Multi-mode submarine cable trenching device

Abstract

The invention discloses a multi-mode submarine cable ditching device which comprises a main body frame, an electric propeller is arranged on the main body frame, a seabed walking device, a movable cart and two injection devices are arranged at the bottom of the main body frame, and the two injection devices are symmetrically arranged at the bottom of the main body frame. The movable cart is arranged above the two injection devices and is movably connected with the two injection devices; the electric propeller is used for driving the submarine electric ditching device to sail in water, and the submarine walking device is used for driving the submarine cable ditching device to walk on the submarine surface; the movable cart is used for adjusting the distance between the injection arms of the two injection devices; and the two injection devices are used for shearing seabed soil in a mode of injecting high-pressure liquid to form a cable trough with a corresponding width. The device has the universality of operation with different trenching widths and the universality of operation with different seabed sediment hardness, the operation efficiency and safety are improved, and the cost and the risk are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of marine underwater operation engineering, and in particular relates to a multi-modal submarine cable trenching device. Background Art

[0002] Currently, traditional trenching equipment has too many limitations when performing trenching operations. The main limitation is that it cannot automatically adjust the trenching width. At the same time, the installation height between the track assembly or the skid and the trencher frame is fixed. Under different seabed sediment shear forces, the trenching equipment will sink to different depths on the sediment surface, directly affecting the trenching efficiency. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and provide a multi-modal submarine cable trenching device to meet the needs of trenching of different widths and improve the versatility and trenching efficiency of the trenching machine.

[0004] The technical solution adopted by the present invention is: a multi-mode submarine cable trenching device, comprising a main frame, an electric propeller is arranged on the main frame, a submarine walking device, a movable trolley and two ejection devices are arranged at the bottom of the main frame, the two ejection devices are symmetrically arranged at the bottom of the main frame, and the movable trolley is arranged above the two ejection devices and is movably connected to the two ejection devices;

[0005] The electric propeller is used to drive the submarine electric trenching device to sail in the water, and the submarine walking device is used to drive the submarine cable trenching device to walk on the seabed surface;

[0006] The movable trolley is used to adjust the distance between the ejection arms of the two ejection devices; the two ejection devices are used to shear the seabed soil at corresponding positions on the seabed by ejecting high-pressure liquid based on the distance to form a cable trough of corresponding width.

[0007] Furthermore, the movable cart comprises a top guide groove, a side guide groove, two cantilever supports, two clamping parts and two telescopic hydraulic cylinders, and the two telescopic hydraulic cylinders are respectively arranged corresponding to the two clamping parts; the top guide groove and the side guide groove are fixed on the main frame and arranged along the moving direction of the punching arm;

[0008] The clamping part is used to clamp the end of the punching arm, and the punching arm can rotate around the clamping point. The top of the clamping part cooperates with the top guide groove through the top guide wheel. One end of the cantilever support is connected to the inner side of the clamping part, and the other end of the cantilever support cooperates with the side guide groove through the side guide wheel. One end of the telescopic hydraulic cylinder is fixed on the main frame and the other end is connected to the clamping part. The distance between the two punching arms can be adjusted by driving the clamping part to move along the arrangement direction of the guide groove through the telescopic hydraulic cylinder.

[0009] Furthermore, the clamping part includes a top plate, a bottom plate and two side plates arranged opposite to each other, the top plate is arranged in parallel with the bottom plate, the two sides of the top plate are respectively fixedly connected to the upper ends of the two side plates, the two ends of the bottom plate are respectively fixedly connected to the bottom ends of the two side plates, the top guide wheel is fixed to the top of the side plate, the bottom surface of the top plate and the top surface of the bottom plate are provided with three support wheels arranged in a triangle, and the end of the punching arm is in contact and connected with the three support wheels.

[0010] Furthermore, the jet device comprises a high-pressure jet pump, a jet arm and an angle adjustment mechanism, wherein the high-pressure jet pump is connected to the inside of the jet arm through a liquid pipeline, and the jet arm is provided with a plurality of nozzles; the angle adjustment mechanism is used to adjust the angle of the jet arm, and one end of the angle adjustment mechanism is connected to the movable trolley, and the other end is connected to the fixed seat of the jet arm;

[0011] The high-pressure jet pump is used to compress seawater into high-pressure liquid. The high-pressure liquid flows into the interior of the jet arm through a liquid pipeline and is ejected from the nozzle to shear the seabed plane to form the cable trough.

