An underwater jet trenching and cable laying operation system and operation method

Abstract

The present invention belongs to the technical field of underwater operations, and specifically relates to an underwater jet trenching and cable laying operation system and operation method, wherein an underwater walking device is arranged at the lower end of a fuselage body; two jet arms are located at the front end of the fuselage body; a jet suction device is arranged at the rear end of the fuselage body, including a suction pipeline and a jet pipe 2, the suction pipeline is used to suck the silt in the trench through a suction port before the cable sinks to the bottom of the trench, and discharge the silt to the outside of the trench through a discharge port; the jet pipe 2 sprays a horizontal jet to flush the inner wall and bottom of the trench along the length direction of the trench, and maintains the trench shape of the trench when the cable sinks to the bottom of the trench. The present invention can be applied to a seabed with sparse and soft soil, and in the case where the cable has a large bending radius and can only sink naturally, it ensures that the cable is laid to the target depth to meet the operation requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater operations, and in particular relates to an underwater jet trenching and cable laying operation system and an operation method. Background Art

[0002] At present, the installation of underwater cables requires burying the cables under the seabed. The operation process is relatively complicated. It is necessary to use the underwater operation system to move along the direction of the cables pre-laid on the seabed, and use the trenching device on board to open a trench on the seabed so that the cables sink to the bottom of the trench to ensure that the burial depth meets the requirements. For seabeds with sparse and soft soil, the trenching device is generally a jet trenching device, that is, a jet is used to spray a jet toward the seabed to trench. For cables with a large bending radius, such as cables with a large diameter and high surface hardness, the degree of bending is greatly limited. When laying them, they generally cannot use other auxiliary cable pressing devices, but need to rely on the natural sinking of the cable to the bottom of the trench to ensure that the cable will not be crushed during laying. However, if the cables are laid naturally, since they are usually laid in the deep sea and are subject to large underwater buoyancy, their natural settling speed is relatively slow. This is especially true for cables with large bending radius or deep trenches. The distance from the seabed to when the cables are completely sunk to the bottom of the trench is large. For seabeds with soft and sparse soil, the silt on the seabed is easily backfilled by ocean currents, and both sides of the trench are prone to collapse and slide backfilling the trench bottom, resulting in the trench becoming shallower before the cables are completely sunk to the bottom of the trench, causing the final buried depth of the cables to fail to meet the standards. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an underwater jet trenching and cable laying operation system and operation method which can be applied to a seabed with sparse and soft soil, where the cable has a large bending radius and can only settle naturally, and ensures that the cable is laid to a target depth.

[0004] The present invention provides an underwater jet trenching and cable laying operation system, comprising:

[0005] The main body of the fuselage;

[0006] An underwater walking device, wherein the underwater walking device is arranged at the lower end of the fuselage body;

[0007] A jet-blasting earth-breaking device, the jet-blasting earth-breaking device comprises two jet-blasting arms, the two jet-blasting arms are located at the front end of the fuselage body, and are both provided with a front nozzle for spraying a jet to open a trench on the seabed; a jet-blasting suction device, the jet-blasting suction device is arranged at the rear end of the fuselage body, the jet-blasting suction device comprises a suction pipeline and a jet-blasting pipe 2, the suction pipeline is provided with a discharge port and a suction port, the suction port is used to face the bottom of the trench, the position of the discharge port is higher than the suction port and is arranged horizontally relative to the suction port, the suction pipeline is used to suck the sediment in the trench through the suction port before the cable sinks to the bottom of the trench, and discharge the sediment to the outside of the trench through the discharge port;

[0008] The second jet flushing pipe is located at the rear side of the suction pipeline, and a jet flushing port is arranged on the second jet flushing pipe. The jet flushing port is arranged horizontally in the direction away from the suction pipeline. The second jet flushing pipe is used to flush the inner wall and bottom of the trench along the length direction of the trench through the jet flushing port after the suction pipeline sucks the sediment in the trench, so as to maintain the trench shape of the trench when the cable sinks to the bottom of the trench.

[0009] Furthermore, the spraying and earth-breaking device also includes a deployment mechanism 1, which includes a fixed pipeline, a rotating pipeline, a driving mechanism 1 and a driving mechanism 2. The fixed pipeline is fixed to the fuselage body, the rotating pipeline is rotatably set on the fixed pipeline and connected with the fixed pipeline, the driving mechanism 1 is used to drive the rotating pipeline to rotate around the fixed pipeline, the two spray arms are both rotatably set on the rotating pipeline and connected with the rotating pipeline, and the driving mechanism 2 is used to drive the two spray arms to rotate around the rotating pipeline.

[0010] Furthermore, the spraying and earth-breaking device also includes a driving mechanism three, which can drive the two spraying arms to move along the axial direction of the rotating pipeline to adjust the distance between the two spraying arms.

[0011] Furthermore, two suction pipelines are provided, the two suction pipelines are spaced apart along the width direction of the fuselage body, and the distance between the two suction pipelines is adjustable; two spray pipes are provided, the two spray pipes are spaced apart along the width direction of the fuselage body, and the distance between the two spray pipes is adjustable.

[0012] Furthermore, the spray-sucking suction device further comprises a second deployment mechanism, a support seat and a driving assembly, the second deployment mechanism is arranged at the rear end of the fuselage body, the support seat is arranged at one end of the second deployment mechanism away from the fuselage body, a single second spray-sucking pipe is fixedly connected to a single suction pipeline, and the single second spray-sucking pipe and the suction pipeline fixedly connected thereto form a spray-sucking suction assembly, two spray-sucking suction assemblies are both arranged on the support seat, the two spray-sucking suction assemblies are arranged at intervals, and the cable can fall into the trench along between the two spray-sucking suction assemblies;

[0013] Among the two spray-washing and suction components, at least one spray-washing and suction component is slidably arranged on a support seat, and the driving component drives the slidably arranged spray-washing and suction component to move so as to adjust the distance between the two spray-washing and suction components.

[0014] Furthermore, a tail nozzle is arranged at the bottom of each of the two spray arms, and the spray direction of the tail nozzle is arranged away from the spray direction of the front nozzle.

[0015] Furthermore, the deployment heights of the two spray arms and the two spray suction assemblies are adjustable.

[0016] Furthermore, a water inlet is provided at one end of the suction pipeline, and the other end is horizontally arranged, and the discharge port is located at the end of the horizontal arrangement. A pipe diameter contraction section is provided on the suction pipeline between the water inlet and the discharge port, and an extension pipe is longitudinally extended on the side of the pipe diameter contraction section. The suction port is located on the extension pipe, and an end cover is provided on the suction pipeline at the position of the discharge port, and the degree of opening and closing between the end cover and the discharge port is adjustable.

[0017] Furthermore, it also includes a front spray mechanism, which is arranged at the front end of the fuselage body and in front of the two spray arms. The front spray mechanism is provided with a front nozzle to blow and / or pre-ditch the seabed before the two spray arms operate.

[0018] The present invention also provides an underwater jet trenching and cable laying method, using the underwater jet trenching and cable laying system as described above, the method comprising the following steps:

[0019] S1. Drop the underwater jet trenching and cable burying operation system onto the seabed where trenching and cable burying are to be carried out, and make the projections of the two jet arms on the seabed correspondingly located on both sides of the cable;

[0020] S2. The underwater jet trenching and cable burying operation system moves on the seabed along the length direction of the cable through an underwater walking device, and sprays jets through the front nozzles on the two spray arms to spray and break the seabed along the length direction of the cable to open a trench;

[0021] S3. When the cable falls into the trench, the silt in the trench is sucked out through the suction port of the suction pipeline, and the silt is discharged to the outside of the trench through the discharge port. A horizontal jet is ejected through the flushing port along the length of the trench to scour the inner wall and bottom of the trench, continuously liquefying the soil in the trench and maintaining the trench shape. The cable naturally sinks to the bottom of the trench.

