Submarine operation equipment with variable operation types

Abstract

The invention discloses seabed operation equipment with variable operation types, which comprises a main body frame and a sailing propulsion module mounted on the main body frame, and is characterized in that a cable laying device or an underwater fishing device is mounted at the bottom of the main body frame; the sailing propulsion module is used for driving the seabed operation equipment to sail underwater; the cable laying device is used for laying submarine cables; and the underwater salvage device is used for carrying out seabed salvage operation. The cable laying function is achieved when the sailing propelling module and the cable laying device are combined, the seabed fishing function is achieved when the sailing propelling module and the underwater fishing device are combined, and the submarine cable laying operation and the seabed fishing operation can be switched by replacing the bottom device, so that different operation requirements are met; and the operation cost when different operation types are carried out is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of marine underwater operation engineering, and in particular relates to a seabed operation device with variable operation types. Background Art

[0002] At present, traditional submarine operation equipment is a single operation equipment with a fixed operation mode, and can only perform specific types of operations. When performing different modes of submarine operations, multiple different equipment are required to complete different types of operations. Traditional submarine operation equipment not only increases operation costs, but also reduces operation 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 seabed operation equipment with variable operation types so as to improve operation efficiency and reduce operation costs.

[0004] The technical solution adopted by the present invention is: a subsea operation equipment with variable operation type,

[0005] It comprises a main frame and a navigation propulsion module installed on the main frame, and a cable laying device or an underwater salvaging device is installed at the bottom of the main frame;

[0006] The navigation propulsion module is used to drive the seabed operation equipment to navigate underwater;

[0007] The cable laying device is used for performing submarine cable laying operations;

[0008] The underwater salvaging device is used for performing seabed salvage operations.

[0009] Furthermore, the main frame includes a top frame and a bottom frame in the shape of a U-shaped character, the middle parts of the top frame and the bottom frame are connected by a first column, the short sides of the top frame and the bottom frame extend outward respectively, and the extended ends are connected by a second column, and the cable laying device or underwater salvage device is installed at the bottom of the bottom frame and corresponds to the position of the second column.

[0010] Furthermore, the navigation propulsion module includes four side thrusters and four vertical thrusters. The four side thrusters are arranged on both sides of the main frame and below the vertical thrusters. The axes of the four side thrusters form a certain angle with the travel direction of the seabed operating equipment; the four vertical thrusters are arranged at the top of the four corners of the main frame, and the axes of the four vertical thrusters are perpendicular to the travel direction of the seabed operating equipment.

[0011] Furthermore, the cable laying device includes a first bracket and a submarine walking device, a cable pressing device, a movable trolley and two punching devices installed on the first bracket, the first bracket is fixed to the bottom of the main frame, the two punching devices are symmetrically arranged at the bottom of the first bracket, the movable trolley is arranged above the two punching devices and is movably connected to the two punching devices, and the cable pressing device is arranged corresponding to the two punching devices;

[0012] The seabed walking device is used to drive the seabed operating equipment to walk on the seabed surface;

[0013] 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 the corresponding position of the submarine cable by spraying high-pressure liquid based on the distance to form a cable trough of corresponding width, and the cable pressing device is used to press the cable into the cable trough.

[0014] Furthermore, the movable cart comprises a top guide groove, a side guide groove, a cantilever support, 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 first bracket and arranged along the moving direction of the punching arm;

[0015] 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 first bracket 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.

[0016] 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 fixed on the first bracket, 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, 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;

[0017] 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 soil to form the cable trough.

[0018] 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 first bracket 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.

[0019] 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 first bracket, and the skid plate or the crawler track assembly is installed on the bottom of the first bracket through the universal components.

[0020] Furthermore, the first bracket is provided with a cable-finding mechanism for detecting the relative position of the submarine operating equipment and the submarine cable, the cable-finding mechanism includes an exogenous sensor and an endogenous sensor, the endogenous sensor is fixed on the first bracket, and the exogenous sensor is arranged on the first bracket through a mounting frame, the end of the mounting frame is hinged to the edge of the first bracket, the mounting frame can rotate around 90 degrees at the hinge with the first bracket, and when the mounting frame is parallel to the horizontal plane, the exogenous sensor is parallel to the sea level.

[0021] Furthermore, the underwater salvage device comprises a second bracket, a clamp and two mechanical arms, the second bracket is fixed to the bottom of the main frame, the clamp is arranged at the bottom of the second bracket, the two mechanical arms are arranged at intervals at the end of the second bracket, the clamp (11) is used for clamping and salvaging large-diameter equipment of large pipelines, and the mechanical arm (12) is used for plugging and unplugging underwater connectors of the seabed observation network and installing equipment.

