A buried plow and working method thereof

Abstract

The present invention discloses a burying plow and a working method thereof, which are used for laying submarine cables. The burying plow comprises: a frame; a plow cutter system, which is arranged at the rear side of the frame and is used for digging the seabed soil; a traction steering system, which is arranged on the frame and can be switched to a first state, a second state and a third state, wherein the first state is a state when the traction steering system hoists the burying plow, the second state is a state when the traction steering system tows the burying plow, and the third state is a state when the traction steering system drives the burying plow to turn; and a control system, which is used for controlling the operation of the burying plow. The present invention integrates the three functions of traction, steering and hoisting by arranging the traction steering system, thereby effectively improving the application capability and work efficiency of the burying plow.

Description

Technical Field

[0001] The invention relates to the field of cable laying devices, in particular to a laying plow and a working method thereof. Background Art

[0002] With the rapid development of offshore wind power in recent years, in addition to wind turbines, offshore wind power has also brought about the development of offshore wind power cable laying. At the same time, as the country gradually increases its development of offshore oil, it is also necessary to lay a large number of submarine cables. Cable laying requires the use of cable laying vessels to lay submarine cables in wind farms or oil production platforms, and cable laying plows are the core equipment that cable laying vessels must be equipped with.

[0003] At present, most submarine cable burying plows have simple structures and single functions. Their main disadvantage is that when the existing burying plow needs to be lowered to the seabed or pulled out from the seabed, the steel wire rope used to pull the burying plow for excavation cannot realize the lifting function of the burying plow. Therefore, special slings and slings need to be prepared for replacement, which increases labor costs and reduces work efficiency. In addition, the steering of the existing burying plow is generally achieved through different combinations of towing ears, and there is no mechanism for adjusting the steering, which makes the steering of the burying plow time-consuming and labor-intensive, thereby limiting the application capacity of the burying plow. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing burying plow needs to replace the sling and the sling when it is lowered to the seabed or pulled out from the seabed, which increases the labor cost and reduces the work efficiency, and the problem that the existing burying plow lacks a mechanism that can adjust the steering, resulting in limited application ability. The present invention provides a burying plow and a working method thereof, which can use the same steel wire rope to achieve the traction, lifting and steering functions, thereby saving labor costs and improving the working efficiency and application ability of the burying plow.

[0005] In order to solve the above technical problems, an embodiment of the present invention discloses a laying plow for laying submarine cables, comprising:

[0006] frame;

[0007] The plow blade system is located at the rear of the frame and is used to dig the seabed soil;

[0008] A traction steering system is arranged on the frame and can be switched to a first state, a second state and a third state. The first state is a state when the traction steering system is hoisting the buried plow, the second state is a state when the traction steering system is towing the buried plow, and the third state is a state when the traction steering system drives the buried plow to turn.

[0009] A control system is used to control the operation of the burying plow.

[0010] Optionally, the traction steering system includes:

[0011] Steering bracket;

[0012] A hoisting rod, one end of which is connected to the steering bracket and the other end is rotatably connected to the frame;

[0013] There are two cross shafts, which are respectively arranged on both sides of the steering bracket;

[0014] There are two traction rollers, which are respectively connected to the ends of the two cross shafts;

[0015] The hoisting rod oil cylinder has two ends rotatably connected to the hoisting rod and the frame respectively;

[0016] When the traction steering system is in the first state, the traction steering system is in a vertical position driven by the hoisting rod cylinder to hoist the buried plow;

[0017] When the traction steering system is in the second state, the traction steering system is in a horizontal position driven by the hoisting rod cylinder to tow the buried plough.

[0018] Optionally, the traction steering system further comprises:

[0019] A right steering arm is arranged between the steering bracket and the traction roller located on the right side of the steering bracket, one end of the right steering arm is rotatably connected to the right side of the steering bracket, and the traction roller located on the right side of the steering bracket is arranged on the right steering arm;

[0020] A left steering arm is arranged between the steering bracket and the traction roller located on the left side of the steering bracket, one end of the left steering arm is rotatably connected to the left side of the steering bracket, and the traction roller located on the left side of the steering bracket is arranged on the left steering arm;

[0021] An intermediate connecting rod, rotatably connected to the rear side of the steering bracket;

[0022] A right connecting rod, both ends of which are rotatably connected to the right steering arm and the middle connecting rod respectively;

[0023] A left connecting rod, two ends of which are rotatably connected to the left steering arm and the middle connecting rod respectively;

[0024] A steering cylinder, one end of which is rotatably connected to the lifting rod, and the other end of which is rotatably connected to the left steering arm or the right steering arm;

[0025] When the traction steering system is in the third state, the steering cylinder extends or retracts, driving the traction rollers on the left steering arm and the right steering arm to swing, so that the traveling direction of the buried plow is consistent with the pre-operation direction.

[0026] Optionally, the frame is a non-sealed steel structure.

[0027] Optionally, the rack includes:

[0028] ontology;

[0029] A movable bell mouth, detachably connected to the lower front part of the body;

[0030] An active cable channel is detachably connected to the bottom of the body, and the active cable channel is located at the rear side of the active bell mouth;

[0031] The fixed cable channel is connected to the main body and is located at the rear side of the movable cable channel.

[0032] Optionally, the coulter system comprises:

[0033] Coulter mounting frame;

[0034] a coulter connected to a coulter mounting frame;

[0035] A coulter head, detachably connected to the bottom front side of the coulter;

[0036] Cable trough, provided on the coulter;

[0037] A cable trough is arranged at the front side of the cable trough, and the cable trough is connected to the plow blade mounting frame;

[0038] The plowshare oil cylinder has one end rotatably connected to the plowshare mounting frame, and the other end rotatably connected to the frame.

[0039] Optionally, the coulter head is made of high manganese wear-resistant steel.

[0040] Optionally, the burying plow also includes a cable pressing system, which is arranged at the rear side of the plow blade system and is used to press the cable into the cable trough.

[0041] Optionally, the cable pressing system comprises:

[0042] A cable pressing cylinder, one end of which is rotatably connected to the plow blade mounting frame;

[0043] The cable press is arranged in the cable trough and is rotatably connected to the plow blade mounting frame. The rotatable connection point is the rotation fulcrum of the cable press. One side of the rotation fulcrum close to the cable pressing cylinder is rotatably connected to the other end of the cable pressing cylinder.

[0044] Optionally, the burying plow also includes a cable anti-jump system, which is arranged above the frame and is used to prevent the cable from jumping out of the cable groove under the action of its own elastic force or external force.

[0045] Optionally, the cable anti-trip system includes:

[0046] The anti-jump system mounting seat is installed on the frame;

[0047] The anti-jump pressure rod is rotatably connected to the anti-jump system mounting seat;

[0048] The anti-jump torsion spring is a parallel double torsion spring with a pin running through it. The anti-jump torsion spring is connected to the anti-jump system mounting seat and the anti-jump pressure rod through the pin.

[0049] The anti-jump roller is rotatably connected to the end of the anti-jump pressure rod.

[0050] Optionally, a balancing system is provided on both sides of the frame to enhance the balance of the buried plow, and the balancing system includes:

[0051] The left balance wing is arranged on the left side of the frame, and its upper part is rotatably connected with the frame;

[0052] The left balance wing oil cylinder has two ends which are rotatably connected to the frame and the left balance wing respectively;

[0053] The right balance wing is arranged on the right side of the frame, and its upper part is rotatably connected to the frame;

[0054] The right balance wing oil cylinder has two ends which are rotatably connected to the frame and the right balance wing respectively.

[0055] Optionally, the burying plough further comprises a cable guide system, which is arranged in front of the frame and is used for guiding the cable into the burying plough.

[0056] Optionally, the cable guide system comprises:

[0057] Cable guide, located in front of the rack;

[0058] A fixed shaft, arranged on the cable guide;

[0059] A rotating shaft, rotatably connected to the fixed shaft;

[0060] There are two cable limit rods, which are connected to the rotating shaft respectively and symmetrically installed on both sides of the rotating shaft;

[0061] There are two torsion springs, which are arranged up and down. One end of the torsion spring located at the upper end is connected to the fixed shaft, and the other end is connected to the rotating shaft; one end of the torsion spring located at the lower end is connected to the cable guide frame, and the other end is connected to the rotating shaft.

[0062] Optionally, the burying plough further comprises a speed measuring system, which is installed on one side of the balancing system and is used to measure the travel speed of the burying plough when it is working.

[0063] Optionally, the speed measurement system includes:

[0064] A connecting arm, one end of which is connected to the left balance wing or the right balance wing;

[0065] A speed measuring shaft, rotatably connected to the connecting arm;

[0066] a tachometer wheel connected to the tachometer shaft;

[0067] The speed sensor is electrically connected to the control system, the rotating part of the speed sensor is fixedly connected to the speed measuring shaft, the fixed part of the speed sensor is fixedly connected to the connecting arm, and the speed sensor is used to detect the travel speed of the buried plow.

[0068] Optionally, the burying plow also includes a hydraulic system, which is installed on the frame and is used to provide hydraulic kinetic energy for the plow cylinder, the cable pressure cylinder, the hoisting rod cylinder and the steering cylinder.

[0069] Optionally, the buried plow further comprises: an alarm device and a sensor system, and both the alarm device and the sensor system are electrically connected to the control system.

[0070] Optionally, the burying plow further comprises a hydraulic system, which is mounted on the frame and is used to provide hydraulic kinetic energy to the oil cylinder in the burying plow, and the sensing system comprises:

[0071] A first inclination sensor is provided on the frame and is used to measure the longitudinal inclination of the buried plow. When the longitudinal inclination is greater than or equal to a first preset angle, the alarm device sounds an alarm;

[0072] A second inclination sensor is provided on the frame and is used to measure the lateral inclination of the buried plow. When the lateral inclination is greater than or equal to a second preset angle, the alarm device sounds an alarm.

