A self-propelled submarine cable laying equipment suitable for multiple terrains

Abstract

The present invention discloses a self-propelled submarine cable burying device that can adapt to multiple terrains, and relates to the field of submarine cable laying equipment. When burying submarine cables, most existing submarine cable burying devices require submarine cable ships to tow burying plows, plow or spray high-pressure water to flush the seabed soil layer for burying operations. The operation speed is slow, and the submarine cable is easily pulled out of the seabed soil, threatening the safety of the submarine cable. It includes a self-propelled crawler chassis, a main support frame, a lower support frame, a plow mechanism and a high-pressure water spray mechanism for digging submarine ditches for cable burying, a rotating mechanism for converting the working positions of the plow mechanism and the high-pressure water spray mechanism, and a riprap backfill mechanism for riprap backfilling ditches. It can adapt to complex submarine terrain, can effectively improve the burying speed of submarine cables, improve the burying quality, and improve the safety of submarine cables.

Description

Technical Field

[0001] The present invention relates to the field of submarine cable laying equipment, and in particular to a self-propelled submarine cable burying equipment adaptable to multiple terrains. Background Art

[0002] With the advancement of economic globalization, the development of modern communication technology is accelerating, and international communications have gradually become a focal point in the informatization process of various countries. Submarine cables, with their short latency, large transmission capacity, and high transmission quality, stand out among various long-distance communication methods and are currently the most reliable, secure, and effective technical means of long-distance communication. However, the complex and diverse seabed terrain makes trenching and laying submarine cables challenging.

[0003] Existing submarine cable laying systems typically require a cable vessel to pull a plow, which plows or sprays high-pressure water to break up the seabed soil. While the vessel's pulling force is relatively stable when the seabed is flat and the flow field is stable, the complex and ever-changing seabed environment makes the cable laying system susceptible to shifting or capsizing during trenching and cable laying, posing a significant safety hazard due to changes in seabed topography and currents.

[0004] The seabed topography is highly variable. Plough-type cable laying requires high traction from submarine cable vessels and cannot be used for re-laying cables after shallow shoal repairs. Water jetting, on the other hand, is only suitable for short-distance cable laying due to its high terrain requirements and is slow. Submarine cables can easily be pulled out of the seabed, exposing them and causing wear and corrosion. They can even be snagged and damaged by anchors or fishing gear, threatening their safety and shortening their lifespan. Summary of the Invention

[0005] The technical problem to be solved and the technical task to be addressed by the present invention are to improve and enhance existing technical solutions, thereby providing a self-propelled submarine cable burial equipment that is adaptable to various terrains, with the goal of improving the efficiency and safety of submarine cable burial. To this end, the present invention adopts the following technical solutions.

[0006] A self-propelled submarine cable burying equipment adaptable to multiple terrains, comprising a self-propelled crawler chassis, a main support frame, a lower support frame, a plow mechanism and a high-pressure water spray mechanism for digging a submarine ditch for cable burying, a hollow rotating mechanism for switching the working positions of the plow mechanism and the high-pressure water spray mechanism, and a riprap backfill mechanism for riprap backfilling the ditch. The self-propelled crawler chassis is arranged below the lower support frame, the main support frame is arranged above the lower support frame, the hollow rotating mechanism is arranged at the rear end of the main support frame, the hollow rotating mechanism is provided with a turntable assembly, the plow mechanism and the high-pressure water spray mechanism are ... The mechanism is arranged at the rear end of the turntable assembly, and the turntable assembly can rotate around the front-to-back central axis to switch the working positions of the plow mechanism and the high-pressure water spray mechanism. The riprap backfill mechanism is arranged on the upper part of the main support frame. After the riprap pipe of the riprap backfill mechanism passes through the center hole of the turntable assembly backward, the stone outlet of the riprap pipe faces downward. A grab clamp is provided at the front and rear positions of the self-propelled crawler chassis below the main support frame. A cable groove is provided on the lower support frame between the two grab clamps. The plow mechanism and the high-pressure water spray mechanism are both provided with a cable guide groove, and the turntable assembly is provided with a cable hole corresponding to the position of the cable guide groove. This equipment is equipped with a self-propelled crawler chassis that can move freely on various submarine terrains, improving the equipment's adaptability and maneuverability. The main support frame and lower support frame provide stable support for the entire equipment, ensuring the accuracy and efficiency of submarine cable burial operations. The plow mechanism and high-pressure water spray mechanism can effectively dig submarine trenches and bury cables according to different submarine geological conditions, improving the efficiency and quality of burial operations. The hollow rotating mechanism can easily achieve the rotation and switching of the working positions of the plow mechanism and high-pressure water spray mechanism, making the equipment more flexible and more versatile. The riprap backfill mechanism can automatically riprap backfill the buried submarine cable, ensuring the quality of the trench filling and providing stable and reliable safety protection for the submarine cable. The gripper can easily grab the submarine cable, protecting the submarine cable from friction with the seabed during burial, so that it is not damaged during the burial process. At the same time, it can ensure that the submarine cable passes through the cable guide trough smoothly during the burial process, avoiding damage to the submarine cable and burial errors. The equipment has strong overall adaptability, high burial accuracy, high burial efficiency and good safety.

[0007] As a preferred technical means: the front end of the main support frame is equipped with a front searchlight and underwater photography device 1, and the rear end of the turntable assembly is equipped with a rear searchlight and underwater photography device 2. The front searchlight can provide lighting in front of the buried equipment, helping operators to perform precise operations in dark seabed environments. The rear searchlight can provide lighting behind the equipment, ensuring that the position and status of the buried equipment in the seabed trench are clearly visible. The underwater photography devices 1 and 2 can capture the seabed environment in real time, record the entire burial process, and transmit the images to the operation room. They can also record or take photos when necessary, providing operators with more comprehensive information, providing a basis for subsequent operation analysis and troubleshooting, and helping them make more accurate decisions.

[0008] As a preferred technical approach, the self-propelled crawler chassis includes two sets of triangular crawler drive units, arranged in the same direction front and rear and connected to a lower support frame. Each set of triangular crawler drive units is symmetrically arranged relative to the lower support frame. These two sets of triangular crawler drive units provide greater balance and stability during operation, enabling better terrain adaptability, allowing the burial equipment to easily navigate seabed obstacles, and improving its environmental adaptability and operational efficiency.

