A semi-flexible dynamic positioning and dumping equipment for suspended subsea pipelines in medium and deep waters

Abstract

The present invention relates to the field of marine engineering technology, and discloses a semi-flexible dynamic positioning and dumping equipment for suspended mid-deep water sea pipes, comprising a semi-flexible guide structure, a storage cylinder for storing the semi-flexible guide structure, and a positioning and traction device connected to the end of the semi-flexible guide structure; the semi-flexible guide structure comprises a guide cylinder, a locking hole is circumferentially arranged on the upper part of the guide cylinder, the locking hole is connected to a lock chain, the lock chain comprises a first type of lock chain and a second type of lock chain, the first type of lock chain is welded to the corresponding lock hole on the guide cylinder, and the second type of lock chain passes through the corresponding lock holes on all guide cylinders in sequence; the bottom end of the lock chain is fixedly connected to the positioning and traction device, and the top end of the second type of lock chain is connected to a hydraulic winch. By arranging a semi-flexible guide structure and a positioning and traction device, the semi-flexible guide structure is not affected by external factors during the process of extending to the sand dumping site, and the placement site is accurately located under the traction of the positioning and traction device, thereby improving the operating depth and operating range.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering, and in particular to a semi-flexible dynamic positioning and dumping equipment for a suspended mid-deep water sea pipeline. Background Art

[0002] With the increase of human marine activities, the safety of submarine pipelines faces great challenges. Once the pipeline is suspended, there will be great risks and consequences. In recent years, there have been several third-party damage accidents of submarine pipelines and cables in Bohai. As pipeline managers, we are also actively taking some new protective measures to ensure the safe operation of submarine pipelines. Once the submarine pipeline is suspended, it will cause vortex-induced vibration, buckling and fracture of the pipeline, and it is very easy to cause anchor hanging events, resulting in buckling and damage of the submarine pipeline. These consequences will not only bring huge economic losses to the company, but also bear the negative social impact caused by marine environmental pollution. Therefore, how to timely and effectively manage the suspended span of submarine pipelines is an effective means to prevent third-party damage to submarine pipelines.

[0003] At present, the technology for managing the suspended span of submarine pipelines mainly adopts the sand-throwing ship sandbag backfilling technology. However, the existing sand-throwing backfilling equipment, such as the Chinese utility model patent with document number CN207944458U and the Chinese utility model patent with document number CN218667551U, all use retractable pipes as sand-throwing pipes, but all have some defects; for example: first, the positioning accuracy is not enough; second, the operating depth is not enough, and it is impossible to manage and throw sand in the suspended pit of submarine cables in deep water, because the existing sand-throwing pipes are all straight-line, or the shape is fixed after extension. As the length increases, due to the influence of wind and waves on the water and underwater currents, the sand-throwing pipe is subjected to greater horizontal force, which can easily lead to pipeline breakage; third, the throwing and filling range is small, and the operation site is limited. For example, the suspended pit of submarine cables next to wind power piles cannot be thrown and filled because its throwing and filling range is small, and the sand-throwing ship cannot be too close to the wind power piles. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a semi-flexible dynamic positioning and dumping equipment for suspended mid-deep water sea pipes. By arranging a semi-flexible guide structure and a positioning and traction device, each guide cylinder of the semi-flexible guide structure can be bent to a certain extent, so that it is not affected by the outside world during the process of extending to the sand dumping location. Under the traction action of the positioning and traction device, the dumping location is accurately positioned, thereby improving the operating depth and operating range.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a semi-flexible dynamic positioning and dumping equipment for suspended mid-deep water pipelines, comprising a semi-flexible guide structure, a storage cylinder for storing the semi-flexible guide structure, and a positioning and traction device connected to the end of the semi-flexible guide structure; the semi-flexible guide structure comprises at least two guide cylinders which are sequentially sleeved, at least two locking holes are circumferentially arranged on the upper part of the guide cylinder, the locking holes are connected to chains, the chains comprise first-class chains and second-class chains, and the first-class chains and the second-class chains are alternately arranged; the first-class chains are welded to the corresponding locking holes on the guide cylinder, and the second-class chains pass through the corresponding locking holes on all the guide cylinders in sequence; the bottom ends of all the chains are fixedly connected to the positioning and traction device, and the top end of the first-class chains is connected to the storage cylinder; a hydraulic winch is arranged on the upper part of the storage cylinder, and the top end of the second-class chains is connected to the hydraulic winch; the positioning and traction device comprises a main frame connected to the chains and a thruster.

