Ditching base device and underwater operation equipment

Abstract

The invention belongs to the technical field of underwater operation, and particularly relates to a ditching base device and underwater operation equipment, walking mechanisms are arranged on the two sides of a base frame, and a ditching mechanism is arranged below the base frame; the slewing bearing is arranged at the top of the base frame, a rotating ring of the slewing bearing is provided with a plug connector used for being detachably connected with an ROV, the winding mechanism is arranged on one side of the base frame, a neutral cable is wound around a winding drum of the winding mechanism, one end of the neutral cable is connected with all driving modules on the ditching base device through a sliding ring, and the other end of the neutral cable is connected with the other driving module through a sliding ring. And the other end of the driving module is connected with the ROV so as to provide power and control for all the driving modules on the ditching base device through the ROV. According to the invention, the functions and application scenes of the ROV are enriched, the utilization rate of the ROV is improved, the existing laying and recovery system of the ROV can be directly used during laying and recovery, the cost is lower, the operation and equipment maintenance are simpler, and the adaptability to severe environments and working conditions during underwater operation is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater operations, and in particular relates to a trenching base device and underwater operation equipment. Background Art

[0002] Submarine cables include submarine pipelines, power cables and communication cables, which are widely used in offshore oil and gas drilling, submarine mining, wind farm construction and submarine communication networks. Submarine cables are easily affected by fishing boat trawling, ocean current scouring, tsunamis and changes in burial depth, which can cause the cables to float, break and become shallower. To protect these cables, the most effective way is to open trenches of corresponding depth on the seabed, bury the cables and conduct regular inspections and maintenance.

[0003] At present, deep-sea cable burying robots are generally used for trenching and cable laying operations. Traditional deep-sea cable burying robots include towed jet plows, towed burying plows and self-propelled trenchers. Although these equipment can better meet the needs of deep-sea trenching and cable laying operations, they have complex overall structures and are expensive. They are relatively large in size and weight, and require a supporting deck deployment and recovery system, which has high purchase and maintenance costs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a trenching base device and underwater operation equipment that enrich the functions and applicable scenarios of ROV, improve the utilization rate of ROV, and directly use the existing deployment and recovery system of ROV during deployment and recovery, which has lower costs, simpler operation and equipment maintenance, and improves the adaptability of underwater operations to harsh environments and working conditions.

[0005] The present invention provides a trenching base device, which includes a base frame, a walking mechanism and a trenching mechanism, wherein the walking mechanism is arranged on both sides of the base frame, and the trenching mechanism is arranged below the base frame, and is used for trenching on the seabed; It also includes a slewing bearing and a winding mechanism, wherein the slewing bearing is arranged on the top of the base frame, the rotating circle of the slewing bearing is provided with a connector for detachably connecting with the ROV, and the base frame is provided with a rotating driving member for driving the rotating circle of the slewing bearing to rotate, the winding mechanism is arranged on one side of the base frame, and a neutral cable is wound on the reel of the winding mechanism, one end of the neutral cable is connected to all the driving modules on the trenching base device through a slip ring, and the other end is used to connect with the ROV, so as to provide power and control for all the driving modules on the trenching base device through the ROV.

[0006] Furthermore, the connector is vertically arranged on the top of the base frame, and a limiting hole is arranged on the side of the connector for cooperating with a transverse latch on the ROV main frame.

[0007] Furthermore, the number of the connectors is more than three, and the more than three connectors are circumferentially distributed on the rotating circle of the slewing bearing.

[0008] Furthermore, the winding mechanism includes a fixed seat, a linear drive assembly and a fairing drum, the fixed seat is fixedly arranged on one side of the base frame, the drum is rotatably arranged on the fixed seat, the linear drive assembly is arranged on the fixed seat, and is used to drive the fairing drum to move axially along the side of the drum, the neutral cable is retracted and released through the fairing drum, the axis of the fairing drum is arranged along the height direction of the base frame, and the fairing drum is trumpet-shaped, and the end with a larger diameter is arranged upward.

[0009] Furthermore, the side surface of the fairlead is hollowed out, and the hollowed-out area of ​​the fairlead is provided with a rolling body for contacting the neutral cable.

[0010] Furthermore, the linear drive assembly includes a rotating drive component three, a screw, a guide rod and a moving block. The screw is rotatably set on a fixed seat and is driven to rotate by the rotating drive component three. The guide rod is fixedly set on the fixed seat and is parallel to the screw. The moving block is threadedly matched with the screw and slidably sleeved on the guide rod. The cable guide is set on the moving block.

