Water flow spraying mechanism and underwater ditching and cable laying robot operation method

Abstract

The invention belongs to the technical field of underwater robot equipment, and particularly relates to a water jet mechanism and an underwater ditching and cable laying robot operation method.The water jet mechanism comprises a first jet water pump, a second jet water pump, a third jet water pump, a jet cutter assembly and a detection assembly; the first jet water pump is connected with a first water outlet pipeline; the second jet water pump is connected with a second water outlet pipeline; the first water outlet pipeline and the second water outlet pipeline are both communicated with the jet cutter assembly; the third jet water pump is connected with a third water outlet pipeline; the detection assembly is electrically connected with the first jet water pump, the second jet water pump and the third jet water pump, and the third jet water pump is configured to be started when the first jet water pump or the second jet water pump breaks down. The underwater ditching and cable laying robot can continue to work, and construction work is prevented from being interrupted.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robot equipment, and in particular relates to a water jet mechanism and an underwater trenching and cable-laying robot operation method. Background Art

[0002] The burying plow is a common underwater trenching and cable-laying robot, which is usually equipped with two jet water pumps. The jet water pump is installed on the robot body. The water from the jet water pump reaches the jet knife, which outputs water to the water bed to flush the bottom mud and form a trench for cable laying. The burying plow itself has no power and is towed forward by the mother ship. When the jet water pump fails during operation, the efficiency of the burying plow is greatly reduced, or even unable to operate. For this reason, the mother ship usually carries a jet water pump as a backup. When the jet water pump fails, the common practice is to lift the burying plow out of the water to the mother ship to replace the spare jet water pump. This practice is undoubtedly time-consuming and labor-intensive. Once the offshore construction is interrupted, from lifting the equipment to completing the maintenance to resuming construction, it will not only consume more manpower and time costs, but also prolong the completion cycle of the construction work. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a water jet mechanism and an underwater trenching and cable-laying robot operation method to solve the problem in the prior art that when a jet water pump fails, the laying plow needs to be lifted out of the water to the mother ship to replace a spare jet water pump, which consumes additional manpower and time and prolongs the completion period of the construction operation.

[0004] One solution of the present invention provides a water jetting mechanism, including a first jetting water pump, a second jetting water pump, a third jetting water pump, a jetting knife assembly and a detection assembly;

[0005] The first jet water pump is connected with a first water outlet pipeline and a first control valve; the second jet water pump is connected with a second water outlet pipeline and a second control valve; the first water outlet pipeline and the second water outlet pipeline are both connected with the jet knife assembly;

[0006] The third jet water pump is connected to a third water outlet pipeline, and the third water outlet pipeline is a normally closed pipeline;

[0007] The detection assembly is electrically connected to the first jet water pump, the second jet water pump, the third jet water pump and the jet knife assembly, the third jet water pump is configured to start when the first jet water pump or the second jet water pump fails, and the third jet water pump is used to supply water to the jet knife assembly through the third water outlet pipeline;

[0008] The jet knife assembly includes a first jet knife, a second jet knife, a hydraulic oil pump, a jet knife cylinder and a reversing valve arranged in parallel. The hydraulic oil pump is connected to the jet knife cylinder through the reversing valve. The reversing valve is configured to control the retraction and extension of the jet knife cylinder by reversing left and right, and is used to control the rise or fall of the first jet knife and the second jet knife.

[0009] In one of the schemes of the present invention, the jet knife assembly further includes a balancing valve; the balancing valve is arranged in a connecting pipeline between the hydraulic oil pump and the reversing valve, so that the hydraulic oil output by the hydraulic oil pump passes through the balancing valve.

[0010] In one of the solutions of the present invention, the detection component includes a current detection module, a first pressure sensor and a second pressure sensor;

[0011] The first pressure sensor is connected to the pipeline of the jet knife oil cylinder and is used to measure the pressure of the rod chamber and the rodless chamber of the jet knife oil cylinder;

[0012] The current detection module is electrically connected to the first jet water pump, the second jet water pump and the third jet water pump respectively, and is used to detect the operating current of the plurality of jet water pumps respectively;

[0013] The water outlets of the first jet water pump, the second jet water pump and the third jet water pump are all provided with the second pressure sensor electrically connected to measure the water outlet pressures of the multiple jet water pumps respectively.

[0014] In one of the schemes of the present invention, the water jet mechanism further comprises a water tank, and the third water outlet pipeline is provided with a third control valve; the first water outlet pipeline, the second water outlet pipeline and the third water outlet pipeline are respectively connected to the jet knife assembly through the water tank;

[0015] The first control valve, the second control valve and the third control valve are electronic butterfly valves, the first control valve and the second control valve are in a normally open state, and the third control valve is in a normally closed state;

[0016] Alternatively, the first control valve, the second control valve and the third control valve are one-way valves.

[0017] In one of the solutions of the present invention, when the first jet water pump fails, the first control valve is switched to a closed state, the third control valve is switched to an open state, and the third jet water pump is started;

[0018] Alternatively, when the second jet water pump fails, the second control valve is switched to a closed state, the third control valve is switched to an open state, and the third jet water pump is started;

[0019] Alternatively, when the first jet water pump and the second jet water pump fail, the first control valve and the second control valve are switched to a closed state, the third control valve is switched to an open state, and the third jet water pump is started.

