Seabed ditching and cable laying machine

Abstract

The invention belongs to the field of ocean power equipment, and particularly relates to a seabed ditching and cable laying machine which comprises a main body frame, a ditching and burying device arranged on the main body frame and a walking mechanism arranged on the main body frame. The walking mechanism comprises a sliding shoe, a crawler belt and a height adjusting assembly, the crawler belt is located on the side edge of the sliding shoe, the height adjusting assembly is connected between the main body frame and the sliding shoe or the crawler belt and used for adjusting the relative height of the sliding shoe and the crawler belt, and the sliding shoe and the crawler belt are carried on the main body frame at the same time. The relative height of the sliding shoe and the crawler belt can be adjusted up and down through the height adjusting assembly, so that the seabed ditching cable laying machine can automatically ascend and descend underwater, bottom sitting of the sliding shoe or bottom sitting of the crawler belt or bottom sitting of the crawler belt at the same time is achieved, the sliding shoe and the crawler belt can be automatically switched underwater, the requirements of geological changes and operation mode changes are met, the adaptive capacity is improved, time is saved, and the working efficiency is improved. The efficiency is improved; and the sliding shoes and the crawler belts do not need to be pulled to a deck to replace, workers can be reduced, and the operation cost is reduced.

Description

Technical Field

[0001] The invention belongs to the field of marine power equipment, and in particular relates to a seabed trenching and cable laying machine. Background Art

[0002] Submarine cables include submarine pipelines, power cables and communication optical cables, which are widely used in offshore oil and gas drilling, submarine mining, wind farm construction and submarine communication network fields. Submarine cables are easily affected by fishing boat trawling, ocean current scouring, tsunamis and changes in burial depth, causing the cables to float, break and become shallower. In order to solve the above problems, equipment that can dig trenches and lay cables on the seabed is now used to bury submarine cables deep on the seabed.

[0003] Due to the presence of soft mud, hard clay and sand and gravel on the seabed, the submarine trenching and cable laying machine uses sliding shoes to move when encountering soft mud and sand geology, and uses crawlers to move when encountering hard clay and sand and gravel geology. However, the sliding shoes and crawlers of the existing submarine trenching and cable laying machine need to be replaced and connected to the main frame. When replacing, they need to be pulled onto the deck for operation, which makes it difficult to quickly switch between different geologies; and the existing submarine trenching and cable laying machine has a single trenching mode and cannot cope well with different seabed geology. Different types of trenching and cable laying machines are required. Under different operation modes, there are problems such as poor adaptability, low operation efficiency, high operation safety risks, the need for complex surface systems and surface personnel during the operation process, and high operation costs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a submarine trenching and cable laying machine, which can quickly switch between sliding shoes and crawler tracks on the seabed, thereby improving adaptability and operating efficiency.

[0005] The present invention provides a submarine trenching and cable laying machine, comprising: Main frame; A trenching and embedding device provided on the main frame; A walking mechanism is arranged on the main frame, and the walking mechanism includes: a sliding shoe, a crawler track and a height adjustment component. The crawler track is located on the side of the sliding shoe. The height adjustment component is connected between the main frame and the sliding shoe or the crawler track and is used to adjust the relative height between the sliding shoe and the crawler track.

[0006] Optionally, the height adjustment assembly includes a connecting arm and a linear expansion joint 1 with different height settings, the two ends of the connecting arm are respectively hinged to the main frame and the crawler, and the two ends of the linear expansion joint 1 are respectively hinged to the main frame and the crawler or the connecting arm. According to the changes in the bottom quality of the operation scene, the trenching and cable arrangement mechanism and the plowing and cable arrangement mechanism can be switched, or they can be used in combination, so as to realize side paving and then burying and first paving and side burying, jet trenching and plowing trenching, shorten the engineering cycle and improve the operation efficiency.