[0022] The beneficial effects of the present invention are:

[0023] The submarine operation equipment of the present invention adopts a modular design. The navigation propulsion module, cable laying device or salvage device are all installed on the main frame and can be independently installed and replaced, thereby improving the flexibility and versatility of the equipment. By replacing the bottom device, the equipment can switch between submarine cable laying and submarine salvage operations to meet different operation requirements and greatly reduce the operation costs when performing different types of operations.

[0024] The top frame and bottom frame of the invention are connected by columns to form a stable support structure, thereby improving the stability and bearing capacity of the equipment; through the extended end and the second column, the cable laying device or underwater salvage device can be easily installed and maintained, and the versatility is strong.

[0025] The navigation propulsion module of the present invention includes a side propeller and a vertical propeller, which can realize all-round driving of the submarine walking equipment. The axis of the side propeller forms a certain angle with the direction of travel, which can provide better steering and propulsion effects; the vertical propeller can control the equipment to quickly descend to the required height; at the same time, the propellers are symmetrically installed on the frame, which can reduce the shaking of the equipment due to unbalanced force caused by vibration during the operation process, and enhance the safety during the operation and walking process. The tail propeller is set on the cable laying device, which can provide additional thrust when the equipment moves forward. This design makes the equipment more flexible and efficient when walking on the seabed.

[0026] The present invention realizes the automatic laying of submarine cables and reduces the labor cost through the cooperation of the submarine walking device, the movable trolley, the ejection device and the cable pressing device; the movable trolley can adjust the distance between the ejection arms to meet the laying requirements of cable troughs of different widths, and has wider versatility. The two ejection devices are symmetrically arranged on the first bracket, which can ensure the symmetry of the center of the entire equipment, reduce the shaking of the equipment due to unbalanced force caused by vibration during the operation, and enhance the safety during the operation and walking process.

[0027] The invention realizes accurate adjustment of the distance between the punching arms and improves the forming accuracy of the cable trough through the cooperation of the telescopic hydraulic cylinder and the guide groove; the clamping part cooperates with the guide groove through the top guide wheel and the side guide wheel to ensure the stability of the punching arm during movement.

[0028] The high-pressure jet pump of the present invention compresses seawater into high-pressure liquid through a liquid pipeline, and sprays it out from a nozzle to shear the seabed soil to form a cable trough with high efficiency; the angle adjustment mechanism can flexibly adjust the angle of the jet arm to adapt to different terrains and operation requirements.

[0029] The present invention ensures the stable circulation of high-pressure liquid in the liquid pipeline through the coordination of the fixed section, the transition section, the guide section and the telescopic section. The transition section is a column structure integrated on the first bracket and having a hollow interior, which can adapt to the requirements of different pressures and flows. The first bracket plays a supporting and medium circulation role at the same time, making the entire frame structure simpler, reducing the liquid pipeline system, and reducing the overall frame weight.

[0030] 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 ensuring the trenching depth and improving the trenching efficiency.

[0031] The cable-finding mechanism of the present invention can accurately detect the relative position of the submarine operating equipment and the submarine cable through the cooperation of the endogenous sensor and the exogenous sensor. The accurate cable-finding function can avoid damage to the submarine cable during the operation and improve the operation safety.

[0032] The cooperation between the clamp and the mechanical arm of the present invention enables the equipment to perform salvage and installation operations of submarine equipment, meeting various needs of submarine operations; the second bracket is connected to the main frame through the third column to form a stable support structure, thereby improving the stability and carrying capacity of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of a viewing angle of the upper structure of the seabed operating equipment of the present invention.

[0034] Figure 2 This is a schematic diagram of the upper structure of the seabed operating equipment of the present invention from another viewing angle.

[0035] Figure 3 It is a schematic diagram of the cable laying device of the submarine operation equipment of the present invention.

[0036] Figure 4 It is a schematic diagram of the underwater salvaging device of the seabed operation equipment of the present invention.

[0037] Figure 5 This is a structural schematic diagram of Example 1 of the present invention (the walking device is a skid board).

[0038] Figure 6 This is another structural schematic diagram of Example 1 of the present invention (the walking device is a crawler track).

[0039] Figure 7 It is a partial schematic diagram of the movable cart according to embodiment 1 of the present invention.

[0040] Figure 8 This is a schematic diagram of a cable pressing head of a cable device according to Embodiment 1 of the present invention.