[0020] In one of the schemes of the present invention, the water jet mechanism further includes a three-way joint, the first water outlet pipeline is connected to the first jet knife, the second water outlet pipeline is connected to the second jet knife, the third water outlet pipeline is connected to the three-way joint, and the three-way joint is respectively provided with a fourth control valve and a fifth control valve, the fourth control valve is connected to the first water outlet pipeline; the fifth control valve is connected to the second water outlet pipeline;

[0021] The first control valve and the second control valve are electronic butterfly valves or one-way valves, the fourth control valve and the fifth control valve are electronic butterfly valves, and the fourth control valve and the fifth control valve are in a normally closed state.

[0022] In one of the solutions of the present invention, when the first jet water pump fails, the first control valve is switched to a closed state, the fourth control valve is switched to an open state, and the third jet water pump is started;

[0023] Alternatively, when the second jet water pump fails, the second control valve is switched to a closed state, the fifth control valve is switched to an open state, and the third jet water pump is started;

[0024] Alternatively, when the first jet water pump and the second jet water pump fail, the fourth control valve and the fifth control valve are switched to an open state, and the third jet water pump is started.

[0025] In one of the schemes of the present invention, an underwater trenching and cable laying robot operation method is also pointed out, which can be used for any one of the water flow upper jetting mechanisms of the above-mentioned multiple schemes, including:

[0026] The hydraulic oil pump starts and delivers hydraulic oil to the jet knife cylinder through the reversing valve;

[0027] The extension and retraction of the jet knife oil cylinder are controlled by the switching of the switching valve, so that the first jet knife and the second jet knife are directed to a predetermined direction;

[0028] The first control valve and the second control valve are opened, and the first jet water pump and the second jet water pump discharge water to the jet knife assembly through the first water outlet pipeline and the second water outlet pipeline respectively;

[0029] The water flow delivered by the first jet water pump and the second jet water pump is ejected through the first jet knife and the second jet knife to perform trenching in a predetermined direction;

[0030] Wherein, the third jet water pump and the third water outlet pipeline are in a normally closed state.

[0031] In one embodiment of the present invention, the method further comprises:

[0032] The real-time operation data of the water jet mechanism is collected in real time by the detection component, and the real-time operation data includes the pressure data of the jet knife oil cylinder and at least one of the following: motor current data and water outlet pressure data;

[0033] Determine whether the water jetting mechanism has a jetting water pump fault according to the real-time operation data, and if so, control the third jetting water pump to perform corresponding operation according to the faulty water pump;

[0034] Wherein, judging whether the water jetting mechanism has a jet pump fault according to the real-time operation data includes judging whether the pressure of the rod chamber in the jet knife oil cylinder meets the preset pressure, if so, the ditching speed data meets the preset travel speed, if not, feedback that there is a jet pump fault and locate the jet pump with the fault; and locating the jet pump with the fault includes at least one of the following:

[0035] Determine whether the motor current data meets the preset current range, and if not, mark the jet water pump that does not meet the requirements as a faulty water pump;

[0036] It is determined whether the water outlet pressure data meets the preset water outlet pressure. If not, the jet water pump that does not meet the requirements is marked as a faulty water pump.

[0037] In one of the solutions of the present invention, the controlling of the third jet water pump to perform corresponding operation actions according to the faulty water pump includes:

[0038] When a failure of the first jet water pump is detected, the first control valve is switched to a closed state, the third jet water pump is started, and the third control valve or the fourth control valve is switched to an open state;

[0039] When a fault of the second jet water pump is detected, the second control valve is switched to a closed state, the third jet water pump is started, and the third control valve or the fifth control valve is switched to an open state;

[0040] When it is detected that the first jet water pump and the second jet water pump fail at the same time, the first control valve and the second control valve are switched to a closed state, the third jet water pump is started, and the third control valve or the fourth control rotary valve and the fifth control valve are switched to an open state.

[0041] The water jet mechanism and underwater trenching and cable-laying robot operation method provided by the present invention can be used to achieve the following technical effects:

[0042] 1. When the jet water pump fails, the third jet water pump replaces the failed water pump to supply high-pressure water flow to the jet knife, so that the underwater trenching and cable-laying robot using the water jet mechanism of the present invention can continue to operate without temporary maintenance and return to land for processing after the operation is completed.

[0043] 2. By setting a control valve at the water outlet of the jet water pump, when the third jet water pump replaces the faulty water pump for water supply, the backflow of water from the water outlet of the faulty water pump can be effectively reduced or avoided, thereby ensuring the operating efficiency of the underwater trenching and cable-laying robot.

