Seabed vibration type self-walking leveling device and leveling method

Abstract

The invention relates to the technical field of ocean engineering, in particular to a seabed vibration type self-walking leveling device and a leveling method. The device comprises a cabin body, a crawler walking mechanism and two side edge leveling assemblies, the cabin body is arranged on the crawler walking mechanism, and the two side edge leveling assemblies are arranged on the two sides of the crawler walking mechanism correspondingly and connected with the cabin body through a frame. And each side edge leveling assembly comprises a flat plate vibration mechanism and an auxiliary leveling mechanism which are arranged in parallel at an interval. According to the device, the function of achieving multi-area continuous operation through one-time laying and self-walking is achieved, the leveling efficiency is greatly improved, and the construction cost is remarkably reduced. In addition, efficient leveling of slopes such as grooves and the like is met. According to the leveling method, stepped leveling of vibration rough leveling and scraper fine leveling is adopted, the leveling efficiency and precision are improved, and the defects of vibration plate leveling are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean engineering, and particularly relates to a subsea vibratory self-propelled leveling device and a leveling method. Background Art

[0002] Subsea leveling is a key process for ocean engineering such as subsea pipeline laying, sunken ship salvage, artificial reef construction, etc. The role of the subsea leveling device is to process the subsea bottom into a flat and uniform working surface. Of course, there are different leveling requirements such as plane leveling and inclined plane leveling for subsea leveling. For the trenches involved in ocean engineering, it is often necessary to ensure uniform contact between the pipeline and the seabed to avoid stress concentration or pipeline suspension. When constructing a subsea platform, a wind turbine foundation or other subsea structures, a stable support surface is provided for the foundation. When laying subsea cables or optical cables, to protect the cables from mechanical damage. In subsea environmental restoration projects (such as coral reef restoration, seagrass bed restoration), leveling operations need to be carried out on the corresponding trenches to create an environment suitable for biological growth, etc.

[0003] The existing leveling operations mainly include suction / drag mechanical leveling and leveling assisted by an underwater robot (ROV). Suction / drag mechanical leveling is to tow a drag head or a scraper by a surface ship and rely on mechanical force to level the seabed. During the use process, there are problems such as relying on large ships during the leveling operation, high costs and poor flexibility. It is only applicable to shallow sea soft bottom beds, and hard or complex terrains are likely to cause equipment jamming. The leveling accuracy is low (the error often reaches more than ±0.5 m), and manual diving is required for secondary trimming, etc. Moreover, the above-mentioned leveling device is not applicable to the leveling of slopes. Even if it can be used for the leveling of trenches, the leveling efficiency is relatively low.

[0004] An ROV is used to carry small leveling tools (such as a push plate, a jetting device), and the operator remotely controls the operation. The above-mentioned leveling device can achieve the leveling of a plane and the inclined plane of a trench. However, the leveling range by carrying small leveling tools by an ROV is limited, and it is difficult to adapt to large-scale continuous operations. Moreover, the ability to process dense bottom sediments by carrying small leveling tools by an ROV is insufficient, and the leveling efficiency is low.

[0005] Therefore, based on the above problems existing in the existing subsea leveling devices and during the subsea leveling process, it is urgently necessary to develop a subsea leveling machine suitable for large-scale subsea leveling, especially suitable for subsea inclined plane leveling such as trenches.

[0006] It should be specifically noted that: The information disclosed in this background art section is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art already known to those of ordinary skill in the art. Summary of the Invention

[0007] To address the deficiencies in the prior art, such as low underwater leveling efficiency and accuracy, especially the low leveling efficiency for slopes like trenches. Moreover, the inventor further found that during the leveling operation using a vibrating plate, due to the large bottom area and small height of the vibrating plate structure, during the forward movement of leveling, the vibrating plate is prone to cut into the soil along the thin wall side due to its up and down vibration, resulting in the upper layer of soil at the cutting-in area not being effectively leveled, thus reducing the leveling efficiency and accuracy. Therefore, in this application, an auxiliary leveling mechanism is provided at the rear end of the front-end flat vibrating mechanism. The retaining plate in the auxiliary leveling mechanism collects the soil samples that have not been fully leveled in the front-end flat vibrating mechanism for supplementary leveling, and multiple leveling operations improve the leveling efficiency and accuracy. A seabed vibrating self-propelled leveling device and a leveling method that can move autonomously and have high leveling efficiency and accuracy for flat surfaces and trench slopes are provided.