[0041] Fig. 9 This is a partial schematic diagram of the arrangement of the ejection arm according to Example 1 of the present invention.

[0042] Fig.10 Schematic diagram of nozzle arrangement in Example 1 of the present invention

[0043] Fig.11 This is a partial schematic diagram of the liquid pipeline of Example 1 of the present invention.

[0044] Fig.12 This is another partial schematic diagram of the liquid pipeline in Example 1 of the present invention.

[0045] Fig.13This is a schematic diagram of the layout of the electric propeller of Example 1 of the present invention.

[0046] Fig.14 Schematic diagram of the cable-finding mechanism of embodiment 1 of the present invention.

[0047] Fig.15 It is a structural schematic diagram of embodiment 2 of the present invention.

[0048] In the figure, 1-main frame; 1.1-top frame; 1.2-bottom frame; 1.3-first column; 1.4-second column; 1.5-guide hole; 2-buoyancy material; 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-cable pressing device; 4.1-pressing Cable arm; 4.2-rotating hydraulic cylinder; 4.3-cable pressing head; 4.3.1-fixed support; 4.3.2-cable pressing plate; 4.3.3-sensor; 4.3.4-sliding wheel; 4.3.5-support rod; 4.3.6-limiting part; 5-injection device; 5-injection device; 5.1-high pressure injection pump; 5.2-injection 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-diversion hole; 5 .4-nozzle; 5.4.1-first nozzle; 5.4.2-second nozzle; 5.5-fixed seat; 5.5.1-hinged section; 5.5.2-fixed plate; 5.6-fixed nozzle; 5.7-angle adjustment mechanism; 6-navigation propulsion module; 6.1-side thruster; 6.2-tail thruster; 6.3-vertical thruster; 7-cable finding mechanism; 7.1-external sensor; 7.2-internal sensor; 7.3-mounting frame; 7.4-hydraulic cylinder; 8-sled board; 8.1-slide board; 8.2-meter wheel; 8.3-connection 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; 10-first bracket; 10.1-square frame; 10.2-transition column; 10.3-support column; 10.4-longitudinal beam; 10.5-universal component; 10.6-mounting hole; 11-second bracket; 11.1-support frame; 11.2-support connecting rod; 11.3-third column; 12-gripper; 12.1-adjusting hydraulic cylinder; 13-mechanical arm; 14-guide column. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] like Figure 1-4As shown in the figure, the present invention provides a subsea operation device with variable operation types, including a main body frame 1 and a navigation propulsion module 6 installed on the main body frame 1. A cable laying device or an underwater salvage device is installed at the bottom of the main body frame 1. The navigation propulsion module 6 is used to drive the subsea operation device to navigate underwater, that is, to adjust the position of the operation device. The cable laying device is used for subsea cable laying operations, and the underwater salvage device is used for subsea salvage operations. The specific structures of the cable laying device and the underwater salvage device will be specifically described in the following embodiments.

[0054] The subsea operation device of the present invention adopts a modular design. The navigation propulsion module 6, the cable laying device or the salvage device are all installed on the main body frame 1, and can be independently installed and replaced, improving the flexibility and versatility of the device. By cooperating the main body frame 1 with the bottom device, different bottom devices can be replaced, and the device can switch between subsea cable laying and subsea salvage operations to meet different operation requirements, greatly reducing the operation cost when performing different operation types.

[0055] In some embodiments, the main body frame 1 includes a top layer frame 1.1 and a bottom layer frame 1.2 in the shape of a square Chinese character "mu". The middle parts of the top layer frame 1.1 and the bottom layer frame 1.2 are connected by a first upright column 1.3. The two ends of the short sides of the top layer frame 1.1 and the bottom layer frame 1.2 extend outward respectively, and the extended ends are connected by a second upright column 1.4. The cable laying device or the underwater salvage device is installed at the bottom of the bottom layer frame 1.2 and corresponds to the position of the second upright column 1.4, that is, the four corners of the bottom surface of the bottom layer frame 1.2 corresponding to the second upright column 1.4 are universal connection points for connecting the cable laying device or the underwater salvage device. Bolt holes (not shown in the figure) are provided at the connection points, and guide holes 1.5 are provided at the centers of the two diagonal connection points. To strengthen the structural strength, strengthening connecting rods can also be provided between the short sides of the "mu" - shaped frame.