[0009] As an optimal technical means: the triangular crawler drive device includes a driving wheel, a walking track, a front diagonal support beam, a rear diagonal support beam, a front guide wheel, a front support, a connecting bracket, a crossbeam, a supporting wheel, a connecting rod, a rear support, a rear guide wheel and a spring tensioning device. The front guide wheel, the rear guide wheel and the driving wheel are distributed in a triangle in a vertical plane. The driving wheel is located at the upper end corner of the triangle, the driving wheel is connected to the driving shaft, and the driving shaft is rotatably connected to the lower support frame. The rear guide wheel is located at the rear end corner of the triangle, and the front guide wheel is located at the front end corner of the triangle. The crossbeam is horizontally arranged, and the front end of the crossbeam is connected to the front support. The spring tensioning device is arranged on the upper rear part of the crossbeam, and the rear end of the spring tensioning device is connected to the rear support, and the rear support is connected to the rear guide wheel. The cam is connected to the lower end of the rear guide wheel and the rear guide wheel through a vertical cam, and the cam is connected to the lower end of the front guide wheel and the rear guide wheel through a vertical cam. The front guide wheel, rear guide wheel and driving wheel are distributed in a triangle in the vertical plane, which effectively realizes the driving of the buried device. The driving wheel is located at the upper end corner of the triangle, the rear guide wheel is located at the rear end corner of the triangle, and the front guide wheel is located at the front end corner of the triangle. The triangular crawler drive device can better adapt to driving in different directions and angles, while increasing the stability and passing performance of the triangular crawler drive device and reducing the risk of tilting and rollover. The spring tensioning device is connected to the lower end of the rear diagonal support beam through a connecting rod, which can automatically adjust the tension of the triangular crawler drive device and improve the driving effect and life of the track.

[0010] As the preferred technical means: the grabber includes a fixed column, a grabber hydraulic cylinder, a clamp, a telescopic guide rod and a support arm. The grabber is connected to the bottom of the main support frame through a stud arranged at the upper end. There are two support arms, which are symmetrically arranged under the fixed column and fixed to the fixed column by bolts. There are two telescopic guide rods, which vertically pass through the guide sleeves at the lower ends of the two support arms and slide with the guide sleeves. There are two clamps, which are rotatably connected to the lower ends of the two telescopic guide rods. The two clamps are combined into a holding structure. There are two grabber hydraulic cylinders, and the upper ends of the two grabber hydraulic cylinders are symmetrically connected to the left and right sides of the fixed column. The lower ends of the two grabber hydraulic cylinders are symmetrically connected to the upper parts of the left and right outer sides of the two clamps. The gripping structure drives two gripping claws through two gripping hydraulic cylinders, so that the claws can pick up the submarine cable. The gripping claws are connected to the bottom of the main support frame through the studs set at the upper end, which can be easily installed and disassembled, improving the maintainability and flexibility of the equipment. The hydraulic cylinders are symmetrically connected to the left and right sides of the fixed column, which can accurately control the opening and closing force and position of the gripping claws, avoiding damage and wear of the submarine cable. The gripping claws are combined into a holding structure, which can better protect the submarine cable and avoid damage to the submarine cable during the burial process.

[0011] As an optimal technical means: the high-pressure water spraying mechanism includes a nozzle, a breaker plate, a water spraying mechanism cable press, a water spraying mechanism cable press hydraulic cylinder, a water spraying mechanism mounting seat and a water spraying mechanism hydraulic cylinder mounting seat. The high-pressure water spraying mechanism is connected and fixed to the turntable assembly through the water spraying mechanism mounting seat. The bottom of the water spraying mechanism cable press is provided with the cable guide groove from the lower end to the upper end. The upper end position of the cable guide groove corresponds to the cable hole. There are two water spraying mechanism cable press hydraulic cylinders, which are symmetrically arranged on both sides of the cable press. The upper end of the water spraying mechanism cable press hydraulic cylinder is connected to the water spraying mechanism mounting seat through the water spraying mechanism hydraulic cylinder mounting seat. The lower end of the water spraying mechanism cable press hydraulic cylinder is rotatably connected to the side of the water spraying mechanism cable press by a rotating connecting shaft. The breaker plate is provided at the lower end position of the high-pressure water spraying mechanism, and the nozzles are arranged at equal intervals along the oblique cable guide groove at the lower side position of the high-pressure water spraying mechanism. The high-pressure water spray mechanism is connected and fixed to the turntable assembly through the water spray mechanism mounting bracket. It can be easily installed and disassembled, which improves the maintainability and flexibility of the equipment. A cable guide groove is provided under the cable press of the water spray mechanism from the lower end to the upper end. The upper end position of the cable guide groove corresponds to the cable hole, which can ensure the smooth passage of the submarine cable during the burial process and avoid damage and wear of the submarine cable. The cable press of the water spray mechanism can easily press the submarine cable into the excavated trench to avoid the position displacement of the submarine cable during the burial process. There are 2 hydraulic cylinders for cable pressing of the water spray mechanism, which are symmetrically arranged on both sides of the cable press. The position and cable pressing force of the cable press can be accurately controlled to ensure the accuracy and safety of the burial operation. The breaking plate is arranged at the lower end of the high-pressure water spray mechanism, which can effectively break the seabed soil and improve the efficiency and quality of the burial operation.

