Underwater node fixing and deploying device suitable for deep-sea submersible

Abstract

The application relates to the underwater node fixing and laying field, in particular to an underwater node fixing and laying device suitable for a deepwater submersible. The device comprises a first-stage frame, a second-stage frame and a third-stage frame, the first-stage frame is arranged in the second-stage frame, the bottom of the second-stage frame is butted against the third-stage frame, the top of the first-stage frame is butted against the deepwater submersible, one end of the first-stage frame is provided with a node laying mechanism, and the other end of the first-stage frame is provided with a drilling machine mechanism. The node is fixed on the seabed in a drilling anchor mode, and underwater secondary butt joint is carried out through the submersible, so that the three works of drilling, fixing and node laying are completed in one time of submerging.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater node fixing and laying, in particular to an underwater node fixing and laying device suitable for deep-sea submersibles. BACKGROUND

[0002] With the continuous progress of the construction of deep-sea monitoring networks, various underwater observation node technologies are rapidly developing, but the laying and recovery technologies based on underwater observation nodes are still relatively lagging behind. At present, most small nodes are still fixed by their own weight and the friction between the device and the seabed. During the long-period observation process, the node device is prone to displacement due to the influence of water flow and seabed environment, which greatly affects the observation accuracy.

[0003] At present, there are a series of underwater node laying devices based on deep-sea submersibles, but most of them are used for batch laying of seabed seismic receivers (OBN) and other node devices, and do not have the ability to fix nodes. SUMMARY

[0004] The present application aims to overcome the above-mentioned defects in the prior art and proposes an underwater node fixing and laying device based on a deep-sea submersible. The device firmly fixes the node on the seabed through borehole anchoring and realizes drilling, fixing and node laying in one dive through underwater secondary docking by the submersible.

[0005] The technical solution of the present application is: an underwater node fixing and laying device based on a deep-sea submersible, comprising a first-stage frame, a second-stage frame and a third-stage frame. The first-stage frame is arranged in the second-stage frame, the bottom of the second-stage frame is docked with the third-stage frame, the top of the first-stage frame is docked with the deep-sea submersible, one end of the first-stage frame is provided with a node laying mechanism, and the other end of the first-stage frame is provided with a drilling machine mechanism.

[0006] In the present application, the top end of the first-stage frame is provided with a first-stage frame connecting piece, and the first-stage frame connecting piece is connected with the deep-sea submersible through a lock pin or a bolt.

[0007] A plurality of first-stage frame and second-stage frame connecting interfaces are arranged on the second-stage frame and the first-stage frame, a lock pin hydraulic cylinder is arranged in the interface, the fixed connection between the second-stage frame and the first-stage frame is realized through the lock pin hydraulic cylinder, the outer surface of the upper part of the first-stage frame is provided with a docking guide rail surface, and the inner surface of the top of the second-stage frame is provided with a corresponding docking guide rail. The docking guide rail surface and the docking guide rail are both corresponding inclined surfaces.

[0008] The front end of the butt joint guide rail on the top of the second level frame is in an open shape, and the rear end of the butt joint guide rail is provided with a limiting baffle. The front end and the rear end of the bottom of the second level frame are respectively provided with a butt joint plate of the third level frame. The third level frame is connected with the second level frame through the butt joint plate of the third level frame.

[0009] The second level frame and the third level frame are respectively provided with a second level frame and third level frame connecting port. A lock pin hydraulic cylinder is arranged in the second level frame and third level frame connecting port. The second level frame and the third level frame are fixedly connected through the lock pin hydraulic cylinder.

[0010] The third level frame is provided with an external hydraulic interface, an external power supply and a communication interface. An anchor nail guide groove is fixedly arranged in the middle of the third level frame. Two symmetrical anchor nail ports are arranged on the anchor nail guide groove. The anchor nail reciprocally moves in the anchor nail guide groove. The third level frame is further provided with a node fixing pin port, a wireless communication sensing area and a wireless charging sensing area. The node fixing pin is fixedly arranged in the node fixing pin port.

[0011] The node laying mechanism comprises a node, a release hydraulic cylinder and a release and recovery lock head. The top of the node is connected with the release and recovery lock head. The release hydraulic cylinder is arranged above the release and recovery lock head. The cylinder body of the release hydraulic cylinder is fixedly connected with the first level frame through a support frame. The piston rod of the release hydraulic cylinder is fixedly connected with the release and recovery lock head. The bottom of the node is fixedly connected with a node adapter base.

[0012] The release and recovery lock head comprises a lock head shell, a unlocking ring, a unlocking ring driving hydraulic cylinder and a spring lock piece. The top surface of the lock head shell is fixedly connected with the release hydraulic cylinder. The middle part of the lock head shell is provided with a through hole. The top of the node is fixedly provided with a mushroom head. The mushroom head is in a circular truncated cone shape and is slidably arranged in the through hole of the lock head shell. The unlocking ring is slidably arranged on the annular outer side of the lock head shell. The unlocking ring is connected with a plurality of unlocking ring driving hydraulic cylinders. A plurality of strip-shaped holes are arranged in the lock head shell in a spaced manner along the annular shell. A spring lock piece is arranged in each strip-shaped hole. When the spring lock piece is in a horizontal state, the outer diameter formed by the outer ends of the plurality of spring lock pieces is smaller than the inner diameter of the unlocking ring. At this time, the unlocking ring is located above the spring lock piece. The inner diameter formed by the inner ends of the plurality of spring lock pieces is smaller than the outer diameter of the bottom of the mushroom head.