[0012] Furthermore, the liquid pipeline includes a fixed section, a transition section, a guide section and a telescopic section which are connected in sequence to form a right angle. One end of the fixed section is connected to the output port of the high-pressure jet pump, and the other end is connected to the interior of the transition section. One end of the guide section is connected to the transition section, and the other end is coaxially sleeved on the surface of the telescopic section. One end of the telescopic section extends to the interior of the transition section after passing through the guide section, and the other end is connected to the interior of the ejection arm. The end of the telescopic section extending to the interior of the transition section forms an extension section, and a plurality of diversion holes are opened on the extension section. The transition section is a column structure which is integrated on the main frame and is hollow inside. The cross-sectional area of ​​the column structure is larger than the cross-sectional area of ​​the fixed section and the telescopic section.

[0013] Furthermore, the ejection arm includes a fixed seat, a plurality of fixed nozzles of different lengths, the plurality of fixed nozzles are arranged in order from short to long, the plurality of fixed nozzles are located in the same vertical plane and are arranged obliquely, the shortest fixed nozzle is located at the bottom, one end of the fixed seat is connected to the movable trolley, and the other end is connected to the fixed nozzle, a channel connecting the liquid pipeline and the fixed nozzle is provided in the fixed seat, the plurality of nozzles are arranged at the bottom of the plurality of fixed nozzles, the plurality of nozzles are divided into a first nozzle and a second nozzle according to the different arrangement directions of the nozzle axis, and the first nozzle and the second nozzle are arranged alternately.

[0014] Furthermore, the fixed seat includes a hinged section with a triangular fixed plate and a hollow interior, one end of the hinged section is hingedly connected to the movable trolley, the ends of the fixed nozzle and the fixed plate are both connected to the other end of the hinged section, and the side of the fixed nozzle is connected to the side of the fixed plate.

[0015] Furthermore, the submarine walking device is a skid plate or a crawler track assembly, and universal components are respectively arranged on both sides of the bottom of the main frame, and the skid plate or the crawler track assembly is installed on the bottom of the main frame through the universal components.

[0016] Furthermore, the electric thruster includes side thrusters arranged on the four columns of the main frame and a tail thruster arranged at the tail of the submarine cable trenching device. The axes of the four side thrusters form a certain angle with the moving direction of the submarine cable trenching device, and the axis of the tail thruster is parallel to the moving direction of the submarine cable trenching device.

[0017] Furthermore, the main frame is provided with a detection component for detecting the relative position of the submarine cable trenching device and the submarine cable, the detection component includes an exogenous sensor and an endogenous sensor, the endogenous sensor is fixed on the main frame, and the exogenous sensor is arranged on the main frame through a mounting frame, the end of the mounting frame is hinged to the edge of the main frame, the mounting frame can rotate around the hinge with the main frame by 90 degrees, and when the mounting frame is parallel to the horizontal plane, the exogenous sensor is parallel to the sea level.

[0018] The beneficial effects of the present invention are:

[0019] The present invention arranges a seabed walking device, a jet device, an electric propeller, a cable-finding mechanism and other equipment on the cable trenching device. Through the coordination of various equipment, the entire trenching device has the versatility to operate with different trenching widths and with different seabed mud hardnesses, thereby improving operating efficiency and safety and reducing costs and risks.

[0020] The punching device on the cable trenching device of the present invention cooperates with the movable trolley, and can dig trenches of different widths according to needs, and has wider versatility; at the same time, the angle adjustment mechanism of the punching arm is combined with the movable trolley to ensure the flexibility of the hydraulic rod movement in the telescopic direction and the rotation direction; and the guide wheels on the movable trolley are arranged at right angles, which can simultaneously withstand horizontal forces and vertical forces to ensure the stability of the entire mechanism.

[0021] The crawler assembly and the skid plate used for different seabed mud shearing forces of the present invention can be replaced on the same side to reduce misoperation. At the same time, the height of the crawler assembly and the skid plate relative to the trencher frame is adjustable to better match the depth of the trencher as a whole sunk into the mud, thereby improving the trenching efficiency.

[0022] The main frame of the present invention plays the role of support and medium circulation at the same time, making the entire frame structure simpler, reducing the liquid pipeline system, and reducing the weight of the entire frame.

[0023] The two ejection devices of the present invention are symmetrically arranged on the main frame, which can ensure the symmetry of the center of the entire trenching device, reduce the shaking of the trenching device due to unbalanced force caused by vibration during the operation process, and enhance the safety during the operation and walking process.