[0056] In some embodiments, the navigation propulsion module 6 adopts an electric thruster, which mainly includes side thrusters 6.1 arranged on both sides of the main body frame 1 (near the second upright column respectively) and vertical thrusters 6.3 arranged at the top corners of the main body frame. The electric thruster adopts a screw fan structure. The axes of the four side thrusters 6.1 form a 45° angle with the traveling direction of the subsea operation device. The four side thrusters 6.1 are symmetrically arranged on the main body frame, which can provide better steering and propulsion effects. The axes of the four vertical thrusters 6.3 are perpendicular to the traveling direction of the subsea operation device, that is, perpendicular to the plane formed by the axes of the four side thrusters 6.1. The vertical thrusters 6.3 mainly control the descending speed of the device in water. Through the vertical thrusters 6.3, the device can be quickly lowered to the required height with higher efficiency.

[0057] In some embodiments, a buoyancy material 2 can also be arranged on the top of the main frame 1, which can better control the stability of the equipment in the water with the navigation propulsion module 6. After the buoyancy material 2 is arranged, through holes are respectively provided at the four corners of the buoyancy material 2, and the top of the vertical thruster 6.3 is located in the through holes. A series of auxiliary equipment such as communication equipment, electrical connection equipment, sensor equipment, navigation equipment, control equipment, etc. that facilitate seabed operations can also be installed on the main frame 1. These equipment can be installed or not installed according to actual needs.

[0058] Example 1

[0059] like Figure 1-3 , Figure 5 , Figure 6 As shown, the present invention provides a submarine operation equipment with variable operation type, which is mainly used for submarine cable laying operations, including a main frame 1, a buoyancy material 2, a navigation propulsion module 6 and a cable laying device, wherein the buoyancy material 2 is installed on the top of the main frame 1, the navigation propulsion module 6 is installed on the main frame 1 and is located below the buoyancy material 2, and the cable laying device is installed at the bottom of the main frame 1.

[0060] The cable laying device includes a first bracket 10, a submarine walking device, a cable pressing device 4, a movable trolley 3 and two punching devices 5. The first bracket 10 is fixed to the bottom of the main frame 1, and the two punching devices 5 are symmetrically arranged at the bottom of the first bracket 10. The movable trolley 3 is arranged above the two punching devices 5 and is movably connected to the two punching devices 5; the submarine walking device is used to drive the submarine operation equipment to walk on the seabed surface, and the submarine walking device is a skid plate 8 or a crawler assembly 9;

[0061] 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 the corresponding position of the submarine cable by spraying high-pressure liquid based on the distance to form a cable trough of corresponding width, and the cable pressing device 4 is used to press the cable into the cable trough.

[0062] The cable pressing device 4 is arranged corresponding to the two punching devices 5, that is, in the traveling direction of the submarine operating equipment, the cable pressing arm 4.1 of the cable pressing device 4 and the two punching arms 5.2 of the two punching devices 5 are arranged vertically, and the cable pressing arm 4.1 is located in the middle of the two punching arms 5.2; in the traveling direction perpendicular to the submarine operating equipment, the cable pressing arm 4.1 and the punching arm are arranged obliquely, and the first angle between the axis of the cable pressing arm 4.1 and the horizontal line and the second angle between the axis of the two punching arms 5.2 and the horizontal line meet certain conditions, and preferably the difference between the first angle and the second angle is 8 degrees, so as to ensure the effect of the cable pressing device to press the cable into the cable trough.

[0063] In some embodiments, the first bracket 10 includes a square frame 10.1 at the top, and the square frame 10.1 is formed by connecting corresponding steel structures or other material structures. The four corners of the top of the square frame are connected to the main frame 1 through four transition columns 10.2, and bolt holes are set on the transition columns (not shown in the figure). Guide columns 14 are set on the top of two transition columns 10.2 at a corner. When the cable laying device is installed on the main bracket, the first bracket 10 is guided and installed with the main frame 1 through the cooperation of the guide columns 14 and the guide holes 1.5 on the two corners of the bottom frame of the main frame 1. Then, the first bracket is connected to the main frame by tightening bolts to realize the connection between the cable laying device and the upper structure of the operating equipment. The two sides of the bottom of the square frame 10.1 are connected with longitudinal beams 10.4 through support columns 10.3. The support columns 10.3 can be solid structures, hollow structures, or I-shaped structures in cross section. The specific design is based on actual needs. The movable trolley 3 and the cable pressing device 4 are installed on the square frame 10.1, the punching device 5 is installed on the longitudinal beam 10.4 and the supporting column 10.3, and the seabed walking device is fixedly connected to the supporting column 10.3.