[0012] As an optimal technical means: the plow mechanism includes a plow, a plow head arranged at the lower end of the plow, a plow cable press arranged above the plow, a plow cable press hydraulic cylinder arranged on both sides of the plow cable press, a plow mechanism mounting support and a plow mounting support, the upper end of the plow can be rotatably connected to the plow mounting support, the plow mounting support is connected and fixed to the plow mechanism mounting support, the plow mechanism is connected to the turntable assembly through the plow mechanism mounting support at the upper end, the cable guide groove is provided below the plow cable press from the lower end to the upper end, the upper end position of the cable guide groove corresponds to the cable passing hole, there are two plow cable press hydraulic cylinders, which are symmetrically arranged on both sides of the plow cable press, the upper end of the plow cable press hydraulic cylinder is connected to the plow mounting support through the plow hydraulic cylinder mounting support, and the lower end of the plow cable press hydraulic cylinder is rotatably connected to the side of the plow cable press by a rotating connecting shaft. The plow mechanism is connected to the turntable assembly through the plow mechanism mounting bracket at the upper end, which can be easily installed and disassembled, thereby improving the maintainability and flexibility of the equipment. The plow and the plow cable press are fixed structures, which are rotatably connected to the plow mounting bracket. When the plow cable press hydraulic cylinder is driven, the plow cable press and the plow are rotated as a whole. A cable guide groove is provided under the plow cable press from the lower end to the upper end. The upper end position of the cable guide groove corresponds to the cable hole, which can ensure the smooth passage of the submarine cable during the burial process and avoid damage and wear of the submarine cable. There are two plow cable press hydraulic cylinders, which are symmetrically arranged on both sides of the plow cable press, and can accurately control the opening and closing force and position of the cable press to ensure the accuracy and safety of the burial operation.

[0013] As a preferred technical means: the rotating mechanism includes a rotating drive device, a transmission device, a housing assembly, and a turntable assembly. The turntable assembly includes a gear plate, an inner ring, and a fixed platform. The rotating drive device is connected to the transmission device, which meshes with the gear plate to drive the gear plate. The fixed platform is connected and fixed to the rear end face of the gear plate. The inner ring is disposed within the center hole of the gear plate and is rotationally connected to the gear plate via a cross-roller bearing. The riprap pipe passes through the center hole of the inner ring. The cable hole is located between the inner wall of the inner ring and the riprap pipe. The plow mechanism and the high-pressure water spray mechanism are connected and fixed to the fixed platform. The rotating drive device drives the gear plate to rotate via the transmission device, which in turn drives the fixed platform to rotate. The fixed platform rotates, thereby achieving rotational switching of the working positions of the plow mechanism and the high-pressure water spray mechanism.

[0014] As an optimal technical means: the gear plate, inner ring and transmission device are arranged in the box assembly, the rotation drive device is arranged outside the box assembly, the transmission device includes a worm, a worm wheel and a driven gear, the worm is connected to the drive shaft of the rotation drive device, the worm wheel is meshed with the worm, the driven gear and the worm wheel are coaxially connected and fixed through the center axis, the outer diameter of the driven gear is smaller than the worm wheel, and the driven gear is meshed with the gear plate to effectively realize the transmission structure.

[0015] As an optimal technical means: the riprap backfill mechanism includes a stone storage bin, an electric swing-type discharge valve and the riprap pipe. A stone feed interface is provided on the top of the stone storage bin. The riprap pipe is connected to the lower discharge port of the stone storage bin. The lower discharge port of the stone storage bin is provided with the electric swing-type discharge valve. The riprap pipe is high in the front and low in the back. The stone storage bin can be used to store a large amount of stone, thereby improving the operating efficiency of the burying equipment. The stone feed interface is provided on the top of the stone storage bin, and stone can be easily added to the stone storage bin. The electric swing-type discharge valve can be used to accurately control the discharge speed and amount of the stone, thereby improving the accuracy and effect of the burying operation. The riprap pipe is high in the front and low in the back, which is more convenient for discharging.

[0016] Beneficial effects: This equipment has a self-propelled crawler chassis, which can move freely on various submarine terrains, improving the adaptability and maneuverability of the equipment. The main support frame and the lower support frame provide stable support for the equipment as a whole, ensuring the accuracy and efficiency of submarine cable burial operations. The plow mechanism and high-pressure water spray mechanism can effectively dig submarine trenches and bury cables according to different submarine geology, improving the efficiency and quality of burial operations. The hollow rotating mechanism can easily realize the rotation switching of the working positions of the plow mechanism and the high-pressure water spray mechanism, making the equipment more flexible. The equipment is more flexible and functional. Through the stone-throwing backfill mechanism, the buried submarine cable can be automatically backfilled with stones, which ensures the quality of the trench filling and provides stable and reliable safety protection for the submarine cable. The clamp can easily grab the submarine cable. When the equipment is buried, it protects the submarine cable from friction with the seabed, so that it is not damaged during the burial process. When the submarine cable is buried, the submarine cable passes through the cable guide trough, cable hole, clamp and cable trough, which can ensure that the submarine cable passes smoothly during the burial process, avoiding damage to the submarine cable and burial errors. The equipment has strong overall adaptability, high burial accuracy, high burial efficiency and good safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 It is a structural schematic diagram of the triangular crawler drive device in the present invention.

[0019] Figure 3 It is a schematic diagram of the clamping structure in the present invention.

[0020] Figure 4 It is a structural schematic diagram of the high-pressure water spraying mechanism in the present invention.

[0021] Figure 5 It is a coulter mechanism diagram among the present invention.

[0022] Figure 6 It is a diagram of the rotating mechanism in the present invention.

[0023] Figure 7 It is a radial cross-sectional schematic diagram of the rotating mechanism in the present invention.

[0024] Figure 8 It is a schematic diagram of the worm gear transmission structure in the present invention.

[0025] Figure 9 It is a structural schematic diagram of the electric swing type discharge valve in the present invention.

[0026] Figure 10 It is a schematic diagram of the cross-sectional structure of the electric swing type discharge valve in the present invention.