[0024] The electric propellers on the cable trenching device of the present invention are symmetrically installed on the frame, which can reduce the shaking of the trenching device caused by unbalanced force due to vibration during the operation process, thereby enhancing the safety during the operation and walking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention (the walking device is a skid board).

[0026] Figure 2 It is another structural schematic diagram of the present invention (the walking device is a crawler assembly).

[0027] Figure 3 It is a partial schematic diagram of the movable cart of the present invention.

[0028] Figure 4 It is a partial schematic diagram of the arrangement of the ejection arm of the present invention.

[0029] Figure 5 Schematic diagram of the arrangement of the nozzles of the present invention

[0030] Figure 6 It is a partial schematic diagram of the liquid pipeline of the present invention.

[0031] Figure 7 Another partial schematic diagram of the liquid pipeline of the present invention.

[0032] Figure 8 It is a schematic diagram of the arrangement of the electric propeller of the present invention.

[0033] Fig. 9 It is a schematic diagram of the cable-finding mechanism of the present invention.

[0034] In the figure, 1-main frame; 1.1-column; 1.2-general component; 1.3-installation hole; 2-buoyancy material; 2.1-through hole; 3-movable cart; 3.1-top guide groove; 3.2-side guide groove; 3.3-cantilever support; 3.4-clamping part; 3.4.1-top plate; 3.4.2-bottom plate; 3.4.3-side plate; 3.4.4-support wheel; 3.5-telescopic hydraulic cylinder; 3.6-top guide wheel; 3.7-side guide wheel; 4-undersea walking device; 5-jetting device; 5.1-high-pressure jet pump; 5.2-jetting arm; 5.3-liquid pipeline; 5.3.1-fixed section; 5.3.2-transition section; 5.3.3-guide section; 5.3.4-telescopic section; 5 .3.5-extension section; 5.3.6-diverter hole; 5.4-nozzle; 5.4.1-first nozzle; 5.4.2-second nozzle; 5.5-fixed seat; 5.5.1-hinge section; 5.5.2-fixed plate; 5.6-fixed nozzle; 5.7-angle adjustment mechanism; 6-electric thruster; 6.1-side thruster; 6.2-tail thruster; 7-cable-finding mechanism; 7.1-external sensor; 7.2-endogenous sensor; 7.3-mounting frame; 7.4-hydraulic cylinder; 8-sled plate; 8.1-slide plate; 8.2-meter wheel; 8.3-connecting plate; 8.4-connecting part; 8.5-connecting rod; 9-track assembly; 9.1-fixed plate; 9.2-fixed bracket; 9.3-connecting rod. DETAILED DESCRIPTION

[0035] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] In the case of using "including", "having" and "comprising" described in this specification, unless used, there may also be another part or other parts, and the terms used may generally be singular but may also represent plural forms. In the description of this specification, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, when constituting a component, although there is no clear description thereof, it can be understood that a certain error area must be included.

[0037] It should be noted that although the terms "first", "second", "top", "bottom", "one side", "the other side", "one end", "the other end", etc. may appear and be used in this specification to describe various components, these components and parts should not be limited by these terms. These terms are only used to distinguish one component and part from another component and part. For example, without departing from the scope of this specification, the first component can be called the second component, and similarly, the second component can be called the first component. The components at the top and bottom can also be swapped or converted with each other under certain circumstances; the components at one end and the other end can have the same or different performances.

[0038] When describing a positional relationship, for example, when the positional sequence is described as "on," "above," "below," and "next," unless words or terms such as "just" or "directly" are used, situations where they are not in contact or in contact may also be included. If a first element is mentioned to be "on" a second element, it does not mean that the first element must be above the second element in the figure. The upper and lower parts of the component will change depending on the change in the angle of observation and orientation. Therefore, in the drawings or in the actual construction, if it is mentioned that the first element is "on" the second element, it may include a situation where the first element is "below" the second element and a situation where the first element is "above" the second element.

[0039] like Figure 1 , Figure 2 As shown, the present invention provides a multi-mode submarine cable trenching device, comprising a main frame 1, an electric propeller 6 is arranged on the main frame 1, a submarine walking device 4, a movable trolley 3 and two ejection devices 5 are arranged at the bottom of the main frame 1, the two ejection devices 5 are symmetrically arranged at the bottom of the main frame 1, and the movable trolley 3 is arranged above the two ejection devices 5 and is movably connected to the two ejection devices 5;

[0040] The electric propeller 6 is used to drive the submarine electric trenching device to sail in the water, and the submarine walking device 4 is used to drive the submarine cable trenching device to walk on the seabed plane. The submarine walking device 4 is a skid plate 8 or a crawler assembly 9;

[0041] The movable trolley 3 is used to adjust the distance between the ejection arms 5.2 of the two ejection devices 5; the two ejection devices 5 are used to shear the seabed soil at corresponding positions on the seabed by ejecting high-pressure liquid based on the distance to form a cable trough of corresponding width.