[0073] a first angle sensor, mounted on the cable guide system, for measuring the angle at which the cable enters the buried plow;

[0074] Second angle sensor: installed at the rotation connection between the frame and the coulter system, used to measure the relative angle between the frame and the coulter system;

[0075] The third angle sensor is installed on the cross shaft of the traction steering system, and is used to measure the traction angle of the Y-shaped steel wire rope used for traction of the buried plow. When the traction angle of the Y-shaped steel wire rope is greater than the third preset angle, the alarm device will sound an alarm;

[0076] Force sensor: installed on the cross shaft of the traction steering system to measure the traction force of the Y-shaped wire rope;

[0077] The first sonar is installed on the working mother ship used to tow the buried plow and is used to measure the diving depth of the buried plow;

[0078] A second sonar, mounted on the coulter system, is used to measure the trenching depth of the coulter system;

[0079] A first pressure sensor is provided in the pipeline of the hydraulic system and is used to measure the pressure of the hydraulic system. When the pressure is greater than a first preset pressure, the alarm device sounds an alarm;

[0080] A third pressure sensor is mounted on the balancing system and is used to detect whether the buried plow is touching the ground;

[0081] A compass, mounted on the front upper end of the frame, is used to detect the azimuth of the buried plow;

[0082] The temperature sensor is installed in the oil tank of the hydraulic system and is used to detect the temperature of the hydraulic oil. When the temperature of the hydraulic oil is greater than the preset temperature, the alarm device will sound an alarm.

[0083] Optionally, the first preset angle and the second preset angle are both ±10°, the third preset angle is 15°, the first preset pressure is 250 bar, and the preset temperature is 60°C.

[0084] Optionally, the embedding plow further comprises:

[0085] An underwater camera is installed on the cable guide system. The underwater camera is electrically connected to the control system and is used to monitor the actual situation when the cable enters the buried plow;

[0086] A pan / tilt is electrically connected to the control system and is connected to the underwater camera, and is used to drive the underwater camera to rotate so as to perform underwater photography from different angles;

[0087] Lighting equipment to provide lighting for monitoring the work of burying the plow.

[0088] Optionally, the control system includes:

[0089] The main control console, located above the water surface, is used to operate and monitor the buried plow;

[0090] The underwater part is mounted on the frame;

[0091] The underwater umbilical cable connects the main control console and the underwater part and is used to transmit signals and power.

[0092] Optionally, the underwater part includes a watertight electric control box, which is fixed on the frame and is provided with:

[0093] The power distribution module is used to stabilize the power transmitted from the main control console through the underwater umbilical cable and output the voltage required by each part of the sensor system to power the sensor system;

[0094] The sensor module is electrically connected to the power distribution module and is used to receive the electrical signal output by the sensor system and convert the electrical signal into an analog signal or a digital signal for output;

[0095] The data acquisition and processing module is electrically connected to the sensor module, and is used to receive the analog signal or digital signal output by the sensor module, and convert the received analog signal or digital signal into an optical fiber signal, and transmit it to the main control console through the underwater umbilical cable.

[0096] Accordingly, an embodiment of the present invention further discloses a working method of any of the above-mentioned buried ploughs, the method comprising the following steps:

[0097] In the preparation stage, the cable is inserted into the buried plow and the cable is guided out of the plow blade system;

[0098] During the lowering stage, the hoisting rod cylinder in the traction steering system extends, driving the traction steering system from a horizontal position to a vertical position, and uses a Y-shaped steel wire rope to connect with two traction rollers respectively, and lowers the buried plow into the water through the Y-shaped steel wire rope;

[0099] In the positioning stage, after the burying plow is lowered to the seabed, the plow cuts into the seabed, the hoisting rod cylinder retracts, the traction steering system returns to the horizontal position, and the angle between the Y-shaped steel wire rope and the preset travel direction of the burying plow is adjusted so that the Y-shaped steel wire rope can pull the burying plow to run in the preset travel direction;

[0100] During the excavation phase, the burying plow is pulled forward by a Y-shaped steel wire rope, so that the plow blade digs trenches and buries cables at the same time;

[0101] During the recovery phase, when the cable is buried at the predetermined destination, the burying plow stops running, the hoisting rod cylinder extends, driving the traction steering system to a vertical position, and the burying plow is lifted above the sea surface using a Y-shaped wire rope.

[0102] Optionally, during the excavation phase, when the burying plow needs to turn, the steering cylinder extends or retracts accordingly, driving the traction rollers on the left steering arm and the right steering arm to swing, so that the travel direction of the burying plow is consistent with the traction direction of the Y-shaped wire rope.

[0103] Compared with the prior art, the present invention has the following technical effects:

[0104] By setting up a traction and steering system, the three major functions of traction, steering and hoisting are integrated together; when the burying plow is working, the traction and steering system can complete the traction and steering functions at the same time, thereby effectively improving the application ability of the burying plow; when the burying plow needs to be lowered to the seabed or pulled out from the seabed, the traction and steering system can also realize the hoisting function of the burying plow, so there is no need to specially prepare slings and slings, nor to replace wire ropes, saving labor costs and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 A three-dimensional diagram showing an embedded plow provided by an embodiment of the present invention;

[0106] Figure 2 A front view of an embedded plow provided by an embodiment of the present invention is shown;

[0107] Figure 3 A left side view of an embedded plow provided by an embodiment of the present invention is shown;

[0108] Figure 4 A top view of an embedded plow provided by an embodiment of the present invention is shown;

[0109] Figure 5 A schematic diagram showing the buried plough provided by an embodiment of the present invention in the lowering stage;

[0110] Figure 6 A schematic diagram showing the buried plow provided by an embodiment of the present invention in the digging stage;

[0111] Figure 7 A three-dimensional diagram of a rack provided by an embodiment of the present invention is shown;

[0112] Figure 8 A stereoscopic diagram showing a cable guide system provided by an embodiment of the present invention;

[0113] Fig. 9 A front view of a cable guide system provided by an embodiment of the present invention is shown;

[0114] Fig.10 A left side view of a cable guide system provided by an embodiment of the present invention is shown;

[0115] Fig.11 A top view of a cable guide system provided by an embodiment of the present invention is shown;

[0116] Fig.12 A perspective view showing a traction steering system provided by an embodiment of the present invention;

[0117] Fig.13 A front view of a traction steering system provided by an embodiment of the present invention is shown;

[0118] Fig.14 A left side view of a traction steering system provided by an embodiment of the present invention is shown;

[0119] Fig.15 A top view of a traction steering system provided by an embodiment of the present invention is shown;

[0120] Fig.16 A schematic diagram showing a traction steering system provided by an embodiment of the present invention in a horizontal state and a vertical state;

[0121] Fig.17 A schematic diagram of steering analysis of a traction steering system provided by an embodiment of the present invention is shown;

[0122] Fig.18 A stereoscopic diagram showing a digging depth adjustment system provided by an embodiment of the present invention;

[0123] Fig.19a , 19b Schematic diagrams of the digging depth adjustment system provided by the embodiment of the present invention are respectively shown in the outrigger oil cylinder extended state and the outrigger oil cylinder retracted state;

[0124] Fig.20a , 20b 20c are schematic diagrams showing the digging depth adjustment system provided by the embodiment of the present invention in the sliding shoe horizontal state, the sliding shoe downward state and the sliding shoe upward state respectively;

[0125] Fig.21 A three-dimensional diagram showing a balancing system provided by an embodiment of the present invention;

[0126] Fig. 22 A schematic diagram showing a balancing system provided by an embodiment of the present invention in a raised state and a lowered state;

[0127] Fig.23 A three-dimensional diagram of a speed measurement system provided by an embodiment of the present invention is shown;

[0128] Fig.24 A front view of a speed measurement system provided by an embodiment of the present invention is shown;

[0129] Fig.25 A left side view of a speed measuring system provided by an embodiment of the present invention is shown;

[0130] Fig.26 A top view of a speed measurement system provided by an embodiment of the present invention is shown;

[0131] Fig. 27 A three-dimensional diagram of a coulter system provided by an embodiment of the present invention is shown;

[0132] Fig.28 A three-dimensional diagram showing another perspective of the coulter system provided by an embodiment of the present invention;

[0133] Fig.29 A front view of a plow system provided by an embodiment of the present invention is shown;

[0134] Fig.30 A left side view of a coulter system provided by an embodiment of the present invention is shown;

[0135] Fig.31 Show Fig.30 Middle AA section view;

[0136] Fig.32 A three-dimensional diagram showing a cable compression system provided by an embodiment of the present invention;

[0137] Fig.33 A front view of a cable compression system provided by an embodiment of the present invention is shown;

[0138] Fig.34 A left side view of a cable compression system provided by an embodiment of the present invention is shown;

[0139] Fig.35A top view of a cable compression system provided by an embodiment of the present invention is shown;

[0140] Fig.36 A schematic diagram of a cable compression system provided by an embodiment of the present invention in a raised state and a lowered state;

[0141] Fig.37 A stereoscopic diagram of a cable anti-tripping system provided by an embodiment of the present invention is shown;

[0142] Fig.38 A front view of a cable anti-tripping system provided by an embodiment of the present invention is shown;

[0143] Fig.39 A top view of a cable anti-tripping system provided by an embodiment of the present invention is shown;

[0144] Fig.40 A three-dimensional diagram showing a hydraulic system provided by an embodiment of the present invention;

[0145] Fig.41 A three-dimensional diagram showing another perspective of a hydraulic system provided by an embodiment of the present invention;

[0146] Fig.42 A three-dimensional diagram showing a high-pressure water spraying system provided by an embodiment of the present invention;

[0147] Fig.43 A three-dimensional diagram showing a control system provided by an embodiment of the present invention;

[0148] Fig.44 A schematic diagram showing the state of the buried plow provided by the embodiment of the present invention when the plow system has not cut into the seabed soil;

[0149] Fig.45 A schematic diagram showing the state of the buried plow provided by an embodiment of the present invention when the plow cutter system cuts into the seabed soil.