[0027] In the figure: 1. Main support frame; 2. Lower support frame; 3. Plough mechanism; 4. High-pressure water spray mechanism; 5. Rotating mechanism; 6. Stone-repelling backfill mechanism; 7. Triangular crawler drive device; 8. Cable trough; 9. Grab clamp; 10. Front searchlight and underwater photography device 1; 11. Rear searchlight and underwater photography device 2; 301. Plough; 302. Plough head; 303. Plough cable press; 304. Plough cable press hydraulic cylinder; 305. Plough mechanism mounting bracket; 306. Plough mounting bracket; 307. Plough hydraulic Cylinder mounting seat; 401, nozzle; 402, breaker plate; 403, water spray mechanism cable press; 404, water spray mechanism cable press hydraulic cylinder; 405, water spray mechanism mounting seat; 406, water spray mechanism hydraulic cylinder mounting seat; 407, water spray mechanism mounting support; 501, rotary drive device; 502, gear plate; 503, inner ring; 504, fixed platform; 505, cross roller bearing; 506, cable hole; 507, worm; 508, worm gear; 509, driven gear; 510, main housing; 511, right housing ;512, left box;513, connector;601, riprap pipe;602, stone storage bin;603, electric swing discharge valve;60301, discharge drive device;60302, drive device bracket;60303, connector;60304, upper valve body;60305, lower valve body;60306, ceramic valve seat;60307, ​​rotary shaft;60308, drive arm;60309, valve plate arm;60310, ceramic plate;60311, support plate;60312, top column;60 4. Stone feeding interface; 701. Driving wheel; 702. Walking track; 703. Front diagonal support beam; 704. Rear diagonal support beam; 705. Front guide wheel; 706. Front support; 707. Connecting bracket; 708. Crossbeam; 709. Support wheel; 710. Rear support; 711. Connecting rod; 712. Rear guide wheel; 713. Spring tensioning device; 714. Wheel seat; 901. Fixed column; 902. Clamping hydraulic cylinder; 903. Clamping claw; 904. Telescopic guide rod; 905. Support arm; 906. Stud. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings.

[0029] In the description of the present invention, it should be understood that terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Since the embodiments disclosed in the present invention can be set in different directions, these terms indicating directions are only for illustration and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0030] like Figure 1 、 7 As shown, press Figure 1The left side in the middle is the rear side of the equipment, and the right side is the front side of the equipment. A self-propelled submarine cable burying equipment that can adapt to multiple terrains includes a self-propelled crawler chassis, a main support frame 1, a lower support frame 2, a plow mechanism 3 and a high-pressure water spray mechanism 4 for digging a submarine ditch for cable burying, a hollow rotating mechanism 5 for switching the working positions of the plow mechanism 3 and the high-pressure water spray mechanism 4, and a stone throwing backfill mechanism 6 for throwing stones backfilling the ditch. The self-propelled crawler chassis is arranged below the lower support frame 2. The self-propelled crawler chassis includes two sets of front and rear triangular crawler drive devices 7. The two sets of triangular crawler drive devices 7 are arranged in the same direction in the front and rear direction and are connected to the lower support frame 2. Each set of triangular crawler drive devices 7 is symmetrically arranged according to the lower support frame 2. Through the two sets of front and rear triangular crawler drive devices 7, the burying equipment can be more balanced and stable during driving and has better terrain adaptability. The main support frame 1 is arranged on the upper part of the lower support frame 2, and the hollow rotating mechanism 5 is arranged at the rear end of the main support frame 1. The hollow rotating mechanism 5 is provided with a turntable assembly with an axial direction of the front and rear directions. The plow mechanism 3 and the high-pressure water spray mechanism 4 are arranged at the rear end of the turntable assembly. The turntable assembly can rotate around the central axis in the front and rear directions to switch the working positions of the plow mechanism 3 and the high-pressure water spray mechanism 4. The riprap backfill mechanism 6 is arranged on the upper part of the main support frame 1. After the riprap pipe 601 of the riprap backfill mechanism 6 passes through the center hole of the turntable assembly backward, the stone outlet of the riprap pipe 601 faces downward, and the main support A gripper 9 is provided at the front and rear sides of the self-propelled crawler chassis below the support frame 1. A cable groove 8 is provided on the lower support frame 2 between the two grippers 9. Both the plow mechanism 3 and the high-pressure water spray mechanism 4 are provided with cable guide grooves. The turntable assembly is provided with a cable hole 506 corresponding to the position of the cable guide groove. The front end of the main support frame 1 is provided with a front searchlight source and an underwater photography device 10 for monitoring the actual situation of the submarine cable entering the laying plow. The rear end of the turntable assembly is provided with a rear searchlight source and an underwater photography device 11 for real-time monitoring of the trenching and submarine cable laying conditions.

[0031] In order to achieve a stable and reliable triangular crawler drive device 7 structure, as Figure 2As shown, the triangular crawler drive device 7 includes a driving wheel 701, a walking crawler 702, a front diagonal support beam 703, a rear diagonal support beam 704, a front guide wheel 705, a front support 706, a connecting bracket 707, a crossbeam 708, a supporting wheel 709, a connecting rod 711, a rear support 710, a rear guide wheel 712 and a spring tensioning device 713. The front guide wheel 705, the rear guide wheel 712 and the driving wheel 701 are distributed in a triangle on a vertical plane. The driving wheel 701 is located at the upper end corner of the triangle. The driving wheel 701 is connected to the driving shaft. The driving shaft is rotatably connected to the lower support frame 2. The rear guide wheel 712 is located at the rear end corner of the triangle. The front guide wheel 705 Located at the front end corner of the triangle, the walking track 702 is sleeved on the driving wheel 701, the front guide wheel 705, the rear guide wheel 712 and the supporting wheel 709. The crossbeam 708 is arranged horizontally. The front end of the crossbeam 708 is connected to the front support 706. A spring tensioning device 713 is arranged on the upper rear part of the crossbeam 708. The rear end of the spring tensioning device 713 is connected to the rear support 710. The spring tensioning device 713 moves forward and backward relative to the rear support 710, and the walking track 702 is tensioned by controlling the preload force of the spring. The rear support 710 is connected to the rear guide wheel 712. The spring tensioning device 713 is connected to the lower end of the rear diagonal support beam 704 through a connecting rod 711. The lower end of 703 is connected to the front end of the crossbeam 708, and the upper ends of the front diagonal bracing beam 703 and the rear diagonal bracing beam 704 are connected to the lower support frame 2. There are 4 supporting rollers 709, and the four supporting rollers 709 are connected in groups of two by the wheel seat 714 and are arranged at the bottom of the connecting bracket 707. The supporting rollers 709 are arranged linearly in the front and rear directions. The upper end of the connecting bracket 707 is connected to the lower support frame 2, and the lower part of the connecting bracket 707 is fixedly connected to the crossbeam 708. The horizontal center plane of the rear guide wheel 712 is higher than the horizontal center plane of the front guide wheel 705, and the horizontal center plane of the supporting roller 709 is lower than the horizontal center plane of the front guide wheel 705. The walking track The part of 702 between the rear guide wheel 712 and the rear supporting wheel 709 forms an inclined angle with the ground, so that the triangular track drive device 7 has better stability and adaptability. The four supporting wheels 709 can press and fix the walking track 702, so that the walking track 702 contacts the ground, effectively realizing the structure of the triangular track drive device 7, and can make the triangular track drive device 7 better adapt to driving in different directions and angles, and can increase the stability and passing performance of the triangular track drive device 7. The spring tensioning device 713 can automatically adjust the tension of the triangular track drive device 7, keep the track in a tensioned state, and achieve better driving effect.