[0022] The beneficial effect of the present invention is that for cables with large bending radius, the distance from the seabed to the place where they are completely sunk to the bottom of the trench is long, and the jet suction device is arranged on the rear end outside of the fuselage body, with a large distance between the two jet arms, so as to adapt to the amplitude of the natural settlement of the cable. The underwater walking device drives the operating system as a whole to move along the length direction of the cable on the seabed, and the two jet arms spray water to break the soil and dig trenches on the seabed to form a trench. Due to the high softness of the soil, the trench is prone to collapse in a short time after breaking the ground and trenching. By setting a jet suction device at the rear end of the fuselage body, after trenching and before the cable sinks to the bottom of the trench, the natural return and the sediment at the bottom of the trench deposited due to the collapse of both sides of the trench are extracted through the suction pipeline, and the extracted sediment is discharged to the outside of the trench to ensure the depth of the trench. After the suction pipeline, the cable continues to use the jet flushing pipe to continuously generate horizontal jets in the trench along the length of the trench, flushing the inner wall and bottom of the trench, continuously liquefying the soil, maintaining the trench shape when the cable sinks to the bottom of the trench, ensuring the depth of the trench, ensuring that the laying depth meets the operation requirements, and improving the safety and stability of the cable after it is buried on the seabed. To ensure that the buried depth of the cable can meet the operation requirements and improve the safety and stability of the cable after it is buried on the seabed.

[0023] On the one hand, the present invention can discharge the sediment deposited on the bottom of the trench to the outside of the two sides of the trench after the jetting and earth-breaking device digs the trench and before the cable completely falls to the bottom of the trench, and use two jetting ports to continuously maintain the trench shape, ensuring that the naturally settled cable can fall to the bottom of the trench. On the other hand, since the sediment discharged by suction is discharged to the outside of the trench and is backfilled into the trench for a second time under the action of subsequent ocean currents, for large-diameter cables and deep trenches, it is beneficial to use the natural ocean current to bury the cables after they sink to the bottom of the trench, ensuring that the cables will not be exposed, thereby improving the reliability of underwater cable burying operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the first operating posture of the underwater jet trenching and cable burying system of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the second working posture of the underwater jet trenching and cable burying system of the present invention.

[0026] Figure 3 It is a schematic structural diagram of the underwater walking device of the present invention.

[0027] Figure 4 It is a schematic structural diagram of a rotatable propeller in the underwater walking device of the present invention.

[0028] Figure 5 It is a structural schematic diagram of a first arrangement mode of the crawler mechanism in the underwater walking device of the present invention.

[0029] Figure 6 It is a structural schematic diagram of the second arrangement mode of the crawler mechanism in the underwater walking device of the present invention.

[0030] Figure 7 It is a schematic diagram of the downward tilting posture of the track module in the underwater walking device of the present invention.

[0031] Figure 8 It is a schematic structural diagram of the soil-breaking device of the present invention.

[0032] Fig. 9 It is a schematic diagram of the first lowering posture of the soil-breaking device of the present invention.

[0033] Fig.10 For the present invention, spray Fig. 9 Left view of .

[0034] Fig.11 For the present invention, spray Fig. 9 Schematic diagram of the distance between the two spray arms after increasing.

[0035] Fig.12 It is a schematic diagram of the second lowering posture of the soil-breaking device of the present invention.

[0036] Fig.13 It is a schematic diagram of the recovery posture of the soil-blasting device of the present invention.

[0037] Fig.14 It is a structural schematic diagram of the front jet mechanism of the present invention.

[0038] Fig.15 It is a schematic structural diagram of the spray-sucking and suction device from the first perspective of the present invention.

[0039] Fig.16 It is a schematic structural diagram from a second viewing angle of the spray-sucking and suction device of the present invention.

[0040] Fig.17 It is a schematic diagram of the recovery posture of the spray-sucking and suction device of the present invention.

[0041] Fig.18 It is a schematic diagram of the lowering posture of the spraying and suction device of the present invention.

[0042] Fig.19 It is a schematic diagram of the left swing posture of the spray-surge suction device of the present invention.

[0043] In the figure: 1. fuselage body; 2. underwater walking device; 21. skid; 22. crawler mechanism; 221. crawler module; 23. drive module 1; 24. connecting rod; 25. vertical thruster; 26. horizontal thruster; 27. rotatable thruster; 271. connecting rod; 272. thruster body; 28. drive module 2; 3. spraying and earth-breaking device; 31. fixed pipeline; 32. rotating pipeline; 321. elbow; 322. mounting rod; 33. drive mechanism 1; 34. spraying arm; 341. spraying pipe 1; 3411. front nozzle; 3412. inner nozzle; 3413. tail nozzle; 35. guide piece; 351. guide plug; 35 2. Connecting sleeve; 36. Driving mechanism 2; 37. Driving mechanism 3; 38. Water pump mechanism; 4. Spraying and suction device; 41. Support seat; 42. Suction pipeline; 421. Water inlet 1; 422. Discharge port; 423. Suction port; 424. End cover; 43. Spray pipe 2; 431. Water inlet 2; 432. Spray port; 44. Driving component 1; 45. Driving component 2; 46. Fixed frame; 461. Articulated part; 47. Moving frame; 48. Driving component 3; 49. Driving component 4; 5. Front spraying mechanism; 51. Support pipe; 52. Front nozzle; 521. Front nozzle; 53. Driving mechanism 5; 100. Cable. DETAILED DESCRIPTION

[0044] like Figure 1-Figure 19 As shown, the present invention provides an underwater jet trenching and cable laying operation system, which includes a fuselage body 1, an underwater walking device 2, a jetting and earth-breaking device 3, and a jetting and suction device jetting and cable-pressing device 4. The underwater walking device 2 is arranged at the lower end of the fuselage body 1, and is used to drive the underwater jet trenching and cable laying operation system to move on the seabed. The jetting and earth-breaking device 3 includes a laying mechanism 1 and two jetting arms 34, the laying mechanism 1 is arranged on the fuselage body 1, and the two jetting arms 34 are arranged on the laying mechanism 1 and located at the front end of the fuselage body 1, and are both provided with a front nozzle 3411 for spraying a jet to open a trench on the seabed.

[0045] The jet suction device 4 is arranged at the rear end of the fuselage body 1, and the jet suction device 4 includes a suction pipeline 42 and a jet pipe 43. The suction pipeline 42 is provided with a discharge port 422 and a suction port 423. The suction port 423 is used to face the bottom of the trench. The position of the discharge port 422 is higher than the suction port 423 and is arranged horizontally relative to the suction port 423. During the trenching and cable laying operation, the suction pipeline 42 operates behind the jet arm, and is used to suck the mud in the trench through the suction port 423 before the cable sinks to the bottom of the trench, and discharge the mud to the outside of the trench through the discharge port 422, so as to ensure that the depth of the trench meets the laying requirements. Specifically, the height difference between the discharge port 422 and the suction port 423 is greater than the required trench depth, so that after one end of the suction pipe provided with the suction port 423 is extended into the trench, the discharge port 422 is on the upper side of the trench, and when the suction port 423 sucks the sediment at the bottom of the trench, the sediment is discharged on the upper side of the trench to ensure that the sediment in the trench is effectively pumped out.