[0006] Furthermore, the storage cylinder is connected to the guide cylinder control structure, the guide cylinder control structure includes a guide frame, a connecting column is provided on the storage cylinder, and the first type of chain is fixedly connected to the connecting column; the storage cylinder is arranged to rotate relative to the guide frame through the connecting column.

[0007] Furthermore, an electric control cabinet and a hydraulic station are provided at one end of the guide frame away from the storage cylinder. The electric control cabinet is connected to the hydraulic station, the hydraulic station is connected to the hydraulic cylinder, the hydraulic cylinder is connected to the hydraulic rod, the hydraulic rod is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the storage cylinder.

[0008] Furthermore, the vertical cross-section of the guide cylinder is in the shape of a truncated cone, and the diameter of the lower bottom surface is smaller than the diameter of the upper bottom surface; the guide cylinder located at the bottom is sleeved on the outer side of the upper adjacent guide cylinder.

[0009] Furthermore, there are six locking holes, which are equidistantly arranged axially along the outer side of the upper part of the guide cylinder; there are three first-type chains and three second-type chains.

[0010] Furthermore, a discharge barrel is arranged in the middle of the main frame, and the discharge barrel is arranged corresponding to the guide barrel; a chain connecting piece is arranged on the top of the discharge barrel, and the chain connecting piece is welded to the chain; the propeller is fixed on the main frame, and the propeller includes a first type of propeller, a second type of propeller and a third type of propeller which are arranged in sequence from top to bottom outside the discharge barrel.

[0011] Furthermore, a control box is provided at the lower part of the main frame, the cross-section of the main frame is rectangular, a sonar is provided on the corresponding two sides of the main frame, and a lighting lamp is provided on the other corresponding two sides of the main frame; a depth meter and an underwater camera are provided near the discharge barrel in the main frame.

[0012] Furthermore, a feed port is provided on the storage cylinder, and the feed port is located above the semi-flexible guide structure.

[0013] Furthermore, a base is arranged below the guide frame, an I-beam is arranged on the top of the base, and the I-beam is arranged in the left-right direction; there are two I-beams, which are respectively arranged at the front and rear ends of the top of the base; sprockets are respectively arranged at the left and right ends of the I-beam, the two sprockets at the left and right ends of the same I-beam are connected through chain transmission, the two sprockets at the same end of the two I-beams are fixedly connected through a sprocket shaft, the sprocket shaft is fixedly connected to the output end of the hydraulic motor, and the hydraulic motor is fixedly connected to the I-beam; the guide frame is located between the front and rear chains and the front and rear sides of the guide frame are welded to the corresponding positions of the chains, a row of rollers arranged in the left-right direction are arranged on the front and rear sides of the bottom of the guide frame, and the rollers on both sides are respectively located in the I-grooves of the corresponding I-beams.

[0014] Furthermore, it also includes a material conveying structure, which is arranged near the position of the feed port when the storage tube is in a vertical state. The material conveying structure is located inside the base. The material conveying structure includes a movable bracket, on which a transmission belt and a roller driving the transmission belt are arranged, and the roller is connected to a motor fixed on the bracket.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention is provided with a semi-flexible guide structure and a positioning and traction device. Unlike a traditional rigid material guide cylinder, once the upper part moves, it will not have a significant impact on the material throwing accuracy. The semi-flexible guide structure as a whole can be bent to a certain extent, so that it is not affected by the outside during the process of extending to the sand throwing location. The placement location can be accurately located under the traction of the positioning and traction device, thereby improving the working depth and working range.