[0011] Furthermore, the walking mechanism is a crawler mechanism or a sliding shoe.

[0012] Furthermore, the trenching mechanism includes two spray arms, both of which are provided with nozzles for spraying water jets to trench on the seabed, and the two spray arms are rotatably arranged below the base frame.

[0013] Furthermore, a cable presser is also provided on the base frame, and the cable presser is rotatably arranged below the base frame and between the two spray arms.

[0014] The present invention also provides an underwater operation equipment, including an ROV and the trenching base device as described above, wherein the trenching base device and the ROV are mechanically connected via a connector and electrically connected via a neutral cable, and the trenching base device is powered and controlled by the ROV.

[0015] The beneficial effect of the present invention is that the trenching base device can be used as an expansion module of the ROV, connected to the ROV to realize underwater trenching and cable laying and other operations, enrich the functions and applicable scenarios of the ROV, and improve the utilization rate of the ROV. During deployment and recovery, the existing deployment and recovery system of the ROV can be directly borrowed. Compared with the deep-sea cable burying robot, the trenching base device has lower cost, simpler structure, smaller size and weight, and lower requirements for ships. Any ship that can install an ROV can carry the trenching base device to perform trenching operations. The operation and equipment maintenance are simpler, and the difficulty of use is greatly reduced.

[0016] After the trenching base device is mechanically and electrically connected to the ROV through the connector and the neutral cable, during underwater operations, the ROV can be rotated on the trenching base device according to the actual working conditions and environment to adapt to the operating requirements of the corresponding working conditions. Or, in extreme or abnormal operating conditions, the ROV can detach from the trenching base device while maintaining the connection with the trenching base device through the neutral cable, fly above the trenching base device, observe the working status of the trenching base device in all directions underwater, observe the status of the front and rear pipes and cables, or fly to the front of the trenching base device to clear obstacles, etc., thereby further improving the adaptability to harsh environments and working conditions during underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 2 This is a schematic structural diagram of a trenching base device of the present invention in which the walking mechanism is a crawler mechanism.

[0019] Figure 3 This is a schematic structural diagram of a trenching base device of the present invention in which the walking mechanism is a sliding shoe.

[0020] Figure 4 It is a structural schematic diagram of the winding mechanism of the trenching base device of the present invention.

[0021] Figure 5 It is a schematic diagram of the trenching base device of the present invention being connected to the ROV via a neutral cable.

[0022] Figure 6 It is a schematic diagram of the first usage state of the underwater operation equipment of the present invention.

[0023] Figure 7 This is a schematic diagram of the second usage state of the underwater operation equipment of the present invention.

[0024] Figure 8 It is a schematic diagram of the third use state of the underwater operation equipment of the present invention.

[0025] In the figure: 1. base frame; 2. walking mechanism; 21. crawler mechanism; 22. sliding shoe; 3. trenching mechanism; 31. spray arm; 311. nozzle; 32. water pump; 4. slewing bearing; 5. rotary drive component 1; 51. gear; 6. connector; 61. limit hole; 7. winding mechanism; 71. fixed seat; 72. drum; 73. rotary drive component 2; 74. cable guide drum; 741. rolling body; 75. rotary drive component 3; 76. screw; 77. guide rod; 8. neutral cable; 9. slip ring; 10. cable presser; 100. trenching base device; 200. ROV; 201. cable sounding device; 300. pipe cable. DETAILED DESCRIPTION

[0026] like Figure 1-Figure 8 As shown, the present invention provides a trenching base device 100, which includes a base frame 1, a walking mechanism 2 and a trenching mechanism 3. The walking mechanism 2 is arranged on both sides of the base frame 1, and is used for the trenching base device 100 to move along the seabed surface as a whole. The trenching mechanism 3 is arranged below the base frame 1, and is used for trenching on the seabed.