[0007] Optionally, the trenching and burying device includes a trenching and cable-laying mechanism and / or a plowshare and cable-laying mechanism arranged on the main frame; The trenching and cable arrangement mechanism comprises: a fixing frame connected to the main frame, an up-down adjustment assembly arranged on the fixing frame, at least two water knives arranged on the up-down adjustment assembly, and a cable pressing member arranged on the water knives, wherein the cable pressing member is used to guide the pipe and cable, and the up-down adjustment assembly is used to lower and raise the water knives; The plow cable arrangement mechanism comprises a plow laying assembly, a plow body connected to the plow laying assembly, and a pipe cable guide arranged on the back side of the plow body. The plow laying assembly is used for lowering and lifting the plow body.

[0008] Optionally, the up and down adjustment assembly includes: a connecting rod, a linear expander 2 and a water jet mounting frame, the connecting rod and the linear expander 2 are distributed up and down, and both ends of the connecting rod and the linear expander 2 are respectively hinged to the fixed frame and the water jet mounting frame, and the water jet is fixedly connected to the water jet mounting frame.

[0009] Optionally, two groups of connecting rods and two width linear expanders are rotatably connected to the water jet mounting frame, one end of the two groups of connecting rods are rotatably connected to the two water jets respectively, and one end of the two width linear expanders are rotatably connected to the two water jets respectively, for adjusting the width of the two water jets.

[0010] Optionally, the cable compression member includes: two plate frames respectively connected to the bottom ends of the two water knives, and a plurality of transverse compression rods staggered on the two plate frames, for guiding the pipe cable through the area between the two plate frames and below the plurality of transverse compression rods.

[0011] Optionally, the fixing frame is horizontally rotatably connected to the main frame, a linear expansion device three is hinged on the fixing frame, and the other end of the linear expansion device three is hinged to the main frame for driving the trenching and cable arrangement mechanism to deflect laterally.

[0012] Optionally, the plow blade deployment assembly includes: a swing connection, a linear expander four and a linear expander five, the two ends of the swing connection are respectively hinged to the side and main frame of the plow blade body, the two ends of the linear expander four are respectively hinged to the main frame and the swing connection, the two ends of the linear expander five are respectively hinged to the side and main frame of the plow blade body, the linear expander four drives the swing connection to swing up and down, and the linear expander five drives the plow blade body to swing up and down.

[0013] Optionally, a groove is provided on the back side of the plow body, and the pipe and cable guide is arranged in the groove. The pipe and cable guide includes: a support plate hinged on the plow body at one side, an opening and closing door 1 and an opening and closing door 2 hinged on both sides of the support plate, and an opening and closing linear telescope hinged to the two opening doors 1 and 2 at both ends respectively. The semi-enclosed area formed by the support plate, the opening and closing door 1 and the opening and closing door 2 is used to support and guide the pipe and cable.

[0014] Optionally, the tube and cable guide also includes a flip linear retractor, two ends of which are hinged to the bottom of the support plate and the bottom of the groove respectively, and are used to flip the support plate to release the tube and cable.

[0015] The beneficial effect of the present invention is that the main frame is equipped with both slippers and crawler tracks, wherein the relative heights of the slippers and crawler tracks can be adjusted up and down by a height adjustment component, so that the seabed trenching and cable laying machine can be autonomously raised and lowered underwater, and the slippers or crawler tracks can sit on the bottom or both can sit on the bottom. The slippers and crawler tracks can be automatically switched underwater to adapt to the needs of geological changes and changes in operating modes, thereby improving adaptability, saving time and improving efficiency. There is no need to pull the slippers and crawler tracks onto the deck to replace them, which can also reduce the number of staff and reduce high operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the submarine trenching and cable laying machine of the present invention; Figure 2 It is a schematic diagram of the side structure of the submarine trenching and cable laying machine of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the trenching and cable arrangement mechanism of the present invention; Figure 4 It is a side structural schematic diagram of the trenching and cable arrangement mechanism of the present invention; Figure 5 It is a structural schematic diagram of the assembly of the plow cable arrangement mechanism and the main frame of the present invention; Figure 6 It is a three-dimensional structural schematic diagram of the plow cable arrangement mechanism of the present invention; Figure 7 Schematic diagram of the three-dimensional structure of the cable guide of the present invention Figure 8 It is a schematic diagram of the flipping state of the cable guide of the present invention.