[0032] In order to achieve the capture of submarine cables, facilitate the adjustment of submarine cable positions and ensure the accuracy of cable guides, such as Figure 3As shown, the gripper 9 includes a fixed column 901, a gripper hydraulic cylinder 902, a clamping claw 903, a telescopic guide rod 904 and a support arm 905. The gripper 9 is connected to the bottom of the main support frame 1 through a stud 906 provided at the upper end of the fixed column 901, and can be easily installed and disassembled, thereby improving the maintainability and flexibility of the equipment. There are two support arms 905, which are symmetrically arranged below the fixed column 901 and fixed to the fixed column 901 by bolts. There are two telescopic guide rods 904, which vertically pass through the guide sleeve at the lower end of the support arm 905 and slide with the guide sleeve. There are two clamping claws 903, which are rotatably connected to the two telescopic guide rods. At the lower end of 904, two clamping claws 903 are combined into a holding structure. There are two clamping hydraulic cylinders 902 in total. The upper ends of the two clamping hydraulic cylinders 902 are symmetrically connected to the two sides of the fixed column 901, and the lower ends of the two clamping hydraulic cylinders 902 are symmetrically connected to the upper parts of the two outer sides of the two clamping claws 903. When grabbing the submarine cable, the two clamping hydraulic cylinders 902 drive the two clamping claws 903 to move downward, and then lift up the submarine cable after clamping it. The height of the lifted submarine cable can be changed by adjusting the hydraulic cylinder, which meets the cable guiding requirements of the submarine cable, avoids damage and wear of the submarine cable, and avoids damage to the submarine cable due to an undesirable position during the burial process.

[0033] In order to realize the trenching and cable pressing functions of the high pressure water spraying mechanism 4, as Figure 4As shown, the high-pressure water spraying mechanism 4 includes a nozzle 401, a breaker plate 402, a water spraying mechanism cable press 403, a water spraying mechanism cable press hydraulic cylinder 404, a water spraying mechanism mounting seat 405 and a water spraying mechanism hydraulic cylinder mounting seat 406. The high-pressure water spraying mechanism 4 is connected and fixed to the turntable assembly through the water spraying mechanism mounting support 407. The high-pressure water spraying mechanism 4 is connected and fixed to the turntable assembly through the water spraying mechanism mounting support 407, which can be easily installed and disassembled, thereby improving the maintainability of the equipment. The upper end of the cable guide groove corresponds to the cable hole 506, and the submarine cable can pass through the cable hole 506 to the cable guide groove. The upper side of the cable presser 403 of the water spraying mechanism is closed for pressing the cable downward, and the lower side is a fully open slot as a whole. The nozzles 401 are arranged on both sides of the slot. The submarine cable pre-laid on the seabed can be picked up by the clamp 9 and aligned with the cable presser 403 of the water spraying mechanism to press it into the cable guide groove for cable pressing. There are two hydraulic cylinders 404 for cable compression of the water spraying mechanism, which are symmetrically arranged on both sides of the cable compressor. The upper end of the hydraulic cylinder 404 for cable compression of the water spraying mechanism is connected to the water spraying mechanism mounting seat 405 through the hydraulic cylinder mounting seat 406 of the water spraying mechanism. The lower end of the hydraulic cylinder 404 for cable compression of the water spraying mechanism is rotatably connected to the side of the cable compressor 403 of the water spraying mechanism through a rotating connecting shaft. The earth-breaking plate 402 is arranged at the lower end position of the high-pressure water spraying mechanism 4. When the high-pressure water spraying mechanism 4 is pressed down, the earth-breaking plate 402 can first break the soil layer, and then the subsequent nozzle 401 sprays further to open the ditch. The nozzle 4 01 The cable guide grooves are arranged at equal intervals along the oblique direction at the lower side of the high-pressure water spraying mechanism 4, and water spraying can be carried out directly and continuously and stably in the trenching direction. A transition groove is provided at the upper end of the cable guide groove, and the transition groove corresponds to the cable hole 506, which can ensure that the submarine cable can be bent safely and reliably from the cable hole 506 to the cable guide groove, so that it can pass smoothly during the burial process, avoiding damage and wear of the submarine cable. The two cable-pressing hydraulic cylinders of the water spraying mechanism can symmetrically realize cable-pressing force control, accurately control the position of the cable presser and the cable-pressing force, and ensure the accuracy and safety of the burial operation.