[0042] In some embodiments, Figure 3As shown, the movable cart 3 includes a top guide groove 3.1, a side guide groove 3.2, a cantilever support 3.3, two clamping parts 3.4 and two telescopic hydraulic cylinders 3.5, and the two telescopic hydraulic cylinders 3.5 are arranged corresponding to the two clamping parts 3.4 respectively; the top guide groove 3.1 and the side guide groove 3.2 are fixed to the main frame 1 and arranged along the moving direction of the punching arm; the clamping part 3.4 is used to clamp the end of the punching arm 5.2, and the punching arm 5.2 can rotate around the clamping point, and the clamping part The top of 3.4 cooperates with the top guide groove 3.1 through the top guide wheel 3.6, one end of the cantilever support 3.3 is connected to the inner side of the clamping part 3.4, and the other end of the cantilever support 3.3 cooperates with the side guide groove 3.2 through the side guide wheel 3.7. One end of the telescopic hydraulic cylinder 3.5 is fixed on the main frame 1 and the other end is connected to the clamping part 3.4. The telescopic hydraulic cylinder 3.5 drives the clamping part 3.4 to move along the guide groove arrangement direction to adjust the distance between the two punching arms 5.2. The top guide wheel 3.6 and the side guide wheel 3.7 both include two guide wheels arranged perpendicular to each other, and the two guide wheels are arranged alternately at intervals, so that the movable cart can withstand both lateral and longitudinal forces.

[0043] The clamping portion 3.4 comprises a top plate 3.4.1, a bottom plate 3.4.2 and two side plates 3.4.3 arranged opposite to each other, the top plate 3.4.1 is arranged parallel to the bottom plate 3.4.2, the two sides of the top plate 3.4.1 are fixedly connected to the upper ends of the two side plates 3.4.3 respectively, the two ends of the bottom plate 3.4.2 are fixedly connected to the bottom ends of the two side plates 3.4.3 respectively, the top guide wheel 3.6 is fixed to the top of the side plate 3.4.3, the bottom surface of the top plate 3.4.1 and the top surface of the bottom plate 3.4.2 are provided with three supporting wheels 3.4.4 arranged in a triangle, the end of the hinged section of the ejection arm 5.2 is in contact with the three supporting wheels 3.4.4, when the angle adjustment mechanism 5.7 adjusts the rotation angle of the ejection arm 5.2, the hinged section can rotate in the clamping portion 3.4, the three-point arrangement of the supporting wheels not only ensures the rotation function, but also improves the stability of the entire mechanism.

[0044] In some embodiments, Figure 4-7As shown, the jet device 5 includes a high-pressure jet pump 5.1, a jet arm 5.2 and an angle adjustment mechanism 5.7. The high-pressure jet pump 5.1 is a centrifugal electric pump. The high-pressure jet pump 5.2 is connected to the inside of the jet arm 5.2 through a liquid pipeline 5.3. The jet arm 5.2 is provided with a plurality of nozzles 5.4. The angle adjustment mechanism 5.1 is used to adjust the angle of the jet arm 5.2. One end of the angle adjustment mechanism 5.7 is connected to the movable trolley 3 and the other end is connected to the fixed seat 5.5 of the jet arm 5.2. The high-pressure jet pump 5.2 is used to compress seawater into high-pressure liquid. The high-pressure liquid flows to the inside of the jet arm 5.2 through the liquid pipeline 5.3 and is ejected from the nozzle 5.4 to flush the seabed surface to form the groove.