[0150] Reference numerals:

[0151] 1. Frame; 2. Cable guide system; 3. Traction steering system; 4. Digging depth adjustment system; 5. Balance system; 6. Speed ​​measurement system; 7. Plough system; 8. Cable pressing system; 9. Cable anti-jump system; 10. Hydraulic system; 11. High-pressure water spray system; 12. Control system; 13. Fixed bell mouth; 14. Movable bell mouth; 15. Left horizontal support of the frame; 16. Left sliding shoe cylinder mounting seat; 17. Left outrigger cylinder mounting seat; 18. Left outrigger mounting seat; 19. Left balance wing mounting seat; 20. Left balance wing cylinder mounting seat; 21. Left longitudinal support of the frame; 22. Left lifting rod mounting seat; 23. Left mounting seat of the plough system; 24. Plough cylinder mounting seat; 25. Fixed cable channel; 26. Right mounting seat of the plough system; 27. Right hoisting rod mounting seat; 28. Right longitudinal support of the frame; 29. ​​Right balance wing cylinder mounting seat; 30. Right balance wing mounting seat; 31. Right outrigger mounting seat; 32. Right outrigger cylinder mounting seat; 33. Right sliding shoe cylinder mounting seat; 34. Right cross support of the frame; 35. Movable cable channel; 36. Hoisting rod cylinder mounting seat; 37. Cable guide; 38. Underwater camera; 39. Cable limit rod; 40. Cable guide connection flange; 41. Rotating shaft; 42. Torsion spring; 43. Fixed shaft; 44. Traction roller; 45. Cross shaft; 46. Cross shaft connection flange; 47. Right steering arm; 48. Steering bracket; 49. Left steering arm; 50. Left connecting rod; 51. Steering cylinder; 52. Left hoisting rod; 53. Hoisting Rod cylinder; 54. Right lifting rod; 55. Middle connecting rod; 56. Right connecting rod; 57. Left sliding shoe; 58. Left outrigger; 59. Left sliding shoe cylinder; 60. Left outrigger cylinder; 61. Right outrigger; 62. Right outrigger cylinder; 63. Right sliding shoe cylinder; 64. Right sliding shoe; 65. Left balance wing; 66. Left balance wing cylinder; 67. Right balance wing; 68. Right balance wing cylinder; 69. Speed ​​measuring system mounting seat; 70. Speed ​​measuring wheel; 71. Speed ​​measuring shaft; 72. Connecting arm; 73. Speed ​​sensor; 74. Coulter mounting frame; 75. Coulter; 76. Nozzle; 77. Coulter head; 78. Cable trough; 79. Cable trough; 80. Cable pressing system mounting seat; 81. High-pressure water spray system connecting flange; 82. Coulter cylinder ;83. Cable-pressing cylinder mounting seat;84. Cable-pressing cylinder;85. Cable-pressing device;86. Anti-jumping system mounting seat;87. Anti-jumping torsion spring;88. Anti-jumping pressure rod;89. Anti-jumping roller;90. Mounting seat;91. Hydraulic rack;92. First motor;93. Oil pump;94. Valve group;95. Water system support frame;97. Water inlet pipe;98. Water pump;99. Second motor;100. Water outlet pipe;101. Control system mounting seat;103. Watertight electric control box;104. Underwater umbilical cable;105. Main control console;106. Working mother ship;107. Towing winch;108. A-type hoisting frame;109. Y-type wire rope;110. Cable;111. High-pressure pipeline;112. Water spraying pipeline. DETAILED DESCRIPTION

[0152] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0153] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0154] In the description of this embodiment, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0155] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0156] In the description of this embodiment, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0157] For ease of understanding, the "front" direction described in this embodiment is the running direction of the buried plow during the excavation process, that is, Figure 4 The "rear" direction in this embodiment is the direction opposite to the X direction, and the "left" direction in this embodiment is Figure 4The Y direction shown in the figure, the "right" direction in this embodiment is the direction opposite to the Y direction, and the "up" direction in this embodiment is Figure 2 The Z direction is shown in the figure, and the "downward" direction described in this embodiment is the direction opposite to the Z direction.

[0158] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0159] The embodiment of the present invention discloses a buried plough, such as Figures 1 to 4 As shown, it is used for burying submarine cables, including:

[0160] Frame 1 is a non-sealed steel structure used to carry the buried plow load, install other mechanisms and provide cable channels;

[0161] The cable guide system 2 is arranged in front of the frame 1, and is detachably connected to the frame 1 through the cable guide frame connecting flange 40. The cable guide system 2 is used to guide the cable 110 into the buried plow;

[0162] The traction steering system 3 is installed in the middle of the frame 1 and connected to the frame 1 through a pin shaft; the traction steering system 3 can be switched to a first state, a second state and a third state, wherein the first state is the state when the traction steering system 3 is hoisting the buried plow, the second state is the state when the traction steering system 3 is towing the buried plow, and the third state is the state when the traction steering system 3 drives the buried plow to turn. The traction steering system 3 is connected to the working mother ship 106 through a Y-shaped steel wire rope 109, and is used to drive the entire buried plow forward under the towing of the working mother ship, and provide the functions of traction, hoisting and steering for the buried plow;

[0163] The balancing system 5 is symmetrically arranged on both sides of the rear part of the frame 1 to enhance the balance of the buried plow;

[0164] The speed measuring system 6 is installed on one side of the balancing system 5 through a pin connection and is used to measure the running speed of the buried plow when it is working;

[0165] The coulter system 7 is mounted on the rear of the frame 1 through the pins and sliding bearings on the left and right sides, and is used to provide the buried plow with mechanical trenching function and high-pressure water flushing and digging function;

[0166] A cable pressing system 8, installed at the rear of the coulter system 7, for pressing the cable 110 into the cable groove 78 of the coulter system 7;

[0167] The cable anti-jump system 9 is arranged above the rack 1 and is used to prevent the cable 110 from jumping out of the cable groove 79 under its own elastic force or external force;

[0168] The hydraulic system 10 is installed on the right side of the middle part of the frame 1 by bolt connection, and is used to provide hydraulic kinetic energy to the cylinders of the entire buried plow;

[0169] A control system 12, used to provide electrical control, signal detection, data transmission, seabed monitoring, alarm and other functions for the buried plow;

[0170] Specifically, the frame 1 can form a non-sealed steel structure by opening a hole thereon. When the buried plow dives into the seabed, seawater can be poured into the frame 1 through the hole, making the pressure inside and outside the frame 1 equal, so that the frame 1 can adapt to the high pressure generated by deep water, allowing the buried plow to work in a deeper water depth range.

[0171] Furthermore, if Figure 7 As shown, the frame 1 includes: a body, a movable bell mouth 14, a movable cable channel 35 and a fixed cable channel 25. Among them, a hole is opened on the body, and the movable bell mouth 14 and the movable cable channel 35 are detachably connected to the bottom of the body, the movable bell mouth 14 is located at the front side of the movable cable channel 35, and the movable bell mouth 14 and the movable cable channel 35 are welded by high-strength steel plates. The two can be connected to the fixed bell mouth 13 through a pin shaft, and one side of the fixed cable channel 25 is connected to the body through a connecting plate, which is located at the rear side of the movable cable channel 35;

[0172] Furthermore, the main body includes: a fixed bell mouth 13, which is welded by a high-strength steel plate, a movable bell mouth 14 and a movable cable channel 35 are detachably connected to the bottom of the fixed bell mouth 13, a lifting rod cylinder mounting seat 36 is fixedly connected to the rear side of the fixed bell mouth 13, a left side of the fixed bell mouth 13 is fixedly connected to a left horizontal brace 15 of the frame, a rear side of the left horizontal brace 15 of the frame is fixedly connected to a left longitudinal brace 21 of the frame, a right side of the fixed bell mouth 13 is fixedly connected to a right horizontal brace 34 of the frame, a rear side of the right horizontal brace 34 of the frame is fixedly connected to a right longitudinal brace 28 of the frame, a left sliding shoe cylinder mounting seat 16 and a left outrigger cylinder mounting seat 17 are fixedly connected to the left front of the left horizontal brace 15 of the frame, and a left end of the left horizontal brace 15 of the frame is fixedly connected The left leg mounting seat 18 is connected, the left balance wing mounting seat 19 and the left balance wing oil cylinder mounting seat 20 are fixedly connected to the left rear of the left horizontal support 15 of the frame, the left suspension rod mounting seat 22, the left plow system mounting seat 23 and the plow cylinder mounting seat 24 are fixedly connected to the rear side of the left longitudinal support 21 of the frame, the right leg oil cylinder mounting seat 32 and the right sliding shoe oil cylinder mounting seat 33 are fixedly connected to the right front of the right horizontal support 34 of the frame, the right leg mounting seat 31 is fixedly connected to the right end of the right horizontal support 34 of the frame, the right balance wing oil cylinder mounting seat 29 and the right balance wing mounting seat 30 are fixedly connected to the right rear of the right horizontal support 34 of the frame, and the right plow system mounting seat 26 and the right suspension rod mounting seat 27 are fixedly connected to the rear side of the right longitudinal support 28 of the frame. Among them, each part in the body is welded by high-strength steel plates, and each part can be connected to each other by welding.