[0064] In some embodiments, Figure 7 As 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 on the first bracket 10 and arranged along the moving direction of the punching arm. The top guide groove 3.1 and the side guide groove 3.2 serve as a guide structure and also as a part of the first bracket 10, which can increase the structural strength of the first bracket 10; the clamping part 3.4 is used to clamp At the end of the punching arm 5.2, 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 3.2 through the side guide wheel 3.7, one end of the telescopic hydraulic cylinder 3.5 is fixed on the support column of the first bracket, and the other end is connected to the clamping part 3.4, and the clamping part 3.4 is driven by the telescopic hydraulic cylinder 3.5 to move along the guide groove arrangement direction to achieve the distance adjustment 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 force and longitudinal force.

[0065] 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.

[0066] In some embodiments, the cable pressing device 4 includes a cable pressing arm 4.1, a cable pressing head 4.3 and a rotary hydraulic cylinder 4.2 for adjusting the angle of the cable pressing arm. One end of the cable pressing arm 4.1 is hinged to the bottom of the first bracket 10 (on the square frame) and the other end is fixedly connected to the cable pressing head 4.3. One end of the rotary hydraulic cylinder 4.2 is fixed to the first bracket 10 and the other end is fixedly connected to the cable pressing arm 4.1. Figure 8 As shown, the cable pressing head 4.3 includes a fixed support 4.3.1 and two arc-shaped cable pressing plates 4.3.2, the top of the fixed support 4.3.1 is connected to the other end of the cable pressing arm 4.1, the two cable pressing plates 4.3.2 are arranged in parallel and spaced apart at the bottom of the fixed support 4.3.1, the two cable pressing plates 4.3.2 are arranged vertically, and the two cable pressing plates 4.3.2 are connected by a pin and a support rod 4.3.5, the pin is provided with a sliding wheel 4.3.4, the sliding wheel 4.3.4 can reduce the friction between it and the cable, the bottom side of the cable pressing plate 4.3.2 is provided with a limiting portion 4.3.6 inclined outward to limit the deviation of the cable, the limiting portion 4.3.6 is composed of a plurality of rod-shaped components at intervals, and a sensor 4.3.3 for detecting the cable is provided on the outer side of the cable pressing plate 4.3.2, and the sensor is used to detect whether the cable pressing head accurately presses the cable.

[0067] In some embodiments, Figure 9-12As 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 fixed on the longitudinal beam 10.4 of the first bracket 10. 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 shear the seabed soil to form the cable trough.

[0068] 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 passes through the guide section 5.3.3. The telescopic section 5.3.4 extends to the end of the transition section 5.3.2, and the other end is connected to the inside of the ejection arm 5.2. The telescopic section 5.3.4 extends to the end of the transition section to form an extension section 5.3.5. The extension section 5.3.5 is provided with a plurality of diversion holes 5.3.6. The transition section 5.3.2 is a support column 10.3 structure integrated on the first bracket 10 and hollow inside. The cross-sectional area of ​​the support column structure is larger than the cross-sectional area of ​​the fixed section 5.3.1 and the telescopic section 5.3.4. The support column 10.3 of the first bracket 10 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 support column 10.3 is larger than the cross-sectional area of ​​the outlet pipe, which can ensure that the liquid has sufficient flow.

[0069] 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.

[0070] In some embodiments, in order to make the submarine operating equipment more flexible and efficient when walking on the seabed, an auxiliary thruster can be further arranged on the first bracket 10 to provide additional thrust. Specifically, the auxiliary thruster can be a tail thruster 6.2 arranged on two supporting columns 10.3 of the first bracket 10. The axis of the tail dynamic thruster 6.2 is parallel to the travel direction of the submarine operating equipment. The tail dynamic thruster 6.2 cooperates with the side thruster 6.1 and the vertical thruster 6.3 to provide power in all directions to the operating equipment, so as to ensure that the operating equipment can walk in all directions, making the equipment more flexible and efficient when walking on the seabed. The arrangement of the tail dynamic thruster 6.2 and the side thruster 6.1 is as shown in FIG. Fig.13 shown.