[0017] 2. The present invention is provided with a positioning and traction device, which can tow the semi-flexible guide structure. The positioning and traction device includes a set of underwater monitoring system composed of lighting, sonar, depth meter, underwater camera and other components, which can monitor the seabed situation and the actual situation of filling in real time, realize accurate casting, and carry out filling according to local conditions according to the conditions of different submarine cable suspension pits, so as to achieve high casting efficiency and good casting effect.

[0018] 3. Wider operating range and deeper depth; the semi-flexible guiding structure enables the sand throwing ship to reach 130 meters after extension in a limited space (including the storage tube). Under the traction of the underwater dynamic and precisely positioned positioning traction device, it can perform deeper and wider operations. At the same time, due to the wider filling range, it is also suitable for some special locations. For example, when the sand throwing ship is at a certain safe distance from the wind power pile, it can still fill the suspended pit of the submarine pipe and cable next to the wind power pile.

[0019] 4. Since the present invention adopts modular design, it is easy to disassemble and adapt to different ships. At the same time, the automated design ensures that the operator is safer.

[0020] 5. Simple operation. Due to its wider filling operation range, it does not need to frequently move the sand throwing ship when filling in a sea area. At the same time, the instability of the sand throwing ship caused by some wind and waves on the sea has little effect on the filling accuracy. Because its material guide cylinder has semi-flexible characteristics, it will not be like the traditional rigid structure of the material guide cylinder. Once there is movement on the top, it will have a greater impact on the material filling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view structural schematic diagram of the dumping and filling state of the present invention;

[0022] Figure 2 It is a front view schematic diagram of the storage tube of the present invention in a vertical state;

[0023] Figure 3 It is a schematic diagram of the return state of the semi-flexible guide structure of the present invention;

[0024] Figure 4 It is a schematic diagram of the walking structure of the present invention;

[0025] Figure 5 It is a schematic diagram of the elongated structure of the semi-flexible guiding structure of the present invention;

[0026] Figure 6 It is a schematic diagram of the guide tube structure of the present invention;

[0027] Figure 7 It is a schematic diagram of the main frame structure of the positioning and traction device of the present invention;

[0028] Figure 8 It is a front view structural schematic diagram of the positioning and traction device of the present invention;

[0029] Fig. 9 It is a side structural schematic diagram of the positioning and traction device of the present invention;

[0030] Fig.10 It is a bottom view structural schematic diagram of the positioning and traction device of the present invention;

[0031] Fig.11 It is a schematic diagram of the top view of the positioning and traction device of the present invention.

[0032] In the figure: 1. base; 2. material conveying structure; 3. guide frame; 301. hydraulic motor; 302. sprocket shaft; 303. I-beam; 304. chain; 305. sprocket; 4. electric control cabinet; 401. hydraulic station; 402. hydraulic cylinder; 403. hydraulic rod; 404. connecting rod; 5. storage cylinder; 501. hydraulic winch; 502. feed port; 503. connecting column; 6. guide cylinder; 601. lock hole; 602. first type chain; 603. second type chain; 7. main frame; 8. unloading cylinder; 9. chain connector; 10. control box; 11. fixing plate; 1101. first type propeller; 1102. second type propeller; 1103. third type propeller; 12. lighting; 13. sonar; 14. depth meter; 15. underwater camera. DETAILED DESCRIPTION

[0033] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments.

[0034] Example:

[0035] like Figure 1-Figure 11 As shown, a semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines includes a semi-flexible guide structure, a storage cylinder 5 for storing the semi-flexible guide structure, and a positioning and traction device connected to the unloading end of the semi-flexible guide structure; the semi-flexible guide structure includes at least two guide cylinders 6 which are sleeved in sequence, at least two locking holes 601 are circumferentially arranged on the outer side of the upper part of the guide cylinder 6, the locking holes 601 are connected to the chains, each locking hole 601 corresponds to a chain, the chains include a first type of chain 602 and a second type of chain 603, the first type of chain 602 and the second type of chain 603 are staggered, and generally the number is equal; the first type of chain 602 is welded to the corresponding locking hole 601 on each guide cylinder 6, and the second type of chain 603 passes through the corresponding locking holes 601 on all guide cylinders 6 in sequence; the bottom ends of all the chains are fixedly connected to the positioning and traction device, and the top end of the first type of chain 602 is connected to the storage cylinder 5; a hydraulic winch 501 is provided on the upper part of the storage cylinder 5, and the top end of the second type of chain 603 is fixedly connected to the hydraulic winch 501. When contracted, an upper section of the second type of chain 603 is wound around the hydraulic winch 501, and when extended, the wound section is released from the hydraulic winch 501; the positioning and traction device includes a main frame 7 connected to the chain and a thruster.

[0036] The first type of chain 602 is welded to the locking hole 601 of the guide cylinder 6, so that each cylinder is fixed with a certain maximum displacement, and the second type of chain 603 passes through the corresponding locking hole 601 without being fixed, so that each cylinder can be tightly attached to each other with minimum displacement; when it is necessary to lower the semi-flexible guide structure, the hydraulic winch 501 is controlled to lower the second type of chain 603. Due to the influence of its own weight, each section of the guide cylinder 6 begins to separate. When the separation distance reaches the distance between each two adjacent sections of the guide cylinder 6 of the first type of chain 602 welded to the locking hole 601, the continued extension of the semi-flexible guide structure at this end is limited.

[0037] By setting up a semi-flexible guide structure and a positioning and traction device, unlike the traditional rigid material guide cylinder, once there is movement on the top, it will not have a significant impact on the material throwing accuracy. The semi-flexible guide structure as a whole can achieve a certain degree of bending, so that it is not affected by external factors during the extension process to the sand throwing location. Under the traction of the positioning and traction device, the delivery location can be accurately located, thereby improving the working depth and working range.

[0038] The storage cylinder 5 is connected to the guide cylinder control structure, and the guide cylinder control structure includes a guide frame 3 arranged in the left and right directions. A connecting column 503 is arranged on the storage cylinder 5, and the first type of chain 602 is fixedly connected to the connecting column 503; the storage cylinder 5 is relatively rotatably arranged with the guide frame 3 through the connecting column 503; that is, the storage cylinder 5 is fixedly connected to the connecting column 503, then the connecting column 503 is rotatably connected to the guide frame 3, or the storage cylinder 5 is rotatably connected to the connecting column 503, then the connecting column 503 is fixedly connected to the guide frame 3, or the connecting column 503 is rotatably connected to the storage cylinder 5 and the guide frame 3; the connecting column 503 is used to limit the semi-flexible guide structure and the storage cylinder 5 to only be in the following state: Figure 1 Flip one of the planes shown.

[0039] An electric control cabinet 4 and a hydraulic station 401 are provided at one end of the guide frame 3 away from the storage cylinder 5. The electric control cabinet 4 is electrically connected to the hydraulic station 401, the hydraulic station 401 is connected to the hydraulic cylinder 402 through an oil pipe, the hydraulic cylinder 402 is connected to the hydraulic rod 403, and the end of the hydraulic rod 403 away from the hydraulic cylinder 402 is hinged to one end of the connecting rod 404, and the other end of the connecting rod 404 is hinged to the storage cylinder 5. When the storage cylinder 5 is in a vertical state, the hinge between the storage cylinder 5 and the connecting rod 404 is located above the connecting column 503, and the hinge is generally arranged close to the end.

[0040] The vertical cross section of the guide cylinder 6 is in the shape of a truncated cone, and the diameter of the lower bottom surface is smaller than the diameter of the upper bottom surface; the guide cylinder 6 located at the bottom is sleeved on the outer side of the adjacent guide cylinder 6 at the top.

[0041] There are six locking holes 601 , which are equidistantly arranged axially along the outer side of the upper part of the guide tube 6 ; there are three first-type lock chains 602 , and there are three second-type lock chains 603 .