[0027] The trenching base device 100 also includes a slewing bearing 4 and a winding mechanism 7. The slewing bearing 4 is arranged on the top of the base frame 1, and the fixed ring of the mutual rotation support is fixed to the top of the base frame 1. A plug-in connector 6 is arranged on the rotating ring of the slewing bearing 4. The trenching base device 100 is detachably connected with the ROV 200 through the plug-in connector 6, and a rotating driving member 5 for driving the rotating ring of the slewing bearing 4 to rotate is arranged on the base frame 1. Specifically, the rotating ring of the slewing bearing 4 is circumferentially provided with teeth. The rotating driving member 5 is an electric motor or a hydraulic motor, and a gear 51 meshing with the teeth on the side of the rotating ring of the slewing bearing 4 is arranged on the output end thereof, and the rotating ring of the slewing bearing 4 is driven to rotate by the gear 51. The winding mechanism 7 is arranged on one side of the base frame 1, and a neutral cable 8 is wound on the reel 72 of the winding mechanism 7, one end of the neutral cable 8 is connected to all the driving modules on the trenching base device 100 through the slip ring 9, specifically, one end of the neutral cable 8 is connected to the rotating part of the slip ring 9, and the stationary part of the slip ring 9 is connected to the driving module on the trenching base device 100, and the driving module refers to the module on the trenching base device 100 that drives each corresponding component and mechanism to perform corresponding actions, such as the rotating driving member 5. The other end of the neutral cable 8 is used to connect with the ROV200, so as to provide power and control for all the driving modules on the trenching base device 100 through the ROV200.

[0028] The trenching base device 100 provided by the present invention can be used as an expansion module of ROV200, connected to ROV200 to realize underwater trenching and cable laying and other operations, enrich the functions and applicable scenarios of ROV200, and improve the utilization rate of ROV200. The existing deployment and recovery system of ROV200 can be directly borrowed during deployment and recovery. Compared with the deep-sea cable burying robot, the trenching base device 100 has lower cost, simpler structure, smaller size and weight, and lower requirements for ships. Any ship that can install ROV200 can carry the trenching base device 100 to perform trenching operations. The operation and equipment maintenance are simpler, and the difficulty of use is greatly reduced.

[0029] Based on the structure of the trenching base device 100 of the present invention, after the trenching base device 100 is mechanically and electrically connected to the ROV200 through the connector 6 and the neutral cable 8, during underwater operations, the ROV200 can be rotated on the trenching base device 100 according to the actual working conditions and environment to adapt to the working requirements of the corresponding working conditions, or in the case of harsh environments and working conditions, the ROV200 remains connected to the trenching base device 100 through the neutral cable 8 and detaches from the trenching base device 100, flies above the trenching base device 100, observes the working status of the trenching base device 100 in all directions underwater, observes the status of the front and rear pipe cables 300, or flies to the front of the trenching base device 100 to clear obstacles, etc., thereby further improving the adaptability to harsh environments and working conditions during underwater operations.

[0030] Specifically, in the easily eroded sea area, when the lateral ocean current is large, the ROV200 can be driven by the slewing bearing 4 to rotate the corresponding angle, reduce the frontal area, reduce the resistance, and increase the stability. At the same time, the range of motion of the ROV200 manipulator can be increased. During the trenching operation, if there are obstacles such as large rocks on the seabed, the manipulator of ROV200 can be used to grab the obstacles, drive ROV200 to rotate, and transfer the obstacles to both sides of the trenching base device 100. At the same time, the cable detection device 201 on the ROV200 can be used for detecting and following the submarine cable in front when the ROV200 rotates to the front, can be used for real-time burial depth detection when the ROV200 rotates to the rear, and can be used for parallel laying spacing confirmation of multiple pipe cables 300 when the ROV200 rotates to the side. When the soft geology makes it difficult to move or turn, the ROV200 rotates forward to assist in steering and increase maneuverability. When encountering special situations during underwater operations, such as sudden geological changes, slopes, obstacles, and large bends in the front cable 300, ROV200 can detach to the top of the trenching base device 100 while maintaining electrical connection with the trenching base device 100 through the neutral cable 8, observe the operating status of the trenching base device 100 underwater, or fly to the front to clear obstacles.

[0031] The connector 6 is vertically arranged on the top of the base frame 1, and is plugged and matched with the main frame of ROV200. A limiting hole 61 is arranged on the side of the connector 6, which is used to cooperate with the transverse latch on the main frame of ROV200 to achieve fixation after plugging. Specifically, the main frame of ROV200 is provided with a transverse latch driven by a driving unit to move linearly. When the connector 6 is aligned with the main frame of ROV200 and plugged and matched, the driving unit drives the transverse latch to move and insert into the limiting hole 61 for fixation, so that the connector 6 will not be separated from the main frame of ROV200, thereby ensuring the stability of the mechanical connection. When ROV200 needs to be separated from the ditching base device 100, the driving unit drives the transverse latch to move out of the limiting hole 61. At this time, ROV200 can directly fly upward and separate from the ditching base device 100.