[0017] In the figure: 1.1, pipe and cable; 100, main frame; 200, trenching and cable arrangement mechanism; 210, fixing frame; 220, up and down adjustment assembly; 221, connecting rod; 222, linear expansion joint 2; 223, water jet mounting frame; 230, water jet; 240, cable pressing member; 241, plate frame; 242, transverse pressure rod; 250, connecting rod; 260, width linear expansion joint; 270, linear expansion joint 3; 300, plowshare cable arrangement mechanism; 310, plowshare placement assembly; 311, swing connector; 312, linear retractor 4; 313, linear retractor 5; 320, plowshare body; 321, groove; 330, pipe and cable guide; 331, support plate; 332, opening and closing door 1; 333, opening and closing door 2; 334, opening and closing linear retractor; 335, flip linear retractor; 410, sliding shoe; 420, crawler track; 430, height adjustment assembly; 431, connecting arm; 432, linear retractor 1; 500. Buoyancy module; 600. Water pipe; 700. Cable sounding device; 800. Lifting and towing cable; 900. Mechanical gripper; 1000. Thruster. DETAILED DESCRIPTION

[0018] like Figure 1-8 As shown, the present invention provides a submarine trenching and cable laying machine, comprising: a main frame 100, a trenching and laying device arranged on the main frame 100, and a walking mechanism arranged on the main frame 100; wherein the walking mechanism comprises: a slipper 410, a crawler 420 and a height adjustment component 430, the crawler 420 is located on the side of the slipper 410, and the height adjustment component 430 is connected between the main frame 100 and the slipper 410 or the crawler 420, and is used to adjust the relative height between the slipper 410 and the crawler 420.

[0019] Compared with the prior art, the submarine trenching and cable-laying machine provided by the present invention has a main frame 100 equipped with both a slipper 410 and a crawler 420, wherein the slipper 410 and the crawler 420 can adjust the relative height up and down through a height adjustment component 430, so that the submarine trenching and cable-laying machine can be autonomously raised and lowered underwater, and the slipper 410 or the crawler 420 can sit on the bottom or both can sit on the bottom at the same time, and the slipper 410 and the crawler 420 can be automatically switched underwater to adapt to the needs of geological changes and changes in operation modes, thereby improving adaptability, saving time, and improving efficiency; there is no need to pull the slipper 410 and the crawler 420 onto the deck to replace the slipper 410 and the crawler 420, which can also reduce the number of staff and reduce high operating costs.

[0020] In one embodiment, the height adjustment assembly 430 includes a connecting arm 431 and a linear expander 432 set at different heights, wherein the two ends of the connecting arm 431 are respectively hinged to the main frame 100 and the track 420, and the two ends of the linear expander 432 are respectively hinged to the main frame 100 and the track 420 or the connecting arm 431. Specifically, both sides of the bottom of the main frame 100 are provided with sliding shoes 410, tracks 420 and a group of height adjustment components 430. The number of each group of height adjustment components 430 is at least two to ensure sufficient connection strength. The two sliding shoes 410 are between the two tracks 420, and the sliding shoes 410 are fixedly connected to the bottom of the main frame 100. The linear retractor 432 is located above the connecting arm 431, and the two are arranged at a certain angle. The linear retractor 432 is extended to drive one end of the connecting arm 431 to rotate downward to make the track 420 move downward, and the track 420 sits on the bottom. The main frame 100 and the sliding shoes 410 can be lifted up and separated from the seabed, and the sliding shoes 410 can also sit on the bottom at the same time as the track 420; conversely, the linear retractor 432 is shortened, the track 420 is lifted up and separated from the seabed, and the main frame 100 and the sliding shoes 410 move downward, and the sliding shoes 410 sit on the bottom.

[0021] Of course, the track 420 can be fixedly connected to the main frame 100 , and the sliding shoe 410 is connected to the height adjustment assembly 430 .

[0022] Among them, the linear expander 432 is an oil cylinder, an electric cylinder or a pneumatic cylinder, preferably an oil cylinder.