[0173] At the beginning of construction, the cable 110 is inserted from the fixed bell mouth 13 and the movable bell mouth 14 in sequence, and enters the plow system 7 through the movable cable channel 35 and the fixed cable channel 25. When the construction is completed or the buried plow is repaired, the pins on one side of the movable bell mouth 14 and the movable cable channel 35 are disassembled, and the two are rotated downward along the fixed pins on the other side, so that there is space for the cable 110 to be taken out from the side of the buried plow as a whole and lowered onto the deck of the mother ship, thereby avoiding the cable 110 from being pulled out of the entire buried plow, making it more convenient to unload the cable 110.

[0174] Furthermore, if Figures 8 to 11 As shown, the cable guide system 2 includes:

[0175] The cable guide 37 is welded from seamless steel pipes and has a non-sealed structure;

[0176] An underwater camera 38, electrically connected to the control system 12, is provided on the cable guide 37 and is used to monitor the actual situation when the cable 110 enters the buried plow;

[0177] The pan-tilt head is electrically connected to the control system 12 and is connected to the underwater camera 38. The pan-tilt head can drive the underwater camera 38 to rotate and perform underwater video recording from different angles.

[0178] The fixed shaft 43 is connected to the cable guide 37 by bolts;

[0179] The rotating shaft 41 is rotatably connected to the fixed shaft 43;

[0180] The cable limiting rods 39, which are 2 in number, are connected to the rotating shaft 41 by bolts respectively and are symmetrically installed on both sides of the rotating shaft 41;

[0181] There are two torsion springs 42, which are arranged up and down. One end of the torsion spring 42 located at the upper end is connected to the fixed shaft 43, and the other end is connected to the rotating shaft 41; one end of the torsion spring 42 located at the lower end is connected to the cable guide frame 37, and the other end is connected to the rotating shaft 41.

[0182] During construction, the cable 110 is inserted between the two cable limit rods 39. During the operation of the buried plow, when the cable 110 swings left and right, the cable limit rod 39 can swing around the rotating shaft 41. Whether the swing is to the left or right, it will be subjected to the torsion reaction force of the torsion spring 42, thereby slowing down the swing amplitude and speed of the cable 110, limiting and stabilizing the cable 110, and effectively protecting the cable 110. In addition, the cable guide 37 can adopt a multi-layer steel pipe structure with a certain slope to better adapt to the bending radius of the cable 110 and prevent the cable 110 from being damaged due to too small a bending radius.

[0183] Furthermore, if Figures 12 to 15 As shown, the traction steering system 3 includes:

[0184] Steering bracket 48;

[0185] A hoisting rod, one end of which is connected to the steering bracket 48, and the other end is rotatably connected to the frame 1. Specifically, the hoisting rod includes a left hoisting rod 52 and a right hoisting rod 54, wherein one end of the right hoisting rod 54 is rotatably connected to the right side of the steering bracket 48 through a pin shaft and a sliding bearing, and the other end is rotatably connected to the right hoisting rod mounting seat 27; the left hoisting rod 52 and the right hoisting rod 54 are symmetrically arranged, one end of the left hoisting rod 52 is rotatably connected to the left side of the steering bracket 48 through a pin shaft and a sliding bearing, and the other end is rotatably connected to the left hoisting rod mounting seat 22;

[0186] The right steering arm 47 is rotatably connected to the right side of the steering bracket 48 through a pin shaft and a sliding bearing;

[0187] The left steering arm 49 is symmetrically arranged with the right steering arm 47, and the left steering arm 49 is rotatably connected to the left side of the steering bracket 48 through a pin shaft and a sliding shaft;

[0188] There are two cross shafts 45, which are symmetrically arranged on the left and right sides and are respectively fixedly connected to the right steering arm 47 and the left steering arm 49 through the cross shaft connecting flange 46. The cross shaft 45 can rotate in two directions;

[0189] The intermediate connecting rod 55 is rotatably connected to the rear side of the steering bracket 48 through a pin and a sliding bearing;

[0190] There are two traction rollers 44, which are symmetrically arranged on both sides and connected to the ends of the two cross shafts 45 through bolts and pins respectively;

[0191] The right connecting rod 56 has two ends rotatably connected to the right steering arm 47 and the middle connecting rod 55 through a pin and a sliding bearing respectively;

[0192] The left connecting rod 50 has two ends rotatably connected to the left steering arm 49 and the middle connecting rod 55 through a pin and a sliding bearing respectively;

[0193] A steering cylinder 51, whose fixed end is rotatably connected to the left lifting rod 52 through a pin, and whose extended end is rotatably connected to the left steering arm 49 through a pin;

[0194] A hoisting rod oil cylinder 53, whose fixed end is rotatably connected to the hoisting rod oil cylinder mounting seat 36 through a pin, and whose extended end is rotatably connected to the left hoisting rod 52;

[0195] The right steering arm 47, the steering bracket 48, the left steering arm 49, the left connecting rod 50, the left hoisting rod 52, the right hoisting rod 54, the middle connecting rod 55, and the right connecting rod 56 are all formed by welding high-strength steel plates.

[0196] When the traction steering system 3 is in the first state, the traction steering system 3 is in a vertical position driven by the hoisting rod cylinder 53 to hoist the burying plow. When the traction steering system 3 is in the second state, the traction steering system 3 is in a horizontal position driven by the hoisting rod cylinder 53 to tow the burying plow. When the traction steering system 3 is in the third state, the steering cylinder 51 extends or retracts, driving the traction roller 44 on the left steering arm 49 and the right steering arm 47 to swing, so that the traveling direction of the burying plow is consistent with the pre-operation direction.

[0197] The traction steering system 3 integrates the three functions of traction, steering and hoisting. When the burying plow is working, the traction steering system 3 can simultaneously complete the traction and steering functions; when the burying plow needs to be lowered to the seabed or pulled out from the seabed, the traction steering system 3 can also realize the hoisting function of the burying plow, without the need to prepare special slings and slings, or replace the wire rope. Through the posture adjustment of the traction steering system 3, the same wire rope can realize the traction, steering and hoisting functions.

[0198] Specifically, when the traction steering system 3 needs to realize the lifting function, such as Fig.16 As shown, the lifting rod cylinder 53 extends out, pushing the left lifting rod 52 to rotate 90 degrees around the axis, so that the traction steering system 3 is in a vertical position, and the left and right ends of the Y-shaped steel wire rope 109 are respectively connected to the traction rollers 44 on both sides of the traction steering system 3. At this time, under the action of the Y-shaped steel wire rope 109, the entire buried plow is lifted by the traction roller 44.

[0199] When the traction steering system 3 needs to realize the traction function, the hoisting rod cylinder 53 retracts, pulling the left hoisting rod 52 to rotate 90 degrees in the opposite direction around the axis, so that the traction steering system 3 is in a horizontal position. At this time, the working mother ship can use the Y-shaped wire rope 109 to pull the buried plow forward.

[0200] The steering function of the traction steering system 3 is designed to prevent self-locking and motion distortion. Fig.17 As shown, the specific implementation method is: the steering bracket 48, the left steering arm 49, the left connecting rod 50, and the middle connecting rod 55 are connected to each other by a pin shaft as shown in FIG. Fig.17 The OACD shown in the figure is a parallelogram with four sides; the right steering arm 47, the steering bracket 48, the intermediate connecting rod 55, and the right connecting rod 56 are connected to each other by a pin as shown in FIG. Fig.17The OA'C'D' quadrilateral shown is a parallelogram. When the steering mechanism turns under the action of traction, these two parallelogram mechanisms can prevent self-locking and motion distortion. Specifically, when the burying plow is moving straight, the forces on both sides of the Y-shaped steel wire rope 109 are the same under the horizontal action of the horizontal drag force T. When the burying plow needs to turn right, the left steering cylinder 51 retracts. At this time, points A, A', and O are fixed, points B, F, and C rotate counterclockwise around point A, and points B' and C' rotate counterclockwise around point A'; points D and D' rotate counterclockwise around point O, and the forces on both sides of the Y-shaped steel wire rope 109 change. The force on the right side decreases, and the force on the left side increases. This will generate a steering torque, causing the burying plow to turn right. Conversely, when the left steering cylinder 51 is extended, the above-mentioned points rotate clockwise accordingly, and the burying plow turns left.

[0201] Furthermore, the balancing system 5 is as follows Fig.21 As shown, including:

[0202] The left balance wing 65 is welded from high-strength steel plates, and its upper end is rotatably connected to the left balance wing mounting seat 19 through a pin and a sliding bearing;

[0203] The left balance wing oil cylinder 66 has a fixed end rotatably connected to the left balance wing oil cylinder mounting seat 20 through a pin shaft and a sliding bearing, and an extended end rotatably connected to the middle part of the left balance wing 65 through a pin shaft and a sliding bearing;

[0204] The speed measuring system mounting seat 69 is fixedly connected to the rear end of the left balance wing 65;

[0205] The right balance wing 67 is welded from high-strength steel plates, and its upper end is rotatably connected to the right balance wing mounting seat 30 through a pin and a sliding bearing;

[0206] The right balance wing oil cylinder 68, whose fixed end is rotatably connected to the right balance wing oil cylinder mounting seat 29 through a pin shaft and a sliding bearing, and whose extended end is rotatably connected to the middle part of the right balance wing 67 through a pin shaft and a sliding bearing;

[0207] The balancing system 5 is symmetrically arranged on the left and right sides of the burying plow to balance the burying plow. When the burying plow is moving, the left balancing wing 65 and the right balancing wing 67 can support the burying plow, and the left balancing wing oil cylinder 66 and the right balancing wing oil cylinder 68 can provide and adjust the supporting force, thereby preventing the burying plow from overturning due to uneven force.