[0044] 3. By using an electronic butterfly valve as a control valve, different water supply pipelines can be formed, so that the water flow output by the third jet water pump is effectively transmitted to the jet blade corresponding to the faulty water pump, avoiding the reduction of flow caused by the diversion of the water flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical embodiments in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0046] Figure 1 A schematic diagram showing the structure of a water jetting mechanism including a water tank according to one embodiment of the present invention;

[0047] Figure 2 express Figure 1 A side structural diagram of the water jetting mechanism shown;

[0048] Figure 3 express Figure 1 The schematic diagram of the structure of the water jet mechanism shown is when a one-way valve is used;

[0049] Figure 4 A schematic diagram showing the structure of the jet knife assembly of the present invention;

[0050] Figure 5 A schematic diagram showing the structure of the jet water pump and the current detection module of the present invention, wherein the schematic diagrams of the first jet water pump, the second jet water pump and the third jet water pump are the same;

[0051] Figure 6 A schematic diagram showing the structure of a water jetting mechanism according to one embodiment of the present invention when an electronic butterfly valve is used;

[0052] Figure 7 Indicates Figure 6 The schematic diagram of the water jet mechanism shown;

[0053] Figure 8 A schematic diagram showing the structure of a water jetting mechanism including a three-way joint according to one embodiment of the present invention;

[0054] Fig. 9 Indicates Figure 8 The schematic diagram of the water jet mechanism shown;

[0055] Fig.10 A schematic diagram showing a flow chart of an underwater trenching and cable-laying robot operation method according to one embodiment of the present invention;

[0056] Fig.11 A schematic flow chart showing an underwater trenching and cable-laying robot operation method when a jet pump failure occurs according to the present invention;

[0057] Fig.12 A schematic diagram showing a flow chart of determining whether a water jetting mechanism of the present invention has a jetting water pump failure;

[0058] Fig.13 A schematic diagram showing the structure of the detection component of the present invention.

[0059] The following are the descriptions of the reference numerals:

[0060] 1-first jet water pump; 101-first motor; 102-first pump head; 11-first water outlet pipeline; 12-first control valve;

[0061] 2-second jet water pump; 201-second motor; 202-second pump head; 21-second water outlet pipeline; 22-second control valve;

[0062] 3-third jet water pump; 31-third water outlet pipeline; 32-third control valve; 33-fourth control valve; 34-fifth control valve;

[0063] 4-jet knife assembly; 41-first jet knife; 42-second jet knife; 43-hydraulic oil pump; 44-jet knife oil cylinder; 45-reversing valve; 46-balancing valve;

[0064] 5-detection component; 51-current detection module; 52-first pressure sensor; 53-second pressure sensor;

[0065] 6-water tank; 7-tee connector;

[0066] 100-Bury the plow. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical embodiments in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] Embodiment Application Background Description

[0069] It can be understood that when the water jet mechanism of the present invention is applied to an underwater trenching and cable-laying robot, it is controlled and powered by the control system and power supply on the underwater trenching and cable-laying robot, and the first jet water pump, the second first jet water pump, and the third jet water pump can be turned on or off respectively through the control system; and the control system identifies whether the first jet water pump 1 and the second first jet water pump are faulty; the fault means that the jet water pump is in a faulty state, and the faulty state at least includes inability to operate, insufficient flow rate of the delivered water, and damage or blockage of the pump head of the jet water pump.

[0070] In the prior art, when both jet water pumps fail, the laying plow (i.e., underwater trenching and cable-laying robot) cannot work; or, when one of the jet water pumps fails, the other jet water pump works normally. The water output from the normally working jet water pump will not only flow to the jet knife to continue working, but part of it will also flow in from the water outlet and out from the water inlet of the failed water pump, greatly reducing the working efficiency. Even if too much water is lost from the failed water pump, the underwater trenching and cable-laying robot will be unable to operate.

[0071] Example 1

[0072] Please refer to Figure 1-Figure 9 , Fig.13 One embodiment of the present invention provides a water jet mechanism, which is applied to an burying plow 100. The water jet mechanism includes a first jet water pump 1, a second jet water pump 2, a third jet water pump 3, a jet knife assembly 4 and a detection assembly 5;

[0073] The first jet water pump 1 is connected with a first water outlet pipeline 11 and a first control valve 12; the second jet water pump 2 is connected with a second water outlet pipeline 21 and a second control valve 22; the first water outlet pipeline 11 and the second water outlet pipeline 21 are both connected with the jet knife assembly 4;

[0074] The third jet water pump 3 is connected to a third water outlet pipeline 31, and the third water outlet pipeline 31 is a normally closed pipeline;

[0075] The detection assembly 5 is electrically connected to the first jet water pump 1, the second jet water pump 2, the third jet water pump 3 and the jet knife assembly 4. The third jet water pump 3 is configured to start when the first jet water pump 1 or the second jet water pump 2 fails. The third jet water pump 3 is used to supply water to the jet knife assembly 4 through the third water outlet pipeline 31;

[0076] The jet knife assembly 4 includes a first jet knife 41, a second jet knife 42, a hydraulic oil pump 43, a jet knife cylinder 44 and a reversing valve 45 arranged in parallel. The hydraulic oil pump 43 is connected to the jet knife cylinder 44 through the reversing valve 45. The reversing valve 45 is configured to control the retraction and extension of the jet knife cylinder 44 by reversing left and right, and is used to control the rise or fall of the first jet knife 41 and the second jet knife 42; the jet knife assembly 4 also includes a balancing valve 46, which is arranged in the connecting pipeline between the hydraulic oil pump 43 and the reversing valve 45, so that the hydraulic oil output by the hydraulic oil pump 43 passes through the balancing valve 46.