[0023] In one embodiment, the trenching and burying device includes a trenching and cable-laying mechanism 200 and / or a plowshare cable-laying mechanism 300 arranged on the main frame 100; it is understandable that the trenching and burying device may have only the trenching and cable-laying mechanism 200, or only the plowshare cable-laying mechanism 300, or include the trenching and cable-laying mechanism 200 and the plowshare cable-laying mechanism 300. According to the changes in the bottom soil of the working scene, the trenching and cable-laying mechanism 200 and the plowshare cable-laying mechanism 300 can be switched, or they can be used in combination, so as to realize side paving and then burying and paving first and side burying, jet trenching and plowshare trenching, shortening the project cycle and improving working efficiency.

[0024] It should be noted that the trenching and cable-laying mechanism 200 is located behind the plowshare and cable-laying mechanism 300 , and the trenching and cable-laying mechanism 200 is located at the tail of the main frame 100 .

[0025] In this embodiment, the trenching and cable laying mechanism 200 includes: a fixed frame 210 connected to the main frame 100, an up and down adjustment component 220 arranged on the fixed frame 210, at least two water knives 230 arranged on the up and down adjustment component 220, and a cable pressing member 240 arranged on the water knife 230, the cable pressing member 240 is used to guide the pipe cable 1.1, and the up and down adjustment component 220 is used to lower and lift the water knife 230. In this way, the up and down adjustment component 220 drives the water knife 230 and the upper frame to move up and down as a whole to achieve trenching depth adjustment, and can cooperate with the height adjustment component 430 to avoid interference with the water knife 230 when switching the sliding shoe 410 and the crawler 420, and maintain the consistency of the trenching depth and the buried depth of the pipe cable 1.1, thereby reducing the bending of the pipe cable 1.1.

[0026] In one embodiment, Figure 3 As shown, the up-down adjustment assembly 220 includes: a connecting rod 221, a linear expansion joint 222 and a water jet mounting frame 223. The connecting rod 221 and the linear expansion joint 222 are arranged vertically, and both ends of the connecting rod 221 and the linear expansion joint 222 are respectively hinged to the fixing frame 210 and the water jet mounting frame 223, and the water jet 230 is fixedly connected to the water jet mounting frame 223. Specifically, the linear expansion joint 222 contracts to drive the connecting rod 221 and one end thereof upward, so that the water jet mounting frame 223 moves upward, and the water jet 230 is lifted to a certain height, so that the trenching depth becomes shallower, or the water jet 230 is separated from the seabed; on the contrary, the linear expansion joint 222 extends to drive the connecting rod 221 and one end thereof downward, so that the water jet mounting frame 223 moves downward, and the water jet 230 is lowered to a certain height, so that the trenching depth becomes deeper. Compared with the generally-conceived linear lifting device, the up and down adjustment assembly 220 can also change the angle of the water jet 230. When facing geology of different hardness, different amounts of high-pressure water flow can impact the seabed per unit area, thereby improving the excavation efficiency of the water jet 230.

[0027] In one embodiment, the left and right water jets 230 are connected to the water jet mounting frame 223 via flanges, and water jets 230 of different lengths can be replaced to meet trenching requirements of different depths.

[0028] Among them, the linear expander 432 is an oil cylinder, an electric cylinder or a pneumatic cylinder, preferably an oil cylinder.

[0029] In one embodiment, Figure 4As shown, two groups of connecting rods 250 and two width linear expanders 260 are rotatably connected to the water jet mounting frame 223, one end of the two groups of connecting rods 250 is rotatably connected to the two water jets 230, and one end of the two width linear expanders 260 is rotatably connected to the two water jets 230, respectively, for adjusting the width of the two water jets 230. Specifically, the two width linear expanders 260 drive the two groups of connecting rods 250 to swing left and right, respectively, to achieve the width adjustment of the left and right water jets 230, and adapt to the laying of pipes and cables 1.1 of different sizes.

[0030] The width linear expander 260 is an oil cylinder, an electric cylinder or a pneumatic cylinder, preferably an oil cylinder.

[0031] In one embodiment, Figure 3 and Figure 4 As shown, the cable compression member 240 includes: two plate frames 241 respectively connected to the bottom ends of the two water knives 230, and a plurality of transverse compression rods 242 staggered on the two plate frames 241, which are used to guide the umbilical cable 1.1 through the area between the two plate frames 241 and below the plurality of transverse compression rods 242. The umbilical cable 1.1 enters the trench under the restriction of the plurality of transverse compression rods 242.

