanwhile, small stones in the sludge or the sand mud are screened out, and the bulldozing and raking efficiency is improved. And the suction and discharge assembly sucks and discharges the sludge or sand mud which is subjected to secondary cutting and stone screening, cleaning work of the sludge and the sand mud covering the submarine cable is completed, and the operation stability is good.

    本发明公开了海缆检修用水下清障机器人,属于海缆检修设备技术领域。目前,清障装置存在易损伤海缆、难以移除大块石头,且运转不稳定的问题。本发明包括两个行走单元,搭载后耙架组件、前耙架组件以及吸排组件,机器人在行进的过程中,通过两个旋转的伸缩臂的旋转、伸缩以及另外四个伸缩臂的伸缩配合来调节前耙架组件的推耙角度和深度,在推耙的过程中能够将大块的石头推开至一侧,同时将淤泥或沙泥割裂,前耙架组件同步控制后耙架组件的推耙角度和深度,后耙架组件将淤泥或沙泥二次割裂,同时将淤泥或沙泥中的小石块筛除,吸排组件对二次割裂、筛除石块的淤泥或沙泥进行吸排,完成对海缆上覆盖淤泥、沙泥的清理工作,且运行稳定性好。


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    Title :

    Underwater obstacle removing robot for submarine cable maintenance


    Additional title:

    海缆检修用水下清障机器人


    Contributors:
    QI XIAJUN (author) / LI YAN (author) / ZHANG HUANZHONG (author) / WANG LINGZHI (author) / YANG QILU (author) / CHEN QI (author) / WU HAOTIAN (author) / YE ZHIFAN (author)

    Publication date :

    2024-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen



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