阅读说明：本技术 一种铺缆机器人 (Cable laying robot ) 是由 王鸿飞 刘可安 严允 张定华 罗凌波 于会民 姜海雨 马亦鸣 郭园园 沈克 于 2020-06-05 设计创作，主要内容包括：本发明实施例公开了一种铺缆机器人,涉及海洋设备技术领域,用于铺缆机器人在采用外部液压动力源将各执行机构复位过程中,防止海水进入各执行机构的液压回路中,保证铺缆机器人的正常工作。该铺缆机器人包括设备本体和安装于设备本体的应急装置,设备本体包括执行器以及驱动执行器动作的执行液压回路；应急装置包括外接回路和应急回路,外接回路包括用于与外部的液压动力源连接的外接件以及与外接件连通的液压马达,液压动力源通过外接件驱动液压马达；应急回路包括液压油箱和液压泵,液压马达与液压泵驱动连接,液压泵的进油口与液压油箱连通,液压泵的出油口与执行液压回路连通。(The embodiment of the invention discloses a cable laying robot, relates to the technical field of marine equipment, and is used for preventing seawater from entering a hydraulic loop of each actuating mechanism and ensuring the normal work of the cable laying robot in the process of resetting each actuating mechanism by adopting an external hydraulic power source. The cable laying robot comprises an equipment body and an emergency device arranged on the equipment body, wherein the equipment body comprises an actuator and an execution hydraulic circuit for driving the actuator to act; the emergency device comprises an external loop and an emergency loop, the external loop comprises an external piece connected with an external hydraulic power source and a hydraulic motor communicated with the external piece, and the hydraulic power source drives the hydraulic motor through the external piece; the emergency loop comprises a hydraulic oil tank and a hydraulic pump, the hydraulic motor is connected with the hydraulic pump in a driving mode, an oil inlet of the hydraulic pump is communicated with the hydraulic oil tank, and an oil outlet of the hydraulic pump is communicated with the execution hydraulic loop.)

1. A cable laying robot is characterized in that: the emergency device comprises an equipment body and an emergency device arranged on the equipment body, wherein the equipment body comprises an actuator and an execution hydraulic circuit for driving the actuator to act; the emergency device comprises an external loop and an emergency loop, the external loop comprises an external piece and a hydraulic motor, the external piece is used for being connected with an external hydraulic power source, the hydraulic motor is communicated with the external piece, and the hydraulic power source drives the hydraulic motor through the external piece; the emergency loop comprises a hydraulic oil tank and a hydraulic pump, the hydraulic motor is in driving connection with the hydraulic pump, an oil inlet of the hydraulic pump is communicated with the hydraulic oil tank, and an oil outlet of the hydraulic pump is communicated with the execution hydraulic loop.

2. The cabling robot as claimed in claim 1, wherein: the hydraulic oil tank comprises a tank body and a piston arranged in the tank body in a sliding mode, the tank body and the piston form an accommodating space for accommodating hydraulic oil, one side of the piston is located in the accommodating space, and the other side of the piston is exposed to the outside.

3. The cabling robot as claimed in claim 1, wherein: the hydraulic motor and the hydraulic pump are coaxially connected in series.

4. The cabling robot as claimed in claim 1, 2 or 3, wherein: the emergency loop comprises a control valve, an oil outlet of the hydraulic pump is connected with the control valve, the control valve is arranged in the execution hydraulic loop, and the control valve has an isolation state for isolating the emergency loop from the execution hydraulic loop and an emergency state for communicating the hydraulic pump with the execution hydraulic loop.

5. The cabling robot as claimed in claim 4, wherein: the control valve comprises a valve seat, a ball valve and an operating handle, wherein the ball valve is rotatably arranged on the valve seat, the operating handle drives the ball valve to rotate, a connecting end connected with the execution hydraulic circuit and the emergency circuit is arranged on the valve seat, and the control valve has the isolation state and the emergency state in the rotating process of the ball valve.

6. The cabling robot as claimed in claim 5, wherein: the operating handle is a U-shaped handle taking the rotation axis as a center line.

7. The cabling robot as claimed in claim 5, wherein: including the installation panel, hydraulic motor the hydraulic pump hydraulic tank with the disk seat set up in one side of installation panel, operating handle set up in the opposite side of installation panel, and pass the installation panel with the ball valve is connected.

8. The cabling robot as claimed in claim 1, wherein: the external connector comprises a plug seat and an external plug which can be plugged and matched with the plug seat, the external plug is used for being connected with the hydraulic power source, the plug seat is positioned in the external loop, and the external plug is communicated with the external loop and the hydraulic power source when being matched with the plug seat.