[0032] In one embodiment, Figure 3 As shown, the fixing frame 210 is connected to the main frame 100 for horizontal rotation, and a linear expansion joint 270 is hinged on the fixing frame 210. The other end of the linear expansion joint 270 is hinged to the main frame 100 for driving the trenching and cable laying mechanism 200 to deflect laterally. It can be understood that the fixing frame 210 is connected to the tail end of the main frame 100 through a pin shaft, and the entire plow cable laying mechanism 300 is driven to swing left and right in the horizontal direction through the linear expansion joint 270, which provides a certain degree of rotational freedom during the turning process of the trenching and cable laying machine, and is helpful for the burying of pipes and cables 1.1 in curved paths.

[0033] Among them, the linear expander 270 is an oil cylinder, an electric cylinder or a pneumatic cylinder, preferably an oil cylinder.

[0034] In this embodiment, Figure 5 As shown, the plowshare cable arrangement mechanism 300 includes a plowshare placement assembly 310, a plowshare body 320 connected to the plowshare placement assembly 310, and a cable guide 330 disposed on the back of the plowshare body 320. The plowshare placement assembly 310 is used to lower and lift the plowshare body 320. Specifically, the plowshare cable arrangement mechanism 300 is located in the middle of the bottom of the main frame 100, and is used to dig trenches on the hard seabed and bury the submarine cable 1.1 into the trench along a predetermined path. The upper surface of the plowshare body 320 is in an arc shape, and the cable 1.1 is guided by the cable guide 330 to slide on the arc surface, so as to prevent the plowshare on the plowshare body 320 from contacting the cable 1.1, and is used to break the ground and dig trenches in hard clay and sand and gravel.

[0035] In one embodiment, Figure 6 As shown, the plow blade deployment assembly 310 includes: a swing connection 311, a linear expansion joint 4 312 and a linear expansion joint 5 313, the two ends of the swing connection 311 are respectively hinged to the side of the plow blade body 320 and the main frame 100, the two ends of the linear expansion joint 4 312 are respectively hinged to the main frame 100 and the swing connection 311, the two ends of the linear expansion joint 5 313 ​​are respectively hinged to the side of the plow blade body 320 and the main frame 100, the linear expansion joint 4 312 drives the swing connection 311 to swing up and down, and the linear expansion joint 5 313 ​​drives the plow blade body 320 to swing up and down. Among them, the linear expansion joint 4 312 and the linear expansion joint 5 313 ​​are oil cylinders, electric cylinders or air cylinders, preferably oil cylinders.

[0036] Furthermore, the earth-breaking tools (water knife 230 and plow body 320) of the conventional trenching and cable laying machine have only one degree of freedom, that is, they rotate and retract around one axis. When the trenching depth changes, the earth-breaking angle of the tool also changes accordingly, and the trenching efficiency is low. The trenching and cable laying machine of the present invention has a water knife 230 through a connecting rod 221 and a linear telescopic device 222, so that the water knife 230 has two degrees of freedom in two directions, and can realize spraying and trenching of different depths at the optimal spraying angle; the plow body 320 is retracted and extended by a linear telescopic device 4 312 and a linear telescopic device 5 313, and the plow body 320 can also achieve earth-breaking at the optimal angle and the depth is adjustable; so that the optimal plow breaking angle or jet breaking angle can be used for trenching at any depth, thereby improving the energy utilization efficiency of the trenching and cable laying machine.

[0037] In one embodiment, a groove 321 is provided on the back side of the plow body 320, and a duct guide 330 is arranged in the groove 321. The duct guide 330 includes: a support plate 331 hinged on one side of the plow body 320, an opening and closing door 1 332 and an opening and closing door 2 333 hinged on both sides of the support plate 331, and an opening and closing linear retractor 334 hinged to the two opening doors 1 and 333 at both ends respectively. The semi-enclosed area formed by the support plate 331, the opening and closing door 1 332 and the opening and closing door 2 333 is used to support and guide the duct 1.1.