[0046] The second jet pipe 43 is located at the rear side of the suction pipeline 42, and a jet port 432 is provided on the second jet pipe 43. The jet port 432 is horizontally arranged in a direction away from the suction pipeline 42. When in use, the second jet pipe 43 is provided with one end of the jet port 432 extending into the trench. As the fuselage body 1 moves during trenching, the jet port 432 can spray a horizontal jet in the direction of the rear side of the fuselage body 1 along the length of the trench. Thus, after the suction pipeline 42 sucks the silt in the trench, the second jet pipe 43 is used to spray a horizontal jet along the length of the trench to flush the inner wall and bottom of the trench, continuously liquefy the soil, maintain the trench shape when the cable sinks to the bottom of the trench, and ensure that the cable sinks to the bottom of the trench at a depth that meets the operating requirements. Figure 1 and Figure 2As shown, for the cable 100 with a large bending radius, the distance from the seabed to the place where it completely sinks to the bottom of the trench is long. By arranging the two spraying and suction assemblies on the rear outer side of the fuselage body 1, the distance between the two spraying arms 34 is large, which adapts to the amplitude of the natural settlement of the cable 100. The underwater walking device 2 drives the operating system as a whole to move along the length direction of the cable 100 on the seabed. The two spraying arms 34 spray water to break the soil and open trenches on the seabed to form trenches. Compared with the mechanical cutting type soil breaking device, it is more suitable for seabeds with soft soil. Since the soil is thin and soft, the trench is prone to collapse in a short time after the ground is broken and the trench is dug. By arranging a jet suction device 4 at the rear end of the fuselage main body 1, after the trench is dug and before the cable sinks to the bottom of the trench, the natural return flow and the sediment at the bottom of the trench deposited due to the collapse of the two sides of the trench are pumped out through the suction pipeline 42, and the pumped sediment is discharged to the outside of the trench to ensure the depth of the trench. After the suction pipeline 42 and the cable is continuous, the jet pipe 43 is used to continuously generate horizontal jets in the trench in the direction of the trench length to flush the inner wall and bottom of the trench, continuously liquefy the soil, maintain the trench shape when the cable sinks to the bottom of the trench, ensure the depth of the trench, ensure that the laying depth meets the operation requirements, and improve the safety and stability of the cable after it is buried on the seabed. On the one hand, the present invention can discharge the sediment deposited on the bottom of the trench to the outside of the two sides of the trench after the jetting and earth-breaking device 3 digs the trench and before the cable completely falls to the bottom of the trench, and use the two jetting ports 432 to continuously maintain the trench shape, ensuring that the naturally settled cable 100 can fall to the bottom of the trench. On the other hand, since the sediment discharged by suction is discharged to the outside of the two sides of the trench and is backfilled into the trench for the second time under the action of subsequent ocean currents, for large-diameter cables 100 and deep trenches, the cable 100 can be buried by the flushing of natural ocean currents after it sinks to the bottom of the trench, ensuring that the cable 100 will not be exposed, thereby improving the reliability of underwater cable burying operations.

[0047] The underwater walking device includes a walking mechanism and a propulsion mechanism. The propulsion mechanism is arranged on the fuselage body 1 to generate thrust to assist the movement and posture adjustment of the underwater walking device. There are two walking mechanisms, which are located on both sides of the fuselage body 1, that is, one walking mechanism is located on one side of the fuselage body 1, and the other walking mechanism is located on the other side of the fuselage body 1, and the walking mechanism is connected to the fuselage body 1. In one embodiment of the present invention, Figure 3 As shown, the walking mechanism is a sliding shoe 21, which is fixedly connected to the fuselage body 1. In cooperation with the thrust generated by the propulsion mechanism, the operating system can slide on the seabed. Compared with the crawler mechanism, the sliding shoe 21 has a simple structure and light weight, which can reduce the overall weight of the operating system under water and is suitable for operation on soft soil that is prone to collapse.

[0048] In another embodiment of the present invention, Figure 5-Figure 7As shown, the walking mechanism is a crawler mechanism 22, which is connected to the fuselage body 1 by an articulated connection, and both crawler mechanisms 22 have a moving stroke that is inclined relative to the fuselage body 1, that is, the postures of the two crawler mechanisms 22 on the fuselage body 1 are adjustable. Both sides of the fuselage body 1 are correspondingly provided with driving mechanisms, which are used to drive the crawler mechanisms 22 located on both sides of the fuselage body 1 to move respectively, so as to adjust the posture of the crawler mechanisms 22, thereby adjusting the inclination of the crawler mechanisms 22 relative to the fuselage body 1 and adjusting the angle between the bottoms of the two crawler mechanisms 22.

[0049] The underwater walking device provided by the present invention, in an implementation manner based on the track mechanism 22, can adjust the inclination of the track mechanism 22 relative to the fuselage main body 1 and the angle between the bottoms of the two track mechanisms 22 by adjusting the posture of the track mechanism 22, so that the bottom surfaces of the two track mechanisms 22 are on the same horizontal plane to adapt to walking on a flat seabed, or the bottom surfaces of the two track mechanisms 22 form an upward or downward angle to adapt to a ridge-like raised seabed or a groove-like sunken seabed, thereby improving the gripping ability of the track mechanism 22 under such seabed terrain and improving the underwater walking performance. The posture of the device can be adjusted and auxiliary thrust can be provided for the device through the propulsion mechanism, and combined with the thrust of the track mechanism 22 itself when working, the thrust requirement for walking on a seabed with soft mud can be met to avoid slipping, further improve the underwater walking performance, meet the walking requirements and reliability of different underwater terrains, improve the flexibility of underwater operations, and broaden the range of operable scenarios. Figure 7 The figure shows the state of the two track mechanisms 22 after the postures are adjusted to adapt to the groove-shaped downwardly sunken seabed. When used to adapt to the ridge-shaped raised seabed, the two track mechanisms 22 are tilted downward.

[0050] In one configuration of the present invention, Figure 5 As shown, the single crawler mechanism 22 is a crawler walking mechanism, that is, only one crawler walking mechanism is provided on one side of the fuselage body 1.

[0051] In the preferred configuration of the present invention, Figure 6-Figure 7As shown, a single crawler mechanism 22 includes two crawler modules 221, both crawler modules 221 are hinged to the fuselage body 1, and both have a moving stroke inclined relative to the fuselage body 1. A single crawler module 221 is a crawler walking mechanism, that is, two aforementioned crawler walking mechanisms are arranged on one side of the fuselage body 1 of the present invention, wherein the specific structural principles of the crawler walking mechanisms referred to above are the same as those of the prior art, and are not repeated here. A single driving mechanism includes two driving modules 1 23, and the two driving modules 1 23 are used to correspondingly drive the two crawler modules 221 to rotate around the hinge with the fuselage body 1. In this setting mode, a total of four crawler modules 221 are arranged on both sides of the fuselage body 1, and each is driven to adjust its posture by the corresponding driving module 1 23, so that the four crawler modules 221 can have different inclination angles on the rugged seabed to improve the gripping ability and facilitate walking on the seabed with large particles of rock.