[0208] Furthermore, the speed measuring system 6 is as follows Figure 23 to Figure 26 As shown, including:

[0209] A connecting arm 72, one end of which is connected to the speed measuring system mounting seat 69;

[0210] The speed measuring shaft 71 is rotatably connected to the connecting arm 72 via a sliding bearing;

[0211] The speed measuring wheel 70 is welded from steel plates and is key-connected to the speed measuring shaft 71;

[0212] The speed sensor 73 is electrically connected to the control system 12. The rotating part of the speed sensor 73 is threadedly connected to the speed measuring shaft 71, and the fixed part is threadedly connected to the connecting arm 72. The speed sensor 73 is used to detect the travel speed of the buried plow.

[0213] When the burying plow moves forward, the connecting arm 72 connected to the left balance wing 65 drives the speed measuring wheel 70 to rotate, and the speed measuring wheel 70 drives the speed sensor 73 connected to the speed measuring shaft 71 to measure the traveling speed of the burying plow. The design of the speed measuring system 6 makes the traveling speed of the burying plow readable and controllable, and can effectively measure the buried cable length and travel mileage of the burying plow, ensuring the high efficiency of the burying cable.

[0214] Further, the plow system 7 is as follows Figures 27 to 31 As shown, including:

[0215] A coulter mounting frame 74, made of high-strength steel plate;

[0216] The plow blade 75 is made of a high-strength steel plate and is welded to the plow blade mounting frame 74;

[0217] The plow head 77 is made of high manganese wear-resistant steel and is detachably connected to the plow 75 via a pin;

[0218] The cable trough 78 is a welded steel structure, which is fixedly connected to the top of the plow blade 75 by bolts;

[0219] The cable trough 79 is a welded steel structure, which serves as a transition structure for the cable 110 to enter the cable trough 78 and is fixedly connected to the plow blade mounting frame 74 through a pin shaft;

[0220] The cable pressing system mounting seat 80 is welded to the plow blade mounting frame 74;

[0221] The high pressure water spray system connection flange 81 is welded to the coulter mounting frame 74;

[0222] A coulter cylinder 82, whose extended end is rotatably connected to the coulter mounting frame 74 via a pin, and whose fixed end is rotatably connected to the coulter cylinder mounting seat 24 via a pin;

[0223] The cable pressing cylinder mounting seat 83 is welded to the plow blade mounting frame 74 .

[0224] The plow system is the core component of the buried plow. When the buried plow is dragged forward by the working mother ship, the plow 75 and the plow head 77 perform mechanical excavation of the seabed soil. At the same time, the high-pressure water sprayed by the high-pressure water spray system 11 flushes the seabed soil through the nozzle 76 to increase the mechanical excavation effect. In addition, the plow system 7 also has a plow posture adjustment function. Through the extension and contraction of the plow cylinder 82, the relative position angle of the plow system 7 and the frame 1 can be effectively adjusted, thereby effectively adjusting the plow body posture.

[0225] Further, the cable pressing system 8 is as follows Figure 32 to Figure 35 As shown, including:

[0226] A cable pressing cylinder 84, whose fixed end is rotatably connected to a cable pressing cylinder mounting seat 83 in the coulter system 7 via a pin;

[0227] The cable press 85 is a welded steel structure, which is arranged in the cable trough 78. The cable press 85 is rotatably connected to the cable press system mounting seat 80 in the coulter system 7 through a pin shaft and a sliding bearing. The rotation connection point is the rotation fulcrum of the cable press 85. The side of the rotation fulcrum close to the cable press cylinder 84 is rotatably connected to the extended end of the cable press cylinder 84 through a pin shaft.

[0228] like Fig.36 As shown, when the cable pressing cylinder 84 is retracted, the cable press 85 is lifted away from the cable trough 78; when the cable pressing cylinder 84 is extended, the cable press 85 is lowered to the cable trough 78 to press the cable 110. The design of the cable pressing system 8 enables the cable 110 to be effectively pressed into the cable trough 78 of the coulter system 7, so that the cable 110 can effectively enter the excavated trench bottom along the cable trough 78, thereby achieving an effective burial depth of the cable 110.

[0229] Further, the cable anti-jump system 9 is as follows Figure 37 to Figure 39 As shown, including:

[0230] The anti-jump system mounting seat 86 is welded on the frame 1;

[0231] The anti-jump pressure rod 88 is rotatably connected to the anti-jump system mounting seat 86 via a pin;

[0232] The anti-jump torsion spring 87 is in the form of a parallel double torsion spring, through which a pin is passed, and is respectively connected to the anti-jump system mounting seat 86 and the anti-jump pressure rod 88 through the pin passing therethrough;

[0233] The anti-jump roller 89 is a steel welded structure and is rotatably connected to the anti-jump pressure rod 88 through a pin and a sliding bearing.

[0234] When the cable 110 passes through the fixed cable channel 25, the cable 110 itself has a certain diameter, which will push the anti-jump roller 89 upward, drive the anti-jump pressure rod 88 to rotate upward around the axis, and drive the anti-jump torsion spring 87 to twist. The generated reverse torsional torque acts on the anti-jump roller 89, exerting a certain pressure on the cable 110, preventing the cable 110 from jumping out of the cable groove 79 under the action of external force or its own elastic force, thereby realizing the cable anti-jump function.

[0235] The designs of the cable guiding system 2 , the cable pressing system 8 , the cable anti-jumping system 9 and the speed measuring system 6 make the cable 110 more smoothly during the burying process, thereby ensuring the efficient burying of the cable 110 .

[0236] Further, the hydraulic system 10 is as follows Fig.40 and Fig.41 As shown, it includes: a mounting base 90, which is welded to the frame 1, a hydraulic frame 91 is connected to the mounting base 90 by bolts, and a first motor 92, an oil pump 93, a valve group 94, a filter, an oil tank, etc. are connected to the hydraulic frame 91 by bolts. When working, the power cable from the underwater umbilical cable provides power to the first motor 92, and the first motor 92 drives the oil pump 93, and the generated high-pressure oil is transported to each actuator cylinder through the corresponding pipeline to realize the extension and contraction of the cylinder.

[0237] Furthermore, the buried plow is also provided with an alarm device and a sensor system, both of which are electrically connected to the control system; wherein the alarm device may be an acoustic alarm; and the sensor system comprises:

[0238] The first inclination sensor is installed on the left longitudinal support 21 or the right longitudinal support 28 of the frame, and is used to measure the longitudinal inclination of the buried plow, that is, the angle between the upper surface of the left longitudinal support 21 or the right longitudinal support 28 of the frame and the horizontal plane. When the longitudinal inclination is greater than or equal to the first preset angle, the alarm device will sound an alarm;

[0239] The second inclination sensor is installed on the left cross brace 15 or the right cross brace 34 of the frame, and is used to measure the lateral inclination of the buried plow, that is, the angle between the upper surface of the left cross brace 15 or the right cross brace 34 of the frame and the horizontal plane. When the lateral inclination is greater than or equal to the second preset angle, the alarm device will sound an alarm;

[0240] The first angle sensor is installed on the cable guide 37 and is used to measure the angle at which the cable 110 enters the buried plough, that is, the angle between the cable 110 and the horizontal plane when the cable 110 enters the cable guide 37;

[0241] The second angle sensor is installed on the pin that penetrates the left mounting seat 23 of the coulter system or the right mounting seat 26 of the coulter system, and is used to measure the relative angle between the frame 1 and the coulter system 7, that is, the angle between the left longitudinal support 21 of the frame or the right longitudinal support 28 of the frame and the upper plane of the coulter mounting frame 74;

[0242] The third angle sensor is installed on the cross shaft 45 of the traction steering system 3, and is used to measure the traction angle of the Y-shaped steel wire rope 109 used for traction of the buried plow. When the traction angle of the Y-shaped steel wire rope 109 is greater than the third preset angle, the alarm device will sound an alarm;

[0243] Force sensor: installed on the cross shaft 45 of the traction steering system 3, used to measure the traction force of the Y-shaped steel wire rope 109;

[0244] First sonar: installed on the working mother ship 106, used to measure the diving depth of the buried plow;

[0245] Second sonar: installed on the coulter mounting frame 74, used to measure the trenching depth, that is, the buried depth of the cable 110;

[0246] A first pressure sensor is provided in the pipeline of the hydraulic system 10 and is used to measure the pressure of the hydraulic system 10. When the pressure is greater than a first preset pressure, the alarm device sounds an alarm.

[0247] The third pressure sensor is installed on the left balance wing 65 and the right balance wing 67, and is used to detect whether the buried plow is touching the ground.

[0248] Compass: installed on the upper end of the fixed bell mouth 13 of the frame 1, used to detect the azimuth of the buried plow;

[0249] Temperature sensor: installed in the oil tank of the hydraulic system 10, used to detect the temperature of the hydraulic oil. When the temperature of the hydraulic oil is greater than the preset temperature, the alarm device will sound an alarm.

[0250] Specifically, the first preset angle and the second preset angle are both ±10°, the third preset angle is 15°, the first preset pressure is 250 bar, and the preset temperature is 60°C.

[0251] Furthermore, the burying plow is also provided with lighting equipment to provide illumination for monitoring the work of the burying plow.

[0252] Furthermore, the control system 12 is as follows Fig.43 As shown, it includes: a main control console 105, an underwater umbilical cable 104 and an underwater part. The main control console 105 is installed on a working mother ship 106, and is used for operators to perform all operations and monitoring; the underwater part is installed on the frame 1 by bolts; the underwater umbilical cable 104 connects the main control console 105 and the underwater part, and serves as a signal and power transmission medium.