[0071] In some embodiments, the first bracket 10 is further provided with a cable finding mechanism 7, which is used to detect the relative position between the submarine operating equipment and the submarine cable. The cable finding mechanism 7 is arranged at the head of the submarine operating equipment, and its structure is as follows: Fig.14As shown, it includes an exogenous sensor 7.1 and an endogenous sensor 7.2. The endogenous sensor 7.2 is fixed on the first bracket 10. The exogenous sensor 7.1 is arranged on the first bracket 10 through a mounting frame 7.3. The end of the mounting frame 7.3 is hinged to the edge of the first bracket 10. A retractable hydraulic cylinder 7.4 is arranged between the mounting frame 7.3 and the first bracket 10. The hydraulic cylinder can drive the mounting frame to rotate around the hinge 90 degrees between the mounting frame and the first bracket. When the mounting frame is parallel to the first bracket 10, 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 of the present invention is more efficient and the cable finding and tracking position is more accurate.

[0072] It can be understood that the outer side of the support column of the first bracket 10 is provided with a universal component 10.5, and the skid plate 8 or the crawler assembly 9 is installed at the bottom of the first bracket 10 through the universal component 10.5. The universal component 10.5 is fixed on the side of the four support columns 10.3 of the first bracket 10. The universal component 10.5 is a mounting plate, and a plurality of mounting holes 10.6 are provided on the mounting plate. Different seabed walking devices are connected to the first bracket 10 through mounting holes at different positions. The present invention realizes the variability of the seabed walking device by designing the first bracket 10 and the seabed walking device, and providing a universal component 10.5 that can be connected to different seabed walking devices. This design enables the equipment to adapt to different seabed terrains and operation requirements, and improves the versatility and flexibility of the equipment. The universal component of the present invention adopts a mounting plate and is provided with a plurality of mounting holes, and different seabed walking devices can be conveniently connected through mounting holes at different positions. This design simplifies the installation and replacement process, improves work efficiency, and also reduces maintenance costs. The present invention fixes the universal component on the side of the four support columns of the first bracket, which can ensure that the seabed walking device is stably installed on the first bracket while maintaining the overall structural strength of the equipment. This design helps improve the stability and durability of the device.

[0073] When the submarine walking device is a skid 8, two skids 8 are provided, and the two skids 8 are symmetrically installed on both sides of the first bracket 10, and the two ends of the skid 8 are respectively connected to the universal components 10.5 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, one side of the connecting plate 8.3 is connected to the universal component 10.5, 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 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 seabed operating equipment is provided with a meter wheel. The present invention designs the skid as a seabed walking device, which can drive the entire equipment to move forward in front of the seabed by cooperating with the navigation propeller, and has the characteristics of simple structure, lightness and ease of operation; the two skids are symmetrically installed on both sides of the first bracket 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 walking process. 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 walking process.

[0074] When the submarine walking device 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 first bracket 10. The crawler assembly 9 is provided with a power mechanism (not shown in the figure) that can drive 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 10.5, 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, and 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. The crawler assembly designed by the present invention as a submarine walking device has better obstacle crossing ability and adaptability; the two crawler assemblies are symmetrically installed on both sides of the first bracket, which can ensure the passability and stability of the equipment on complex submarine terrain; the design of the crawler assembly also improves the traction and climbing ability of the equipment. The design of the second connecting member of the present invention enables the track assembly to be firmly connected to the universal component, while ensuring the strength and stability of the connection; the combined design of the fixed plate, the fixed bracket and the connecting rod can ensure the stability and safety of the track during walking.

[0075] In some embodiments, the adjustment and control of the various components of the cable laying device (cable pressing device 4, two punching devices 5, cable finding mechanism 7, and seabed walking device) are controlled by a control unit to realize the cable laying operation. The control unit can be a control system externally mounted on a ship or other equipment, or it can be a control system of the equipment itself (installed on the main frame). The specific operation process of laying the submarine cable is as follows:

[0076] 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.

[0077] The seabed operation equipment travels to the set operation position through the navigation propulsion module 6 .

[0078] The hydraulic cylinder in the cable-finding mechanism 7 operates 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.

[0079] The submarine operating equipment adjusts the overall forward direction of the equipment according to the direction detected by the submarine cable and navigates to the top of the submarine cable route.

[0080] 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, the ejection arm is rotated to the required position by the angle adjustment mechanism 5.7, and the cable pressing arm 4.1 is rotated to the required position.

[0081] When the submarine traveling device is a skid 8, the navigation propeller 6 is started (it can be any one or more of the side propeller, vertical propeller, and tail propeller), and the navigation propeller 6 and the skid 8 cooperate to drive the device to move forward along the cable laying track. When the submarine traveling device is a crawler assembly, the crawler assembly 9 is started to drive the device to move forward along the cable laying track, and the navigation propeller 6 can be started or not according to actual needs.

[0082] The submarine operation equipment began trench digging, cable laying and installation operations.