[0042] A discharge barrel 8 is arranged in the middle of the main frame 7, and the discharge barrel 8 is arranged corresponding to the guide barrel 6. The discharge barrel 8 is opened at the top and bottom and has through holes on the side. A chain connector 9 is arranged on the top of the discharge barrel 8, and the chain connector 9 is welded to the chain. The propeller is fixed on the main frame 7, and the propeller is fixedly connected to the fixing plate 11 by bolts, and the fixing plate 11 is fixedly connected to the main frame 7. The propeller includes a first type of propeller 1101 for controlling the steering, which is arranged from top to bottom outside the discharge barrel 8, a second type of propeller 1102 for controlling the horizontal movement, and a propeller for controlling the rotation of the shaft. The third type of thrusters 1103 for buoyancy and diving; the third type of thrusters 1103 are located at the bottom of the main frame 7; there are at least two of each of the three types of thrusters, a control box 10 is arranged at the lower part of the main frame 7, the cross-section of the main frame 7 is rectangular, a sonar 13 is respectively arranged on the corresponding two sides of the main frame 7, and a lighting lamp 12 is respectively arranged on the other corresponding two sides of the main frame 7; a depth meter 14 and an underwater camera 15 are arranged near the discharge barrel 8 in the main frame 7; the control box 10 is electrically connected to the lighting lamp 12, the sonar 13, the depth meter 14 and the underwater camera 15, respectively.

[0043] By setting up a positioning and traction device, it can tow the semi-flexible guide structure. The positioning and traction device includes a lighting lamp 12, a sonar 13, a depth meter 14, an underwater camera 15 and other components to form an underwater monitoring system, which can monitor the seabed situation and the actual situation of filling in real time, realize accurate casting, and carry out filling according to local conditions based on the conditions of different submarine cable suspension pits, so as to achieve high casting efficiency and good casting effect.

[0044] The storage cylinder 5 is provided with a feed port 502 , which is located above the semi-flexible guide structure.

[0045] A base 1 is arranged below the guide frame 3, and an I-beam 303 is arranged on the top of the base 1, and the I-beam 303 is arranged in the left and right directions; there are two I-beams 303, which are arranged at the front and rear ends of the top of the base 1 respectively; sprockets 305 are arranged at the left and right ends of the I-beam 303 respectively, and the two sprockets 305 at the left and right ends of the same I-beam 303 are connected by a chain 304, and the two sprockets 305 at the same end of the two I-beams 303 are fixedly connected by a sprocket shaft 302, and the sprocket shaft 302 is fixedly connected to the output end of the hydraulic motor 301, and the sprocket shaft 302 is connected to the hydraulic motor through a coupling at one end on the rear side of the base 1, and the hydraulic motor 301 is fixedly connected to the I-beam 303; the guide frame 3 is located between the front and rear chains 304, and the front and rear sides of the guide frame 3 are welded to the corresponding parts of the chains 304. A row of rollers arranged along the left and right directions are arranged on the front and rear sides of the bottom of the guide frame 3, and the rollers on both sides are respectively located in the I-shaped grooves of the corresponding I-beams 303; the front and rear ends of the bottom of the guide frame 3 are respectively connected with L-shaped connecting shafts, and the ends of the connecting shafts are rotatably connected to the rollers. The guide frame 3 can move with the chain 304 by being welded thereto. The rollers can not only support the guide frame, but also facilitate movement, thereby reducing the support of the chain 304 on the guide frame 3.

[0046] It also includes a material conveying structure 2, which is arranged near the position of the feed port 502 when the storage tube 5 is in a vertical state. The material conveying structure 2 is located in the base 1. The material conveying structure 2 includes a movable bracket, and a transmission belt and a roller driving the transmission belt are arranged on the bracket. The roller is connected to the motor fixed on the bracket.