[0253] Specifically, the underwater part includes: a control system mounting base 101 fixed on the frame 1 and a watertight electric control box 103 fixed on the control system mounting base 101, and a sensor module, a power distribution module and a data acquisition and processing module are arranged in the watertight electric control box 103. Among them, the power distribution module is used to stabilize the 380V power supply transmitted from the working mother ship 106 through the underwater umbilical cable 104, and then output the voltage required by each sensor to supply each sensor of the buried plow; the sensor module is used to convert the electrical signal transmitted from each sensor into a standard analog or digital signal output; the data acquisition and processing module is used to receive various analog or digital signals output from the sensor module, and convert the received signal into an optical fiber signal, and transmit it to the main control console 105 through the underwater umbilical cable 104.

[0254] When the control system 12 is working, the main control console 105 located on the working mother ship 106 issues an operation command to start the first motor 92 in the hydraulic system 10 to provide a power source for each hydraulic cylinder. During the operation of the buried plow, the signals of various sensors, monitoring detection devices, and alarm devices of the buried plow are fed back to the main control console 105 on the ship through the sensor module, data acquisition and processing module, and underwater umbilical cable 104 of the watertight electrical control box 103. The operator makes various operations according to the display of various signal data and monitoring display, and then distributes the power and signal cables to various electrical equipment and sensors, detection, monitoring and alarm equipment through the underwater umbilical cable 104 and the watertight electrical control box 103. Ensure that the buried plow works smoothly. Through the effective monitoring of various parameters by the control system 12, the efficient adjustment ability of the control system 12 to the posture of the buried plow is guaranteed, so that the buried plow can adapt to various complex working conditions when working.

[0255] When it is necessary to use a laying plow to lay cables, the laying plow is lowered to the seabed by a towing winch 107 installed on the working mother ship 106 through an A-type hanging frame 108, and trenches are dug and laid under the drag of the working mother ship 106. After the cable is laid, the laying plow is lifted to the deck of the working mother ship 106 by the towing winch 107 through the A-type hanging frame 108.

[0256] Accordingly, an embodiment of the present invention further discloses a working method of any of the above-mentioned buried ploughs, the method comprising the following steps:

[0257] Preparation stage: Figure 1 As shown, the cable 110 to be buried is passed from the cable guide system 2 into the burying plow, and passes through the cable guide frame 37, the fixed bell mouth 13, the movable bell mouth 14, the movable cable channel 35, the fixed cable channel 25, the cable groove 79, the cable groove 78, and finally passes out from the cable groove 78. During the cable threading process, the cable pressing cylinder 84 is retracted and the cable pressing device 85 is lifted, as shown in FIG. Fig.36 As shown, the cable 110 is passed through the cable duct 78 .

[0258] Lowering stage: The hoisting rod cylinder 53 is slowly extended to slowly raise the left hoisting rod 52 together with the traction steering system 3 to a vertical position. The Y-shaped steel wire rope 109 is connected to the two traction rollers 44 on the left and right sides of the buried plough by the towing winch 107 on the working mother ship 106 through the A-shaped hoisting frame 108 at the stern. As the towing winch 107 on the working mother ship 106 rotates, the buried plough is gradually lifted to the sea surface and slowly lowered into the water. Figure 5 As shown. During the process of burying the plow under water, the towing winch 107 lowers the Y-shaped steel wire rope 109, and the cable 110 is also slowly released synchronously under the action of the cable release mechanism, and the underwater umbilical cable 104 is slowly released synchronously under the action of the umbilical cable winch. At this time, the cable presser 85 keeps the cable in the cable groove 78 under the action of the cable press oil cylinder 84 extending.

[0259] In-position stage: After the burying plow is lowered to the seabed by the towing winch 107, the plow cutter 75 cuts into the seabed, the hoisting rod cylinder 53 retracts, the traction steering system 3 returns to the horizontal position, and the ship position is adjusted forward to ensure that the cable entering the water maintains a more reasonable catenary state. The first angle sensor on the cable guide 37 measures the angle at which the cable 110 enters the burying plow; the third pressure sensor buried on the left balance wing 65 and the right balance wing 67, the second inclination sensor installed on the left cross brace 15 of the frame or the right cross brace 34 of the frame, and the first inclination sensor installed on the left longitudinal brace 21 of the frame or the right longitudinal brace 28 of the frame all send signals, and an alarm is issued when the first inclination sensor or the second inclination sensor exceeds the specified value.

[0260] After the burying plow is in place on the seabed, the cable release mechanism of the work mother ship 106 releases the cable and maintains a certain tension, and adjusts the length of the Y-shaped steel wire rope 109 and the underwater umbilical cable 104 so that the distance between the burying plow and the work mother ship 106 reaches an optimal value, and the angle between the Y-shaped steel wire rope 109 and the horizontal direction reaches a reasonable value. The optimal value and the reasonable value here are determined according to the actual working conditions on site and are not specifically limited here.

[0261] Excavation stage: After the positions of the burying plow and the working mother ship 106 are adjusted appropriately according to the water depth, the working mother ship 106 tows the burying plow forward along the route, wherein the route refers to the cable burying path that has been determined before the cable burying construction. At this time, the second sonar detects the trenching depth, the force sensor on the traction steering system 3 detects the tension of the Y-shaped steel wire rope 109, and the speed sensor 73 detects the travel speed of the burying plow; the underwater camera 38 and lighting equipment installed on the cable guide frame 37 can monitor the specific conditions in front and behind the burying plow.

[0262] When the work carrier 106 drags the laying plough forward, the laying plough, under the traction of the work carrier 106, uses the navigation system to dig trenches and lay cables 110 along the route direction. After the cable 110 enters the laying plough through the navigation system 2, it passes through the fixed bell mouth 13, the movable bell mouth 14, the movable cable channel 35, the fixed cable channel 25, the cable groove 79, the cable groove 78, and is buried in the dug trench under the action of the cable press 85. Figure 6 During the trenching and burying process of the burying plow, the forward speed of the burying plow must be consistent with the cable release speed of the tensioner on the working carrier 106. When steering is required, the steering cylinder 51 located in the traction steering system 3 extends or retracts accordingly, driving the traction roller 44 on the left steering arm 49 and the right steering arm 47 to swing, so that the direction of the Y-shaped steel wire rope 109 remains the same as the traveling direction of the working carrier 106.

[0263] Retrieval stage: When the cable 110 is buried at the predetermined destination, the work carrier 106 stops moving and slowly retreats, and at the same time retracts the cable 110, the Y-shaped steel wire rope 109 and the underwater umbilical cable 104 at the speed of retreat of the work carrier 106. When the work carrier 106 reaches the burying plow position and stops moving, the hoisting rod cylinder 53 of the burying plow extends, so that the traction steering system 3 is in a vertical position. The towing winch 107 on the work carrier 106 gradually lifts the burying plow to the deck of the work carrier 106 through the A-type hoisting frame 108 and the Y-shaped steel wire rope 109.

[0264] In some embodiments, the embedding plow of the present invention further comprises:

[0265] A high-pressure water spray system 11 is installed on the upper part of the coulter system 7 by bolt connection, and is used to provide high-pressure water flushing for trenching in hard seabed soil;

[0266] The digging depth adjustment system 4 is symmetrically arranged on both sides of the front part of the frame 1, and is used to adjust the digging depth and the pitch angle of the front part of the buried plough in contact with the seabed.

[0267] Furthermore, the high pressure water spray system 11 is as follows Fig.42 and Fig.31 As shown, including:

[0268] The water system support frame 95 is connected to the high-pressure water spray system connection flange 81 in the coulter system 7 by bolts;

[0269] The water pump 98 is connected to the water system support frame 95 by bolts;

[0270] A second motor 99 is connected to the water pump 98 and is used to drive the water pump 98 to operate;

[0271] A water inlet pipe 97 connected to the water inlet of a water pump 98;

[0272] A water outlet pipe 100, one end of which is connected to the water outlet of the water pump 98;

[0273] A high-pressure pipe 111 is arranged inside the plowshare 75 along the extension direction of the plowshare 75. One end of the high-pressure pipe 111 is connected to the other end of the water outlet pipe 100. The other end of the high-pressure pipe 111 is sealed. A plurality of water spraying ports are provided on the high-pressure pipe 111. Each water spraying port is connected to a water spraying pipe 112. Openings are also provided on the two side walls of the plowshare 75. Nozzles 76 are installed in the openings. The water spraying pipe 112 is connected to the nozzle 76 through a flange. The nozzle 76 is used to spray high-pressure water. Cutting edges are provided on both sides of the plowshare 75. Each nozzle 76 is arranged in sequence along the extension direction of the cutting edge.

[0274] When a high-pressure water spraying system 11 is provided in the buried plow, the sensing system further includes a second pressure sensor, which is provided in the pipeline of the high-pressure water spraying system 11 and is used to measure the water pressure of the high-pressure water spraying system 11. When the water pressure is greater than a second preset pressure, the alarm device sounds an alarm. The second preset pressure is 16 bar.

[0275] The high-pressure water spraying system 11 is installed on the plow system 7, which can provide high-pressure water flushing for digging trenches on hard seabed soil, improve the efficiency of trenching, and make the plow system 7 have an efficient excavation function. The plow excavation function is realized by two ways: mechanical excavation and high-pressure water spraying. When the buried plow moves forward under the drag of the working mother ship, the plow 75 and the plow head 77 perform mechanical excavation of the seabed soil, and the soil excavation at different depths is realized with the digging depth adjustment system 5. At the same time, the high-pressure water flow provided by the high-pressure water spraying system 11 flushes the seabed soil through the nozzles 76 installed on both sides of the plow 75, greatly improving the excavation ability of the buried plow, and can adapt to the excavation of soils of various soils. During operation, the power cable from the underwater umbilical cable provides power to the second motor 99, and the second motor 99 drives the water pump 98. After the seawater is filtered from the water inlet pipe 97, it is transported from the water outlet pipe 100 through the pipeline to the nozzle 76 of the plow system 7 to realize high-pressure flushing of the seabed soil.