[0034] In order to realize the furrowing and cable pressing functions of the plow mechanism 3, as Figure 5As shown, the plow mechanism 3 includes a plow 301, a plow head 302 provided at the lower end of the plow 301, a plow cable press 303 provided on the plow 301, a plow cable press hydraulic cylinder 304 provided on both sides of the plow cable press 303, a plow mechanism mounting support 305 and a plow mounting seat 306. The upper end of the plow 301 is rotatably connected to the plow mounting seat 306, and the plow mounting seat 306 is connected and fixed to the plow mechanism mounting support 305. The plow mechanism 3 is connected to the turntable assembly through the plow mechanism mounting support 305 at the upper end. The plow mechanism 3 is connected to the turntable assembly through the plow mechanism mounting bracket 305 at the upper end, which can be easily installed and disassembled, thereby improving the maintainability and flexibility of the equipment. A cable guide groove is provided below the plow cable press 303 from the lower end to the upper end, and the submarine cable can pass through the cable guide groove from the cable hole 506. The upper side of the plow cable press 303 is closed for pressing the cable downward, and the lower side is a fully open slot as a whole. The plow 301 is provided on both sides of the slot. For the submarine cable pre-laid on the seabed, it can be picked up by the gripper 9 and aligned and pressed into the cable guide groove through the plow cable press 303. The cable pressing operation, the upper end position of the cable guide groove corresponds to the cable hole 506, there are two plow cable pressing hydraulic cylinders 304, which are symmetrically arranged on both sides of the plow cable press 303, and the upper end of the plow cable pressing hydraulic cylinder 304 is connected to the plow mounting seat 306 through the plow hydraulic cylinder mounting seat 307, and the lower end of the plow cable pressing hydraulic cylinder 304 is rotatably connected to the side of the plow cable press 303 through the rotating connecting shaft. The plow 301 and the plow cable press 303 are fixed connection structures, and the overall structure is rotatably connected to the plow mounting seat 306. When the hydraulic cylinder 304 is driven, the overall rotation of the plowshare cable press 303 and the plowshare 301 is realized. A transition groove is provided at the upper end of the cable guide groove, which corresponds to the cable hole 506. It can ensure that the submarine cable can be bent safely and reliably from the cable hole 506 to the cable guide groove, so that it can pass smoothly during the burial process, avoiding damage and wear of the submarine cable. There are two plowshare cable press hydraulic cylinders 304, which are symmetrically arranged on both sides of the plowshare cable press 303. They can accurately control the opening and closing force and position of the cable press to ensure the accuracy and safety of the burial operation.

[0035] In order to realize the rotation switching of the working positions of the plow mechanism 3 and the high-pressure water spray mechanism 4, as shown in FIG. Figure 6 、 7As shown in FIG8 , the hollow rotating mechanism 5 includes a rotating drive device 501, a transmission device, a housing assembly and a turntable assembly. The turntable assembly includes a gear plate 502, an inner ring 503 and a fixed platform 504. The rotating drive device 501 is connected to the transmission device, and the transmission device is engaged with the gear plate 502 to drive the gear plate 502. The fixed platform 504 is connected and fixed to the rear end surface of the gear plate 502. The inner ring 503 is arranged in the center hole of the gear plate 502 and is connected to the gear plate 502 through a cross roller bearing 503. 5 is connected in a rotating manner. The riprap pipe 601 passes through the central hole of the inner ring 503. The cable hole 506 is located between the inner wall of the inner ring 503 and the riprap pipe 601. A gap is provided between the inner ring 503 and the fixed platform 504 to prevent friction between the fixed platform 504 and the inner ring 503 when the fixed platform 504 rotates. The plow mechanism 3 and the high-pressure water spray mechanism 4 are connected and fixed to the fixed platform 504. The box assembly includes a main box 510, a right box 511 and a left box 512. The main box 510, the right box 511 and the left box 512 are closed. The gear plate 502, the inner ring 503 and the transmission device are arranged in the box assembly. The inner ring 503 is connected and fixed to the right box 511. The rotation drive device 501 is connected and fixed to the outside of the main box 510. The transmission device includes a worm 507, a worm wheel 508 and a driven gear 509. The worm wheel 508 is meshed with the worm 507. The driven gear and the worm wheel 508 are coaxially connected and fixed through the central axis. The outer diameter of the driven gear is smaller than the worm wheel 508. The driven gear is meshed with the gear plate 502 and rotates. The driving shaft of the driving device 501 extends into the main box body 510 and is connected to the worm 507. The rotary driving device 501 drives the gear plate 502 to rotate through the transmission device, and the gear plate 502 drives the fixed platform 504 to rotate. The fixed platform 504 rotates to realize the rotation switching of the working positions of the plow mechanism 3 and the high-pressure water spraying mechanism 4. The right box body 511 and the left box body 512 are detachably connected by the connecting piece 513, and the connecting piece 513 between the right box body 511 and the left box body 512 is fixedly connected by screws.

[0036] In order to realize the backfilling of submarine cable trench by riprap, Figure 1 、 9As shown in Figure 10, the riprap backfill mechanism 6 includes a stone storage bin 602, an electric swing-type discharge valve 603 and a riprap pipe 601. A stone feed interface 604 is provided on the top of the stone storage bin 602, which allows for convenient addition of stone to the stone storage bin 602. The upper portion of the stone storage bin 602 is in the shape of a rectangular parallelepiped, which can store a large amount of stone. The lower portion is in the shape of a funnel, which facilitates the stone to slide down to the middle. The riprap pipe 601 is connected to the lower discharge port of the stone storage bin 602. The riprap pipe 601 is higher in the front and lower in the back, making it more convenient to discharge the material. The lower discharge port of the stone storage bin 602 is provided with an electric swing-type discharge valve 603, which can accurately control the discharge speed and amount of the stone, thereby improving the accuracy and effect of the burial operation. The electric swing discharge valve 603 includes a discharge drive device 60301, a drive device bracket 60302, a joint 60303, an upper valve body 60304 and a lower valve body 60305. The upper valve body 60304 is provided with a ceramic valve seat 60306, a rotary shaft 60307 and a drive crank arm 60308. The drive crank arm 60308 is connected to the discharge drive device 60301 installed on the drive device bracket 60302 through the joint 60303. The two ends of the rotary shaft 60307 are respectively connected to the drive crank arm 60308 and the valve plate crank arm 60309. The ceramic plate 60310 is embedded in one side of the support plate 60311 and Corresponding to the ceramic valve seat 60306, a face seal is formed between the ceramic plate 60310 and the ceramic valve seat 60306, which has a good sealing effect and has good resistance to chemical corrosion, wear resistance, high temperature resistance, erosion resistance, etc. At the same time, the medium is not easy to adhere to the ceramic plate 60310 and the ceramic valve seat 60306. A top column 60312 is provided at the end of the valve plate arm 60309. There is a gap between the support plate 60311 and the top column 60312, so that the support plate 60311 can deflect freely and move up and down. The top column 60312 supports the ceramic plate 60310 so that it is close to the ceramic valve seat 60306 to achieve a better sealing effect.