[0052] The track module 221 is connected to the fuselage body 1 through a connecting rod 24, and cooperates with the driving module 1 23 to realize the posture adjustment of the track module 221. Compared with the rotation driving module directly driving the track module 221 to rotate, the use of a connecting rod structure is conducive to improving the load-bearing capacity and reducing the strength requirements of the driving module 1 23. Specifically, a single track module 221 is connected to the fuselage body 1 through two connecting rods 24, one end of the two connecting rods 24 is hinged to the fuselage body 1, and the other end is hinged to the track module 221, forming a quadrilateral mechanism. Since there are two connecting rods 24 connected to the fuselage body 1 in a single track module 221, it is conducive to improving the structural strength and dispersing the load. Under the same load-bearing capacity, the load on a single connecting rod 24 is smaller, and the strength and size requirements of the connecting rod 24 are smaller. Among them, the driving module 1 23 is a linear driving module, such as a cylinder or other driving module with linear output, the cylinder end of the cylinder is hinged to the fuselage body 1, and the piston end is hinged to one of the connecting rods.

[0053] The propulsion mechanism includes a vertical propeller 25 and a horizontal propeller 26, both of which are arranged on the fuselage body 1. Figure 3 As shown, the vertical thruster 25 is a thruster arranged along the vertical direction of the fuselage body 1, which is used to generate vertical thrust to assist the ascent and descent of the operating system; the horizontal thruster 26 is a thruster arranged along the horizontal direction of the fuselage body 1, which is used to generate horizontal thrust in the front and rear directions or lateral directions of the operating system, providing auxiliary thrust for the forward and backward and lateral movements of the operating system, thereby improving the flexibility of underwater operations.

[0054] The propulsion mechanism also includes a rotatable propeller 27, which is arranged on the fuselage body 1 and has a moving stroke inclined relative to the fuselage body 1 to adjust the inclination of the rotatable propeller 27, thereby adjusting the thrust direction. For example, when the original thrust of the operating system is not enough to meet the walking action in the seabed with fine mud or complex terrain, on the basis of the thrust of the original vertical propeller 25 or horizontal propeller 26, it can generate additional horizontal or vertical thrust to increase the horizontal or vertical thrust, thereby realizing the walking action of the operating system. In this setting mode, since the thrust direction of the rotatable propeller 27 is adjustable, a single rotatable propeller 27 can be used to increase the vertical thrust of the operating system, and can also be used to increase the horizontal thrust of the device. It has high flexibility in use. When the thruster power is the same and the vertical maximum thrust and horizontal maximum thrust of the operating system are the same, the total amount of propellers can also be reduced. The present invention also includes a second driving module 28, wherein the rotatable propeller 27 includes a connecting rod 271 and a propeller body 272 fixedly arranged on the connecting rod 271, and the propeller body 272 moves and rotates following the connecting rod 271, wherein the connecting rod 271 is hingedly arranged on the fuselage body 1 and has a travel for rotating on the fuselage body 1, and the second driving module 28 is used to drive the connecting rod 271 to rotate, so as to adjust the inclination of the rotatable propeller 27 relative to the fuselage body 1, thereby adjusting the inclination of the rotatable propeller 27. Among them, the second driving module 28 is specifically a driving module of an oil cylinder or other linear output, wherein the cylinder end of the oil cylinder is hingedly connected to the fuselage body 1, and the piston end is hingedly connected to the side of the connecting rod 271, and when the piston end of the oil cylinder is extended, the connecting rod 271 is pushed to rotate. Among them, the structural principles of the above-mentioned vertical propeller, horizontal propeller and propeller body are the same as those of the prior art propellers, and will not be repeated here.

[0055] The present invention is also provided with a cable-finding module, which is arranged on the fuselage body 1 and is located at the front end of the operating system, and has two sets of installation interfaces at different heights. There are two-stage oil cylinders on the frame of the cable-finding module. The first-stage oil cylinder drives the frame of the cable-finding module to rotate, and the second-stage oil cylinder changes the height of the cable-finding module, and finally realizes four laying heights of the cable-finding module to adapt to the detection of different geology and cables of different diameters. The cable-finding module is specifically a sensor that utilizes electromagnetic induction cables, which is electrically connected to the control system of the operating system, and is used to sense the position of the cable and transmit the position information to the control system of the operating system. After judgment and calculation, the control system automatically controls the propulsion mechanism and the walking mechanism, and adjusts the overall direction and speed of the operating system, so that the operating system can automatically follow the length direction of the cable to dig trenches and lay cables, reducing the operator's active intervention and making the trenching and laying cable process more intelligent. Among them, the laying described in this article is to lower the target mechanism to a working posture.

[0056] The deployment mechanism 1 includes a fixed pipeline 31, a rotating pipeline 32, a driving mechanism 1 33 and a spray driving mechanism 2 36. The fixed pipeline 31 is installed on the fuselage body. The rotating pipeline 32 is rotatably arranged on the fixed pipeline 31 and communicated with the fixed pipeline 31, that is, the rotating pipeline 32 has a radial rotation stroke on the fixed pipeline 31, and after the rotation, the rotating pipeline 32 and the fixed pipeline 31 remain in communication. The driving mechanism 1 33 is used to drive the rotating pipeline 32 to rotate around the fixed pipeline 31. The driving mechanism 1 33 is an oil cylinder, the piston end of the oil cylinder is hinged to the rotating pipeline 32, and the cylinder end is hinged to the fuselage body, forming an approximate connecting rod structure, so that the rotating pipeline 32 can rotate while having a better bearing capacity. A guide piece 35 is fixedly arranged on each water inlet end of the two spray arms 34, and each spray arm 34 is connected with its corresponding guide piece 35. Both guide pieces 35 are rotatably arranged on the rotating pipeline 32 and are connected with the rotating pipeline 32, that is, the two guide pieces 35 have a radial rotation stroke on the rotating pipeline 32, and after rotation, the two guide pieces 35 are kept in communication with the rotating pipeline 32, thereby making the two spray arms 34 keep in communication with the rotating pipeline 32. The second driving mechanism 36 is used to drive the two spray arms 34 and the two guide pieces 35 to rotate around the rotating pipeline 32. The number of the second driving mechanism 36 corresponds to the number of the guide pieces 35, which is also two. The second driving mechanism 36 is an oil cylinder, the piston end of which is hinged to the guide piece 35, and the cylinder end is hinged to the fuselage body, forming an approximate connecting rod structure, so that the two guide pieces 35 and the two spray arms 34 can rotate while having a better bearing capacity.

[0057] The spraying and earth-breaking device provided by the present invention, the fixed pipeline 31 and the rotating pipeline 32 are used as water supply pipelines for the two spraying arms 34, and are also used as installation and bearing structures for the two spraying arms 34. On the basis of realizing the installation of the two spraying arms 34, there is no need to arrange additional pipelines that meet the lowering depth to connect the two spraying arms 34 and the water pump mechanism, which can ensure that the spraying arms 34 are connected to the spraying arms 34 at different lowering depths, which is conducive to simplifying the overall structure, reducing the overall volume, and reducing space occupancy. Compared with general pipelines, since the fixed pipeline 31 and the rotating pipeline 32 are used as the installation and bearing structures of the two spraying arms 34, their strength and hardness are greater, and when used as water supply pipelines, it is not easy to leak due to the impact of underwater organisms or rocks, and the reliability is higher. The two-level driving structure formed by the driving mechanism 1 33 and the driving mechanism 2 36 can not only realize the lowering and recovery of the two spray arms 34, but also when the driving mechanism 1 33 drives the rotating pipeline 32 to flip to realize the lowering of the two spray arms 34, the driving mechanism 2 36 can synchronously drive the two spray arms 34 to rotate to adjust the posture. When the two spray arms 34 are lowered deeper or shallower, the angle of the front nozzle relative to the vertical can be maintained in the optimal spray angle range, ensuring that the injection angle of the water jet is the optimal angle for spraying and breaking the soil, so that the present invention can be applied to trenching operations at different depths, while ensuring the quality and efficiency of trenching, and has high flexibility in underwater operations.