9. The cabling robot as claimed in claim 1, wherein: the cable laying robot comprises a crawler and a crawler hydraulic loop for driving the crawler to move, and the emergency loop further comprises a crawler connector connected into the crawler hydraulic loop through insertion and connection matching.

10. The cabling robot as claimed in claim 1, wherein: the cable laying robot further comprises an accumulator and a control element, the accumulator is connected with the execution hydraulic circuit through the control element, and the control element conducts the accumulator and the execution hydraulic circuit when the cable laying robot fails.

Technical Field

The embodiment of the invention relates to the technical field of marine equipment, in particular to a cable laying robot.

Background

The cable laying robot is used as an important tool for laying submarine cables and optical cables and overhauling and maintaining, and has the functions of investigation and cleaning, cable laying, flushing and burying protection and the like.

The cabling robot is driven by hydraulic pressure, each actuating mechanism is controlled by a hydraulic actuating element, and the hydraulic actuating element can be a hydraulic motor or a hydraulic oil cylinder. The power source of hydraulic drive in the cable laying robot is provided by an underwater motor, and the underwater motor realizes electric energy transmission through a transmission cable connected with a deck. During underwater operation, if the underwater motor, the main control system or the hydraulic system breaks down, the cable laying robot needs to be lifted out of the water surface from the water for maintenance. However, the cabling robot is usually constrained with the relevant cable or pipe when the above-mentioned faults occur, for example, the cable or pipe is clamped on the manipulator and the cable placing table of the cabling robot, and then directly hoisting the cabling robot usually destroys the cable or pipe which is already buried. For the problems, a common practice in the related art is to send a diver to carry a hydraulic hose communicated with a hydraulic power source on a deck to submerge near the cabling robot, then manually connect the hydraulic hose with an external oil circuit interface of an actuating mechanism in the cabling robot, reset each actuating mechanism by using the hydraulic power source on the deck, and release cables or pipelines constrained by the cabling robot, so that the cables or pipelines are prevented from being damaged when the cabling robot is lifted.

However, in the process of connecting the hydraulic hose and the external oil line interface in seawater, seawater is brought into the hydraulic circuit where the external oil line interface is located, that is, seawater enters the hydraulic circuit of each actuating mechanism through the external oil line interface, and the seawater entering the hydraulic circuit damages each actuating mechanism due to corrosiveness of the seawater, so that the work of the cabling robot is affected.

Disclosure of Invention

In view of this, the embodiment of the present invention provides a cable laying robot, which is used for preventing seawater from entering a hydraulic loop of each actuator in a process that the cable laying robot resets each actuator by using an external hydraulic power source, so as to ensure normal operation of the cable laying robot.

The cable laying robot provided by the embodiment of the invention comprises an equipment body and an emergency device arranged on the equipment body, wherein the equipment body comprises an actuator and an execution hydraulic circuit for driving the actuator to act; the emergency device comprises an external loop and an emergency loop, the external loop comprises an external piece connected with an external hydraulic power source and a hydraulic motor communicated with the external piece, and the hydraulic power source drives the hydraulic motor through the external piece; the emergency loop comprises a hydraulic oil tank and a hydraulic pump, the hydraulic motor is in driving connection with the hydraulic pump, an oil inlet of the hydraulic pump is communicated with the hydraulic oil tank, and an oil outlet of the hydraulic pump is communicated with the execution hydraulic loop.

In the cable laying robot with the structure, the emergency loop is isolated from the external loop, so that the seawater can be prevented from entering the emergency loop in the resetting process of each actuating mechanism by adopting an external hydraulic power source of the cable laying robot, the seawater is prevented from entering the hydraulic loop of the actuating mechanism, the seawater is prevented from damaging the cable laying robot, and the normal work of the cable laying robot is ensured.

In a possible embodiment, the hydraulic oil tank includes a tank body and a piston slidably disposed inside the tank body, the tank body and the piston form an accommodating space for accommodating hydraulic oil, one side of the piston is located in the accommodating space, and the other side of the piston is exposed to the outside. By adopting the hydraulic oil tank with the structure, the hydraulic oil tank has the functions of oil storage and a pressure compensator, seawater pressure can be transmitted to hydraulic oil in the hydraulic oil tank through the piston, so that the pressure of the hydraulic oil in the hydraulic oil tank changes along with the change of the depth of the seawater, and then the pressure is transmitted to a hydraulic loop where the hydraulic oil tank is located, namely the pressure of the hydraulic loop where the hydraulic oil tank is located is established on the basis of the seawater pressure, so that a hydraulic element communicated with the hydraulic oil tank is not influenced by the seawater pressure, and the hydraulic oil tank is suitable for operation under different sea depth conditions.