[0045] It can be understood that the liquid pipeline 5.3 includes a fixed section 5.3.1, a transition section 5.3.2, a guide section 5.3.3 and a telescopic section 5.3.4 which are connected in sequence to form a right angle. One end of the fixed section 5.3.1 is connected to the output port of the high-pressure jet pump 5.1, and the other end is connected to the inside of the transition section 5.3.2. One end of the guide section 5.3.3 is connected to the inside of the transition section 5.3.2, and the other end is coaxially sleeved on the surface of the telescopic section 5.3.4. One end of the telescopic section 5.3.4 is connected to the output port of the high-pressure jet pump 5.1, and the other end is connected to the inside of the transition section 5.3.2. After passing through the guide section 5.3.3, it extends to the interior of the transition section 5.3.2, and the other end is connected to the interior of the ejection arm 5.2. The telescopic section 5.3.4 extends to the end of the interior of the transition section to form an extension section 5.3.5. The extension section 5.3.5 is provided with a number of diversion holes 5.3.6. The transition section 5.3.2 is a column 1.1 structure integrated on the main frame 1 and hollow inside. The cross-sectional area of ​​the column structure is larger than the cross-sectional area of ​​the fixed section 5.3.1 and the telescopic section 5.3.4. The supporting column 1.1 of the main frame 1 not only supports the entire frame, but also connects the pipelines, realizing the compact structure between the pipeline mechanism and the frame. The cross-sectional area of ​​the internal section of the column 1.1 is larger than the cross-sectional area of ​​the outlet pipe, which can ensure that the liquid has sufficient flow.

[0046] It can be understood that the ejection arm 5.2 includes a fixed seat 5.5, a plurality of fixed nozzles 5.6 of different lengths, the plurality of fixed nozzles 5.6 are arranged in order from short to long, the plurality of fixed nozzles 5.6 are located in the same vertical plane and are arranged obliquely, the shortest fixed nozzle is located at the bottom, one end of the fixed seat 5.5 is connected to the movable trolley 3, and the other end is connected to the fixed nozzle 5.6, a channel connecting the liquid pipeline and the fixed nozzle is provided in the fixed seat 5.5, the plurality of nozzles 5.4 are arranged at the bottom of the plurality of fixed nozzles 5.5 and are not covered by the corresponding shorter fixed nozzles, the plurality of nozzles 5.4 are divided into a first nozzle 5.4.1 and a second nozzle 5.4.2 according to the different arrangement directions of the nozzle axis, and the first nozzle 5.4.1 and the second nozzle 5.4.2 are arranged alternately. It can be understood that the fixed seat 5.5 includes a fixed plate 5.5.2 and a triangular hinged section 5.5.1 with a hollow interior, one end of the hinged section 5.5.1 is hingedly connected to the movable cart, the ends of the fixed nozzle and the fixed plate 5.5.2 are both connected to the other end of the hinged section 5.5.1, and the side of the fixed nozzle is connected to the side of the fixed plate 5.5.2.

[0047] In some embodiments, Figure 8 As shown, the electric propeller 6 includes side propellers 6.1 respectively arranged at the four corners of the main frame (on the sides of the four columns) and a tail propeller 6.2 arranged at the end of the main frame (the tail of the submarine cable trenching device). The electric propeller adopts a spiral fan structure. The axis of the side propellers 6.1 located at the four corners of the main frame forms a 45° angle with the traveling direction of the submarine cable trenching device, and the axis of the tail propeller 6.2 located at the tail of the submarine cable trenching device is parallel to the traveling direction of the submarine cable trenching device. In order to make the submarine trenching device more flexible and efficient when walking on the seabed, four vertical propellers can also be arranged on the main frame. The four vertical propellers are arranged at the top of the four corners of the main frame. The four corners of the buoyancy material 2 are respectively provided with through holes 2.1, and the top of the vertical propeller is located in the through holes. The axes of the four vertical propellers are perpendicular to the traveling direction of the submarine operation equipment, that is, perpendicular to the plane formed by the axes of the four side propellers 6.1. The vertical propeller mainly controls the descending speed of the equipment in the water. The vertical propeller can control the equipment to descend quickly to the required height, which is more efficient. The combination arrangement of the three thrusters can provide power in six directions to the trenching device, ensuring that the trenching device can move in six directions.

[0048] In some embodiments, the main frame 1 is provided with a cable finding mechanism 7 for detecting the relative position between the submarine cable trenching device and the submarine cable. The cable finding mechanism 7 is arranged at the head of the trenching device. Fig. 9As shown, it includes an exogenous sensor 7.1 and an endogenous sensor 7.2. The endogenous sensor 7.2 is fixed on the main frame 1. The exogenous sensor 7.1 is set on the main frame 1 through a mounting frame 7.3. The end of the mounting frame 7.3 is hinged to the edge of the main frame 1. A retractable hydraulic cylinder 7.4 is provided between the mounting frame 7.3 and the main frame 1. The hydraulic cylinder can drive the mounting frame to rotate 90 degrees around the hinge between the mounting frame and the main frame. When the mounting frame is parallel to the main frame, the exogenous sensor 7.1 faces the seabed. The cable-finding and tracking is carried out by the cable-finding mechanism. The cable-finding and tracking method is a combination of endogenous and exogenous sources. Compared with a single endogenous source or a single exogenous source, the cable-finding and tracking method of the present invention is more efficient and the cable-finding and tracking position is more accurate.