[0013] The node adapter base comprises an adapter plate. Four corner points are arranged on the adapter plate. Two symmetrically arranged corner points are provided with a connecting hole. The connecting hole is arranged corresponding to the node fixing pin on the third level frame. The connecting hole is located directly above the node fixing pin. The bottom of the other two symmetrically arranged corner points of the adapter plate is fixedly provided with a cannula. The cannula is arranged corresponding to the anchor nail port on the third level frame.

[0014] The spring lock piece comprises a lock piece, a limiting block, a spring and a fixed shaft, the fixed shaft is horizontally fixed in a strip-shaped hole, the cross section of the lock piece is triangular, the lock piece is rotatably sleeved on the fixed shaft, the spring is connected between the lock piece and the hole wall of the strip-shaped hole, the spring is wound on the outside of the fixed shaft, two limiting blocks are arranged above the lock piece and are fixedly connected with the two side walls of the strip-shaped hole respectively.

[0015] The lower part of the first frame is provided with a node limiting plate, one end of the node limiting plate is fixedly connected with the first frame, the other end of the node limiting plate is provided with a limiting groove towards one side of the node, a limiting protrusion is fixedly arranged on the outer surface of the node corresponding to the limiting groove, and the limiting protrusion is slidingly arranged in the limiting groove.

[0016] The drilling machine mechanism comprises a drilling machine arranged in the vertical direction, a drilling machine horizontal hydraulic cylinder and an anchor nail, the drilling machine is fixed on one side surface of a drilling machine fixing plate, the other side surface of the drilling machine fixing plate is connected with the drilling machine horizontal hydraulic cylinder, a plurality of guide blocks are arranged on the side surface of the drilling machine fixing plate connected with the drilling machine horizontal hydraulic cylinder, a horizontal drilling machine guide rail is arranged on the first-stage frame corresponding to the guide blocks, the guide blocks are slidingly arranged in the drilling machine guide rail, and the lower part of the drilling machine fixing plate is connected with the anchor nail through an anchor nail fixing plate.

[0017] One end of the anchor nail fixing plate is fixedly connected with the drilling machine fixing plate, two anchor nail sleeves are fixedly arranged on the other end of the anchor nail fixing plate, the anchor nails are respectively arranged in the anchor nail sleeves, the upper ends of the anchor nails are slidingly sleeved in the anchor nail sleeves, and the lower ends of the anchor nails are arranged in anchor nail guide grooves of the third-stage frame.

[0018] The anchor nail comprises an upper anchor nail shell and a tooth-shaped nail wall fixed below the anchor nail shell, the anchor nail shell is internally provided with a cavity, the tooth-shaped nail wall comprises a plurality of axial tooth-shaped nail plates, the plurality of tooth-shaped nail plates are arranged in a ring shape and are spaced apart along the bottom of the anchor nail shell, gaps exist between adjacent tooth-shaped nail plates, the plurality of tooth-shaped nail plates surround the ring-shaped cavity, a piston, a capsule and an expanding ball are sequentially arranged in the anchor nail shell from top to bottom, a sealing ring is arranged between the outer wall of the piston and the inner wall of the anchor nail shell, the capsule contains glue liquid, the inner surface of the connection position between the anchor nail shell and the tooth-shaped nail wall is provided with a positioning opening, and the outer diameter of the expanding ball is smaller than the inner diameter of the positioning opening.

[0019] The node fixing pin comprises an internally-threaded sleeve and a fixed base, the fixed base is fixedly arranged in a node fixing pin opening of the third-stage frame, the internally-threaded sleeve is arranged above the fixed base, and the upper part of the internally-threaded sleeve is connected with the fixed base in a threaded manner.

[0020] A plurality of spring lock pins are arranged in a ring shape and are spaced apart on the upper part of the internally-threaded sleeve, and the cross section of the spring lock pin is triangular.

[0021] The upper portion of the female threaded sleeve is provided with a plurality of long strip-shaped grooves in the circumferential direction, and a spring locking pin in the vertical direction is arranged in each long strip-shaped groove, and the spring locking pin is connected with the side wall of the long strip-shaped groove through a spring, and in the initial state, the spring locking pin is in the extended state, and the spring locking pin is located outside the outer wall of the female threaded sleeve.

[0022] The beneficial effects of the present application are:

[0023] (1) The device solves the problem of fixing and laying the observation node in the underwater rock or seamount area through the drilling anchoring mode, and can stably fix the node in the seabed area;

[0024] (2) The device realizes drilling, fixing and node laying through one-time diving through the underwater secondary docking of the deep-sea submersible;

[0025] (3) The third stage frame is arranged, and the node maintenance, charging and recovery work based on the deep-sea submersible are realized. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the connection structure diagram of the deep-sea submersible of the present application;

[0027] Figure 2 is a structural schematic diagram of the present application;

[0028] Figure 3 is a structural schematic diagram of the first stage frame;

[0029] Figure 4 is a structural schematic diagram of the second stage frame;

[0030] Figure 5 is a structural schematic diagram of the third stage frame;

[0031] Figure 6 is a structural schematic diagram of the node laying mechanism;

[0032] Figure 7 is a structural schematic diagram of the release recovery lock head;

[0033] Figure 8 is a structural schematic diagram of the spring locking piece;

[0034] Figure 9 is a structural schematic diagram of the node limiting plate and the node connection;

[0035] Figure 10 is a structural schematic diagram of the node adapter base;

[0036] Figure 11 is a first structural schematic diagram of the drilling mechanism;

[0037] Figure 12is a second structure diagram of the drilling rig mechanism;

[0038] Figure 13 is a structure diagram of the anchor nail;

[0039] Figure 14 is a sectional structure diagram of the anchor nail;

[0040] Figure 15 is a structure diagram of the node fixing pin.