[0038] In one embodiment, the tube and cable guide 330 further includes a flip linear retractor 335, the two ends of which are respectively hinged to the bottom of the support plate 331 and the bottom of the groove 321, and are used to flip the support plate 331 to release the tube and cable 1.1. Specifically, the opening and closing degree of the second opening and closing door 333 is greater than the opening and closing degree of the first opening and closing door 332, and the direction of the second opening and closing door 333 is the flipping direction of the support plate 331. During the operation, the tube and cable 1.1 is located on the main structure of the plow, and the first opening and closing door 332 and the second opening and closing door 333 prevent the tube and cable 1.1 from falling from the side. During the emergency release process of the tube and cable 1.1, the two opening and closing linear retractors 334 drive the first opening and closing door 332 and the second opening and closing door 333 to open and close, and the second opening and closing door 333 is flush with the support plate 331 or deflected downward, and the flip linear retractor 335 drives the support plate 331 to flip to one side of the second opening and closing door 333, and release the tube and cable 1.1.

[0039] Among them, the opening and closing linear telescope 334 is an oil cylinder, an electric cylinder or a pneumatic cylinder, preferably an oil cylinder; the flipping linear telescope 335 is an oil cylinder, an electric cylinder or a pneumatic cylinder, preferably an oil cylinder.

[0040] In one embodiment, 2-6 buoyancy modules 500 are disposed on the top of the main frame 100, and more buoyancy modules 500 may also be disposed. According to different carrying configurations of the trenching and cable laying machine, the number of small modules can be increased or decreased to provide the required buoyancy.

[0041] In one embodiment, mechanical grippers 900 are provided at the front and rear of the middle of the bottom of the main frame 100, which can grab and move the pipe cable 1.1, and move the pipe cable 1.1 to the top of the plow body 320. When the laying is completed, the front and rear grippers can release the pipe cable 1.1 to the seabed. In the laying and burying mode, the trenching and cable laying machine relies on the front and rear grippers to automatically grab and load the pipe cable 1.1 on the deck, realizing the laying first and burying later mode. The trenching and cable laying machine automatically grabs, loads and releases underwater, without the need for divers to go into the water to work, thereby reducing labor costs and improving the safety of underwater work.

[0042] In this embodiment, two groups of symmetrically arranged water pumps and water pipes 600 are provided on the main frame 100 . The water pumps are driven by a hydraulic motor or an underwater motor to transport seawater through the water pipes 600 to provide water flow to the tail water jet 230 .

[0043] The front and rear ends of the main frame 100 are both provided with cable detection devices 700, which are deployed at a certain height above the seabed to detect the signal of the submarine cable 1.1 and guide the trenching and cable laying machine to automatically follow the route of the cable 1.1. This is the existing technology and will not be elaborated in detail.

[0044] The front end of the main frame 100 is connected to a lifting and towing cable 800 through a pin shaft. It can stand vertically for lifting and bear all the weight of the trenching and cable-laying machine. It can also be locked horizontally for towing to provide walking and ground-breaking power. It can also control the steering so that the trenching and cable-laying machine can actively turn underwater. This is a prior art and will not be elaborated on.

[0045] A plurality of thrusters 1000 can be carried on the main frame 100, and thrusters 1000 arranged in a 45° vector arrangement can be installed at the four corners of the buoyancy block of the trenching and cable-laying machine for deployment and recovery, finding the cable before bottoming, and controlling the direction of the trenching and cable-laying machine. There is a thruster 1000 at the front end of the main frame 100 and on the water jet mounting frame 223 respectively, which are used to assist in controlling the steering of the trenching and cable-laying machine.

[0046] The present invention relates to a submarine trenching and cable laying machine, which can lay and bury cables, or lay and bury cables at the same time, can use jet to dig trenches in soft soil, or use plow to dig trenches in hard soil, can move by itself, or can be towed forward, can dig trenches in deep water, or can dig trenches and bury cables in shallow water. Multiple operation modes and movement modes are based on the energy sharing of the hydraulic system of the trenching and cable laying machine body, which reduces the energy redundancy of the trenching and cable laying machine while ensuring the overall function of the trenching and cable laying machine. The specific implementation methods are as follows: Laying and burying mode: When it is necessary to lay the umbilical cable 1.1 continuously over a long distance, the umbilical cable 1.1 can be loaded onto the trenching and cable laying machine on the deck, the umbilical cable 1.1 is grabbed by the front and rear grippers, the fairlead opening is opened, the umbilical cable guide 330 is opened, the umbilical cable 1.1 is grabbed and placed in the umbilical cable 1.1 channel, the fairlead opening is closed, and the guide is closed.