[0058] like Fig. 9 As shown in FIG. 1 , the two spray arms 34 are in a completely lowered position, that is, lowered to the lowest position, which is suitable for trenching operations in deeper trenches. Fig.10 As shown, the two spray arms 34 are lowered to a shallow depth, which is suitable for trenching operations in shallow trenches. In these two postures, the direction and angle of the front nozzle relative to the vertical are consistent.

[0059] In one embodiment of the present invention, the fixed pipeline 31 and the rotating pipeline 32 can be connected through a flexible pipeline, and the connection is ensured on the basis of satisfying the rotation stroke of the rotating pipeline 32. The rotating pipeline 32 is connected to the two guide members 35 through a flexible pipeline, and the connection is ensured on the basis of satisfying the movement stroke of the two guide members 35.

[0060] In a preferred embodiment of the present invention, a radial dynamic seal is provided at the rotational fit between the rotating pipeline 32 and the fixed pipeline 31, so that the rotating pipeline 32 and the fixed pipeline 31 can be directly connected on the basis of satisfying the rotation stroke. A radial dynamic seal is also provided at the rotational fit between the two flow guides 35 and the rotating pipeline 32, so that the two flow guides 35 can be directly connected to the rotating pipeline 32 on the basis of satisfying the rotation stroke. In this embodiment, there is no need to add additional flexible pipes, which reduces the complexity of the pipeline and the risk of damage and leakage at the connection point.

[0061] There are two sets of the fixed pipelines 31, and each set of the fixed pipelines 31 is connected to a set of water pump mechanisms 38, that is, the two sets of fixed pipelines 31 respectively realize water supply through the corresponding water pump mechanisms 38. The rotating pipeline 32 is U-shaped. As Figure 8 shown, elbows 321 are arranged at both ends of the rotating pipeline 32. The two sets of fixed pipelines 31 are both arranged with horizontal bends. The elbows 321 at both ends of the rotating pipeline 32 are rotationally connected to the horizontal parts of the two sets of fixed pipelines 31 and are radially dynamically sealed to be directly communicated. On the basis of ensuring communication, the whole rotating pipeline 32 can rotate around the two sets of fixed pipelines 31 under the action of the first driving mechanism 33. And the two sets of fixed pipelines 31 are communicated through branch pipes and / or the two ends of the rotating pipeline 32 are communicated through branch pipes. When one of the water pump mechanisms 38 fails, the water flow supply of the two spray arms 34 can be maintained by the other water pump mechanism 38, and the operation can be maintained to avoid interruption. Among them, a connecting sleeve 352 is fixedly arranged at the upper end of the flow guide member 35. As Figure 8 shown, the connecting sleeves 352 of the two flow guide members 35 are both sleeved on the rotating pipeline 32, that is, the flow guide member 35 is connected to the rotating pipeline 32 through the connecting sleeve 352. In the implementation manner where the flow guide member 35 and the rotating pipeline 32 are dynamically sealed, the flow guide member 35 is communicated with the connecting sleeve 352. Specifically, the connecting sleeve 352 on the flow guide member 35 is dynamically sealed with the rotating pipeline 32, and a water passing hole is opened on the side wall of the rotating pipeline 32 at the position where it coincides with the connecting sleeve 352. The water flow in the rotating pipeline 32 enters the flow guide member 35 along the connecting sleeve 352 through the water passing hole and flows into the spray arm 34 from the water inlet end of the flow guide member 35 along the spray arm 34.

[0062] The number of the front nozzles 3411 on a single spray arm 34 is several, and the several front nozzles 3411 are arranged along the height direction of the spray arm 34. Specifically, a single spray arm 34 includes several groups of first spray pipes 341. The lengths of the several groups of first spray pipes 341 are different, and the several groups of first spray pipes 341 are arranged in parallel in the order of length, that is, they are connected in parallel in the order from short to long. And the several groups of first spray pipes 341 are all communicated with the flow guide member 35, and front nozzles 3411 are arranged on all the first spray pipes 341. As Fig.12 and Fig.13 shown, among the several groups of first spray pipes 341, the front nozzle 3411 of the first spray pipe 341 with the shortest length is arranged on the side of the first spray pipe 341 away from the other first spray pipes 341, and the front nozzles 3411 of the other first spray pipes 341 are arranged in the area longer than the adjacent first spray pipe 341, and all the front nozzles 3411 on all the first spray pipes 341 are arranged in the same direction. As Fig.10 and Fig.11 shown, in the front view state of the spray arm 34, the front nozzles 3411 on the several groups of first spray pipes 341 are arranged along the height direction of the spray arm 34.

[0063] The guide member 35 is provided with a guide plug 351, which is used to block or open part of the jet pipes 341 on the shorter side of the array of jet pipes 341. Since the array of jet pipes 341 is arranged in parallel in length order, the shorter side is specifically the side where the shortest jet pipe 341 in the jet arm 34 is located, wherein the number of jet pipes 341 in a single jet arm 34 that can be blocked or opened by the guide plug 351 is less than the number of all the jet pipes 341 in the jet arm 34. When there are at least two groups of jet pipes 341 that can be blocked or opened by the guide plug 351, they are at least two groups that are counted in sequence from the shortest jet pipe 341 along the length direction. When the trench to be opened is deeper, the depth of the jet arm 34 submerged in the seabed is deeper, such as Figure 1 As shown, all the jetting pipes 341 are submerged in the seabed, and all the front nozzles 3411 are basically not higher than the seabed, that is, all the front nozzles 3411 participate in the seabed trenching operation. Figure 2 As shown, the depth of the spray arm 34 immersed in the seabed is relatively shallow. At this time, part of the front nozzle 3411 will be obviously higher than the seabed and will not participate in the seabed breaking and trenching operation. The spray pipe 341 where the front nozzle 3411 is located is blocked by the guide plug 351, so that the spray pipe 341 located above the seabed has no water jet spraying, and all the water flow is guided to the spray pipe 341 located in the seabed, thereby improving the water jet utilization efficiency and trenching efficiency. Among them, the position of the guide plug 351 on the guide member 35 is above the spray pipe 341. The guide plug 351 specifically includes a driving mechanism four and a plug body. The driving mechanism four is preferably a cylinder, and its cylinder end is fixedly set on the guide member 35. The plug body is set on the piston end of the cylinder, and the plug body is penetrated into the guide member 35 and dynamically sealed with the guide member 35. The plug body is driven by the cylinder to move toward the spray pipe 341 and inserted into the spray pipe 341 to achieve blocking, and the plug body is driven by the cylinder to move away from the spray pipe 341 to achieve opening.