[0077] The detection component 5 includes a current detection module 51, a first pressure sensor 52 and a second pressure sensor 53;

[0078] The first pressure sensor 52 is connected to the pipeline of the jet knife oil cylinder 44 and is used to measure the pressure of the rod chamber and the rodless chamber of the jet knife oil cylinder 44;

[0079] The current detection module 51 is electrically connected to the first jet water pump 1, the second jet water pump 2 and the third jet water pump 3 respectively, and is used to detect the operating current of the plurality of jet water pumps respectively;

[0080] The water outlets of the first jet water pump 1 , the second jet water pump 2 and the third jet water pump 3 are all provided with the second pressure sensor 53 which is electrically connected and used to measure the water outlet pressures of the multiple jet water pumps respectively.

[0081] Therefore, the water jetting mechanism of the present invention can achieve the following technical effects:

[0082] 1. When the jet water pump fails, the third jet water pump 3 replaces the failed water pump to supply high-pressure water flow to the jet knife, so that the underwater trenching and cable-laying robot using the water jet mechanism of the present invention can continue to operate without temporary maintenance and return to land for processing after the operation is completed.

[0083] 2. By setting control valves on the water outlet pipes of the first jet water pump 1 and the second jet water pump 2, when a water pump failure occurs, the backflow of water from the water outlet of the faulty water pump can be effectively reduced or avoided, ensuring that when the third jet water pump 3 replaces the faulty water pump, sufficient power is provided to enable the underwater trenching and cable-laying robot to continue operating.

[0084] It can be understood that in one of the application scenarios of this embodiment, the hydraulic oil pump 43 provides hydraulic oil, the hydraulic oil passes through the balance valve 46, and the reversing valve 45 can be switched left and right to control the retraction and extension of the jet knife cylinder 44, thereby controlling the first jet knife 41 and the second jet knife 42 to descend and rise, and the first pressure sensor 52 detects the pressure of the rod chamber and the rodless chamber of the jet knife cylinder 44; and the first jet water pump 1, the second jet water pump 2 and the third jet water pump 3 are respectively connected to the current detection module 51, which is used to obtain the operating current of multiple water pumps respectively.

[0085] It can be understood that in another application scenario of the present embodiment, the first jet water pump 1 includes a first pump head 102 and a first motor 101; the second jet water pump 2 includes a second pump head 202202 and a second motor 201; the motor is the driving force source of the pump system, and the pump head is the direct object of the motor drive. The motor transmits mechanical energy to the pump head through an shaft connection or other transmission methods (such as belts, couplings, etc.); a motor failure (such as overload, overheating, short circuit) may cause the pump head to stop working, and a pump head failure (such as blockage, rupture, wear) may also cause abnormal motor load.

[0086] Example 2

[0087] Please refer to Figure 1-Figure 7 , Fig.13 On the basis of Example 1, the water jet mechanism further includes a water tank 6, and the third water outlet pipeline 31 is provided with a third control valve 32; the first water outlet pipeline 11, the second water outlet pipeline 21 and the third water outlet pipeline 31 are respectively connected to the jet knife assembly 4 through the water tank 6;

[0088] The first control valve 12, the second control valve 22 and the third control valve 32 are electronic butterfly valves, the first control valve 12 and the second control valve 22 are in a normally open state, and the third control valve 32 is in a normally closed state;

[0089] Alternatively, the first control valve 12 , the second control valve 22 and the third control valve 32 are one-way valves.

[0090] In one implementation of this embodiment, when the first jet water pump 1 fails, the first control valve 12 is switched to a closed state, the third control valve 32 is switched to an open state, and the third jet water pump 3 is started;

[0091] Alternatively, when the second jet water pump 2 fails, the second control valve 22 is switched to a closed state, the third control valve 32 is switched to an open state, and the third jet water pump 3 is started;

[0092] Alternatively, when the first jet water pump 1 and the second jet water pump 2 fail, the first control valve 12 and the second control valve 22 are switched to a closed state, the third control valve 32 is switched to an open state, and the third jet water pump 3 is started.

[0093] It can be understood that in one of the application scenarios of the present embodiment, when the first control valve 12, the second control valve 22 and the third control valve 32 are all one-way valves, under normal operation, the first jet water pump 1 and the second jet water pump 2 are turned on, the first jet water pump 1 discharges water from the water outlet to push open the first control valve 12, and the water flows through the first water outlet pipe 11 to the water tank 6, and the second jet water pump 2 discharges water from the water outlet to push open the second control valve 22, and the water flows through the second water outlet pipe 21 to the water tank 6; the third jet water pump 3 is not turned on, and because of the third control valve 32, the water in the water tank 6 will not flow back out of the third jet water pump 3; because the water outlet of the water tank 6 is respectively connected to the first jet knife 41 and the second jet knife 42, the converged water flow is ejected from the first jet knife 41 and the second jet knife 42 under pressure to perform trenching operations.