In one possible embodiment, the hydraulic motor and the hydraulic pump are connected coaxially in series. So design makes hydraulic motor and hydraulic pump integrated as an organic whole, can save the installation space of hydraulic motor and hydraulic pump for it is more compact to spread cable robot overall design, and the integrated level is higher.

In a possible embodiment, the emergency circuit comprises a control valve, the outlet of the hydraulic pump being connected to the control valve, the control valve being arranged in the implement hydraulic circuit, the control valve having an isolation state isolating the emergency circuit from the implement hydraulic circuit and an emergency state conducting the hydraulic pump from the implement hydraulic circuit.

In a possible embodiment, the control valve includes a valve seat, a ball valve rotatably mounted on the valve seat, and an operating handle for driving the ball valve to rotate, the valve seat is provided with a connecting end connected with the execution hydraulic circuit and the emergency circuit, and the control valve has the isolation state and the emergency state during the rotation of the ball valve.

In one possible embodiment, the operating handle is a U-shaped handle centered on the axis of rotation. Due to the design, the operation of the diver and the auxiliary robot on the operation handle is facilitated.

In a possible embodiment, the hydraulic motor, the hydraulic pump, the hydraulic oil tank and the valve seat are arranged on one side of the mounting panel, and the operating handle is arranged on the other side of the mounting panel and penetrates through the mounting panel to be connected with the ball valve.

In a possible implementation manner, the external connector includes a plug socket and an external plug that is detachably mated with the plug socket, the external plug is used for being connected with the hydraulic power source, the plug socket is located in the external circuit, and the external plug communicates the external circuit and the hydraulic power source when being mated with the plug socket.

In a possible embodiment, the cabling robot comprises a crawler and a crawler hydraulic circuit for driving the crawler to move, and the emergency circuit further comprises a crawler connector which is connected into the crawler hydraulic circuit through a plug-in fit. So design, be convenient for spread cable robot and realize the drive to the track through the hydraulic power source of outside to make and spread cable robot and can realize the walking with the help of outside hydraulic power source.

In a possible embodiment, the cable laying robot further comprises an accumulator and a control element, wherein the accumulator is connected with the execution hydraulic circuit through the control element, and the control element conducts the accumulator and the execution hydraulic circuit when the cable laying robot fails. So design, when control element control energy storage ware and execution hydraulic circuit switched on, the pressure medium in the energy storage ware releases to execution hydraulic circuit fast to realize actuating mechanism's quick reset, need not the external world moreover and provide power, reach the purpose of protecting laying cable robot self system.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.

Fig. 1 is a schematic structural diagram of an emergency device in a cabling robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of an emergency device in a cabling robot at another angle according to an embodiment of the present invention.

Description of reference numerals:

1-a plug seat; 2-a crawler belt connector clip; 3-hydraulic locking;

4-a hydraulic motor; 5-a hydraulic pump; 6-high pressure filter;

7-a hydraulic oil tank; 8-control valve; 9-installing a panel;

10-an operating handle; 11-external plug.

Detailed Description

When an underwater motor, a main control system or a hydraulic system of the cable laying robot breaks down, the cable laying robot needs to be lifted out of the water surface from the water to be overhauled, however, in order to avoid damaging the buried cable or pipeline in the lifting process, the actuating mechanism of the cable laying robot needs to be reset before the cable laying robot is lifted out of the water surface from the water, so that the cable or pipeline restrained by the cable laying robot is released. The method generally adopted in the related art is to send a diver to carry a hydraulic hose communicated with a hydraulic power source on a deck to submerge near a cabling robot, then manually connect the hydraulic hose with an external oil circuit interface of an actuating mechanism in the cabling robot, reset each actuating mechanism by using the hydraulic power source on the deck, and release cables or pipelines restrained by the cabling robot. However, in the process of connecting the hydraulic hose and the external oil line interface in seawater, seawater is brought into the hydraulic circuit where the external oil line interface is located, that is, seawater enters the hydraulic circuit of each actuating mechanism through the external oil line interface, and the seawater entering the hydraulic circuit damages each actuating mechanism due to corrosivity of the seawater, so that the normal work of the cabling robot is affected.