[0008] The technical solution of the present invention is as follows:

[0009] A seabed vibrating self-propelled leveling device includes a cabin, a crawler traveling mechanism, and two sets of side leveling components. The cabin is arranged on the crawler traveling mechanism, and the two sets of side leveling components are respectively arranged on both sides of the crawler traveling mechanism and connected to the cabin through a frame. Each set of side leveling components includes a flat vibrating mechanism and an auxiliary leveling mechanism arranged in parallel at an interval distance. The flat vibrating mechanism includes a first hydraulic cylinder, a vibrating wing plate, a vibrator, and a second hydraulic cylinder. The first hydraulic cylinder is vertically arranged and its output end is hinged to the vibrating wing plate. The vibrator is arranged on the vibrating wing plate, and the output end of the second hydraulic cylinder is connected to the vibrating wing plate. The second hydraulic cylinder contracts to drive the adjustment of the angle between the vibrating wing plate and the horizontal plane. The auxiliary leveling mechanism includes a third hydraulic cylinder, a scraper, a retaining plate, and a fourth hydraulic cylinder. The third hydraulic cylinder is arranged in parallel with the first hydraulic cylinder at an interval distance. The output end of the third hydraulic cylinder is hinged to the scraper, and the scraper is arranged parallel to the vibrating wing plate; the retaining plate is arranged at the upper end of the scraper and is perpendicular to the scraper shaft. The output end of the fourth hydraulic cylinder is connected to the scraper, and the fourth hydraulic cylinder contracts to drive the adjustment of the angle between the scraper and the horizontal plane.

[0010] In an exemplary embodiment, the flat vibrating mechanism includes at least 1 front-end flat vibrating mechanism and 1 tail flat vibrating mechanism, and the auxiliary leveling mechanism is arranged between the front-end flat vibrating mechanism and the tail flat vibrating mechanism.

[0011] In an exemplary embodiment, the flat vibrating mechanism includes 1 front-end flat vibrating mechanism, 2 auxiliary leveling mechanisms, and 1 tail flat vibrating mechanism arranged side by side at an interval distance along the traveling direction.

[0012] In an exemplary embodiment, the crawler travel mechanism is arranged in an inverted trapezoidal structure, including a crawler, a driving wheel connected to the side wall of the cabin, an upper driven wheel, and a lower driven wheel; a plurality of gripping protrusions arranged in a matrix are provided on the outer side wall of the crawler; the driving wheel meshes with the crawler to drive the crawler to form a closed-loop movement; a plurality of upper driven wheels are arranged at intervals, and the diameter of the lower driven wheel is larger than that of the upper driven wheel and a plurality of them are arranged horizontally. By the layout of the upper and lower double-row driven wheel sets, the ground contact pressure is dispersed (average value ≤ 30 kPa), the disturbance to the seabed sediment is reduced, and the seabed ecological environment is protected.

[0013] In an exemplary embodiment, a first connection groove is provided at the output end of the first hydraulic cylinder, a first rotating shaft is arranged in the first connection groove, the rear end of the vibrating wing plate is perpendicular to the first rotating shaft and fixedly connected to the first rotating shaft, the second hydraulic cylinder is fixed on the outer wall of the first connection groove, and the second hydraulic cylinder drives the vibrating wing plate to swing upward or downward with the first rotating shaft as the rotation axis.

[0014] In an exemplary embodiment, one end of the first rotating shaft passes through the first connection groove and is connected to the rear end of the first reinforcing plate, the front end of the first reinforcing plate is connected to the vibrating wing plate, and the angle between the first reinforcing plate and the first rotating shaft is an acute angle.

[0015] In an exemplary embodiment, a first shock-absorbing spring is provided at the connection between the vibrating wing plate and the first hydraulic cylinder.

[0016] In an exemplary embodiment, a first connecting rod is provided at the connection between the vibrating wing plate and the first hydraulic cylinder, and the first shock-absorbing spring is sleeved on the first connecting rod.

[0017] In an exemplary embodiment, the scraper is arranged on a scraper frame, the baffle is perpendicular to the top plate of the scraper frame and is arranged at one end away from the traveling direction, a second connecting rod is arranged at one end of the scraper frame, a second connection groove is provided at the output end of the third hydraulic cylinder, a second rotating shaft is arranged on the second connection groove, and one end of the second connecting rod is fixed on the second rotating shaft. The fourth hydraulic cylinder is fixed on the outer wall of the second connection groove, and the fourth hydraulic cylinder contracts to drive the scraper frame to swing upward or downward with the second rotating shaft as the rotation axis. A second shock-absorbing spring is sleeved on the second connecting rod. One end of the second rotating shaft passes through the second connection groove and is connected to the rear end of the second reinforcing plate, the front end of the second reinforcing plate is connected to the scraper frame, and the angle between the second reinforcing plate and the second rotating shaft is an acute angle.

[0018] In an exemplary embodiment, a bottom leveling assembly is further included. The bottom leveling assembly includes a fifth hydraulic cylinder, an adjusting rod, a central vibrating plate, and a bottom vibrator. The fifth hydraulic cylinder is fixed on the bottom surface of the cabin body. One end of the adjusting rod is hinged to the cabin body, and the other end of the adjusting rod is connected to the central vibrating plate. The bottom vibrator is fixed at the center of the central vibrating plate. The output end of the fifth hydraulic cylinder is connected to the adjusting rod. The fifth hydraulic cylinder expands and contracts to drive the adjusting rod to move up and down, further driving the up and down adjustment of the central vibrating plate.