[0047] The operating range is wider and the depth is deeper; the semi-flexible guiding structure can reach 130 meters after extension within a limited space (including the storage cylinder), and can perform deeper and wider operations under the traction of an underwater dynamic and precisely positioned positioning traction device. At the same time, due to the wider filling range, it is also suitable for some special locations. For example, when the sand-throwing ship is at a certain safe distance from the wind power pile, the suspended pit of the submarine pipe cable next to the wind power pile can still be filled; in addition, since the present invention adopts a modular design, it is easy to disassemble and adapt to different ships, and the automated design ensures that the operator is safer; and the operation is simple. Due to its wider filling operation range, it does not need to frequently move the sand-throwing ship when filling in a sea area. At the same time, the instability of the sand-throwing ship caused by some wind and waves on the sea surface has little effect on the filling accuracy, because its material guide cylinder has the semi-flexible characteristics, unlike the material guide cylinder of the traditional rigid structure, once there is movement on the top, it will have a greater impact on the material filling accuracy.

[0048] Working process: first install the equipment on the sand throwing ship, and then determine the throwing location; then start the hydraulic motor 301, the hydraulic motor 301 drives the sprocket 305, the sprocket 305 drives the chain 304 and the sprocket shaft 302 at the same time, the sprocket shaft 302 drives the sprocket 305 at the other end at the same time, the sprocket 305 at the other end drives the corresponding chain 304, and the chains 304 at both ends synchronously drive the guide frame 3 to move to the designated position and stop;

[0049] The electric control cabinet 4 controls the hydraulic cylinder 402 by controlling the hydraulic station 401, thereby extending the hydraulic rod 403, and through the action of the connecting rod 404 and the connecting column 403, the storage tube 5 with the semi-flexible guide structure is rotated from the original horizontal state to the vertical state;

[0050] The hydraulic winch 501 is started to lower the three second-type chains 603 . Due to the influence of the deadweight below, the semi-flexible structure changes from a contracted state to an extended state. At this time, the uppermost guide cylinder 6 of the semi-flexible guide structure is located below the feed port 502 .

[0051] The electric control cabinet 4 is connected to the control box 10 for communication. After entering the water, the electric control cabinet 4 is used to control the positioning and traction device to dive, and the semi-flexible guide structure continues to extend. When it reaches a predetermined operating depth, such as 100 to 130 meters, the positioning and traction device stops diving. The conveyor belt of the material conveying structure 2 is extended into the feed port 502. At this time, the material can enter the storage cylinder 5 and the semi-flexible guide structure through the conveyor belt. The positioning and traction device is controlled to reach the specified position, and the sand and gravel reach the specified position through the semi-flexible guide structure and are thrown out by the lower barrel 8 of the positioning and traction device. After the operation is completed, the positioning and traction device is controlled to reach the bottom of the storage cylinder 5, and the contraction of the guide cylinder 6 is completed section by section starting from the bottom through the contraction of the hydraulic winch 501 on the storage cylinder 5 and the floating of the positioning and traction device.

[0052] After the semi-flexible guiding structure is retracted into the storage tube 5, the storage tube 5 and the semi-flexible guiding structure are turned from a vertical direction to a horizontal direction by means of the hydraulic cylinder 402 and the hydraulic rod 403.