[0032] Preferably, there are more than three connectors 6, which are circumferentially distributed on the rotating circle of the slewing bearing 4 to improve the stability and reliability of the plug-in fit. The number of transverse pins on the ROV200 main frame corresponds to the number of connectors 6.

[0033] The reeling mechanism 7 includes a fixed seat 71, a linear drive assembly and a fairlead drum 74. The fixed seat 71 is fixedly arranged on one side of the base frame 1, and the slip ring 9 is arranged on the fixed seat 71. The drum 72 is rotatably arranged on the fixed seat 71 and driven to rotate by a second rotating drive member 73 arranged on the fixed seat 71. The second rotating drive member 73 is a hydraulic motor or an electric motor. The linear drive assembly is arranged on the fixed seat 71, and is used to drive the fairlead drum 74 to move axially along the side of the drum 72. The neutral cable 8 is retracted and released through the fairlead drum 74, that is, the laying and recovery of the neutral cable 8 are both moved along the inside of the fairlead drum 74. The linear drive assembly and the fairlead drum 74 together constitute a cable arrangement structure when the neutral cable 8 is retracted and released, ensuring that the neutral cable 8 is evenly and orderly arranged on the drum 72, and that the neutral cable 8 can move outward evenly and orderly when laid. The axis of the fairlead 74 is arranged along the height direction of the base frame 1, that is, the fairlead 74 is arranged vertically, and the fairlead 74 is trumpet-shaped, and the end with a larger diameter is arranged upward. Based on this arrangement, the end of the neutral cable 8 connected to the ROV200 can be arranged upward, and at the same time, the trumpet-shaped structure can play a reliable and effective cable guiding role in all vertical inclined directions, so that when the ROV200 flies above the trenching base device 100, the neutral cable 8 moves more smoothly in all directions with the ROV200.

[0034] The side of the fairlead 74 is hollowed out, and each hollow area of ​​the fairlead 74 is provided with a rolling body 741 for contacting the neutral cable 8. The rolling body 741 is a roller or a drum, which plays a role of sliding and further improves the smoothness of the movement of the neutral cable 8.

[0035] The linear drive assembly specifically includes a rotary drive member 3 75, a screw rod 76, a guide rod 77 and a moving block. The screw rod 76 is rotatably arranged on the fixed seat 71 and driven to rotate by the rotary drive member 3 75. The rotary drive member 3 75 is a hydraulic motor or an electric motor, which is arranged on the fixed seat 71. The guide rod 77 is fixedly arranged on the fixed seat 71 and parallel to the screw rod 76. The moving block is threadedly matched with the screw rod 76 and is slidably sleeved on the guide rod 77. The guide cable drum 74 is fixedly arranged on the moving block, and the guide rod 77 plays a role of moving guide. When the rotary drive member 2 73 drives the drum 72 to recycle or discharge the neutral cable 8, the rotary drive member 3 75 drives the screw rod 76 to rotate accordingly, so that the position of the guide cable drum 74 corresponds to the position of the pipe cable 300 to be wound or the pipe cable 300 to be discharged on the drum 72 in real time, thereby realizing the orderliness of the neutral cable 8 retracting and releasing.

[0036] The walking mechanism 2 is a crawler mechanism 21 or a sliding shoe 22, which can be selected for installation and use according to actual conditions before operation.

[0037] The trenching mechanism 3 includes two spray arms 31 , each of which is provided with a nozzle 311 for spraying water jets to trench on the seabed, and the two spray arms 31 are rotatably arranged below the base frame 1 . Specifically, the trenching mechanism 3 also includes two water pumps 32, and the two water pumps 32 are fixedly arranged below the base frame 1. A connecting pipe is fixedly arranged at the water outlet end of the two water pumps 32, and the two connecting pipes are fixed to the bottom of the base frame 1. The water inlet ends of the two spray arms 31 are correspondingly rotatably connected to the two connecting pipes and dynamically sealed, that is, the two spray arms 31 can rotate relative to the connecting pipes they are connected to, and the axial direction of the rotating connection is arranged along the width direction of the base frame 1. The two spray arms 31 are connected to each other on the side, and a linear drive component 1 is also arranged below the base frame. One end of the linear drive component 1 is hinged to the bottom of the base frame, and the other end is hinged to the spray arm 31. The two spray arms 31 are pushed to rotate by the linear drive component, so that the two spray arms 31 are extended or retracted along the bottom of the base frame. The linear drive component 1 is an oil cylinder. The retracted state of the two spray arms 31 is as shown in FIG. Figure 2 and Figure 3 As shown, the extended state is used to spray water to open trenches, that is, Figure 6 shown.