[0094] When the first jet water pump 1 fails, the water in the water tank 6 will not flow back out of the first jet water pump 1 because of the first control valve 12. At this time, the third jet water pump 3 is turned on, and the water discharged by the third jet water pump 3 pushes open the third control valve 32, and converges to the water tank 6 through the third water outlet pipeline 31. Since the third jet water pump 3 replaces the first jet water pump 1 for water supply, the water flow and water pressure in the water tank 6 meet the operation requirements. Under the action of pressure, the water in the water tank 6 is ejected from the first jet knife 41 and the second jet knife 42 to perform trenching operations, so that the operation of the underwater trenching and cable laying robot is not affected. It can be understood that the handling method when the second jet water pump 2 fails is the same as when the first jet water pump 1 fails.

[0095] When both the first jet water pump 1 and the second jet water pump 2 fail, the water in the water tank 6 will not flow back out of the first jet water pump 1 and the second jet water pump 2 due to the first control valve 12 and the second control valve 22. At this time, the third jet water pump 3 is turned on, and the water from the third jet water pump 3 pushes the third control valve 32 open, and flows to the water tank 6 through the third water outlet pipeline 31. The water flow and water pressure in the water tank 6 can meet the minimum operation requirements, and the water in the water tank 6 is ejected from the first jet knife 41 and the second jet knife 42 under pressure to perform trenching operations.

[0096] It can be understood that in another application scenario of the present embodiment, when the first control valve 12, the second control valve 22 and the third control valve 32 are all electronic butterfly valves, under normal operation, the first jet water pump 1 and the second jet water pump 2 are turned on, the first control valve 12 and the second control valve 22 are in an open state, the first jet water pump 1 discharges water from the water outlet and converges to the water tank 6 through the first water outlet pipe 11, and the second jet water pump 2 discharges water from the water outlet and converges to the water tank 6 through the second water outlet pipe 21; the third jet water pump 3 is not turned on, the third control valve 32 is in a closed state, and the water in the water tank 6 will not flow back from the third jet water pump 3; since the water outlet of the water tank 6 is respectively connected to the first jet knife 41 and the second jet knife 42, the converged water flow is ejected from the first jet knife 41 and the second jet knife 42 under pressure to perform trenching operations.

[0097] When the first jet water pump 1 fails, the first control valve 12 switches to a closed state, and the water in the water tank 6 will not flow back out of the first jet water pump 1. At this time, the third jet water pump 3 is turned on, and the third control valve 32 is switched to an open state, and the third jet water pump 3 discharges water and converges to the water tank 6 through the third water outlet pipeline 31. Since the third jet water pump 3 replaces the first jet water pump 1 for water supply, the water flow and water pressure in the water tank 6 meet the operation requirements. Under the action of pressure, the water in the water tank 6 is ejected from the first jet knife 41 and the second jet knife 42 to perform trenching operations, so that the operation of the underwater trenching and cable laying robot is not affected. It can be understood that the handling method when the second jet water pump 2 fails is the same as when the first jet water pump 1 fails.

[0098] When both the first jet water pump 1 and the second jet water pump 2 fail, the first control valve 12 and the second control valve 22 are switched to the closed state, and the water in the water tank 6 will not flow back out from the first jet water pump 1 and the second jet water pump 2. At this time, the third jet water pump 3 is turned on, the third control valve 32 is switched to the open state, and the third jet water pump 3 discharges water and converges to the water tank 6 through the third water outlet pipeline 31. The water flow and water pressure in the water tank 6 can meet the minimum operation requirements, and the water in the water tank 6 is ejected from the first jet knife 41 and the second jet knife 42 under pressure to perform trenching operations.

[0099] Therefore, the water jetting mechanism of the present invention can achieve the following technical effects:

[0100] 1. By setting a control valve at the water outlet of the jet water pump, when the third jet water pump 3 replaces the faulty water pump for water supply, the backflow of water from the water outlet of the faulty water pump can be effectively reduced or avoided, thereby ensuring the operating efficiency of the underwater trenching and cable-laying robot.

[0101] Example 3

[0102] Please refer to Figure 5 , Figure 8-Figure 9 , Fig.13 On the basis of Example 1, the water jet mechanism further includes a three-way joint 7, the first water outlet pipeline 11 is connected to the first jet blade 41, the second water outlet pipeline 21 is connected to the second jet blade 42, the third water outlet pipeline 31 is connected to the three-way joint 7, and the three-way joint 7 is respectively provided with a fourth control valve 33 and a fifth control valve 34, the fourth control valve 33 is connected to the first water outlet pipeline 11; the fifth control valve 34 is connected to the second water outlet pipeline 21;

[0103] The first control valve 12 and the second control valve 22 are electronic butterfly valves or one-way valves, the fourth control valve 33 and the fifth control valve 34 are electronic butterfly valves, and the fourth control valve 33 and the fifth control valve 34 are in a normally closed state.

[0104] In one embodiment of the present invention, when the first jet water pump 1 fails, the first control valve 12 is switched to a closed state, the fourth control valve 33 is switched to an open state, and the third jet water pump 3 is started;

[0105] Alternatively, when the second jet water pump 2 fails, the second control valve 22 is switched to a closed state, the fifth control valve 34 is switched to an open state, and the third jet water pump 3 is started;

[0106] Alternatively, when the first jet water pump 1 and the second jet water pump 2 fail, the fourth control valve 33 and the fifth control valve 34 are switched to an open state, and the third jet water pump 3 is started.