[0053] The above description is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines, characterized by: The invention comprises a semi-flexible guide structure, a storage cylinder (5) for storing the semi-flexible guide structure, and a positioning and traction device connected to the end of the semi-flexible guide structure; the semi-flexible guide structure comprises at least two guide cylinders (6) which are arranged in sequence, at least two lock holes (601) are arranged in the circumferential direction on the upper part of the guide cylinder (6), the lock holes (601) are connected to the lock chains, the lock chains comprise a first type of lock chain (602) and a second type of lock chain (603), the first type of lock chain (602) and the second type of lock chain (603) are arranged alternately; the first type of lock chain (60 2) are welded to the corresponding lock holes (601) on the guide cylinder (6), and the second type of chain (603) passes through the corresponding lock holes (601) on all the guide cylinders (6) in sequence; the bottom ends of all the chains are fixedly connected to the positioning and traction device, and the top ends of the first type of chain (602) are connected to the storage cylinder (5); a hydraulic winch (501) is provided on the upper part of the storage cylinder (5), and the top ends of the second type of chain (603) are connected to the hydraulic winch (501); the positioning and traction device includes a main frame (7) connected to the chains and a propeller; The storage cylinder (5) is connected to the guide cylinder control structure, the guide cylinder control structure comprises a guide frame (3), a connecting column (503) is provided on the storage cylinder (5), and the first type of chain (602) is fixedly connected to the connecting column (503); the storage cylinder (5) is arranged to rotate relative to the guide frame (3) via the connecting column (503); An electric control cabinet (4) and a hydraulic station (401) are provided at one end of the guide frame (3) away from the storage cylinder (5); the electric control cabinet (4) is connected to the hydraulic station (401); the hydraulic station (401) is connected to the hydraulic cylinder (402); the hydraulic cylinder (402) is connected to the hydraulic rod (403); the hydraulic rod (403) is hinged to one end of a connecting rod (404); and the other end of the connecting rod (404) is hinged to the storage cylinder (5); A base (1) is arranged below the guide frame (3), and an I-beam (303) is arranged on the top of the base (1). The I-beams (303) are arranged in the left-right direction; there are two I-beams (303), which are arranged at the front and rear ends of the top of the base (1), respectively; sprockets (305) are arranged at the left and right ends of the I-beam (303), respectively, and the two sprockets (305) at the left and right ends of the same I-beam (303) are connected by a chain (304). The two sprockets (305) at the same end of the two I-beams (303) are connected by a chain (304). The sprocket shaft (302) is fixedly connected to the output end of the hydraulic motor (301), and the hydraulic motor (301) is fixedly connected to the I-beam (303); the guide frame (3) is located between the front and rear chains (304), and the front and rear sides of the guide frame (3) are welded to the chains (304) at corresponding positions; a row of rollers arranged in the left-right direction are arranged on the front and rear sides of the bottom of the guide frame (3), and the rollers on both sides are respectively located in the I-shaped grooves of the corresponding I-beams (303).

2. According to claim 1, a semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines is characterized by: The vertical cross section of the guide cylinder (6) is in the shape of a truncated cone, and the diameter of the lower bottom surface is smaller than the diameter of the upper bottom surface; the guide cylinder (6) located at the bottom is sleeved on the outer side of the upper adjacent guide cylinder (6).

3. According to claim 1, a semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines is characterized by: There are six lock holes (601) which are equidistantly arranged along the outer side of the upper portion of the guide cylinder (6); there are three first-type lock chains (602) and three second-type lock chains (603).

4. The semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines according to claim 1 is characterized by: A material discharge barrel (8) is arranged in the middle of the main frame (7), and the material discharge barrel (8) is arranged corresponding to the guide barrel (6); a chain connecting piece (9) is arranged at the top of the material discharge barrel (8), and the chain connecting piece (9) is welded to the chain; a propeller is fixed on the main frame (7), and the propeller includes a first type of propeller (1101), a second type of propeller (1102) and a third type of propeller (1103) which are arranged in sequence from top to bottom outside the material discharge barrel (8).

5. The semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines according to claim 4 is characterized by: A control box (10) is arranged at the lower part of the main frame (7); the cross section of the main frame (7) is rectangular; two corresponding sides of the main frame (7) are respectively provided with a sonar (13); and two other corresponding sides of the main frame (7) are respectively provided with a lighting lamp (12); a depth meter (14) and an underwater camera (15) are arranged in the main frame (7) near the discharge barrel (8).

6. The semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines according to claim 1 is characterized by: A feeding port (502) is provided on the storage cylinder (5), and the feeding port (502) is located above the semi-flexible guide structure.

7. The semi-flexible dynamic positioning dumping equipment for suspended mid-deep water pipelines according to claim 1 is characterized by: The material conveying structure (2) is also included. The material conveying structure (2) is arranged near the position where the feeding port (502) of the storage cylinder (5) is located in the vertical state. The material conveying structure (2) is located inside the base (1). The material conveying structure (2) includes a movable bracket. A transmission belt and a roller driving the transmission belt are arranged on the bracket. The roller is connected to a motor fixed to the bracket.

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