The invention provides an underwater robot umbilical cable back-twist device and method. The device comprises an underwater robot controller, an umbilical cable, an umbilical cable winch, a lifting device, a back-twist mounting frame, a USBL beacon, an underwater junction box and a hydraulic compensator, wherein the USBL beacon, the underwater junction box and the hydraulic compensator are arranged in the back-twist mounting frame. The umbilical cable winch is connected with the underwater robot controller and the lifting device through an umbilical cable; the lifting device is connected with the back-twist mounting frame, the underwater junction box is connected into an umbilical cable, and the hydraulic compensator is connected with the underwater junction box; the USBL beacon is used for providing a water depth signal; and the underwater robot controller is used for detecting a signal of the hydraulic compensator connected with the umbilical cable, the release length of the umbilical cable and a water depth signal, monitoring the oil level of the hydraulic compensator and giving an umbilical cable lowering command to control the umbilical cable winch to lower the umbilical cable to the water depth and the cable length position of untwisting. In this way, the oil-filled underwater junction box is adopted, the umbilical cable does not need to be cut off, the umbilical cable is not damaged, and the preparation time of offshore operation is greatly shortened.
本发明提供了一种水下机器人脐带缆退扭装置及方法,装置包括:水下机器人控制器、脐带缆、脐带缆绞车、起吊器、退扭安装框、以及设置在退扭安装框内的USBL信标、水下接线箱和液压补偿器;脐带缆绞车通过脐带缆与水下机器人控制器和起吊器连接;起吊器与退扭安装框连接,水下接线箱接入脐带缆,液压补偿器与水下接线箱连接;USBL信标用于提供水深信号;水下机器人控制器用于检测脐带缆接入的液压补偿器信号、脐带缆释放长度、水深信号,监控液压补偿器油位,给出脐带缆下放命令以控制脐带缆绞车下放脐带缆至退扭的水深和缆长位置。通过以上方式,本发明采用充油水下接线箱,不需要切断脐带缆,对脐带缆无损伤,大大缩短海上作业准备时间。
Underwater robot umbilical cable back-twisting device and method
水下机器人脐带缆退扭装置及方法
2024-10-18
Patent
Electronic Resource
Chinese
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