[0083] Example 2

[0084] like Figure 1-2 , Figure 4 , Fig.15 As shown, the present invention provides a seabed operation equipment with variable operation type, which is mainly used for seabed salvage operations, including a main frame 1, a buoyancy material 2, a navigation propulsion module 6 and an underwater salvage device, wherein the buoyancy material 2 is installed on the top of the main frame 1, the navigation propulsion module 6 is installed on the main frame 1 and is located below the buoyancy material, and the underwater salvage device is installed at the bottom of the main frame.

[0085] In some embodiments, the underwater salvage device includes a second bracket 11, a clamp 12 and two mechanical arms 13. The second bracket 11 is fixed to the bottom of the main frame 1. The clamp 12 is arranged at the bottom of the second bracket 11. The two mechanical arms 13 are arranged at intervals at the ends of the second bracket 11. The clamp 12 is used to clamp and salvage large-diameter equipment of large pipelines. The opening and closing of the clamp 12 is realized by the adjustable hydraulic cylinder 12.1. The mechanical arm 13 is used to plug and unplug underwater connectors of the seabed observation network and install equipment. Several sensors can be provided on the mechanical arm 13. The clamp 12 and the mechanical arm 13 are both conventional structures. The present invention enables the equipment to perform seabed salvage operations through the cooperation of the clamp and the mechanical arm, meeting various requirements of seabed operations.

[0086] In some embodiments, the second bracket 11 includes a support frame 11.1 in a rectangular shape with a hole in the middle. Support link rods 11.2 are arranged between the short-side cross beams of the support frame 11.1. The two ends of the short-side cross beams on the outer side of the support frame 11.1 extend outward, and third columns 11.3 are arranged at the tops of the extended parts. The third columns 11.3 are connected to the bottom of the main frame 1. Specifically, guide columns 14 are arranged at the tops of two third columns 11.3 in diagonal positions. The second bracket 11 is installed on the main frame 1 by matching the guide columns 14 with the guide holes 1.5 on the main frame 1. After the two are installed in contact, they are tightly connected by fastening bolts to realize the connection between the underwater salvage device and the upper structure of the operating equipment. The clamping jaws 12 are fixed to the bottoms of the support link rods 11.2 between the middle short-side cross beams of the support frame 11.1. The cooperation of the rectangular support frame and the support link rods forms a stable support structure, improving the stability and load-bearing capacity of the clamping jaws and the robotic arm; by connecting the third columns to the main frame, the underwater salvage device can be conveniently installed and maintained.

[0087] In some embodiments, equipment for assisting the salvage operation, including an electronic cabin, a hydraulic station, etc., can also be arranged on the second bracket.

[0088] In some embodiments, the adjustment and control of each component (the clamping jaws 12 and the robotic arm 13) of the underwater salvage device are controlled by a control unit to realize the exploration operation. The control unit can be a control system externally arranged on equipment such as a ship, or the control system of the equipment itself (installed on the main frame). The specific process of its salvage operation is as follows:

[0089] The seabed operating equipment travels to the set operating position through the navigation propulsion module 6.

[0090] The position of the target is detected through the underwater camera or sonar carried by the equipment, or the position of the target can also be directly obtained by connecting to the corresponding equipment on the ship;

[0091] The navigation thruster is started, and the equipment is driven by the navigation thruster to travel to the position of the target.

[0092] The target is clamped and salvaged by adjusting the opening and closing angle of the clamping jaws 12; the installation operation of the corresponding equipment is realized by adjusting the robotic arm 13.

[0093] The above are only the 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 those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. The content not described in detail in this specification belongs to the prior art well known to those skilled in the art.

Claims

1. A subsea operation equipment with variable operation type, characterized in that: It includes a main body frame (1) and a navigation propulsion module (6) installed on the main body frame (1). A cable laying device or an underwater salvage device is installed at the bottom of the main body frame (1). The navigation propulsion module (6) is used to drive the subsea operation equipment to navigate underwater. The cable laying device is used to carry out subsea cable laying operations. The underwater salvage device is used to carry out subsea salvage operations.

2. The subsea operation equipment with variable operation type according to claim 1, characterized in that: The main body frame (1) includes a top layer frame (1.1) and a bottom layer frame (1.2) in the shape of a Chinese character 'Mu'. The middle parts of the top layer frame (1.1) and the bottom layer frame (1.2) are connected by a first upright post (1.3). The two ends of the short sides of the top layer frame (1.1) and the bottom layer frame (1.2) extend outward respectively, and the extended ends are connected by a second upright post (1.4). The cable laying device or the underwater salvage device is installed at the bottom of the bottom layer frame (1.2) and corresponds to the position of the second upright post (1.4).