[0064] The present invention also includes a driving mechanism 37, which can drive the guide member 35 to move axially along the rotating pipeline 32 to adjust the spacing between the two spray arms 34 to adapt to the opening of trenches of different widths. The axial movement stroke of the guide member 35 on the rotating pipeline 32 is the axial movement stroke of the connecting sleeve 352 on the rotating pipeline 32. In the embodiment of the present invention based on dynamic sealing, the dynamic seal between the connecting sleeve 352 on the guide member 35 and the rotating pipeline 32 also includes an axial dynamic seal, that is, the guide member 35 also has an axial movement stroke on the rotating pipeline 32. When the connecting sleeve 352 moves axially on the rotating pipeline 32, the water hole is always located within the overlap range between the connecting sleeve 352 and the rotating pipeline 32; in the embodiment of the present invention based on flexible pipe connection, the length of the flexible pipe can meet the movement stroke of the guide member 35. After ensuring that the spacing between the two spray arms 34 is adjusted, the two spray arms 34 can maintain a state of being connected to the rotating pipeline 32 through the guide member 35. The driving mechanism 37 is a cylinder, which is connected between the two guide members 35 to drive the synchronous movement of the two guide members 35. Or the cylinder is provided with two, and a mounting rod 322 is fixedly provided on the rotating pipeline 32, and the cylinder ends of the two cylinders are fixed on the mounting rod 322, and the piston ends are connected to the two guide members 35 accordingly.

[0065] The array of two spray arms 34 is provided with inner nozzles 3412 on the spray pipes 1 341. Among the array of spray pipes 1 341, the inner nozzle 3412 of the shortest spray pipe 1 341 is located inside the spray pipe 1 341, and the inner nozzles 3412 on the remaining spray pipes 1 341 are arranged inside the area longer than the adjacent spray pipes 1 341, and the inner nozzles 3412 in the two spray arms 34 are arranged opposite to each other. When the width of the trench to be opened is wide, the distance between the two spray arms 34 is large, and the soil in the middle of the trench may not be liquefied. The arrangement of the inner nozzles 3412 can form opposite water jets in the trench along the width of the trench, so that the soil between the two spray arms 34 is liquefied, so as to facilitate the opening of a wide trench according to the large-diameter cable 100 and ensure the trench shape of the wide trench, further improving the flexibility of use.

[0066] The bottom of the two spray arms 34 is provided with a tail nozzle 3413, and the spray direction of the tail nozzle 3413 is set to be opposite to the spray direction of the front nozzle 3411, that is, the direction of the water jet sprayed by the tail nozzle 3413 is opposite to the direction of the water jet sprayed by the front nozzle 3411, and the water jet sprayed by the tail nozzle 3413 is parallel to the bottom of the trench. The setting of the tail nozzle 3413 can generate a horizontal jet in the trench in the opposite direction of the front nozzle 3411 by using the high-pressure water flow in the spray arm 34 after the trench is opened by the front nozzle 3411, continuously liquefy the soil in the rear trench, maintain the trench shape, reduce the backfill of sediment before the two spray suction components operate, and reduce the suction work intensity and water pressure requirements of the two spray suction components. Especially when the seabed soil is fine and soft, and the cable bending radius is large, resulting in a large distance between the two spraying and suction assemblies and the two spraying arms 34, the arrangement of the tail nozzle 3413 can cooperate with the two spraying and suction assemblies to better ensure the trench shape and trench depth before the cable is completely settled. It is preferred that the tail nozzle 3413 is arranged at the bottom of the longest spray pipe 341 in the spraying arm 34, so that the tail nozzle 3413 can be kept at the bottom of the trench when the depth of the trench is different.

[0067] like Fig.14 As shown, the present invention also includes a front spray mechanism 5, which is arranged on the fuselage body 1 and located between the two spray arms 4. The setting of the front spray mechanism 5 can play a role of pre-spraying before the spray arm 34 sprays and breaks the soil. On the one hand, it can be used to clean the silt, gravel and seabed organisms attached on the seabed surface and cables. On the other hand, it can open a shallow trench on the seabed surface before the spray arm 34 to form a pre-ditching. When turning, it can reduce the difficulty of breaking the soil and trenching by the spray arm 34, which is conducive to turning trenching and cable burying operations. Among them, the front spray mechanism 5 includes a support tube 51, a front nozzle 52 and a driving mechanism 53. The support tube 51 is connected to the external water supply unit. The front nozzle 52 is rotatably arranged at the lower end of the support tube 51 and is a dynamic seal. The lower end of the front nozzle 52 is provided with a front nozzle 521 for spraying a water jet. The driving mechanism 5 53 is specifically an oil cylinder, which is hingedly arranged between the support tube 51 and the front nozzle 52. Specifically, as Fig.14 As shown, two front nozzles 52 are provided, and both front nozzles 52 are bent and one end away from the front nozzle 521 is rotatably connected to the lower end of the support tube 51 and dynamically sealed. The two front nozzles 52 together form a U-shaped nozzle structure, and the two front nozzles 52 are fixedly connected by a rod body, and the oil cylinder is specifically hinged between the support tube 51 and the rod body.

[0068] like Figure 15-19As shown, the spray suction device 4 also includes a second deployment mechanism, a support seat 41 and a driving assembly 1 44. The second deployment mechanism is arranged at the rear end of the fuselage body 1, and the support seat 41 is arranged at the end of the second deployment mechanism away from the fuselage body 1. The single second spray pipe 43 is fixedly connected to the single suction pipeline 42. Two spray suction assemblies are arranged at the end of the second deployment mechanism away from the fuselage body 1 through the support seat 41. The two spray suction assemblies are arranged at intervals for cables to pass through. In the working state, the cables can fall into the trench along the gap between the two spray suction assemblies. This arrangement can pump out sediment and continuously liquefy soil inside the trench without affecting the normal settlement of the cables. Among them, the lower end of the second spray pipe 43 is arranged in parallel with the lower end of the suction pipeline 42, and a spray port 432 is arranged on the side of the second spray pipe 43, and the spray port 432 is specifically located on the side of the second spray pipe 43 away from the two spray arms, and the spray direction of the spray port 432 is perpendicular to the suction direction of the suction port 423. When the spray suction device 4 is working, the two spray suction components are used at the same time, and the suction port 423 and the spray port 432 are both located in the trench, and the suction port 423 is arranged toward the bottom surface of the trench, and the spray direction of the spray port 432 is arranged along the length direction of the trench, that is, the spray direction is toward Figure 1 and Figure 2 When the jet port 432 is located in the trench, the jet port 432 ejects a horizontal jet along the length direction of the trench in a direction away from the two jet arms.

[0069] When the cable bending radius is large or the trench is deep, it is preferred that the second laying mechanism is extended in the direction away from the fuselage body 1 to increase the distance between the two jet suction assemblies and the two jet arms, and reduce the amplitude of the cable from the seabed to the bottom of the trench. At least one of the two jet suction assemblies is slidably arranged on the support seat 41, and the driving assembly 1 44 drives the sliding jet suction assembly to move, so as to adjust the distance between the two jet suction assemblies to adapt to trenches of different widths.

[0070] A pipe diameter contraction section is provided on the suction pipeline 42 between the water inlet 421 and the suction port 423, and the suction port 423 is connected to the side of the pipe diameter contraction section. Specifically, the suction pipeline 42 is contracted in the middle position between the water inlet 421 and the suction port 423 to form the above-mentioned pipe diameter contraction section, and an extension pipe is longitudinally connected to the side of the pipe diameter contraction section to form the lower end of the suction pipeline 42, and the end of the extension pipe is the suction port 423. Based on the Venturi effect, when the water flows rapidly from the water inlet 421 to the discharge port 422, low pressure is generated at the suction port 423, thereby generating an adsorption effect. Water pumps are respectively provided on the suction pipeline 42 and the spray pipe 43, for driving the water flow along the direction from the water inlet 421 to the discharge port 422 and driving the water flow along the direction from the water inlet 431 to the spray port 432, respectively. The water pump on the suction pipeline 42 is set at the water inlet 421 to ensure that the water flows along the direction from the water inlet 421 to the discharge port 422, and the water pump on the spray pipe 43 is set at the water inlet 431, or it can be set at other positions of the spray pipe 43 to ensure that the water flows along the direction from the water inlet 431 to the spray port 432.