[0049] It can be understood that universal components 1.2 are respectively arranged on both sides of the bottom of the main frame 1, and the skid plate 8 or the track assembly 9 is installed on the bottom of the main frame 1 through the universal components 1.2. The universal component 1.2 is fixed on the sides of the four columns 1.1 of the main frame 1. The universal component 1.2 is a mounting plate, and a plurality of mounting holes 1.3 are arranged on the mounting plate. Different submarine walking devices are connected to the main frame 1 through mounting holes at different positions.

[0050] When the submarine walking device 4 is a skid plate 8, two skid plates 8 are provided, and the two skid plates 8 are symmetrically installed on both sides of the main frame 1, and the two ends of the skid plate 8 are respectively connected to the universal components 1.2 at the corresponding positions through the first connecting member. The first connecting member includes a connecting plate 8.3 and a connecting part 8.4, and the connecting part 8.4 is a tubular structure formed by connecting a plurality of plates, and one side of the connecting plate 8.3 is connected to the universal component 1.2, and the other side is fixedly connected to one end of the connecting part 8.4, and the other end of the connecting part 8.4 is fixedly connected to the skid plate 8. The skid 8 includes a slide 8.1 and a meter wheel 8.2. A meter is arranged inside the meter wheel for measuring the travel speed and travel distance of the operating equipment. Both ends of the slide 8.1 are tilted upward to form a folded edge. The tops of the two ends of the slide 8.1 located inside the folded edge are respectively connected to two first connecting members. The meter wheel 8.2 is located at one end of the slide 8.1 and is spaced a certain distance from the end of the slide. The meter wheel 8.2 is connected to the first connecting member through a connecting rod 8.5, that is, only the head of the submarine cable trenching device is provided with a meter wheel. The present invention designs the skid as a submarine walking device, which can drive the entire trenching device to move forward in front of the seabed by cooperating with an electric propeller, and has the characteristics of simple structure, lightness and ease of operation; the two skids are symmetrically installed on both sides of the main frame to ensure the balance and stability of the equipment when walking on the seabed; at the same time, the design of the skid is also convenient for sliding on different seabed terrains. The design of the first connecting member of the present invention enables the skid to be firmly connected to the universal component, while ensuring the strength and stability of the connection; the connection part adopts a tubular structure, which can improve the torsion resistance of the connecting member and ensure the safety of the equipment during the movement. The design of the skid of the present invention includes a slide plate and a meter wheel, which can further improve the flexibility and stability of the equipment when walking on the seabed; the folded edge design can reduce the resistance of the equipment during the movement, and the meter wheel can provide better support and sliding effect on uneven seabed terrain.

[0051] When the submarine walking device 4 is a crawler assembly 9, the crawler assembly 9 is provided with two, and the two crawler assemblies 9 are symmetrically installed on both sides of the main frame 1. The crawler assembly 9 is provided with a power mechanism (not shown in the figure) capable of driving the crawler forward, and the two ends of the crawler assembly 9 are respectively connected to the universal components at the corresponding positions through the second connecting member. The second connecting member includes a fixed plate 9.1, a fixed bracket 9.2 and a connecting rod 9.3. One side of the fixed plate 9.1 is connected to the universal component 1.2, and the other side is connected to one end of the fixed bracket 9.2. The other end of the fixed bracket 9.2 is connected to the inner side of the crawler assembly 9. One end of the connecting rod 9.3 is connected to the outer side of the crawler assembly 9, and the other end is connected to the fixed bracket 9.2.

[0052] In some embodiments, the adjustment and control of the two jet devices 5, the electric propeller 6, the cable-finding mechanism 7, and the seabed walking device 4 are controlled by a control unit to realize the cable trenching operation. The control unit can be a control system externally mounted on a ship or other equipment, or a control system of the trenching device itself. The specific process is as follows:

[0053] According to the predicted shear force of the seabed sediment, the track assembly 9 or the skid plate 8 is selected for installation, and the installation height is determined.

[0054] The cable trenching device is driven to a set working position by an electric propeller 6 .