In view of this, the embodiment of the present invention provides a cable laying robot, which includes an apparatus body and an emergency device installed on the apparatus body, wherein the emergency device includes an external loop and an emergency loop, the external loop includes an external component and a hydraulic motor, the emergency loop includes a hydraulic oil tank and a hydraulic pump, the external component is conducted with the hydraulic motor and drives the hydraulic motor to work when being connected with an external hydraulic power source, and the hydraulic motor drives the hydraulic pump to work to isolate the emergency loop from the external loop, thereby preventing seawater from entering the emergency loop, that is, preventing seawater from entering a hydraulic loop of an execution mechanism, avoiding damage of seawater to the cable laying robot, and ensuring normal work of the cable laying robot.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The cable laying robot is used for laying submarine cables and optical cables and overhauling and maintaining the submarine cables and the optical cables, and comprises an equipment body and an emergency device arranged on the equipment body, wherein the equipment body comprises a crawler assembly and an actuating mechanism, the crawler assembly comprises a crawler and a crawler hydraulic circuit for driving the crawler to move, and the crawler moves to realize the walking of the cable laying robot under the action of the crawler hydraulic circuit.

The actuator is used for completing action tasks such as trenching, laying, flushing and the like of laying, repairing and maintaining cables and optical cables, and comprises an actuator and an execution hydraulic circuit communicated with the actuator, wherein the actuator can be a hydraulic cylinder or a hydraulic motor, and under the action of the execution hydraulic circuit, the hydraulic cylinder stretches and retracts or the hydraulic motor rotates to realize corresponding execution actions. It will be appreciated that in order to perform different functions, the actuator is generally provided in plurality, that is to say the actuator and the actuator hydraulic circuit are provided in plurality.

Fig. 1 is a schematic structural view of an emergency device in a cabling robot according to an embodiment of the present invention, and fig. 2 is a schematic structural view of an emergency device in a cabling robot according to an embodiment of the present invention from another angle, and as shown in fig. 1 and 2, the emergency device includes a mounting panel 9, a hydraulic lock 3, a hydraulic motor 4, a hydraulic pump 5, a hydraulic oil tank 7, a high pressure filter 6, and an external component.

But the external member adopts the quick-operation joint of high-speed joint and disconnection, but quick-operation joint is including plug complex external plug 11 and plug socket 1, and external plug 11 is for having the connection structure who links to each other with the oil pipe of the hydraulic power source of outside, and the hydraulic power source of here outside can be for the hydraulic pressure station on deck, also can be the hydraulic output of other underwater equipment. The plug seat 1 is provided with a matching hole, the external plug 11 can be inserted into and pulled out of the matching hole, and the connection between the connector and the plug seat 1 can be realized when the connector is matched with the matching hole, namely, when the external plug 11 is inserted into the matching hole of the plug seat 1, the external hydraulic power source is connected with a hydraulic loop where the plug seat 1 is located.

The mounting panel 9 may be a rectangular plate-shaped structure, the plug socket 1, the hydraulic lock 3, the hydraulic pump 5, the hydraulic motor 4, the hydraulic oil tank 7, the high-pressure filter 6, and the control valve 8 are disposed on one side of the mounting panel 9, the mating hole of the plug socket 1 is aligned with the through hole on the mounting panel 9, and the external plug 11 may penetrate through the mounting panel 9 from the through hole on the other side of the mounting panel 9 and then be mated with the plug socket 1. In order to facilitate the clamping of diver operation and auxiliary robot, the top of the external plug 11 is connected with a T-shaped handle, the T-shaped handle comprises a transverse rod and a longitudinal rod, one end of the longitudinal rod is connected with the transverse rod, the longitudinal rod is located at the perpendicular bisector position of the transverse rod, and the other end of the longitudinal rod is connected with the external plug 11.

The plug seat 1 is connected with one end of the hydraulic lock 3 through an oil pipe, the other end of the hydraulic lock 3 is connected with the hydraulic motor 4 through an oil pipe, and hydraulic power is derived from the external plug 11, the plug seat 1 and the hydraulic lock 3 to be conducted with the hydraulic motor 4 and drive the hydraulic motor 4 to rotate. The hydraulic circuit formed by the hydraulic motor 4, the external connecting piece and the hydraulic lock 3 is called an external circuit and is used for being connected with an external hydraulic power source. The hydraulic lock 3 is used to lock the external circuit to prevent hydraulic oil from flowing in the external circuit, and when the plug 1 enters hydraulic oil with a certain pressure, the hydraulic lock 3 is opened, that is, the external circuit is opened. After the hydraulic lock 3 is opened, the hydraulic motor 4 can be driven by hydraulic oil entering from the plug connector 1.