[0041] In the figure: 1 deep-sea submersible; 2 underwater node fixing and laying device; 3 second-stage frame; 4 first-stage frame; 5 first-stage frame connecting piece; 6 first-stage frame and second-stage frame connecting port; 7 third-stage frame; 8 second-stage frame and third-stage frame connecting port; 9 drilling rig mechanism; 10 node; 11 butt joint guide rail surface; 13 lock pin hydraulic cylinder; 14 release hydraulic cylinder; 15 node adapter base; 16 node limiting plate; 17 anchor nail; 18 drilling rig guide rail; 19 butt joint guide rail front end; 20 butt joint guide rail rear end; 21 third-stage frame butt joint plate; 22 external hydraulic interface; 23 external power supply and communication interface; 24 anchor nail port; 25 butt joint guide plate; 26 anchor nail guide groove; 27 wireless charging induction area; 28 wireless communication induction area; 29 node fixing pin nail port; 30 release and recovery lock head; 31 lock ring driving hydraulic cylinder; 32 lock ring; 33 spring lock piece; 34 mushroom head; 35 limiting block; 36 lock piece; 37 fixed shaft; 38 spring; 39 limiting groove; 40 limiting protrusion; 41 connecting hole; 42 insertion pipe; 43 adapter plate; 44 drilling rig horizontal hydraulic cylinder; 45 drilling rig fixed plate; 47 drilling rig; 48 guide block; 49 anchor nail fixed plate; 50 anchor nail shell; 51 toothed nail wall; 52 piston; 53 capsule; 54 expansion ball; 55 spring lock pin; 56 internal thread sleeve; 57 fixed base; 58 lock head shell. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0043] In the following description, specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a variety of ways beyond those described herein, which can be apparent to those skilled in the art. It is therefore intended that the present application not be limited, for the most part, by the detailed description and illustrative examples, but include all modifications and equivalents thereof.

[0044] The present application provides an underwater node fixing and laying device based on a deep-sea submersible, as shown in Figure 1As shown, the underwater node fixing and laying device 2 is connected with the bottom of the deep-sea submersible 1, and the deep-sea submersible 1 drives the underwater node fixing and laying device 2 to dive, and the drilling, fixing and node laying operations can be completed during the diving of the underwater node fixing and laying device 2. Figure 2 As shown, the underwater node fixing and laying device 2 includes a first-stage frame 4, a second-stage frame 3 and a third-stage frame 7, wherein the first-stage frame 4 is arranged in the second-stage frame 3, the bottom of the second-stage frame 3 is butted against the third-stage frame 7, and the top of the first-stage frame 4 is butted against the deep-sea submersible 1. In this embodiment, the top end of the first-stage frame 4 is provided with a first-stage frame connecting piece 6, and the first-stage frame connecting piece 6 is connected with the deep-sea submersible 1 through a lock pin or a bolt. One end of the first-stage frame 6 is provided with a node laying mechanism, and the other end of the first-stage frame 6 is provided with a drilling mechanism 9.

[0045] As shown, Figure 2 and Figure 3 As shown, the second-stage frame 3 and the first-stage frame 4 are both provided with a plurality of first-stage frame and second-stage frame connecting interfaces 6, and a lock pin hydraulic cylinder 13 is arranged in the interface to realize the fixed connection between the second-stage frame 3 and the first-stage frame 4. The outer surface of the upper part of the first-stage frame 4 is provided with a butt joint guide rail surface 11, and the inner surface of the upper part of the second-stage frame 3 is provided with a butt joint guide rail in correspondence, and the inclination angles of the butt joint guide rail surface 11 and the butt joint guide rail are correspondingly arranged, thereby realizing the butt joint between the first-stage frame 4 and the second-stage frame 3. The first-stage frame 4 is used for butt joint with the deep-sea submersible 1 and the second-stage frame 3 respectively, and simultaneously loads the drilling mechanism and the node laying mechanism.

[0046] As shown, Figure 4 As shown, the top of the second-stage frame 3 is provided with a butt joint guide rail for butt joint with the first-stage frame, the front end 19 of the butt joint guide rail is in an open shape, and the rear end 20 of the butt joint guide rail is provided with a limiting baffle, so that the first-stage frame 4 can be inserted into the second-stage frame 3 through the opening of the front end 19 of the butt joint guide rail, and the first-stage frame 4 is limited and fixed in the second-stage frame 3 under the limiting action of the rear end 20 of the butt joint guide rail. The front end and the rear end of the bottom of the second-stage frame 3 are respectively provided with a third-stage frame butt joint plate 21, and the third-stage frame is connected with the second-stage frame 3 through the third-stage frame butt joint plate 21. The second-stage frame 3 is used for butt joint with the first-stage frame 4 and the third-stage frame 7 respectively, and provides a working space for the drilling mechanism and the node laying mechanism.