[0055] The hydraulic cylinder in the cable-finding mechanism 7 is activated until the mounting frame is in a horizontal state, and two types of sensors perform cable-finding detection to determine the specific position of the outgoing cable.

[0056] The trenching device adjusts the overall position of the trenching device according to the orientation detected by the submarine cable until it is consistent with the shape during the trenching operation.

[0057] The high-pressure jet pump 5.1 starts to start, the extension distance of the ejection arm 5.2 is set according to the required trench width, the distance between the two ejection arms 5.2 is adjusted by the movable trolley 3, and the ejection arm is rotated to the required position by the angle adjustment mechanism 5.7.

[0058] When the submarine traveling device is a skid 8, the electric propeller 6 is started, and the trenching device is driven to move forward along the cable laying track through the cooperation of the electric propeller 6 and the skid 8. When the submarine traveling device is a crawler assembly, the crawler assembly 9 is started, and the trenching device is driven to move forward along the cable laying track. At this time, the electric propeller can be started or not according to actual needs.

[0059] The cable trenching device starts trenching operations.

[0060] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

Claims

1. A multi-mode submarine cable trenching device, characterized in that: The invention comprises a main frame (1), an electric propeller (6) is arranged on the main frame, a seabed walking device (4), a movable trolley (3) and two jet devices (5) are arranged at the bottom of the main frame, the two jet devices (5) are symmetrically arranged at the bottom of the main frame, and the movable trolley (3) is arranged above the two jet devices and is movably connected to the two jet devices (5); The electric propeller (6) is used to drive the submarine electric trenching device to sail in the water, and the submarine walking device (4) is used to drive the submarine cable trenching device to walk on the seabed surface; The movable trolley (3) is used to adjust the distance between the ejection arms of the two ejection devices; The two jet devices (5) are used to shear the seabed soil at corresponding positions on the seabed by jetting high-pressure liquid based on the distance to form a cable trough of corresponding width.

2. The multi-mode submarine cable trenching device according to claim 1, characterized in that: The movable cart (3) comprises a top guide groove (3.1), a side guide groove (3.2), a cantilever support (3.3), two clamping parts (3.4) and two telescopic hydraulic cylinders (3.5), and the two telescopic hydraulic cylinders (3.5) are arranged corresponding to the two clamping parts (3.4) respectively; the top guide groove (3.1) and the side guide groove (3.2) are fixed on the main frame (1) and arranged along the moving direction of the punching arm; The clamping part (3.4) is used to clamp the end of the punching arm, and the punching arm (5.2) can rotate around the clamping point. The top of the clamping part (3.4) cooperates with the top guide groove (3.1) through the top guide wheel (3.6). One end of the cantilever support (3.3) is connected to the inner side of the clamping part (3.4), and the other end of the cantilever support (3.3) cooperates with the side guide groove through the side guide wheel (3.7). One end of the telescopic hydraulic cylinder (3.5) is fixed on the main frame and the other end is connected to the clamping part (3.4). The telescopic hydraulic cylinder (3.5) drives the clamping part (3.4) to move along the arrangement direction of the guide groove to achieve the distance adjustment between the two punching arms.

3. The multi-mode submarine cable trenching device according to claim 2, characterized in that: The clamping part (3.4) comprises a top plate (3.4.1), a bottom plate (3.4.2) and two side plates (3.4.3) arranged opposite to each other. The top plate (3.4.1) and the bottom plate (3.4.2) are arranged in parallel. Both sides of the top plate (3.4.1) are fixedly connected to the upper ends of the two side plates (3.4.3) respectively. Both ends of the bottom plate (3.4.2) are fixedly connected to the bottom ends of the two side plates (3.4.3) respectively. The top guide wheel (3.6) is fixed to the top of the side plate. The bottom surface of the top plate (3.4.1) and the top surface of the bottom plate (3.4.2) are provided with three supporting wheels (3.4.4) arranged in a triangle. The end of the punching arm (5.2) is in contact with and connected to the three supporting wheels (3.4.4).

4. The multi-mode submarine cable trenching device according to claim 1, characterized in that: The jet device (5) comprises a high-pressure jet pump (5.1), a jet arm (5.2) and an angle adjustment mechanism (5.7); the high-pressure jet pump (5.1) is connected to the inside of the jet arm (5.2) through a liquid pipeline (5.3); the jet arm (5.2) is provided with a plurality of nozzles (5.4); the angle adjustment mechanism (5.7) is used to adjust the angle of the jet arm (5.2); one end of the angle adjustment mechanism (5.7) is connected to the movable trolley (3) and the other end is connected to the fixed seat of the jet arm (5.2); The high-pressure jet pump (5.1) is used to compress seawater into high-pressure liquid. The high-pressure liquid flows into the interior of the jet arm (5.2) through the liquid pipeline (5.3) and is ejected from the nozzle (5.4) to shear the seabed surface to form the cable trough.