[0037] According to different submarine cable laying requirements, the equipment can use different methods to operate and lay submarine cables.

[0038] When targeting submarine cables pre-laid on the seabed, the equipment is suspended just above the submarine cable and falls to the seabed. The direction of movement of the equipment is consistent with that of the submarine cable. According to the seabed geology, the plow mechanism 3 or the high-pressure water spray mechanism 4 is selected. After rotating into place, the front and rear two clamps 9 are used to grab the submarine cable so that the laid section of the submarine cable leaves the seabed. The plow mechanism 3 or the high-pressure water spray mechanism 4 rotates downward to allow the submarine cable to enter the cable guide groove, and trenching and downward movement are carried out at the same time, and the submarine cable is gradually pressed down into place for laying. If the seabed geology changes and the current plow mechanism 3 or high-pressure water spray mechanism 4 needs to be switched, the equipment can stop moving and lift the current trenching and cable pressing mechanism, and switch the trenching and cable pressing mechanism through the rotating mechanism 5 to make it more suitable for the geological conditions, and then continue trenching and cable laying.

[0039] When laying cables directly, the submarine cable passes through the front gripper 9, cable groove 8, rear gripper 9, cable hole 506 and transition groove in advance, and reaches the trenching position through the cable guide groove for trenching and cable laying.

[0040] This equipment has a self-propelled crawler chassis and can move freely on various submarine terrains, which improves the adaptability and maneuverability of the equipment. The plow mechanism 3 and the high-pressure water spray mechanism 4 can effectively dig submarine trenches and bury cables according to different submarine geology, thereby improving the efficiency and quality of the burying operation. The hollow rotating mechanism 5 can easily realize the rotation switching of the working positions of the plow mechanism 3 and the high-pressure water spray mechanism 4, making the equipment more flexible and multifunctional. The stone throwing backfill mechanism 6 can automatically throw stones backfill the buried submarine cable, ensuring the burial quality of the trench and providing stable and reliable safety protection for the submarine cable. The equipment has strong overall adaptability, high burying accuracy, high burying efficiency and good safety.

[0041] In this example, both the rotation drive device 501 and the discharge drive device 60301 use motors.

[0042] above Figure 1-10 The self-propelled submarine cable laying equipment that can adapt to multiple terrains is a specific embodiment of the present invention, which has embodied the essential characteristics and progress of the present invention. According to actual use needs and under the guidance of the present invention, equivalent modifications in shape, structure, etc. can be made to it, which are all within the scope of protection of this scheme.

Claims

1. A self-propelled submarine cable laying device adaptable to multiple terrains, characterized by: The invention comprises a self-propelled crawler chassis, a main support frame (1), a lower support frame (2), a plow mechanism (3) and a high-pressure water spray mechanism (4) for digging a submarine ditch for cable burial, a hollow rotating mechanism (5) for switching the working positions of the plow mechanism (3) and the high-pressure water spray mechanism (4), and a riprap backfill mechanism (6) for riprap backfilling the ditch, wherein the self-propelled crawler chassis is arranged below the lower support frame (2), the main support frame (1) is arranged above the lower support frame (2), the hollow rotating mechanism (5) is arranged at the rear end of the main support frame (1), the hollow rotating mechanism (5) is provided with a turntable assembly, and the plow mechanism (3) and the high-pressure water spray mechanism (4) are arranged at the rear end of the turntable assembly. The turntable assembly can rotate around the central axis in the forward and backward directions to switch the working positions of the plow mechanism (3) and the high-pressure water spray mechanism (4); the riprap backfill mechanism (6) is arranged on the upper side of the main support frame (1); after the riprap pipe (601) of the riprap backfill mechanism (6) passes through the central hole of the turntable assembly backward, the stone outlet of the riprap pipe (601) faces downward; a gripper (9) is respectively arranged below the main support frame (1) at the front and rear sides of the self-propelled crawler chassis; a cable groove (8) is arranged on the lower support frame (2) between the two grippers (9); the plow mechanism (3) and the high-pressure water spray mechanism (4) are both provided with a cable guide groove; and a cable hole (506) corresponding to the position of the cable guide groove is arranged on the turntable assembly; The hollow rotating mechanism (5) comprises a rotating drive device (501), a transmission device, a housing assembly and a turntable assembly. The turntable assembly comprises a gear plate (502), an inner ring (503) and a fixed platform (504). The rotating drive device (501) is connected to the transmission device. The transmission device meshes with the gear plate (502) to drive the gear plate (502). The fixed platform (504) is connected and fixed to the rear end surface of the gear plate (502). The inner ring (503) is arranged in the center hole of the gear plate (502) and is rotationally connected to the gear plate (502) via a cross roller bearing (505). The riprap pipe (601) passes through the center hole of the inner ring (503). The cable hole (506) is located between the inner wall of the inner ring (503) and the riprap pipe (601). The plow mechanism (3) and the high-pressure water spray mechanism (4) are connected and fixed to the fixed platform (504). The gear plate (502), the inner ring (503) and the transmission device are arranged in the housing assembly, and the rotation driving device (501) is arranged outside the housing assembly. The transmission device comprises a worm (507), a worm wheel (508) and a driven gear (509). The worm (507) is connected to the driving shaft of the rotation driving device (501), and the worm wheel (508) is meshed with the worm (507). The driven gear (509) and the worm wheel (508) are coaxially connected and fixed via a central axis. The outer diameter of the driven gear (509) is smaller than that of the worm wheel (508), and the driven gear (509) is meshed with the gear plate (502).

2. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 1 is characterized in that: The front end of the main support frame (1) is provided with a front searchlight source and an underwater photography device (10), and the rear end of the turntable assembly is provided with a rear searchlight source and an underwater photography device (11).

3. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 1 is characterized in that: The self-propelled crawler chassis comprises two sets of front and rear triangular crawler drive devices (7), the two sets of triangular crawler drive devices (7) are arranged in the same direction in front and back, and are connected to the lower support frame (2), and each set of triangular crawler drive devices (7) is symmetrically arranged according to the lower support frame (2).

4. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 3 is characterized in that: The triangular crawler drive device (7) comprises a driving wheel (701), a walking crawler (702), a front diagonal support beam (703), a rear diagonal support beam (704), a front guide wheel (705), a front support (706), a connecting bracket (707), a crossbeam (708), a supporting wheel (709), a connecting rod (711), a rear support (710), a rear guide wheel (712) and a spring tensioning device (713), wherein the front guide wheel (705), the rear guide wheel (712) and the driving wheel (701) are arranged in a triangle in a vertical plane, and the driving wheel (701 ) is located at the upper corner of the triangle, the driving wheel (701) is connected to the driving shaft, the driving shaft is rotatably connected to the lower support frame (2), the rear guide wheel (712) is located at the rear corner of the triangle, the front guide wheel (705) is located at the front corner of the triangle, the crossbeam (708) is arranged horizontally, the front end of the crossbeam (708) is connected to the front support (706), the spring tensioning device (713) is arranged on the upper rear part of the crossbeam (708), the rear end of the spring tensioning device (713) is connected to the rear support (710), and the rear support (710) is connected to the rear guide wheel (712). The spring tensioning device (713) is connected to the lower end of the rear diagonal support beam (704) through a connecting rod (711); the lower end of the front diagonal support beam (703) is connected to the front end of the cross beam (708); the upper ends of the front diagonal support beam (703) and the rear diagonal support beam (704) are both connected to the lower support frame (2); the supporting rollers (709) are rotatably arranged at the bottom of the connecting bracket (707); the supporting rollers (709) are linearly arranged in the front and rear directions; the upper end of the connecting bracket (707) is connected to the lower support frame (2); The lower part of the connecting bracket (707) is connected and fixed to the crossbeam (708), and the walking track (702) is mounted on the driving wheel (701), the front guide wheel (705), the rear guide wheel (712) and the supporting roller (709). The horizontal center plane of the rear guide wheel (712) is higher than the horizontal center plane of the front guide wheel (705), and the horizontal center plane of the supporting roller (709) is lower than the horizontal center plane of the front guide wheel (705). The walking track (702) forms an inclination between the rear guide wheel (712) and the rear supporting roller (709).

5. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 1 is characterized in that: The gripper (9) comprises a fixed column (901), a gripper hydraulic cylinder (902), a clamping claw (903), a telescopic guide rod (904) and a support arm (905). The gripper (9) is connected to the bottom of the main support frame (1) via a stud (906) provided at the upper end. There are two support arms (905) symmetrically arranged below the fixed column (901) and fixed to the fixed column (901) via bolts. There are two telescopic guide rods (904) vertically passing through the two support arms. The guide sleeve at the lower end of the arm (905) is slidably matched with the guide sleeve. There are two clamping claws (903) which are rotatably connected to the lower ends of the two telescopic guide rods (904). The two clamping claws (903) are combined into a holding structure. There are two gripping hydraulic cylinders (902). The upper ends of the two gripping hydraulic cylinders (902) are symmetrically connected to the left and right sides of the fixed column (901), and the lower ends of the two gripping hydraulic cylinders (902) are symmetrically connected to the upper parts of the left and right outer sides of the two clamping claws (903).

6. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 1 is characterized in that: The high-pressure water spray mechanism (4) comprises a nozzle (401), a breaker plate (402), a water spray mechanism cable presser (403), a water spray mechanism cable presser hydraulic cylinder (404), a water spray mechanism mounting seat (405) and a water spray mechanism hydraulic cylinder mounting seat (406). The high-pressure water spray mechanism (4) is connected and fixed to the turntable assembly via a water spray mechanism mounting seat (407). The cable guide groove is provided below the water spray mechanism cable presser (403) from the lower end to the upper end. The upper end position of the cable guide groove corresponds to the cable passing hole (506). The water spray mechanism cable presser (403) is provided at the lower end of the turntable assembly. There are two cable hydraulic cylinders (404) in total, which are symmetrically arranged on both sides of the cable presser. The upper end of the water spray mechanism cable presser hydraulic cylinder (404) is connected to the water spray mechanism mounting seat (405) through the water spray mechanism hydraulic cylinder mounting seat (406), and the lower end of the water spray mechanism cable presser hydraulic cylinder (404) is rotatably connected to the side of the water spray mechanism cable presser (403) through a rotating connecting shaft. The earth-breaking plate (402) is arranged at the lower end of the high-pressure water spray mechanism (4), and the nozzles (401) are arranged at equal intervals along the oblique cable guide groove at the lower side of the high-pressure water spray mechanism (4).

7. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 6 is characterized in that: The plow mechanism (3) comprises a plow (301), a plow head (302) arranged at the lower end of the plow (301), a plow cable press (303) arranged on the upper side of the plow (301), a plow cable press hydraulic cylinder (304) arranged on both sides of the plow cable press (303), a plow mechanism mounting support (305) and a plow mounting seat (306), wherein the upper end of the plow (301) is rotatably connected to the plow mounting seat (306), the plow mounting seat (306) is connected and fixed to the plow mechanism mounting support (305), and the plow mechanism (3) is mounted on the upper end of the plow mechanism mounting support (305). The mounting support (305) is connected to the turntable assembly. The cable guide groove is provided below the plow cable press (303) from the lower end to the upper end. The upper end of the cable guide groove corresponds to the cable hole (506). There are two plow cable press hydraulic cylinders (304) symmetrically arranged on both sides of the plow cable press (303). The upper end of the plow cable press hydraulic cylinder (304) is connected to the plow mounting seat (306) through a plow hydraulic cylinder mounting seat (307). The lower end of the plow cable press hydraulic cylinder (304) is rotatably connected to the side of the plow cable press (303) through a rotating connecting shaft.

8. The self-propelled submarine cable burying equipment adapted to multiple terrains according to claim 1 is characterized in that: The riprap backfill mechanism (6) comprises a stone storage bin (602), an electric swing-type discharge valve (603) and the riprap pipe (601). A stone feed interface (604) is provided on the top of the stone storage bin (602). The riprap pipe (601) is connected to the discharge port at the lower end of the stone storage bin (602). The discharge port at the lower end of the stone storage bin (602) is provided with the electric swing-type discharge valve (603). The riprap pipe (601) is higher at the front and lower at the back.

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