[0107] It can be understood that when the first control valve 12 and the second control valve 22 are one-way valves, and the fourth control valve 33 and the fifth control valve 34 are electronic butterfly valves, under normal operation, the first jet water pump 1 and the second jet water pump 2 are turned on, the first jet water pump 1 discharges water from the water outlet to push open the first control valve 12, and the water flows through the first water outlet pipeline 11 to the first jet knife 41, and the second jet water pump 2 discharges water from the water outlet to push open the second control valve 22, and the water flows through the second water outlet pipeline 21 to the second jet knife 42; the third jet water pump 3 is not turned on, and because the fourth control valve 33 and the fifth control valve 34 are in a closed state, the water will not flow back from the third jet water pump 3. The first jet knife 41 and the second jet knife 42 perform trenching operations normally.

[0108] When the first jet water pump 1 fails, water will not be lost from the first jet water pump 1 because of the first control valve 12; the third jet water pump 3 is turned on, the fourth control valve 33 is switched to the open state, the third jet water pump 3 discharges water and flows to the first water outlet pipeline 11 through the three-way connector 7, so that the first jet knife 41 can perform trenching operations normally, so that the operation of the underwater trenching and cable laying robot is not affected. It can be understood that the handling method when the second jet water pump 2 fails is the same as that when the first jet water pump 1 fails.

[0109] When the first jet water pump 1 and the second jet water pump 2 fail, water will not be lost from the first jet water pump 1 or the second jet water pump 2 because of the first control valve 12 and the second control valve 22; the third jet water pump 3 is turned on, the fourth control valve 33 and the fifth control valve 34 are switched to the open state, and the third jet water pump 3 discharges water and flows to the first outlet pipe 11 and the second outlet pipe 21 through the three-way joint 7, so that the first jet knife 41 and the second jet knife 42 can perform trenching operations while meeting the minimum working flow rate, so that the underwater trenching and cable-laying robot can continue to operate.

[0110] Therefore, the water jetting mechanism of the present invention can achieve the following technical effects:

[0111] 1. When the jet water pump fails, the third jet water pump 3 replaces the failed water pump to supply high-pressure water flow to the jet knife, so that the underwater trenching and cable-laying robot using the water jet mechanism of the present invention can continue to operate without temporary maintenance and return to land for processing after the operation is completed.

[0112] 2. By using electronic butterfly valves as the fourth control valve 33 and the fifth control valve 34, and by controlling the opening or closing of the fourth control valve 33 and the fifth control valve 34, different water supply pipelines can be formed, so that the water flow output by the third jet water pump 3 is effectively transmitted to the first water outlet pipeline 11 or the second water outlet pipeline 21 corresponding to the faulty water pump, thereby avoiding a reduction in flow rate caused by the diversion of the water flow.

[0113] Example 4

[0114] Please refer to Figure 10-12 , an underwater trenching and cable-laying robot operation method, which can be used for any one of the water jetting mechanisms in the above-mentioned embodiments 1-3, comprising:

[0115] S10, the hydraulic oil pump starts and delivers hydraulic oil to the jet knife cylinder through the reversing valve;

[0116] S20, controlling the extension and retraction of the jet knife oil cylinder by reversing the reversing valve, so that the first jet knife and the second jet knife face a predetermined direction;

[0117] S30, the first control valve and the second control valve are opened, and the first jet water pump and the second jet water pump respectively discharge water to the jet knife assembly through the first water outlet pipeline and the second water outlet pipeline;

[0118] S40, the water flow delivered by the first jet water pump and the second jet water pump is ejected through the first jet knife and the second jet knife to perform trenching operation in a predetermined direction;

[0119] Wherein, the third jet water pump and the third water outlet pipeline are in a normally closed state.

[0120] In one embodiment of the present invention, the method further comprises:

[0121] S50, collecting real-time operation data of the water jetting mechanism through the detection component in real time, wherein the real-time operation data includes pressure data of the jetting knife oil cylinder and at least one of the following: motor current data and water outlet pressure data;

[0122] S60, judging whether there is a jet water pump fault in the water jet mechanism according to the real-time operation data, and if so, controlling the third jet water pump to perform corresponding operation according to the faulty water pump;

[0123] Wherein, judging whether the water jetting mechanism has a jet pump fault according to the real-time operation data includes judging whether the pressure of the rod chamber in the jet knife oil cylinder meets the preset pressure, if so, the ditching speed data meets the preset travel speed, if not, feedback that there is a jet pump fault and locate the jet pump with the fault; and locating the jet pump with the fault includes at least one of the following:

[0124] Determine whether the motor current data meets the preset current range, and if not, mark the jet water pump that does not meet the requirements as a faulty water pump;

[0125] It is determined whether the water outlet pressure data meets the preset water outlet pressure. If not, the jet water pump that does not meet the requirements is marked as a faulty water pump.

[0126] It can be understood that in this embodiment, taking the case where the first jet water pump 1 fails as an example, the principle and process of determining whether the water jet mechanism has a jet water pump failure according to the real-time operation data by the detection component 5 are as follows:

[0127] When the first pump head 102 is damaged, resulting in a decrease in the water output of the first jet water pump 1, the current detection module 51 detects a decrease in the current of the first motor 101, and the second pressure sensor 53 detects a decrease in the water output pressure of the first jet water pump 1. The burying plow 100 is towed by a power boat and its speed remains unchanged. At this time, due to the decrease in water output, the trenching speed slows down, the first jet knife 41 and the second jet knife 42 are subject to resistance from the soil layer, and the first pressure sensor 52 detects an increase in the rod chamber pressure. At this time, it can be determined that the first jet water pump 1 is faulty.