[0047] The third-stage frame is used for butt joint with the second-stage frame 3, and simultaneously serves as a working platform of the node and is fixed and placed with the node on the seabed. As shown, Figure 2 and 5As shown, the second level frame 3 and the third level frame 7 are respectively provided with a second level frame and third level frame connecting port 8, and a locking pin hydraulic cylinder is arranged in the second level frame and third level frame connecting port 8, so as to realize the fixed connection between the second level frame 3 and the third level frame 7. The third level frame is provided with an external hydraulic interface 22 and an external power supply and communication interface 23, and when working, the wet plug connector dedicated to the submersible is connected by the submersible manipulator, and the submersible provides power support for the hydraulic equipment and electronic equipment on the third level frame. The middle part of the third level frame is fixedly provided with an anchor guide groove 26, and the anchor guide groove 26 is provided with two symmetrical anchor ports 24. The anchor moves along the anchor guide groove 26 during movement, and the anchor guide groove 26 realizes the guidance during the movement of the anchor. When the drill in the drill mechanism passes through the anchor port, the drill realizes the drilling; when the anchor in the drill mechanism passes through the anchor port, the anchor port realizes the release and guidance of the anchor during the release. The third level frame is also provided with a node fixing pin port 29, a wireless communication sensing area 28 and a wireless charging sensing area 27. The node fixing pin is fixedly arranged in the node fixing pin port 29. When the node fixing pin passes through the node fixing pin port 29 and the node on the third level frame in sequence, the fixed connection between the third level frame and the node can be realized. The wireless communication sensing area 28 and the wireless charging sensing area 27 are connected with the external power supply and communication interface 23 through water-proof cables, and the power supply and communication connection between the node and the third level frame are established through the wireless sensing mode.

[0048] As shown in the figure, Figures 6 to 10 The node laying mechanism includes a node 10, a release hydraulic cylinder 14 and a release and recovery lock head 30. The top of the node 10 is connected with the release and recovery lock head 30, and the release hydraulic cylinder 14 is located above the release and recovery lock head 30. The bottom of the release hydraulic cylinder 14 is fixedly connected with the top of the release and recovery lock head 30. The cylinder body of the release hydraulic cylinder 14 is fixedly connected with the first level frame through a support frame, and the piston rod of the release hydraulic cylinder 14 is fixedly connected with the release and recovery lock head 30 through a connecting flange. The bottom of the node 10 is fixedly connected with a node adapter base 15.

[0049] The release recovery lock head 30 comprises a lock head shell 58, an unlocking ring 32, an unlocking ring driving hydraulic cylinder 31 and a spring lock piece 33. The top surface of the lock head shell 58 is fixedly connected with the release hydraulic cylinder 14. The middle part of the lock head shell 58 is provided with a through hole. The top of the corresponding node 10 is fixedly provided with a mushroom head 34. The mushroom head 34 is in the shape of a circular truncated cone. The outer surface of the mushroom head 34 is in the shape of a ring and is inclined. The size of the upper end of the mushroom head 34 is smaller than the size of the lower end of the mushroom head 34. The mushroom head 34 is slidingly arranged in the central through hole of the lock head shell 58. The unlocking ring 32 is slidingly arranged on the annular outer side of the lock head shell 58. The unlocking ring 32 is connected with a plurality of unlocking ring driving hydraulic cylinders 31. The cylinder body of the unlocking ring driving hydraulic cylinder 31 is fixedly connected with the outer surface of the lock head shell 58. The piston rod of the unlocking ring driving hydraulic cylinder 31 is fixedly connected with the unlocking ring 32. Through the unlocking ring driving hydraulic cylinder 31, the unlocking ring 32 is driven to slide up and down along the outer side of the lock head shell 58.

[0050] A plurality of strip-shaped holes are arranged in the lock head shell 58 along the annular shell. The spring lock piece 33 is arranged in the strip-shaped hole. When the unlocking ring 32 is not in contact with the spring lock piece 33, the spring lock piece 33 is always in a horizontal state. When the spring lock piece 33 is in the horizontal state, the outer diameter formed by the outer end of the plurality of spring lock pieces 33 is smaller than the inner diameter of the unlocking ring 32. The unlocking ring 32 is located above the spring lock piece 33. Therefore, when the unlocking ring 32 descends to be in contact with the spring lock piece 33, the spring lock piece 33 is pressed and tilted to rotate. The inner diameter formed by the inner end of the plurality of spring lock pieces 33 is smaller than the outer diameter of the bottom of the mushroom head 34. Therefore, the spring lock piece 33 plays a limiting role on the mushroom head 34. When the mushroom head 34 moves to be in contact with the spring lock piece 33, the horizontal spring lock piece 33 plays a blocking role on the mushroom head 34, so that the mushroom head 34 cannot continue to descend. At this time, the mushroom head 34 can only move in the central hole above the spring lock piece 33. At this time, the node is in an unreleased state, which ensures the connection between the node 10 and the release recovery lock head 30.

[0051] The spring lock piece 33 comprises a lock piece 36, a limiting block 35, a spring 38 and a fixed shaft 37. The fixed shaft 37 is horizontally fixed in the strip-shaped hole. The cross section of the lock piece 36 is in the shape of an inverted triangle. The lock piece 36 is rotatably sleeved on the fixed shaft 37. The spring 38 is connected between the lock piece 36 and the hole wall of the strip-shaped hole. The spring 38 is wound on the outside of the fixed shaft 37. Two horizontal limiting blocks 35 are arranged above the lock piece 36. The limiting blocks 35 are fixedly connected with the two side walls of the strip-shaped hole respectively. The limiting blocks 35 limit the lock piece 36, so that the lock piece 36 is always kept in a horizontal state. At this time, the mushroom head 34 can only reciprocate in the center hole above the lock piece 36, so that the locking function of the node is realized. When the unlocking ring 32 moves downward, the outside of the lock piece 36 is pressed downward by the unlocking ring 32, so that the lock piece 36 is in an inclined state. The inner end of the lock piece 36 is inclined. The inclined surface of the inner end corresponds to the inclined surface of the annular outside of the mushroom head 34. At this time, the spring lock piece 33 loses the one-way locking function. The mushroom head 34 can move upward and downward in the center hole of the lock head shell 58 through the spring lock piece 33.