[0038] In one embodiment of the present invention, only the trenching mechanism 3 and its corresponding structure are arranged below the base frame 1, and the pipe cable 300 sinks to the bottom of the trench by its own weight.

[0039] In another embodiment of the present invention, a cable presser 10 is further provided on the base frame 1. The cable presser 10 is rotatably provided below the base frame 1 and between the two spray arms 31, and is used to appropriately press down the pipe cable 300 in the trench to ensure that the pipe cable 300 can sink to the bottom of the trench, thereby ensuring that the burial depth of the pipe cable 300 meets the operation requirements. Specifically, the cable presser 10 is hingedly provided below the base frame 1, and a linear drive component 2 is also provided below the base frame 1, one end of the linear drive component 2 is hinged to the bottom of the base frame, and the other end is hinged to the cable presser 10. The cable presser 10 is pushed to be retracted or extended by the linear drive component 2, and the linear drive component 2 is a cylinder. The extended state of the cable presser 10 is as shown in FIG. Figure 6 shown.

[0040] In the present invention, the above-mentioned rotary drive member 1 5, rotary drive member 2 73, rotary drive member 3 75, linear drive member 1, linear drive member 2 and the motor part of the water pump 32 are all drive modules of the trenching base device 100, and are all powered and controlled by ROV200.

[0041] like Figure 5-Figure 8 As shown, an underwater working equipment of the present invention includes an ROV200 and the trenching base device 100 as described above. The ROV200 and the trenching base device 100 are electrically connected through a neutral cable 8, and mechanically connected through a connector 6. The trenching base device 100 is powered and controlled by the ROV200.

[0042] The front of ROV200 can be equipped with sonar, which is used to detect the duct 300 in the front during the inspection and trenching of the duct 300. The cable sounding device 201 is set on the retracting frame, which is set at the tail of ROV200 and consists of a fixed frame and a retracting cylinder. That is, the cable sounding device 201 is carried at the tail of ROV200, and the cable sounding device 201 is retracted and extended through the retracting frame. The retracting device is as follows: Figure 7 As shown, the extended state is Figure 8 shown.

[0043] When the underwater operation equipment is used for normal trenching and cable laying operations, the mechanical and electrical connections between the ROV 200 and the trenching base device 100 are maintained. The ROV 200 and the trenching base device 100 automatically trench and lay along the pipe and cable 300 by relying on the walking mechanism 2 and the propeller on the ROV 200, so that the pipe and cable 300 are buried to a predetermined depth. When the underwater operation equipment is used for inspection and maintenance of the pipe and cable 300, a buoyancy structure can be added to the ROV 200 or the trenching base device 100, so that the whole set of equipment can fly freely underwater in combination with the propeller of the ROV 200, or the propeller of the ROV 200 and the sliding shoe 22 of the trenching base device 100 can be used to automatically inspect along the submarine pipe and cable 300, detect the working state, span, and buried depth of the pipe and cable 300, and clean, cut, and recycle the exposed pipe and cable 300.

[0044] The underwater operation equipment can realize underwater trenching and cable laying and other operations, enrich the functions and applicable scenarios of ROV200, and improve the utilization rate of ROV200. The existing deployment and recovery system of ROV200 can be directly borrowed during deployment and recovery. Compared with the deep-sea cable burying robot, the trenching base device 100 has lower cost, smaller size and weight, and lower requirements for ships. Any ship that can install ROV200 can carry the trenching base device 100 for trenching operations. In addition, the structure is simpler than the deep-sea cable burying robot, and the operation and equipment maintenance are simpler, and the difficulty of use is greatly reduced.