[0128] Alternatively, when the first motor 101 is damaged, resulting in a decrease in the water output of the first jet water pump 1, the current detection module 51 detects a decrease in the current of the first motor 101, and the second pressure sensor 53 detects a decrease in the water output pressure of the first jet water pump 1. The buried plow 100 is towed by a power boat and its speed remains unchanged. At this time, because the water output is reduced, the trenching speed slows down, the first jet knife 41 and the second jet knife 42 are subject to resistance from the soil layer, and the first pressure sensor 52 detects an increase in the rod cavity pressure. At this time, it can be determined that the first jet water pump 1 is faulty.

[0129] Alternatively, when the first pump head 102 is blocked, causing the water output of the first jet water pump 1 to decrease, the current detection module 51 detects that the current of the first motor 101 increases, and the second pressure sensor 53 detects that the water output pressure of the first jet water pump 1 decreases. The burying plow 100 is towed by a power boat and its speed remains unchanged. At this time, because the water output is reduced, the trenching speed slows down, the first jet knife 41 and the second jet knife 42 are subject to resistance from the soil layer, and the first pressure sensor 52 detects that the rod cavity pressure increases. At this time, it can be judged that the first jet water pump 1 is faulty.

[0130] In one embodiment of the present invention, controlling the third jet water pump to perform corresponding operation actions according to the faulty water pump includes:

[0131] When a failure of the first jet water pump is detected, the first control valve is switched to a closed state, the third jet water pump is started, and the third control valve or the fourth control valve is switched to an open state;

[0132] When a fault of the second jet water pump is detected, the second control valve is switched to a closed state, the third jet water pump is started, and the third control valve or the fifth control valve is switched to an open state;

[0133] When it is detected that the first jet water pump and the second jet water pump fail at the same time, the first control valve and the second control valve are switched to a closed state, the third jet water pump is started, and the third control valve or the fourth control rotary valve and the fifth control valve are switched to an open state.

[0134] It can be understood that this embodiment collects the operating data of the water injection mechanism in real time through the detection component 5, including water output, motor current, water output pressure and trenching speed, and determines whether there is a jet water pump fault based on these data, thereby controlling the third jet water pump 3 to perform corresponding operating actions according to the fault situation.

[0135] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A water jet mechanism, used for buried plow, characterized in that: It comprises a first jet water pump (1), a second jet water pump (2), a third jet water pump (3), a jet knife assembly (4) and a detection assembly (5); The first jet water pump (1) is connected to a first water outlet pipeline (11) and a first control valve (12); the second jet water pump (2) is connected to a second water outlet pipeline (21) and a second control valve (22); the first water outlet pipeline (11) and the second water outlet pipeline (21) are both connected to the jet knife assembly (4); The third jet water pump (3) is connected to a third water outlet pipeline (31), and the third water outlet pipeline (31) is a normally closed pipeline; The detection assembly (5) is electrically connected to the first jet water pump (1), the second jet water pump (2), the third jet water pump (3) and the jet knife assembly (4); the third jet water pump (3) is configured to start when the first jet water pump (1) or the second jet water pump (2) fails; the third jet water pump (3) is used to supply water to the jet knife assembly (4) through the third water outlet pipeline (31); The jet knife assembly (4) comprises a first jet knife (41), a second jet knife (42), a hydraulic oil pump (43), a jet knife cylinder (44) and a reversing valve (45) arranged in parallel, wherein the hydraulic oil pump (43) is connected to the jet knife cylinder (44) via the reversing valve (45), and the reversing valve (45) is configured to control the retraction and extension of the jet knife cylinder (44) by reversing left and right, and is used to control the rise or fall of the first jet knife (41) and the second jet knife (42).

2. The water jetting mechanism according to claim 1, characterized in that: The jet knife assembly (4) further comprises a balancing valve (46); the balancing valve (46) is arranged in a connecting pipeline between the hydraulic oil pump (43) and the reversing valve (45), so that the hydraulic oil output by the hydraulic oil pump (43) passes through the balancing valve (46).

3. The water jetting mechanism according to claim 1, characterized in that: The detection component (5) comprises a current detection module (51), a first pressure sensor (52) and a second pressure sensor (53); The first pressure sensor (52) is in communication with a pipeline of the jet knife oil cylinder (44) and is used to measure the pressure of the rod chamber and the rodless chamber of the jet knife oil cylinder (44); The current detection module (51) is electrically connected to the first jet water pump (1), the second jet water pump (2) and the third jet water pump (3) respectively, and is used to detect the operating current of the plurality of jet water pumps respectively; The water outlets of the first jet water pump (1), the second jet water pump (2) and the third jet water pump (3) are all provided with the second pressure sensor (53) which is electrically connected and is used to measure the water outlet pressures of the multiple jet water pumps respectively.