[0052] Since the matching gap in the release recovery lock head 30 is large, the positioning accuracy of the node during release cannot be guaranteed. Therefore, the node limiting plate 16 is arranged at the lower part of the first frame. One end of the node limiting plate 16 is fixedly connected with the first frame. The other end of the node limiting plate 16 is provided with a limiting groove 39 towards the side of the node. Correspondingly, the limiting protrusion 40 is fixedly arranged on the outer surface of the node 10. The limiting protrusion 40 is slidably arranged in the limiting groove 39. Through the cooperation between the limiting protrusion 40 and the limiting groove 39, the positioning accuracy during the release process of the node is guaranteed.

[0053] The node adapter base comprises an adapter plate 43. Four corner points are arranged on the adapter plate 43. Two symmetrically arranged corner points are provided with a connecting hole 41. The connecting hole 41 is correspondingly arranged between the node fixing pin hole 29 on the third stage frame. The connecting hole 41 is located directly above the node fixing pin hole 29. The node fixing pin is fixedly arranged in the node fixing pin hole 29. When the node fixing pin passes through the connecting hole 41 of the node adapter base, the fixed connection between the node adapter base and the third stage frame is realized. The other two symmetrically arranged corner points of the adapter plate 43 are fixedly provided with a cannula 42 at the bottom. The cannula 42 is correspondingly arranged with the anchor hole on the third stage frame.

[0054] As Figure 11 and Figure 12As shown, the drilling mechanism comprises a drill 47, a drill horizontal hydraulic cylinder 44 and an anchor 17, wherein the drill 47 is arranged in a vertical direction, the drill 47 is fixed on one side surface of a drill fixed plate 45, and the other side surface of the drill fixed plate 45 is connected with the drill horizontal hydraulic cylinder 44. The drill horizontal hydraulic cylinder 44 is arranged in a horizontal direction, the cylinder body of the drill horizontal hydraulic cylinder 44 is fixedly connected with the first-stage frame, and the piston rod of the drill horizontal hydraulic cylinder 44 is connected with the drill fixed plate 45. A plurality of guide blocks 48 are arranged on the side surface of the drill fixed plate 45 connected with the drill horizontal hydraulic cylinder 44, and a horizontal drill guide rail 18 is arranged on the first-stage frame correspondingly, the guide blocks 48 are slidingly arranged in the drill guide rail 18, and the drill fixed plate 45 is driven to move reciprocatingly along the drill guide rail 18 in a horizontal direction during the action of the drill horizontal hydraulic cylinder 44, so that the horizontal movement of the drill 47 is realized. The lower part of the drill fixed plate 45 is connected with the anchor through an anchor fixed plate 49. One end of the anchor fixed plate 49 is fixedly connected with the drill fixed plate, and the other end of the anchor fixed plate 49 is fixedly provided with two anchor sleeves, and the anchor sleeves are respectively provided with the anchor 17. The upper end of the anchor 17 is slidingly sleeved in the anchor sleeve, and the lower end of the anchor 17 is arranged in an anchor guide groove 26 of the third-stage frame. When the anchor 17 is located in the anchor guide groove 27, the bottom wall of the anchor guide groove 27 plays a blocking and guiding role on the anchor 17, so that the upper part of the anchor 17 is always located in the anchor sleeve, the lower part of the anchor 17 is always located in the anchor guide groove 27, and the anchor 17 slides along the anchor guide groove 27. When the anchor 17 moves to the anchor port 24, the anchor 17 loses the support of the bottom wall of the anchor guide groove at this time, and the anchor 17 falls into the anchor port 24 under the action of gravity.

[0055] As Figure 13 and Figure 14As shown, the anchor includes an upper anchor shell 50 and a toothed nail wall 51 fixed below the anchor shell 50, the anchor shell 50 is provided with a cavity, the toothed nail wall 51 includes a plurality of axial toothed nail plates, a plurality of toothed nail plates are arranged along the annular direction at the bottom of the anchor shell 50, there is a gap between adjacent toothed nail plates, and a plurality of toothed nail plates also surround an annular cavity. The anchor shell 50 is sequentially provided with a piston 52, a capsule 53 and a swelling ball 54 from top to bottom, a sealing ring is arranged between the outer wall of the piston 52 and the inner wall of the anchor shell, and the sealing ring can play a sealing role. The capsule 53 contains a glue liquid, and the glue liquid can be drilling cement or resin glue. The inner surface of the connection between the anchor shell 50 and the toothed nail wall is provided with a positioning port, and the outer diameter of the swelling ball 54 is smaller than the inner diameter of the positioning port. When the anchor works, the insertion tube 42 of the node adapter base is inserted into the cavity of the anchor shell 50 from the top, and a downward pressure is generated on the piston 52. The piston 52 is crushed during the downward pressing process, the glue liquid in the capsule flows out, and the sealing ring on the outer wall of the piston 52 can prevent the glue liquid from leaking out. The piston 52 continues to press downward, and the glue liquid and the swelling ball 54 continue to be pushed downward. When the swelling ball 54 reaches the positioning port, the positioning port clamps the swelling ball 54, and the swelling ball 54 generates an outward tension on the positioning port, so that the toothed nail wall 51 swells outward, and the glue liquid flows downward along the toothed nail wall 51. When the glue coagulates, the anchor can be fixed in the hole.