The hydraulic lock 3 is arranged to maintain pressure when the external circuit is not connected to the hydraulic power source, and in one possible embodiment, the external circuit may not include the hydraulic lock 3.

The hydraulic motor 4 is in driving connection with the hydraulic pump 5 to realize driving of the hydraulic pump 5, and the hydraulic pump 5 moves to finish oil absorption and oil outlet work under the driving of the hydraulic motor 4. Hydraulic motor 4 and hydraulic pump 5 are coaxial to be established ties in this embodiment, and both are integrated as an organic whole, and hydraulic motor 4 and hydraulic pump 5's installation space can be saved to this design for the overall design of cable laying robot is more compact, and the integrated level is higher. However, the embodiment of the present invention is not limited to this, for example, in one possible embodiment, the hydraulic motor 4 and the hydraulic pump 5 are two independent devices, and the output shaft of the hydraulic motor 4 is connected to the hydraulic pump 5 through a transmission mechanism, which may be a gear transmission mechanism, for example.

An oil inlet of the hydraulic pump 5 is communicated with the hydraulic oil tank 7, and an oil outlet of the hydraulic pump 5 is communicated with an oil inlet of the control valve 8. Hydraulic tank 7 includes the box and for box inner wall slidable piston, the piston forms the accommodation space of holding hydraulic oil with the box, piston one side exposes in the outside, the opposite side is arranged in the accommodation space, that is to say, the piston divides hydraulic tank 7 into two chambeies, a chamber is hydraulic oil, another chamber is the sea water, the hydraulic oil in another chamber is directly transmitted to the accessible piston of external sea water pressure, the pressure that makes hydraulic oil is the same with sea water pressure in the accommodation space, thereby realize pressure compensation's function. An elastic part is arranged between the piston and the hydraulic oil tank 7, and under the action of the elastic part, the piston moves to one side close to the seawater, namely, the piston can be pushed to move only after the seawater pressure reaches a certain value.

By adopting the hydraulic oil tank 7 with the structure, the hydraulic oil tank 7 has the functions of oil storage and a pressure compensator at the same time, the seawater pressure can be transmitted to the hydraulic oil tank 7 through pressure compensation and then transmitted to the hydraulic loop where the hydraulic oil tank 7 is located, so that the hydraulic oil pressure in the hydraulic loop where the hydraulic oil tank 7 is located changes along with the change of the seawater depth, namely, the pressure of the hydraulic loop where the hydraulic oil tank 7 is located is established on the basis of the seawater pressure, and further, hydraulic elements (the hydraulic pump 5 and the control valve 8) communicated with the hydraulic oil tank 7 are not influenced by the seawater pressure, so that the hydraulic oil tank 7 is suitable for operation under different seawater depth conditions.

A high-pressure filter 6 is also arranged between the hydraulic pump 5 and the hydraulic oil tank 7 for filtering impurities in the hydraulic oil, and in a possible embodiment, the high-pressure filter 6 may be omitted, i.e. the oil inlet of the hydraulic pump 5 is directly connected to the hydraulic oil tank 7 through an oil pipe.

An oil outlet of the hydraulic pump 5 is communicated with an oil inlet of the control valve 8, and a hydraulic loop formed by the hydraulic pump 5, the hydraulic oil tank 7 and the control valve 8 is called an emergency loop. The control valve 8 is a plate-type four-channel ball valve, and comprises a valve seat, a ball valve rotatably mounted on the valve seat and an operating handle 10 connected with the ball valve, wherein the operating handle 10 is used for controlling the ball valve to rotate in the valve seat. The valve seat is provided with four connecting ends which are respectively a first end, a second end, a third end and a fourth end, an oil outlet of the hydraulic pump 5 is communicated with the first end through an oil pipe, the first end is an oil inlet of the control valve 8, the second end is communicated with the plug seat 1 through an oil pipe, and the third end and the fourth end are respectively connected into the execution hydraulic circuit.

The operating handle 10 drives the ball valve to rotate, so that the control valve 8 has an isolation state and an emergency state, wherein the isolation state is that the third end and the fourth end are conducted, but the first end is isolated from the third end and the fourth end, and the second end is isolated from the third end and the fourth end, namely, the emergency loop is isolated from the external loop. The emergency state means that the first end and the third end are conducted, the second end and the fourth end are conducted, and the unexplained end parts are not conducted, namely, the emergency loop and the external loop are conducted.