[0276] The present invention integrates the hydraulic system 10, the high-pressure water spray system 11 and the underwater part of the control system 12 on the buried plow body, so that the buried plow can be used in deep water. Since the high-pressure hydraulic pipes specially led from the ship generally reach a pressure of 250 bar and the high-pressure water pipes generally reach a pressure of 16 bar to the seabed at a depth of more than 500 meters, not only is the cost high, but the technical reliability is also difficult to ensure. For example, the hydraulic hoses and water pipes are prone to rupture and the pipe joints leak under the action of the underwater environment, making maintenance difficult. The present invention integrates the underwater parts of the hydraulic system 10, the high-pressure water spraying system 11 and the control system 12 on the burying plow body. It only needs to lead out an underwater umbilical cable carrying electricity and electrical signals from the hull to provide power and control for the hydraulic system 10 and the high-pressure water spraying system 11 through the first motor 92, the second motor 99 and the underwater part of the control system. There is no need to lead out hydraulic hoses and water pipes from the ship to the underwater burying plow, which not only saves costs but also improves the reliability of the hydraulic system 10 and the high-pressure water spraying system 11, making the burying plow not only suitable for shallow sea construction, but also suitable for deep sea construction above 500m.

[0277] In addition, the hydraulic system 10 and the high-pressure water spray system 11 are both designed to be pressure-resistant and watertight, that is, to be resistant to high pressure and have good sealing properties, so as to ensure that the buried plow can adapt to deep water. Among them, the oil pump 93 and the water pump 98 can adopt the series products of Japan's Kawasaki company, or the products of the foreign brand Parker company; the first motor 92 and the second motor 99 can adopt the products provided by Tianjin Puyou Electromechanical Company; hydraulic accessories such as valves, filters, pipe joints, etc. can adopt products provided by American companies such as Parker and Rosemount. The underwater part of the control system must also meet the requirements of sealing and high pressure resistance, and can adopt products from Siemens and Schneider.

[0278] Furthermore, if Fig.18 As shown, the digging depth adjustment system 4 includes:

[0279] The left leg 58, the upper end of which is rotatably connected to the left leg mounting seat 18 through a pin and a sliding bearing;

[0280] A left sliding shoe 57, which is rotatably connected to the bottom of the left leg 58;

[0281] The left leg oil cylinder 60 has a fixed end rotatably connected to the left leg oil cylinder mounting seat 17 through a pin shaft and a sliding bearing, and an extended end rotatably connected to the left leg 58 through a pin shaft and a sliding bearing;

[0282] The left sliding shoe oil cylinder 59 has a fixed end rotatably connected to the left sliding shoe oil cylinder mounting seat 16 through a pin shaft and a sliding bearing, and an extended end rotatably connected to the left sliding shoe 57 through a pin shaft and a sliding bearing;

[0283] The right leg 61, the upper end of which is rotatably connected to the right leg mounting seat 31 through a pin and a sliding bearing;

[0284] a right sliding shoe 64, which is rotatably connected to the bottom of the right leg 61;

[0285] The right leg oil cylinder 62 has a fixed end rotatably connected to the right leg oil cylinder mounting seat 32 through a pin shaft and a sliding bearing, and an extended end rotatably connected to the right leg 61 through a pin shaft and a sliding bearing;

[0286] The right sliding shoe oil cylinder 63 has a fixed end rotatably connected to the right sliding shoe oil cylinder mounting seat 33 through a pin shaft and a sliding bearing, and an extended end rotatably connected to the right sliding shoe 64 through a pin shaft and a sliding bearing;

[0287] The left sliding shoe 57, the left supporting leg 58, the right supporting leg 61 and the right sliding shoe 64 are all formed by welding high-strength steel plates.

[0288] The digging depth adjustment system 4 has the functions of continuous digging depth adjustment and sliding shoe attitude pitch adjustment. Through the extension and retraction of the left leg oil cylinder 60 and the right leg oil cylinder 62, the digging depth of the buried plow can be continuously adjusted; through the extension and retraction of the left sliding shoe oil cylinder 59 and the right sliding shoe oil cylinder 63, the sliding shoe pitch adjustment can be achieved, so that the buried plow can effectively adapt to the complex seabed terrain.

[0289] Specifically, when the digging depth adjustment system 4 needs to implement the digging depth adjustment function, when starting to dig a trench, the left leg cylinder 60 is fully extended, such as Fig.19a As the left outrigger oil cylinder 60 gradually retracts, as shown in FIG. Fig.19b As shown, the buried plough, under the action of its own weight, causes the coulter 75 to gradually cut into the seabed. The digging depth gradually deepens, and when the left outrigger oil cylinder is fully retracted, the maximum digging depth is reached.

[0290] When the digging depth adjustment system 4 needs to realize the sliding shoe posture pitch adjustment function, the left sliding shoe 57 can realize various sliding shoe postures such as horizontal, downward pitch, and upward pitch under the telescopic action of the left sliding shoe cylinder 59. Fig.20a , Fig.20b , Fig.20c By adjusting the pitch angle of the sliding shoe and the relative position of the legs, the balance wing, the plow system 7 and the frame 1, the buried plow can be well adapted to the complex seabed terrain.

[0291] When the burying plow is provided with a digging depth adjustment system 4, the balancing system 5 can also assist in the digging depth adjustment of the burying plow, and cooperate with the digging depth adjustment system 5 to adjust the digging depth during the burying construction of the cable 110. Fig. 22As shown, when the left balance wing oil cylinder 66 is retracted, the left balance wing 65 rises; when the left balance wing oil cylinder 66 is extended, the left balance wing 65 falls. When the burying plow is provided with a digging depth adjustment system 4, a third pressure sensor can be installed on the left sliding shoe 57 and the right sliding shoe 64 to detect whether the burying plow is on the ground.

[0292] The digging depth adjustment system 4 and the balancing system 5 adjust the digging depth of the buried plow as follows:

[0293] During the digging stage of the buried plow, when the digging depth needs to be increased, the left leg cylinder 60, the right leg cylinder 62, the left balance wing cylinder 66, and the right balance wing cylinder 68 are retracted respectively, so that the left sliding shoe 57, the right sliding shoe 64, the left balance wing 65, and the right balance wing 67 are raised, and under the weight of the buried plow, the plow cutter 75 cuts into the seabed at a certain angle. As the left sliding shoe 57, the right sliding shoe 64, the left balance wing 65, and the right balance wing 67 rise, the trenching depth of the plow cutter 75 gradually deepens. Fig.45 When the burying plow is adjusted to the required trenching depth, the left outrigger oil cylinder 60, the right outrigger oil cylinder 62, the left balance wing oil cylinder 66, and the right balance wing oil cylinder 68 stop moving.

[0294] During the recovery phase of the burying plough, the left balance wing cylinder 66, the right balance wing cylinder 68, the left outrigger cylinder 60 and the right outrigger cylinder 62 of the burying plough are slowly extended, and the burying plough gradually rises under the support force of the seabed until the coulter system 7 is completely raised to the seabed surface. Fig.44 As shown, the Y-shaped steel wire rope 109 then gradually lifts the burying plow onto the deck of the mother ship 106.

[0295] Since each functional structure uses a cylinder to adjust its position and monitors its posture through various sensors, depth detection devices, underwater cameras, etc., the buried plow's posture can be adjusted according to the seabed terrain, effectively adapting to the complex seabed terrain.

[0296] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A laying plow for laying submarine cables, characterized in that: include: frame; A plowshare system, arranged at the rear side of the frame, for excavating the seabed soil; A traction steering system is provided on the frame and can be switched to a first state, a second state and a third state, wherein the first state is a state when the traction steering system is hoisting the burying plow, the second state is a state when the traction steering system is hauling the burying plow, and the third state is a state when the traction steering system is driving the burying plow to turn; A control system, used for controlling the operation of the embedding plow; Wherein, the traction steering system comprises: Steering bracket; A hoisting rod, one end of which is connected to the steering bracket and the other end of which is rotatably connected to the frame; There are two cross shafts, which are respectively arranged on both sides of the steering bracket; There are two traction rollers, and the two traction rollers are respectively connected to the ends of the two cross shafts; A hoisting rod oil cylinder, both ends of which are rotatably connected to the hoisting rod and the frame respectively; When the traction steering system is in the first state, the traction steering system is in a vertical position driven by the hoisting rod cylinder to hoist the buried plough; When the traction steering system is in the second state, the traction steering system is in a horizontal position driven by the hoisting rod cylinder to tow the buried plow; A right steering arm is provided between the steering bracket and the traction roller located on the right side of the steering bracket, one end of the right steering arm is rotatably connected to the right side of the steering bracket, and the traction roller located on the right side of the steering bracket is provided on the right steering arm; A left steering arm is provided between the steering bracket and the traction roller located on the left side of the steering bracket, one end of the left steering arm is rotatably connected to the left side of the steering bracket, and the traction roller located on the left side of the steering bracket is provided on the left steering arm; An intermediate connecting rod, rotatably connected to the rear side of the steering bracket; A right connecting rod, two ends of which are rotatably connected to the right steering arm and the middle connecting rod respectively; A left connecting rod, two ends of which are rotatably connected to the left steering arm and the middle connecting rod respectively; A steering cylinder, one end of which is rotatably connected to the hoisting rod, and the other end of which is rotatably connected to the left steering arm or the right steering arm; When the traction steering system is in the third state, the steering cylinder extends or retracts, driving the traction rollers on the left steering arm and the right steering arm to swing, so that the traveling direction of the buried plough is consistent with the pre-operation direction.