[0056] As shown in the figure, Figure 15 As shown in the figure, the node fixing pin includes an internally threaded sleeve 56 and a fixed base 57, the fixed base 57 is fixedly arranged in the node fixing pin port 29 of the third level frame, the internally threaded sleeve 56 is located above the fixed base 57, and the internally threaded sleeve 56 and the upper part of the fixed base 57 are fixedly connected in a threaded manner. A plurality of spring locking pins 55 are arranged on the upper part of the internally threaded sleeve 56 in the annular direction. In this embodiment, the upper part of the internally threaded sleeve 56 is arranged with a plurality of long strip-shaped grooves in the annular direction, and a spring locking pin 55 in the vertical direction is arranged in each long strip-shaped groove, and the spring locking pin 55 and the side wall of the long strip-shaped groove are connected by a spring. In the initial state, the spring locking pin 55 is in the extended state, that is, the spring locking pin 55 is located outside the outer wall of the internally threaded sleeve 56. When a certain pressure is applied to the spring locking pin 55, the spring locking pin 55 is compressed into the long strip-shaped groove of the internally threaded sleeve 56, and the spring between the spring locking pin 55 and the long strip-shaped groove is compressed at this time. After the external force is removed, the spring locking pin 55 is automatically reset under the action of the spring.

[0057] The connecting hole 41 on the node adapter base is correspondingly arranged with the node fixing pin. During the downward movement of the node adapter base, the inner wall of the connecting hole 41 generates an inward pushing force on the spring lock pin 55, the spring lock pin 55 is retracted inwardly, so that the node adapter base can continue to move downwardly. When the connecting hole 41 is away from the spring lock pin 55, the spring lock pin 55 is automatically reset under the action of the elastic force. At this time, the connection between the node adapter base and the third stage frame is realized. Since the cross-sectional shape of the spring lock pin 55 is triangular, under the blocking action of the spring lock pin 55, the node adapter base cannot move upwardly and is separated from the node fixing pin, so as to fix the node on the third stage frame and prevent the node from being separated from the third stage frame.

[0058] The working process of the device is described as follows. First, the deep-sea submersible 1 is carried into water by the device and is placed at a suitable position. At this time, the drill 47 is located directly above the anchor nail opening 24. The drill 47 moves downwardly under the drive of the vertical hydraulic cylinder and passes through the anchor nail opening 24 to complete the drilling of the first hole. After the drilling of the first hole is completed, the drill fixing plate 45 is pushed by the drill horizontal hydraulic cylinder 44 to move in the horizontal direction to the right, and the anchor nail 17 is moved to the right by the drill fixing plate 45. When the first anchor nail moves to above the first hole, the first anchor nail slides to the drill hole under the action of gravity. The drill 47 continues to move to the right under the drive of the drill horizontal hydraulic cylinder 44. Since the first drill hole is filled with the first anchor nail, the second anchor nail continues to slide in the anchor nail guide groove 26 with the drill fixing plate. When the drill 47 moves above the second anchor nail opening, the drill 47 passes through the second anchor nail opening under the drive of the vertical hydraulic cylinder and completes the drilling of the second hole. After the drilling of the second hole is completed, the second anchor nail continues to move by the drill fixing plate 45 until the second anchor nail falls into the second drill hole. After the above operation is completed, the third stage frame 7 is positioned by the two anchor nails. At this time, the lock pin hydraulic cylinder 13 connected with the first stage frame 4 and the second stage frame 3 is operated to make the first stage frame 4 and the second stage frame 3 separate from each other. The first stage frame 4 is pushed out of the second stage frame 3 by the deep-sea submersible 1. After the first stage frame 4 and the second stage frame 3 are completely separated, the first stage frame 4 is turned around by the deep-sea submersible 1, and one end of the node placement mechanism arranged on the first stage frame 4 is directed toward the second stage frame 3.

[0059] Next, the first stage frame 4 is pushed into the second stage frame 3 again by the deep-sea submersible 1, the docking between the first stage frame 4 and the second stage frame 3 is completed again, the lock pin hydraulic cylinder 13 is operated to re-lock the first stage frame 4 and the second stage frame 3, and at this time, the node laying mechanism is located directly above the third stage frame 7. The release hydraulic cylinder 14 is operated, the piston rod thereof goes down, and in the process of downward movement of the piston rod, the node 10 and the node adapter base 15 at the bottom of the node 10 are pressed to move downward by the release and recovery lock head 30, the connecting hole 41 on the node adapter base 15 is aligned with the node fixing pin hole 29 on the third stage frame, and the insertion pipe 42 on the node adapter base 15 is aligned with the anchor pin hole 24 on the third stage frame. When the node 10 is pressed to be in close contact with the third stage frame 7, the connecting hole 41 passes through the node fixing pin in the node fixing pin hole 29, and the node 10 and the third stage frame 7 are fixedly connected through the node fixing pin; meanwhile, the insertion pipe 42 is inserted into the inner cavity of the anchor pin, and downward pressure is generated on the piston 52, the piston 52 moves downward to pierce the capsule 53, the glue in the capsule 53 flows out, and is left to the tooth-shaped pin wall 51 downward, and when the capsule 53 solidifies, the anchor pin is firmly fixed in the drill hole, so as to fix the third stage frame 5 on the seabed.

[0060] Then, the unlocking ring driving hydraulic cylinder 31 of the release and recovery lock head 30 is operated to push the unlocking ring 32 to move downward, the unlocking ring 32 applies downward pressure to the outer end of the spring locking piece 33 to make the spring locking piece 33 tilt, at this time, the locking effect of the spring locking piece 33 on the mushroom head 34 is released, the release hydraulic cylinder 14 drives the release and recovery lock head 30 to move upward, the release and recovery lock head 30 is separated from the node 10, and the release and recovery of the release and recovery lock head 30 is realized.