[0045] Based on the structure of the trenching base device 100 of the present invention, after the trenching base device 100 is mechanically and electrically connected to the ROV200 through the connector 6 and the neutral cable 8, during underwater operations, the ROV200 can be rotated on the trenching base device 100 according to the actual working conditions and environment to adapt to the working requirements of the corresponding working conditions, or in the case of harsh environments and working conditions, the ROV200 remains connected to the trenching base device 100 through the neutral cable 8 and detaches from the trenching base device 100, flies above the trenching base device 100, observes the working status of the trenching base device 100 in all directions underwater, observes the status of the front and rear pipe cables 300, or flies to the front of the trenching base device 100 to clear obstacles, etc., thereby further improving the adaptability to harsh environments and working conditions during underwater operations.

[0046] 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.

[0047] 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. A trenching base device, characterized in that: The trenching base device (100) comprises a base frame (1), a walking mechanism (2) and a trenching mechanism (3), wherein the walking mechanism (2) is arranged on both sides of the base frame (1), and the trenching mechanism (3) is arranged below the base frame (1) and is used for trenching on the seabed; The invention also comprises a slewing bearing (4) and a winding mechanism (7), wherein the slewing bearing (4) is arranged at the top of the base frame (1), a plug-in component (6) for detachably connecting with an ROV (200) is arranged on the rotating circle of the slewing bearing (4), and a rotating driving component (5) for driving the rotating circle of the slewing bearing (4) to rotate is arranged on the base frame (1), the winding mechanism (7) is arranged on one side of the base frame (1), and a neutral cable (8) is wound on the reel (72) of the winding mechanism (7), one end of the neutral cable (8) is connected to all the drive modules on the trenching base device (100) through a slip ring (9), and the other end is used to connect with the ROV (200), so as to provide power and control for all the drive modules on the trenching base device (100) through the ROV (200).

2. The trenching base device according to claim 1, characterized in that: The connector (6) is vertically arranged on the top of the base frame (1), and a limiting hole (61) is arranged on the side of the connector (6) for cooperating with a transverse latch on the main frame of the ROV (200).

3. The trenching base device according to claim 1 or 2, characterized in that: The plug-in connectors (6) have more than three, and the more than three plug-in connectors (6) are circumferentially distributed on the rotating circle of the slewing bearing (4).

4. The trenching base device according to claim 1 or 2, characterized in that: The reeling mechanism (7) comprises a fixed seat (71), a linear drive assembly and a fairlead drum (74); the fixed seat (71) is fixedly arranged on one side of the base frame (1); the reel (72) is rotatably arranged on the fixed seat (71); the linear drive assembly is arranged on the fixed seat (71) and is used to drive the fairlead drum (74) to move axially along the side of the reel (72); the neutral cable (8) is retracted and released through the fairlead drum (74); the axis of the fairlead drum (74) is arranged along the height direction of the base frame (1); and the fairlead drum (74) is trumpet-shaped, with the end with a larger diameter arranged upward.

5. The trenching base device according to claim 4, characterized in that: The side surface of the fairlead (74) is hollowed out, and the hollowed-out areas of the fairlead (74) are provided with rolling bodies (741) for contacting the neutral cable (8).

6. The trenching base device according to claim 4, characterized in that: The linear drive assembly comprises a rotary drive member (75), a screw rod (76), a guide rod (77) and a moving block. The screw rod (76) is rotatably arranged on a fixed seat (71) and driven to rotate by the rotary drive member (75). The guide rod (77) is fixedly arranged on the fixed seat (71) and is parallel to the screw rod (76). The moving block is threadably matched with the screw rod (76) and is slidably sleeved on the guide rod (77). The cable guide barrel (74) is arranged on the moving block.

7. The trenching base device according to any one of claims 1, 2, 5 and 6, characterized in that: The walking mechanism (2) is a crawler mechanism (21) or a sliding shoe (22).

8. The trenching base device according to any one of claims 1, 2, 5 and 6, characterized in that: The trenching mechanism (3) comprises two spray arms (31), each of the two spray arms (31) being provided with a nozzle (311) for spraying a water jet to trench on the seabed, and the two spray arms (31) are rotatably arranged below the base frame (1).

9. The trenching base device according to claim 8, characterized in that: A cable press (10) is also provided on the base frame (1), and the cable press (10) is rotatably arranged below the base frame (1) and between the two spray arms (31).

10. An underwater operation equipment, characterized in that: The invention comprises an ROV (200) and a trenching base device (100) as claimed in any one of claims 1 to 9, wherein the trenching base device (100) and the ROV (200) are mechanically connected via a connector (6) and electrically connected via a neutral cable (8), and the trenching base device (100) is powered and controlled by the ROV (200).

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