3. The subsea operation equipment with variable operation type according to claim 1, characterized in that: The navigation propulsion module (6) includes four side thrusters (6.1) and four vertical thrusters (6.3). The four side thrusters (6.1) are arranged on both sides of the main body frame (1) and are located below the vertical thrusters (6.3). The axes of the four side thrusters (6.1) form a certain angle with the traveling direction of the subsea operation equipment. The four vertical thrusters (6.3) are arranged at the top corners of the main body frame. The axes of the four vertical thrusters (6.3) are perpendicular to the traveling direction of the subsea operation equipment.

4. The subsea operation equipment with variable operation type according to claim 1, characterized in that: The cable laying device includes a first bracket (10) and a subsea walking device, a cable pressing device (4), a movable trolley (3) and two jetting devices (5) installed on the first bracket (10). The first bracket (10) is fixed to the bottom of the main body frame. The two jetting devices are symmetrically arranged at the bottom of the first bracket (10). The movable trolley (3) is arranged above the two jetting devices (5) and is movably connected to the two jetting devices (5). The cable pressing device (4) is arranged corresponding to the two jetting devices (5). The subsea walking device is used to drive the subsea operation equipment to walk on the seabed surface. The movable trolley (3) is used to adjust the distance between the jetting arms of the two jetting devices (5). The two jetting devices (5) are used to shear the seabed soil in a manner of jetting high-pressure liquid at the corresponding positions of the subsea cable to form a cable groove with a corresponding width based on the distance. The cable pressing device (4) is used to press the cable into the cable groove.

5. The subsea operation equipment with variable operation type according to claim 4, characterized in that: The movable trolley (3) includes a top guiding groove (3.1), a side guiding groove (3.2), a cantilever support (3.3), two clamping parts (3.4) and two telescopic hydraulic cylinders (3.5). The two telescopic hydraulic cylinders (3.5) are respectively arranged corresponding to the two clamping parts (3.4). The top guiding groove (3.1) and the side guiding groove (3.2) are fixed on the first bracket and are arranged along the moving direction of the jetting arm. The clamping part (3.4) 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 (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 first bracket (10) 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.

6. The subsea operation equipment with variable operation type according to claim 4, 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 fixed on a first bracket; 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 a movable cart, and the other end is connected to a 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 a liquid pipeline and is ejected from the nozzle (5.4) to shear the seabed soil to form the cable trough.

7. The subsea operation equipment with variable operation type according to claim 6, 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 outlet of the high-pressure jet pump 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). 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, and a plurality of diversion holes are formed on the extension section. The transition section (5.3.2) is a support column integrated on the first bracket (10) and having a hollow interior. The cross-sectional area of ​​the support column is greater than the cross-sectional areas of the fixed section and the telescopic section.

8. The subsea operation equipment with variable operation type according to claim 4, characterized in that: The seabed walking device is a skid plate (8) or a crawler track assembly (9), and universal components (10.5) are respectively arranged on both sides of the bottom of the first bracket (10), and the skid plate (8) or the crawler track assembly (9) is installed on the bottom of the first bracket (10) through the universal components (10.5).

9. The subsea operation equipment with variable operation type according to claim 4, characterized in that: The first bracket (10) is provided with a cable-finding mechanism (7) for detecting the relative position of the submarine operating equipment 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 first bracket (10). The exogenous sensor (7.1) is arranged on the first bracket (10) via a mounting frame (7.3). The end of the mounting frame (7.3) is hinged to the edge of the first bracket (10). The mounting frame (7.3) can rotate 90 degrees around the hinge between the mounting frame and the first bracket (10). When the mounting frame (7.3) is parallel to the horizontal plane, the exogenous sensor (7.1) is parallel to the sea level.

10. The subsea operation equipment with variable operation type according to claim 1, characterized in that: The underwater salvage device comprises a second bracket (11), a clamp (12) and two mechanical arms (13); the second bracket (11) is fixed to the bottom of the main frame (1); the clamp (12) is arranged at the bottom of the second bracket (11); the two mechanical arms (13) are arranged at intervals at the ends of the second bracket (11); the clamp (11) is used for clamping and salvaging large-diameter equipment of large pipelines; and the mechanical arms (12) are used for plugging and unplugging underwater connectors of a seabed observation network and for equipment installation.

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