[0047] Lay first and bury later mode: When encountering an area close to the wind turbine pile legs or an area that cannot be approached by ships, the trenching and cable laying machine can be equipped with a cable finding device 700 to find and locate the cable, sit on the bottom and straddle the pipe cable 1.1, and use a water jet 230 or a plow to dig trenches and lay cables.

[0048] Soft soil jet trenching mode: When working in sandy soil or soft clay, the trenching and cable laying machine can rely solely on the tail water jet 230 to trench and lay the cable.

[0049] Trenching in medium-hard soil: When the soil becomes geologically hard and jet trenching cannot achieve satisfactory results, the trenching and cable laying machine can switch to plowshare mode underwater. The front and rear grippers grab the cable underwater and release it into the cable channel. The plowshare body 320 is lowered and the trenching and cable laying machine is towed by a ship to dig trenches and break the soil.

[0050] Trenching in harder soil: When the soil is harder and the ditching effect of the coulter body 320 alone is not good, the tail water jet 230 can be lowered, and the soil cut by the coulter is further destroyed by the jet of the water jet 230 at the tail of the ditch. At the same time, the water jet 230 can be used as a cable press to help bury the pipe cable 1.1 to a predetermined depth.

[0051] Slipper 410 towing: In towing mode, the slipper 410 mode can be used for fast travel. In order to further reduce the ground pressure, in towing mode, the crawler 420 can be lowered to be flush with the slipper 410, and the crawler 420 motor follows to increase the contact area with the ground and prevent the trenching and cable laying machine from sinking.

[0052] The crawler 420 is self-propelled: in the self-propelled mode, the crawler 420 is lowered and the sliding boots 410 are lifted off, thereby realizing underwater switching of the crawler 420 and the sliding boots 410.

[0053] Shallow operation mode: In the shallow mode, the trenching and cable laying machine is not immersed deep enough and cannot be used for conventional jet trenching. The trenching and cable laying machine of the present invention can move from the deep water area to the shallow landing area along the pipe and cable 1.1. At this time, the ship is in the deep water area and remotely controls the trenching and cable laying machine through the umbilical cable. After the trenching and cable laying machine is in place on the shallows, the front and rear grippers grab the cable underwater and release it into the cable channel. The water jet 230 is recovered, the plow blade is lowered, and the towing wire rope is tightened. Under the towing action of the ship, the trenching and cable laying machine breaks the ground and digs trenches on the shallows, gradually moves towards deep water along the pipe and cable 1.1, and buries while moving.

[0054] The plow body 320 on the heavy-duty trenching and cable laying machine involved in the present invention can be replaced with a chain cutter or a wheel cutter for breaking the ground and digging trenches in hard rock soil. The specific implementation method and operation process are similar to those of the plow body 320.

[0055] 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.

[0056] 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 submarine trenching and cable laying machine, characterized in that: include: Main frame (100); A trenching and burying device arranged on the main frame (100); A walking mechanism is arranged on a main frame (100), the walking mechanism comprising: a sliding shoe (410), a crawler track (420) and a height adjustment component (430), the crawler track (420) being located on the side of the sliding shoe (410), and the height adjustment component (430) being connected between the main frame (100) and the sliding shoe (410) or the crawler track (420) and being used for adjusting the relative height between the sliding shoe (410) and the crawler track (420).

2. The submarine trenching and cable laying machine according to claim 1, characterized in that: The height adjustment assembly (430) comprises a connecting arm (431) and a linear expander (432) arranged at different heights, wherein two ends of the connecting arm (431) are respectively hinged to a main frame (100) and a crawler (420), and two ends of the linear expander (432) are respectively hinged to the main frame (100) and the crawler (420) or the connecting arm (431).