4. The water jetting mechanism according to any one of claims 1 to 3, characterized in that: The water jet mechanism further comprises a water tank (6); the third water outlet pipeline (31) is provided with a third control valve (32); the first water outlet pipeline (11), the second water outlet pipeline (21) and the third water outlet pipeline (31) are respectively connected to the jet knife assembly (4) through the water tank (6); the first control valve (12), the second control valve (22) and the third control valve (32) are electronic butterfly valves, the first control valve (12) and the second control valve (22) are in a normally open state, and the third control valve (32) is in a normally closed state; Alternatively, the first control valve (12), the second control valve (22) and the third control valve (32) are one-way valves.

5. The water jetting mechanism according to claim 1, characterized in that: When the first jet water pump (1) fails, the first control valve (12) is switched to a closed state, the third control valve (32) is switched to an open state, and the third jet water pump (3) is started; Alternatively, when the second jet water pump (2) fails, the second control valve (22) is switched to a closed state, the third control valve (32) is switched to an open state, and the third jet water pump (3) is started; Alternatively, when the first jet water pump (1) and the second jet water pump (2) fail, the first control valve (12) and the second control valve (22) are switched to a closed state, the third control valve (32) is switched to an open state, and the third jet water pump (3) is started.

6. The water jetting mechanism according to any one of claims 1 to 3, characterized in that: The water jet mechanism further comprises a three-way joint (7), the first water outlet pipeline (11) is connected to the first jet blade (41), the second water outlet pipeline (21) is connected to the second jet blade (42), the third water outlet pipeline (31) is connected to the three-way joint (7), and the three-way joint (7) is provided with a fourth control valve (33) and a fifth control valve (34), respectively; the fourth control valve (33) is connected to the first water outlet pipeline (11); the fifth control valve (34) is connected to the second water outlet pipeline (21); The first control valve (12) and the second control valve (22) are electronic butterfly valves or one-way valves, the fourth control valve (33) and the fifth control valve (34) are electronic butterfly valves, and the fourth control valve (33) and the fifth control valve (34) are in a normally closed state.

7. The water jetting mechanism according to claim 6, characterized in that: When the first jet water pump (1) fails, the first control valve (12) is switched to a closed state, the fourth control valve (33) is switched to an open state, and the third jet water pump (3) is started; Alternatively, when the second jet water pump (2) fails, the second control valve (22) is switched to a closed state, the fifth control valve (34) is switched to an open state, and the third jet water pump (3) is started; Alternatively, when the first jet water pump (1) and the second jet water pump (2) fail, the fourth control valve (33) and the fifth control valve (34) are switched to an open state, and the third jet water pump (3) is started.

8. An underwater trenching and cable-laying robot operation method, characterized in that: The water jetting mechanism can be used as claimed in any one of claims 1 to 6, comprising: The hydraulic oil pump starts and delivers hydraulic oil to the jet knife cylinder through the reversing valve; The extension and retraction of the jet knife oil cylinder are controlled by the switching of the switching valve, so that the first jet knife and the second jet knife are directed to a predetermined direction; The first control valve and the second control valve are opened, and the first jet water pump and the second jet water pump discharge water to the jet knife assembly through the first water outlet pipeline and the second water outlet pipeline respectively; The water flow delivered by the first jet water pump and the second jet water pump is ejected through the first jet knife and the second jet knife to perform trenching in a predetermined direction; Wherein, the third jet water pump and the third water outlet pipeline are in a normally closed state.

9. The underwater trenching and cable-laying robot operation method according to claim 8, characterized in that: Also includes: The real-time operation data of the water jet mechanism is collected in real time by the detection component, and the real-time operation data includes the pressure data of the jet knife oil cylinder and at least one of the following: motor current data and water outlet pressure data; Determine whether the water jetting mechanism has a jetting water pump fault according to the real-time operation data, and if so, control the third jetting water pump to perform corresponding operation according to the faulty water pump; Wherein, judging whether the water jetting mechanism has a jet pump fault according to the real-time operation data includes judging whether the pressure of the rod chamber in the jet knife oil cylinder meets the preset pressure, if so, the ditching speed data meets the preset travel speed, if not, feedback that there is a jet pump fault and locate the jet pump with the fault; and locating the jet pump with the fault includes at least one of the following: Determine whether the motor current data meets the preset current range, and if not, mark the jet water pump that does not meet the requirements as a faulty water pump; It is determined whether the water outlet pressure data meets the preset water outlet pressure. If not, the jet water pump that does not meet the requirements is marked as a faulty water pump.

10. The underwater trenching and cable-laying robot operation method according to claim 8, characterized in that: The controlling the third jet water pump to perform corresponding operation actions according to the faulty water pump comprises: When a failure of the first jet water pump is detected, the first control valve is switched to a closed state, the third jet water pump is started, and the third control valve or the fourth control valve is switched to an open state; When a fault of the second jet water pump is detected, the second control valve is switched to a closed state, the third jet water pump is started, and the third control valve or the fifth control valve is switched to an open state; When it is detected that the first jet water pump and the second jet water pump fail at the same time, the first control valve and the second control valve are switched to a closed state, the third jet water pump is started, and the third control valve or the fourth control rotary valve and the fifth control valve are switched to an open state.

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