[0061] Finally, the mechanical arm of the deep-sea submersible is used to connect the external hydraulic interface 22 and the external power supply and communication interface 23 on the third stage frame 7, the functions of the node 10 are debugged, the lock pin hydraulic cylinder connecting the second stage frame and the third stage frame is controlled through the external hydraulic interface 22, the second stage frame 3 and the third stage frame 7 are unlocked, the deep-sea submersible 1 carries the first stage frame 4 and the second stage frame 3 to move upward, and the separation between the second stage frame 3 and the third stage frame 7 is completed. Thus, the laying of the node is completed.

[0062] When the node 10 needs to be maintained, the first stage frame and the second stage frame are carried by the deep-sea submersible 1, the second stage frame and the third stage frame are docked with each other, and then the external hydraulic interface 22 and the external power supply and communication interface 23 are connected to maintain and copy data of the node 10.

[0063] When the node 10 is recycled, first, the first stage frame and the second stage frame are carried by the deep-sea submersible 1 and are seated on the bottom beside the third stage frame 7, the inner threaded sleeve of the upper part of the node fixing pin is rotated and removed by the manipulator, then the deep-sea submersible carries the first stage frame and the second stage frame, the first stage frame and the second stage frame are docked with the third stage frame, the release and recycling lock head 30 is operated, the mushroom head 34 at the top of the node is locked and connected with the release and recycling lock head 30 again, the recycling of the node 10 is realized, and the third stage frame 7 is discarded.

[0064] The underwater node fixing and laying device suitable for the deep-sea submersible provided by the present application is described in detail above. The principle and implementation mode of the present application are described by applying specific examples in this paper, and the above description of the embodiments is only used to help understand the method of the present application and its core idea. It should be pointed out that, for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principle of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application. The above description of the disclosed embodiments enables the professional technical personnel in the field to implement or use the present application. Various modifications of these embodiments will be apparent to the professional technical personnel, and the general principles defined in this paper can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown in this paper, but will conform to the widest scope consistent with the principles and novel features disclosed in this paper.

Claims

1. A deep submergence vehicle based underwater node fixing and deploying apparatus, characterized in that, It comprises a first level frame (4), a second level frame (3) and a third level frame (7), the first level frame (4) is arranged in the second level frame (3), the bottom of the second level frame (3) is butted with the third level frame (7), the top of the first level frame (4) is butted with the deep water submersible (1), one end of the first level frame (4) is provided with a node laying mechanism, the other end of the first level frame (4) is provided with a drilling rig mechanism (9); The second level frame (3) and the first level frame (4) are provided with a plurality of first level frame and second level frame connecting interfaces (6), the interfaces are provided with locking pin hydraulic cylinders (13), the second level frame (3) and the first level frame (4) are fixedly connected through the locking pin hydraulic cylinders (13), the outer surface of the upper part of the first level frame (4) is provided with a butt joint guide rail surface (11), the inner surface of the top of the second level frame (3) is provided with a butt joint guide rail, the butt joint guide rail surface (11) and the butt joint guide rail are corresponding inclined surfaces; The front end (19) of the butt joint guide rail of the top of the second level frame (3) is in an open shape, the rear end (20) of the butt joint guide rail is provided with a limiting baffle, the front end and the rear end of the bottom of the second level frame (3) are respectively provided with third level frame butt joint plates (21), the third level frame is connected with the second level frame (3) through the third level frame butt joint plates (21); The second level frame (3) and the third level frame (7) are respectively provided with second level frame and third level frame connecting interfaces (8), the second level frame and third level frame connecting interfaces (8) are provided with locking pin hydraulic cylinders, the second level frame (3) and the third level frame (7) are fixedly connected through the locking pin hydraulic cylinders; The third level frame is provided with an external hydraulic interface (22) and an external power supply and communication interface (23), the middle part of the third level frame is fixedly provided with an anchor guide groove (26), the anchor guide groove (26) is provided with two symmetrical anchor ports (24), the anchor reciprocally moves in the anchor guide groove (26), the third level frame is further provided with a node fixing pin port (29), a wireless communication sensing area (28) and a wireless charging sensing area (27), a node fixing pin is fixedly arranged in the node fixing pin port (29).

2. The deep submersible vehicle based underwater node fixing and deploying apparatus according to claim 1, characterized in that, The node laying mechanism comprises a node (10), a release hydraulic cylinder (14) and a release and recovery lock head (30), the top of the node (10) is connected with the release and recovery lock head (30), the release hydraulic cylinder (14) is located above the release and recovery lock head (30), the cylinder body of the release hydraulic cylinder (14) is fixedly connected with the first level frame through a support frame, the piston rod of the release hydraulic cylinder (14) is fixedly connected with the release and recovery lock head (30), the bottom of the node (10) is fixedly connected with a node adapter base (15). The release recovery lock head (30) comprises a lock head shell (58), an unlocking ring (32), an unlocking ring driving hydraulic cylinder (31) and a spring lock piece (33), the top surface of the lock head shell (58) is fixedly connected with the release hydraulic cylinder (14), the middle part of the lock head shell (58) is provided with a through hole, the top of the node (10) is fixedly provided with a mushroom head (34), the mushroom head (34) is in the form of a circular truncated cone, the mushroom head (34) is slidingly arranged in the through hole of the lock head shell (58), the annular outer side of the lock head shell (58) is slidingly arranged with the unlocking ring (32), the unlocking ring (32) is connected with a plurality of unlocking ring driving hydraulic cylinders (31), a plurality of strip-shaped holes are arranged in the lock head shell (58) at intervals along the annular shell, and a spring lock piece (33) is arranged in each strip-shaped hole; when the spring lock piece (33) is in a horizontal state, the outer diameter formed by the outer ends of the plurality of spring lock pieces (33) is smaller than the inner diameter of the unlocking ring (32), at this time, the unlocking ring (32) is located above the spring lock pieces (33), and the inner diameter formed by the inner ends of the plurality of spring lock pieces (33) is smaller than the outer diameter of the bottom of the mushroom head (34). The node adapter base comprises an adapter plate (43), the adapter plate (43) is provided with four corner points, two symmetrically arranged corner points are provided with a connecting hole (41), the connecting hole (41) is correspondingly arranged between the node fixing pin on the third level frame, the connecting hole (41) is located directly above the node fixing pin, and the bottom of the other two symmetrically arranged corner points of the adapter plate (43) is fixedly provided with a cannula (42), the cannula (42) is correspondingly arranged with the anchor nail hole on the third level frame.