In the present embodiment, the valve seat and the operation handle 10 of the control valve 8 are disposed on two sides of the mounting panel 9, the valve seat is located on the same side as the hydraulic pump 5, the hydraulic motor 4, the hydraulic lock 3 and the high pressure filter 6, and the operation handle 10 is located on the other side. The operating handle 10 passes through the mounting panel 9 and is connected with the ball valve to control the rotation of the ball valve. The operating handle 10 is screwed with its axis perpendicular to the mounting panel 9. In order to facilitate the operation of divers and auxiliary robots, the operating handle 10 is designed as a U-shaped handle with the rotation axis as a center line.

In one possible embodiment, the emergency circuit may be connected directly to the implement hydraulic circuit, i.e. the control valve 8 is omitted.

The working principle of the cable laying robot is as follows:

when a underwater motor, a main control system or a hydraulic system in the cable laying robot breaks down, connecting an oil pipe of an external hydraulic power source to an external plug 11, sending a diver to carry the external plug 11 to submerge to the position near the fault cable laying robot, manually inserting the external plug 11 into a matching hole of a plug base 1, or adopting an auxiliary robot to carry the external plug 11 to submerge to the position near the fault cable laying robot, and inserting the external plug 11 into the matching hole of the plug base 1 through a manipulator; and the communication between the external circuit and the hydraulic power source is realized.

After entering the external loop, the hydraulic power source opens the hydraulic lock 3 and enters the hydraulic motor 4 through the hydraulic lock 3 to drive the hydraulic motor 4 to rotate. The hydraulic motor 4 is coaxially connected in series with the hydraulic pump 5, thereby driving the hydraulic pump 5 to work. The diver manually rotates the operating handle 10 of the control valve 8 or the auxiliary robot rotates the control handle of the control valve 8 to realize the conduction of the emergency loop and the execution hydraulic loop, so that the corresponding actuating mechanism is driven to reset, and the cable or the pipeline constrained by the cable laying robot is released. After the corresponding actuating mechanism of the cable laying robot is reset, the cable or the pipeline clamped on the robot hand and the cable placing table is placed on the seabed, and then the whole cable laying robot is lifted out of the water surface, so that the cable or the pipeline is prevented from being damaged when the cable laying robot is lifted.

According to the above description, the isolation of the emergency loop and the external loop in the emergency device of the cable laying robot prevents seawater from entering the emergency loop, i.e., prevents seawater from entering the hydraulic execution loop, thereby avoiding the damage of seawater to the cable laying robot and ensuring the normal work of the cable laying robot.

In the related art, it is complicated for a diver to manually connect a hydraulic hose with an external oil passage interface, and it is necessary to connect a plurality of actuators many times, and in addition, the diver has a limited working depth on the seabed and can only operate in shallow water. By adopting the cable laying robot provided by the embodiment of the invention, the resetting of different actuating mechanisms can be realized by connecting the external connecting piece with an external hydraulic power source at one time, so that the operation is convenient and the realization is easy; and the setting of external piece and control valve 8 makes things convenient for auxiliary robot's centre gripping and control, is favorable to realizing adopting auxiliary robot to carry out the automation mechanized operation to the problem that the diver is restricted by the depth of water has been stopped.

In addition, a power source of a hydraulic system in the cable laying robot is provided by an underwater motor, and the underwater motor realizes electric energy transmission through a transmission cable connected with a deck. In order to effectively drive the cabling robot, the transmission cable from the underwater motor to the deck generally adopts high-voltage transmission, so that the heat productivity of the operation of the underwater motor is very large, and the cabling robot cannot operate on a shoal or a shore.

In a possible embodiment, the cabling robot further comprises an accumulator and a control element, the accumulator having a volume and storing a volume of pressure medium. The control element switches on the energy accumulator and the execution hydraulic circuit when the cable laying robot has a fault, and the pressure medium in the energy accumulator is released to the execution hydraulic circuit, so that the quick reset of the execution mechanism is realized, and the aim of protecting the system of the cable laying robot is fulfilled without external power supply.

The emergency device in the embodiment of the invention also comprises a crawler connector 2 which is connected into the crawler hydraulic circuit in a splicing matching mode, and the crawler connector 2 is communicated with the emergency circuit, so that the crawler of the cable laying robot can be driven by an external hydraulic power source.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the present invention described above may be combined with each other as long as they do not conflict with each other.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.