5. The multi-mode submarine cable trenching device according to claim 4, characterized in that: The liquid pipeline (5.3) comprises a fixed section (5.3.1), a transition section (5.3.2), a guide section (5.3.3) and a telescopic section (5.3.4) which are connected in sequence to form a right angle. One end of the fixed section (5.3.1) is connected to the output port of the high-pressure jet pump (5.1) and the other end is connected to the inside of the transition section (5.3.2). One end of the guide section (5.3.3) is connected to the transition section (5.3.2) and the other end is coaxially sleeved on the surface of the telescopic section (5.3.4). The telescopic section (5.3.4) One end of the telescopic section (5.3.4) passes through the guide section (5.3.3) and extends to the interior of the transition section (5.3.2), and the other end is connected to the interior of the ejection arm. The end of the telescopic section (5.3.4) extending to the interior of the transition section (5.3.2) forms an extension section (5.3.5). A plurality of diversion holes (5.3.6) are formed on the extension section. The transition section (5.3.2) is a column structure integrated on the main frame (1) and having a hollow interior. The cross-sectional area of ​​the column structure is greater than the cross-sectional areas of the fixed section and the telescopic section.

6. The multi-mode submarine cable trenching device according to claim 4, characterized in that: The ejection arm (5.2) comprises a fixed seat (5.5), a plurality of fixed nozzles (5.6) of different lengths, the plurality of fixed nozzles (5.6) being arranged in order from short to long, the plurality of fixed nozzles (5.6) being located in the same vertical plane and being arranged obliquely, with the shortest fixed nozzle being located at the bottom, one end of the fixed seat (5.5) being connected to the movable trolley (3) and the other end being connected to the fixed nozzle, a channel connecting a liquid pipeline and the fixed nozzle (5.6) being provided in the fixed seat (5.5), the plurality of nozzles (5.4) being arranged at the bottom of the plurality of fixed nozzles (5.6), the plurality of nozzles (5.4) being divided into a first nozzle and a second nozzle according to different arrangement directions of the nozzle axes, and the first nozzle and the second nozzle being arranged alternately.

7. The submarine electric trenching device with adjustable trenching width according to claim 6 is characterized in that: The fixed seat (5.5) comprises a fixed plate (5.5.2) and a hinged section (5.5.1) which is triangular and hollow inside. One end of the hinged section (5.5.1) is hingedly connected to the movable trolley (3). The ends of the fixed nozzle (5.6) and the fixed plate (5.5.2) are both connected to the other end of the hinged section (5.5.1). The side of the fixed nozzle (5.6) is connected to the side of the fixed plate (5.5.2).

8. The multi-mode submarine cable trenching device according to claim 1, characterized in that: The seabed walking device is a skid plate (8) or a crawler track assembly (9), and universal components (1.2) are respectively arranged on both sides of the bottom of the main frame (1), and the skid plate (8) or the crawler track assembly (9) is installed on the bottom of the main frame (1) through the universal components (1.2).

9. The multi-mode submarine cable trenching device according to claim 1, characterized in that: The electric propeller (6) comprises side propellers arranged on four columns of the main frame and a tail propeller arranged at the tail of the submarine cable trenching device. The axes of the four side propellers form a certain angle with the travel direction of the submarine cable trenching device, and the axis of the tail propeller is parallel to the travel direction of the submarine cable trenching device.

10. The multi-mode submarine cable trenching device according to claim 1, characterized in that: The main frame (1) is provided with a cable-finding mechanism (7) for detecting the relative position between the submarine cable trenching device and the submarine cable. The cable-finding mechanism (7) comprises an exogenous sensor (7.1) and an endogenous sensor (7.2). The endogenous sensor (7.2) is fixed on the main frame (1). The exogenous sensor (7.3) is arranged on the main frame (1) via a mounting frame (7.3). The end of the mounting frame (7.3) is hinged to the edge of the main frame. The mounting frame (7.3) can rotate 90 degrees around the hinge between the mounting frame and the main frame (1). When the mounting frame (7.3) is parallel to the horizontal plane, the exogenous sensor (7.1) is parallel to the sea level.

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