3. The deep submersible vehicle based underwater node fixing and deploying apparatus according to claim 2, characterized in that, The spring lock piece (33) comprises a lock piece (36), a limiting block (35), a spring (38) and a fixed shaft (37), the fixed shaft (37) is fixed horizontally in the strip-shaped hole, the cross section of the lock piece (36) is in the form of a triangle, the lock piece (36) is rotatably sleeved on the fixed shaft (37), the spring (38) is connected between the lock piece (36) and the hole wall of the strip-shaped hole, the spring (38) is wound on the outer side of the fixed shaft (37), two limiting blocks (35) are arranged above the lock piece (36), and the limiting blocks (35) are fixedly connected with the two side walls of the strip-shaped hole.

4. The deep submersible vehicle-based underwater node-fixing deployment apparatus according to claim 2, characterized in that, The lower part of the first level frame is provided with a node limiting plate (16), one end of the node limiting plate (16) is fixedly connected with the first level frame, the other end of the node limiting plate (16) is provided with a limiting groove (39) towards the side of the node, and a limiting protrusion (40) is fixedly arranged on the outer surface of the node (10) correspondingly, the limiting protrusion (40) is slidingly arranged in the limiting groove (39).

5. The deep submersible vehicle based underwater node fixing and deploying apparatus according to claim 1, wherein, The drilling mechanism comprises a drilling machine (47) arranged vertically, a drilling machine horizontal hydraulic cylinder (44) and an anchor nail (17), the drilling machine (47) is fixed on one side surface of a drilling machine fixing plate (45), the other side surface of the drilling machine fixing plate (45) is connected with the drilling machine horizontal hydraulic cylinder (44), a plurality of guide blocks (48) are arranged on the side surface of the drilling machine fixing plate (45) connected with the drilling machine horizontal hydraulic cylinder (44), a horizontal drilling machine guide rail (18) is arranged on the first-stage frame correspondingly, the guide blocks (48) are slidingly arranged in the drilling machine guide rail (18), and the lower part of the drilling machine fixing plate (45) is connected with the anchor nail through an anchor nail fixing plate (49). One end of the anchor nail fixing plate (49) is fixedly connected with the drilling machine fixing plate, the other end of the anchor nail fixing plate (49) is fixedly provided with two anchor nail sleeves, the anchor nail sleeves are respectively provided with the anchor nails (17), the upper ends of the anchor nails (17) are slidingly arranged in the anchor nail sleeves, and the lower ends of the anchor nails (17) are arranged in anchor nail guide grooves (26) of the third-stage frame.

6. The deep submersible vehicle based underwater node fixing and deploying apparatus according to claim 5, wherein, The anchor nail comprises an upper anchor nail shell (50) and a toothed nail wall (51) fixed below the anchor nail shell (50), the anchor nail shell (50) is provided with a cavity, the toothed nail wall (51) comprises a plurality of axial toothed nail plates, the plurality of toothed nail plates are arranged along the annular direction of the bottom of the anchor nail shell (50) at intervals, gaps exist between adjacent toothed nail plates, the plurality of toothed nail plates enclose an annular cavity, the anchor nail shell (50) is sequentially provided with a piston (52), a capsule (53) and a swelling ball (54) from top to bottom, a sealing ring is arranged between the outer wall of the piston (52) and the inner wall of the anchor nail shell, the capsule (53) is filled with glue, the inner surface of the connection position of the anchor nail shell (50) and the toothed nail wall is provided with a positioning opening, and the outer diameter of the swelling ball (54) is smaller than the inner diameter of the positioning opening.

7. The deep submersible vehicle-based underwater node-fixing deployment apparatus of claim 1, wherein, The node fixing pin comprises an internally-threaded sleeve (56) and a fixed base (57), the fixed base (57) is fixedly arranged in a node fixing pin opening (29) of the third-stage frame, the internally-threaded sleeve (56) is located above the fixed base (57), and the upper portion of the internally-threaded sleeve (56) is connected with the upper portion of the fixed base (57) in a threaded manner. The upper portion of the internally-threaded sleeve (56) is arranged with a plurality of spring locking pins (55) at intervals along the annular direction, and the cross section of the spring locking pin (55) is triangular.

8. The deep submersible vehicle based underwater node fixing and deploying apparatus according to claim 7, wherein, The upper portion of the internally-threaded sleeve (56) is arranged with a plurality of long-strip-shaped grooves at intervals along the annular direction, each long-strip-shaped groove is arranged with a spring locking pin (55) in the vertical direction, the spring locking pin (55) is connected with the side wall of the long-strip-shaped groove through a spring, in an initial state, the spring locking pin (55) is in an extended state, and the spring locking pin (55) is located outside the outer wall of the internally-threaded sleeve (56).

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