[0071] The jet-suction device also includes a support seat 41 and a drive assembly 44. Two jet-suction assemblies are arranged at the end of the deployment mechanism 2 away from the fuselage body 1 through the support seat 41. Among the two jet-suction assemblies, at least one jet-suction assembly is slidably arranged on the support seat 41. The drive assembly 44 drives the slidingly arranged jet-suction assembly to move to adjust the distance between the two jet-suction assemblies to adapt to trenches of different widths.

[0072] Preferably, the two spray-suction assemblies are both slidably arranged on the support seat 41, and the drive assembly 44 is located between the two spray-suction assemblies. The fixed end of the drive assembly 44 is connected to one of the spray-suction assemblies, and the movable end is connected to the other spray-suction assembly, so as to ensure the symmetry of the two spray-suction assemblies on the support seat 41, and under the same spacing adjustment, the moving stroke of a single spray-suction assembly is smaller. Specifically, the suction lines 42 in the two spray-suction assemblies are both slidably connected to the support seat 41 through a slider, and the drive assembly 44 is an oil cylinder, the cylinder end of the oil cylinder is fixed to the suction line 42 in one of the spray-suction assemblies, and the piston end is fixed to the suction line 42 in the other spray-suction assembly, such as Fig.16 As shown, the number of drive components 44 can also be set to two.

[0073] A water inlet is provided at one end of the suction pipeline 42, and the other end is horizontally arranged. The discharge port 422 is located at one end of the horizontal arrangement. A pipe diameter contraction section is provided on the suction pipeline 42 between the water inlet 421 and the discharge port 422. An extension pipe is longitudinally extended on the side of the pipe diameter contraction section. The suction port 423 is located on the extension pipe. Based on the Venturi effect, when the water flows rapidly from the water inlet 421 to the discharge port 422, low pressure is generated at the suction port 423, thereby generating an adsorption effect. Water pumps are respectively provided on the suction pipeline 42 and the spray pipe 43, for driving the water flow along the direction from the water inlet 421 to the discharge port 422 and driving the water flow along the direction from the water inlet 431 to the spray port 432, respectively. The water pump on the suction pipeline 42 is set at the water inlet 421 to ensure that the water flows along the direction from the water inlet 421 to the discharge port 422, and the water pump on the spray pipe 43 is set at the water inlet 431, or it can be set at other positions of the spray pipe 43 to ensure that the water flows along the direction from the water inlet 431 to the spray port 432.

[0074] The suction pipe 42 is provided with an end cap 424 at the position of the discharge port 422, and the degree of opening and closing between the end cap 424 and the discharge port 422 is adjustable to adjust the water flow rate of the discharge port 422 according to the operation conditions. When silt is blocked in the suction port 423, the discharge port 422 is closed by the end cap 424, and the water flow direction is from the water inlet 421 to the suction port 423, and the suction port 423 can be reversely flushed to clear the blockage.

[0075] The present invention further includes a second drive assembly 45, which drives the end cover 424 to move or rotate to adjust the degree of opening and closing between the end cover 424 and the discharge port 422. The end cover 424 is hingedly arranged at the end of the discharge port 422 of the suction pipeline 42. The second drive assembly 45 is specifically a cylinder, whose cylinder end is hinged to the suction pipeline 42, and whose piston end is hinged to one side of the end cover 424. The end cover 424 is opened and closed by the extension and contraction of the piston of the cylinder.

[0076] The present invention also includes a driving component three 48, which drives the support seat 41 to rise and fall, thereby realizing the recovery and lowering of the two jet suction components and the adjustment of the lower height to adapt to trenches of different depths.

[0077] The present invention also includes a fixed frame 46 and a mobile frame 47, wherein the fixed frame 46 is connected to the fuselage body 1, one end of the mobile frame 47 is hinged to the fixed frame 46, and the other end is hinged to the support seat 41, and the drive assembly 48 is hingedly arranged between the fixed frame 46 and the support seat 41 to form a connecting rod mechanism. This arrangement can realize the deployment, recovery and adjustment of the lowering height of the two spraying and suction assemblies, and cooperate with the two spraying arms 34 with adjustable lowering height to realize the opening of trenches of different depths and the burial of cables 100. Figure 1 As shown in FIG. 1 , two spray arms 34 and two spray suction assemblies are lowered to a deeper level. At this time, the trench is opened to a deeper level. Figure 2 As shown, the two spray arms 34 and the two spray suction assemblies are lowered shallowly. At this time, the trench is shallow, ensuring the effective and reliable burial of the cable 100 in deep trenches and shallow trenches. On the other hand, compared with directly setting a vertical linear drive mechanism, using a connecting rod mechanism to drive the two spray suction assemblies to recover and lower, when the recovery and lowering strokes are the same, it will not occupy too much height space, making it convenient to carry other tools on the fuselage body 1 and reduce interference between tools.

[0078] The driving assembly 3 48 is specifically a cylinder, whose cylinder end is hinged to the fixed frame 46, and whose piston end is hinged to the support seat 41. The number of the driving assembly 3 48 can be two, and the arrangement form is as follows: Fig.15 , Fig.17 , Fig.19 shown.

[0079] The present invention further includes a driving assembly 49, wherein a hinge 461 is provided on the fixed frame 46, and the fixed frame 46 is hinged to the fuselage body 1 through the hinge 461, and the hinge axis is arranged along the lifting direction of the support seat 41, that is, it is arranged vertically, and the driving assembly 49 is used to drive the fixed frame 46 to rotate around the hinge on the fuselage body 1 to realize the left and right swing of the device as a whole, that is, Figure 5 and Figure 6 The state shown is to adapt to the turning area or the trench opened in a curve. The driving component 49 is specifically a cylinder, the cylinder end of which is hinged to the fixed frame 46, and the piston end is hinged to the fuselage body 1. The piston end is extended and retracted to drive the entire device to swing left and right, cooperating with the turning action of the operating system.

[0080] The present invention also provides an underwater jet trenching and cable laying operation method, which uses the underwater jet trenching and cable laying operation system as described above, and comprises the following steps:

[0081] S1. The underwater jet trenching and cable burying operation system is lowered to the seabed where trenching and cable burying are to be performed, and the projections of the two jet arms 34 on the seabed are located on both sides of the cable 100, that is, in the height direction, the positions of the two jet arms 34 and the cable 100 do not overlap, so as to avoid the jet arms 34 from crushing the cable 100 during the lowering and trenching operation;

[0082] S2. Deploy two spray arms 34 downward, and use the front nozzles 3411 on the two spray arms to spray jets. The underwater jet trenching and cable burying operation system moves on the seabed along the length direction of the cable 100 through the underwater walking device 2 to spray and break the seabed along the length direction of the cable 100 to open a trench. At the same time, the tail nozzle 3413 sprays a jet away from the direction of the front nozzle 3411 to continuously liquefy the soil in the trench, maintain the trench shape and depth, and reduce sediment backfill deposition and collapse on both sides of the trench;

[0083] S3. Deploy the jetting and suction device 4 downward so that the two jetting and suction components extend into the trench, and suck the silt in the trench through the suction port 423 of the suction pipeline 42 when the cable falls into the trench, and discharge the silt to the outside of the trench through the discharge port 422 to ensure that the trench depth meets the operation requirements, and spray horizontal jets in the trench away from the two jetting arms 34 through the jetting port 432 to continuously liquefy the soil in the trench, and the cable 100 naturally sinks to the bottom of the trench along the two jetting and suction components.