2. The embedding plow according to claim 1, characterized in that: The frame is a non-sealed steel structure.

3. The embedding plow according to claim 2, characterized in that: The frame comprises: ontology; A movable bell mouth, detachably connected to the front lower part of the body; A movable cable channel, detachably connected to the bottom of the body, the movable cable channel being located at the rear side of the movable bell mouth; A fixed cable channel is connected to the body and is located at the rear side of the movable cable channel.

4. The embedding plow according to claim 1, characterized in that: The coulter system comprises: Coulter mounting frame; A coulter connected to the coulter mounting frame; a coulter head, detachably connected to the bottom front side of the coulter; A cable trough is provided on the plow; A cable trough is provided at the front side of the cable trough, and the cable trough is connected to the plow blade mounting frame; A plowshare oil cylinder has one end rotatably connected to the plowshare mounting frame, and the other end rotatably connected to the frame.

5. The embedding plow according to claim 4, characterized in that: The plowshare head is made of high manganese wear-resistant steel.

6. The embedding plow according to claim 4, characterized in that: The embedding plow also includes a cable pressing system, which is arranged at the rear side of the plow blade system and is used to press the cable into the cable trough.

7. The embedding plow according to claim 6, characterized in that: The cable pressing system comprises: A cable pressing cylinder, one end of which is rotatably connected to the plow blade mounting frame; A cable press is arranged in the cable trough, the cable press is rotatably connected to the plow blade mounting frame and its rotation connection point is the rotation fulcrum of the cable press, and the rotation fulcrum is rotatably connected to the other end of the cable press cylinder on one side close to the cable press cylinder.

8. The embedding plow according to claim 4, characterized in that: The embedding plow also includes a cable anti-jump system, which is arranged above the frame and is used to prevent the cable from jumping out of the cable trough under the action of its own elastic force or external force.

9. The embedding plow according to claim 8, characterized in that: The cable anti-trip system comprises: An anti-jump system mounting seat is arranged on the frame; An anti-jump pressure rod, rotatably connected to the anti-jump system mounting seat; The anti-jump torsion spring is a parallel double torsion spring, through which a pin shaft runs, and the anti-jump torsion spring is respectively connected to the anti-jump system mounting seat and the anti-jump pressure rod through the pin shaft; The anti-jump roller is rotatably connected to the end of the anti-jump pressure rod.

10. The embedding plow according to claim 1, characterized in that: A balancing system is also provided on both sides of the frame to enhance the balance of the buried plough, and the balancing system includes: A left balance wing, arranged on the left side of the frame, with an upper portion thereof being rotatably connected to the frame; A left balance wing oil cylinder, two ends of which are rotatably connected to the frame and the left balance wing respectively; A right balance wing, arranged on the right side of the frame, with an upper portion thereof being rotatably connected to the frame; The right balance wing oil cylinder has two ends which are rotatably connected to the frame and the right balance wing respectively.

11. The embedding plow according to claim 10, characterized in that: The embedding plough also includes a cable guide system, which is arranged in front of the frame and is used for guiding the cable into the embedding plough.

12. The embedding plow according to claim 11, characterized in that: The cable guide system comprises: A cable guide frame, arranged in front of the frame; A fixed shaft, arranged on the cable guide frame; A rotating shaft, rotatably connected to the fixed shaft; Two cable limit rods are respectively connected to the rotating shaft and symmetrically installed on both sides of the rotating shaft; There are two torsion springs, which are arranged up and down. One end of the torsion spring located at the upper end is connected to the fixed shaft, and the other end is connected to the rotating shaft; one end of the torsion spring located at the lower end is connected to the cable guide frame, and the other end is connected to the rotating shaft.

13. The embedding plow according to claim 10, characterized in that: The embedding plough also includes a speed measuring system, which is installed on one side of the balancing system and is used to measure the travel speed of the embedding plough when it is working.

14. The embedding plow according to claim 13, characterized in that: The speed measurement system comprises: A connecting arm, one end of which is connected to the left balance wing or the right balance wing; A speed measuring shaft, rotatably connected to the connecting arm; A speed measuring wheel connected to the speed measuring shaft; A speed sensor is electrically connected to the control system, the rotating part of the speed sensor is fixedly connected to the speed measuring shaft, the fixed part of the speed sensor is fixedly connected to the connecting arm, and the speed sensor is used to detect the travel speed of the burying plow.

15. The embedding plow according to claim 7, characterized in that: The embedding plow also includes a hydraulic system, which is installed on the frame and is used to provide hydraulic kinetic energy for the plow cutter cylinder, the cable pressure cylinder, the hoisting rod cylinder and the steering cylinder.

16. The embedding plow according to claim 11, characterized in that: The embedding plow also includes: an alarm device and a sensor system, and both the alarm device and the sensor system are electrically connected to the control system.

17. The embedding plow according to claim 16, characterized in that: The embedding plough further comprises a hydraulic system, which is mounted on the frame and is used to provide hydraulic kinetic energy to the oil cylinder in the embedding plough. The sensing system comprises: A first inclination sensor is provided on the frame and is used to measure the longitudinal inclination of the buried plough. When the longitudinal inclination is greater than or equal to a first preset angle, the alarm device sounds an alarm; A second inclination sensor is provided on the frame and is used to measure the lateral inclination of the buried plough. When the lateral inclination is greater than or equal to a second preset angle, the alarm device sounds an alarm. a first angle sensor, mounted on the cable guide system, for measuring the angle at which the cable enters the burying plough; A second angle sensor: installed at the rotation connection between the frame and the coulter system, used to measure the relative angle between the frame and the coulter system; A third angle sensor: installed on the cross shaft of the traction steering system, used to measure the traction angle of the Y-shaped steel wire rope used to pull the buried plow. When the traction angle of the Y-shaped steel wire rope is greater than a third preset angle, the alarm device will sound an alarm; Force sensor: installed on the cross shaft of the traction steering system, used to measure the traction force of the Y-shaped steel wire rope; A first sonar is provided on a working mother ship used to tow the buried plow and is used to measure the diving depth of the buried plow; a second sonar, mounted on the coulter system, for measuring the furrowing depth of the coulter system; A first pressure sensor is provided in the pipeline of the hydraulic system and is used to measure the pressure of the hydraulic system. When the pressure is greater than a first preset pressure, the alarm device sounds an alarm; a third pressure sensor, mounted on the balancing system, for detecting whether the buried plow is touching the ground; A compass, mounted on the front upper end of the frame, for detecting the azimuth of the buried plow; The temperature sensor is installed in the oil tank of the hydraulic system and is used to detect the temperature of the hydraulic oil. When the temperature of the hydraulic oil is greater than a preset temperature, the alarm device will sound an alarm.

18. The embedding plow according to claim 17, characterized in that: The first preset angle and the second preset angle are both ±10°, the third preset angle is 15°, the first preset pressure is 250 bar, and the preset temperature is 60°C.

19. The embedding plow according to claim 17, characterized in that: The embedding plow also includes: An underwater camera, arranged on the cable guide system, the underwater camera being electrically connected to the control system and used for monitoring the actual situation when the cable enters the buried plow; A pan / tilt platform electrically connected to the control system, the pan / tilt platform being connected to the underwater camera and used to drive the underwater camera to rotate so as to perform underwater photography from different angles; Lighting equipment provides lighting for monitoring the operation of the buried plow.

20. The embedding plow according to claim 17, characterized in that: The control system comprises: A main control console, located above the water surface, for operating and monitoring the buried plow; An underwater part is arranged on the frame; An underwater umbilical cable connects the main control console and the underwater part and is used for transmitting signals and electricity.

21. The embedding plough according to claim 20, characterized in that: The underwater part includes a watertight electric control box, which is fixed on the frame and is provided with: A power distribution module, used to stabilize the power transmitted from the main control console through the underwater umbilical cable, and output the voltage required by each part of the sensor system to power the sensor system; A sensor module, electrically connected to the power distribution module, for receiving the electrical signal output by the sensor system and converting the electrical signal into an analog signal or a digital signal for output; The data acquisition and processing module is electrically connected to the sensor module, and is used to receive the analog signal or the digital signal output by the sensor module, and convert the received analog signal or the digital signal into an optical fiber signal, and transmit it to the main control console through the underwater umbilical cable.

22. A method for working a buried plough according to any one of claims 1 to 21, characterized in that: The method comprises the following steps: In the preparation stage, the cable is passed through the embedding plow and the cable is passed through the plow cutter system; In the lowering stage, the hoisting rod oil cylinder in the traction steering system extends to drive the traction steering system from a horizontal position to a vertical position, and the Y-shaped steel wire rope is used to connect the two traction rollers respectively, and the buried plow is lowered into the water through the Y-shaped steel wire rope; In the positioning stage, after the burying plow is lowered onto the seabed, the plow cuts into the seabed, the hoisting rod cylinder retracts, the traction steering system returns to a horizontal position, and the angle between the Y-shaped steel wire rope and the preset travel direction of the burying plow is adjusted so that the Y-shaped steel wire rope can pull the burying plow to run in the preset travel direction; During the excavation phase, the burying plow is pulled forward by a Y-shaped steel wire rope, so that the plow digs trenches and buries cables at the same time; During the recovery phase, when the cable is buried at the predetermined destination, the burying plow stops running, the hoisting rod cylinder extends, driving the traction steering system to a vertical position, and the burying plow is lifted above the sea surface using the Y-shaped steel wire rope.

23. The method for working a buried plough according to claim 22, characterized in that: During the excavation stage, when the burying plow needs to turn, the steering cylinder extends or retracts accordingly, driving the traction rollers on the left steering arm and the right steering arm to swing, so that the moving direction of the burying plow is consistent with the traction direction of the Y-shaped steel wire rope.

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