3. The submarine trenching and cable laying machine according to claim 1, characterized in that: The trenching and burying device comprises a trenching and cable-laying mechanism (200) and / or a plowshare and cable-laying mechanism (300) arranged on a main frame (100); The trenching and cable arrangement mechanism (200) comprises: a fixing frame (210) connected to the main frame (100), an up-down adjustment assembly (220) arranged on the fixing frame (210), at least two water knives (230) arranged on the up-down adjustment assembly (220), and a cable pressing member (240) arranged on the water knives (230), wherein the cable pressing member (240) is used to guide the pipe cable (1.1), and the up-down adjustment assembly (220) is used to lower and raise the water knives (230); The plowshare cable arrangement mechanism (300) comprises a plowshare placement assembly (310), a plowshare body (320) connected to the plowshare placement assembly (310), and a pipe cable guide (330) arranged on the back side of the plowshare body (320); the plowshare placement assembly (310) is used to lower and raise the plowshare body (320).

4. The submarine trenching and cable laying machine according to claim 3, characterized in that: The up-and-down adjustment assembly (220) comprises: a connecting rod (221), a second linear expander (222) and a water jet mounting frame (223); the connecting rod (221) and the second linear expander (222) are distributed up and down, and both ends of the connecting rod (221) and the second linear expander (222) are respectively hinged to the fixing frame (210) and the water jet mounting frame (223); the water jet (230) is fixedly connected to the water jet mounting frame (223).

5. The submarine trenching and cable laying machine according to claim 4, characterized in that: Two groups of connecting rods (250) and two width linear expanders (260) are rotatably connected to the water jet mounting frame (223); one end of the two groups of connecting rods (250) is rotatably connected to the two water jets (230), and one end of the two width linear expanders (260) is rotatably connected to the two water jets (230), so as to adjust the width of the two water jets (230).

6. The submarine trenching and cable laying machine according to claim 5, characterized in that: The cable compression member (240) comprises: two plate frames (241) respectively connected to the bottom ends of the two water knives (230), and a plurality of transverse compression rods (242) staggered on the two plate frames (241), and used for guiding the umbilical cable (1.1) to pass through the area between the two plate frames (241) and below the plurality of transverse compression rods (242).

7. The submarine trenching and cable laying machine according to any one of claims 3 to 6, characterized in that: The fixing frame (210) is connected to the main frame (100) for horizontal rotation. A linear expansion device 3 (270) is hingedly connected to the fixing frame (210). The other end of the linear expansion device 3 (270) is hingedly connected to the main frame (100) for driving the trenching and cable arrangement mechanism (200) to deflect laterally.

8. The submarine trenching and cable laying machine according to any one of claims 3 to 6, characterized in that: The plow blade deployment assembly (310) comprises: a swing connection member (311), a linear expansion device four (312) and a linear expansion device five (313); two ends of the swing connection member (311) are respectively hinged to the side of the plow blade body (320) and the main frame (100); two ends of the linear expansion device four (312) are respectively hinged to the main frame (100) and the swing connection member (311); two ends of the linear expansion device five (313) are respectively hinged to the side of the plow blade body (320) and the main frame (100); the linear expansion device four (312) drives the swing connection member (311) to swing up and down; and the linear expansion device five (313) drives the plow blade body (320) to swing up and down.

9. The submarine trenching and cable laying machine according to any one of claims 3 to 6, characterized in that: A groove (321) is provided on the back side of the plow body (320), and the umbilical cable guide (330) is arranged in the groove (321). The umbilical cable guide (330) comprises: a support plate (331) hinged on one side to the plow body (320), an opening and closing door 1 (332) and an opening and closing door 2 (333) hinged on both sides of the support plate (331), and an opening and closing linear telescoping device (334) hinged on both ends to the two opening doors 1 and 2 (333), respectively. The semi-enclosed area formed by the support plate (331), the opening and closing door 1 (332) and the opening and closing door 2 (333) is used to support and guide the umbilical cable (1.1).

10. The submarine trenching and cable laying machine according to claim 9, characterized in that: The umbilical cable guide (330) further comprises a flip linear retractor (335), the two ends of which are respectively hinged to the bottom of the support plate (331) and the bottom of the groove (321), and are used to flip the support plate (331) to release the umbilical cable (1.1).

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