[0084] Among them, since the jet ejected from the jet outlet 432 only needs to maintain the groove shape and does not need to play an additional role in breaking the soil, the required water pressure is less than the jet water pressure ejected from the front nozzle 3411, that is, in S3, the jet water pressure ejected from the jet outlet 432 is less than the jet water pressure ejected from the front nozzle 3411.

[0085] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0086] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. An underwater jet trenching and cable laying system, characterized in that: include: The main body of the fuselage (1); An underwater walking device (2), wherein the underwater walking device (2) is arranged at the lower end of the fuselage body (1); A spraying and earth-breaking device (3), the spraying and earth-breaking device (3) comprising two spraying arms (34), the two spraying arms (34) being located at the front end of the fuselage body (1), and both being provided with a front nozzle (3411) for spraying a jet to open a trench on the seabed; A jet suction device (4), the jet suction device (4) being arranged at the rear end of the fuselage body (1), the jet suction device (4) comprising a suction pipeline (42) and a jet pipe (43), the suction pipeline (42) being provided with a discharge port (422) and a suction port (423), the suction port (423) being used to face the bottom of the trench, the discharge port (422) being located higher than the suction port (423) and being arranged transversely relative to the suction port (423), the suction pipeline (42) being used to suck mud and sand in the trench through the suction port (423) before the cable sinks to the bottom of the trench, and to discharge the mud and sand to the outside of the trench through the discharge port (422); The second jet pipe (43) is located at the rear side of the suction pipeline (42). The second jet pipe (43) is provided with a jet port (432). The jet port (432) is arranged horizontally in a direction away from the suction pipeline (42). The second jet pipe (43) is used to spray a horizontal jet through the jet port (432) to flush the inner wall and bottom of the trench along the length direction of the trench after the suction pipeline (42) sucks the sediment in the trench, so as to maintain the trench shape when the cable sinks to the bottom of the trench.

2. The underwater jet trenching and cable laying system according to claim 1, characterized in that: The spraying and earth-breaking device (3) further comprises a first deployment mechanism, wherein the first deployment mechanism comprises a fixed pipeline (31), a rotating pipeline (32), a first drive mechanism (33) and a second drive mechanism (36), wherein the fixed pipeline (31) is fixed to the main body (1), the rotating pipeline (32) is rotatably arranged on the fixed pipeline (31) and is in communication with the fixed pipeline (31), the first drive mechanism (33) is used to drive the rotating pipeline (32) to rotate around the fixed pipeline (31), the two spraying arms (34) are both rotatably arranged on the rotating pipeline (32) and are in communication with the rotating pipeline (32), and the second drive mechanism (36) is used to drive the two spraying arms (34) to rotate around the rotating pipeline (32).

3. The underwater jet trenching and cable laying system according to claim 2, characterized in that: The spraying and earth-breaking device (3) further comprises a driving mechanism three (37), which can drive the two spraying arms (34) to move along the axial direction of the rotating pipeline (32) to adjust the distance between the two spraying arms (34).

4. The underwater jet trenching and cable laying system according to claim 2 or 3, characterized in that: Two suction pipes (42) are provided, the two suction pipes (42) are spaced apart along the width direction of the fuselage body (1), and the spacing between the two suction pipes (42) is adjustable; two spray pipes (43) are provided, the two spray pipes (43) are spaced apart along the width direction of the fuselage body (1), and the spacing between the two spray pipes (43) is adjustable.

5. The underwater jet trenching and cable laying system according to claim 4, characterized in that: The spray-sucking suction device (4) further comprises a second deployment mechanism, a support seat (41) and a first drive assembly (44), wherein the second deployment mechanism is arranged at the rear end of the fuselage body (1), the support seat (41) is arranged at one end of the second deployment mechanism away from the fuselage body (1), a single second spray-sucking pipe (43) is fixedly connected to a single suction pipeline (42), and the single second spray-sucking pipe (43) and the suction pipeline (42) to which it is fixedly connected form a spray-sucking suction assembly, and the two spray-sucking suction assemblies are both arranged on the support seat (41), and the two spray-sucking suction assemblies are arranged at an interval, and the cable can fall into the trench along the space between the two spray-sucking suction assemblies; At least one of the two spray-sucking and suction components is slidably arranged on a support seat (41), and the driving component (44) drives the slidably arranged spray-sucking and suction component to move so as to adjust the distance between the two spray-sucking and suction components.

6. The underwater jet trenching and cable laying system according to claim 5, characterized in that: The bottoms of the two spray arms (34) are each provided with a tail nozzle (3413), and the spray direction of the tail nozzle (3413) is arranged away from the spray direction of the front nozzle (3411).

7. The underwater jet trenching and cable laying system according to claim 5 or 6, characterized in that: The deployment heights of the two spray arms (34) and the two spray suction assemblies are adjustable.

8. The underwater jet trenching and cable laying system according to any one of claims 1 to 3, 5 and 6, characterized in that: The suction pipeline (42) is provided with a water inlet (421) at one end and is transversely arranged at the other end. The discharge port (422) is located at the transversely arranged end. A pipe diameter contraction section is provided on the suction pipeline (42) between the water inlet (421) and the discharge port (422). An extension pipe is longitudinally extended on the side of the pipe diameter contraction section. The suction port (423) is located on the extension pipe. An end cover (424) is provided on the suction pipeline (42) at the position of the discharge port (422). The degree of opening and closing between the end cover (424) and the discharge port (422) is adjustable.

9. The underwater jet trenching and cable laying system according to any one of claims 1 to 3, 5 and 6, characterized in that: The invention also comprises a front spray mechanism (5), which is arranged at the front end of the fuselage body (1) and is located in front of the two spray arms (34). The front spray mechanism (5) is provided with a front nozzle (521) for sweeping and / or pre-ditching the seabed before the two spray arms (34) operate.

10. An underwater jet trenching and cable laying method, characterized in that: The underwater jet trenching and cable laying operation system according to any one of claims 1 to 9 is used, and the operation method comprises the following steps: S1, dropping the underwater jet trenching and cable burying operation system onto the seabed where trenching and cable burying are to be carried out, and making the projections of the two jetting arms (34) on the seabed correspondingly located on both sides of the cable (100); S2, the underwater jet trenching and cable burying operation system moves on the seabed along the length direction of the cable (100) through the underwater walking device (2), and sprays jets through the front nozzles (3411) on the two spray arms (34) to spray and break the seabed along the length direction of the cable (100) to open a trench; S3. When the cable falls into the trench, the silt in the trench is sucked out through the suction port (423) of the suction pipeline (42), and the silt is discharged to the outside of the trench through the discharge port (422). A horizontal jet is ejected through the flushing port (432) along the length of the trench to flush the inner wall and bottom of the trench, continuously liquefying the soil in the trench and maintaining the trench shape. The cable (100) naturally sinks to the bottom of the trench.

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