[0019] A seabed leveling method includes the above-mentioned seabed vibration type self-propelled leveling device, and includes the following steps:

[0020] 1) The sonar system is carried by a surface operation ship to calibrate the coordinates of the seabed leveling area and generate an operation path in combination with three-dimensional terrain modeling. The device is put into the water through a hoisting device.

[0021] 2) The proportional reversing valve arranged in the hydraulic oil control box on the cabin body drives the vibrating wing plates and the scraper to descend vertically. After touching the bottom, it automatically switches to the constant pressure mode to ensure that the vibrating wing plates and the scraper are in full contact with the seabed.

[0022] 3) During the leveling process, the two sets of side leveling assemblies are used to level the two sides of the seabed, and the bottom leveling assembly is used to level the seabed under the cabin body.

[0023] 4) During the leveling process in 3), during the leveling process, the flat vibrating mechanism arranged at the front end, as the cabin body moves, further levels the part that has not been leveled by the front-end flat vibrating mechanism through the auxiliary leveling mechanism. Subsequently, the flat vibrating mechanism at the tail is used to perform finishing vibration leveling on the seabed after secondary leveling.

[0024] 5) When encountering an inclined groove that needs to be leveled, the hydraulic cylinders for adjusting the height and angle of the vibrating wing plates and the scraper are used to achieve the height and angle matching the leveling slope, so as to level the groove slope.

[0025] The beneficial effects achieved by the present invention are as follows:

[0026] 1. The seabed vibration type self-propelled leveling device in the present invention has the ability of autonomous movement. Compared with the leveling devices that rely on external traction or hoisting positioning in the prior art, it realizes the function of "one-time placement and continuous operation in multiple areas", greatly improves the leveling efficiency, and significantly reduces the construction cost. Specifically, this device can complete the leveling tasks in multiple areas after a single launch into the water, avoiding the cumbersome processes of repeatedly recovering and resetting traditional equipment, and providing an efficient, accurate and economical solution for underwater engineering.

[0027] 2. The present invention adopts a multi-module vibrating plate collaborative operation architecture, and forms a combined vibrating and leveling unit through the vibrating wing plates on both sides and the central vibrating plate at the bottom. During the traveling process, the vibrating wing plates on both sides and the central vibrating plate at the bottom are synchronously deployed along the preset path, and the single-operation area is increased by more than 200% compared with the traditional single-plate mode. This structural design significantly expands the leveling range, and is especially suitable for large-scale engineering scenarios such as submarine pipeline laying and artificial reef construction, which can greatly shorten the construction period and reduce the number of repeated equipment placements.

[0028] 3. In response to the seabed terrain requirements of ocean engineering, the present invention integrates a hydraulic drive multi-degree-of-freedom adjustment function. Through the precise control of the hydraulic cylinder for the vertical lifting (stroke 500mm) and the front and rear end inclination adjustment (±15°) of the vibrating wing plates, it can not only achieve efficient compaction of flat seabeds, but also adapt to the leveling of trench slope terrains with a slope ≤ 20%, and has high leveling efficiency. This modular adjustment ability breaks through the limitation of poor terrain adaptability of traditional equipment and provides a flexible solution for non-uniform landforms such as reef areas and submarine gullies.

[0029] 4. The present invention innovatively integrates the dual working modes of vibration compaction and scraper fine trimming, forming a stepped leveling process of "vibration rough leveling - scraper fine leveling". It prevents the situation that during the vibration leveling process, due to the up and down vibration of the vibrating plate, the vibrating plate cuts into the soil along the thin wall side, resulting in the ineffective leveling of the upper soil layer at the cutting-in place. The vibration leveling module quickly compacts the soil layer through the exciting force, and then the scraper assembly in the auxiliary leveling mechanism performs secondary trimming on the surface undulations, and the flatness can reach the level of ±2 cm.

[0030] 5. In the present invention, the anti-vibration protection designed by the shock-absorbing springs and the rigid frame ensures that the vibration acceleration of the equipment main body ≤ 0.5g, reduces the damage to the equipment and lowers the energy consumption. Description of the Drawings

[0031] Figure 1 It is a schematic diagram of the overall structure of the leveling device of the present invention.

[0032] Figure 2 It is a bottom view of the leveling device of the present invention.

[0033] Figure 3 It is a schematic diagram of the structure of the leveling device of the present invention during slope leveling.

[0034] Figure 4 It is a schematic diagram of the crawler traveling mechanism in the leveling device of the present invention.

[0035] Figure 5 is Figure 4 the enlarged view of part A in

[0036] Figure 6 It is a schematic diagram of the structure of the flat plate vibrating mechanism in the leveling device of the present invention.

[0037] Figure 7 It is a schematic structural diagram of the flat vibration mechanism with the first hydraulic cylinder hidden in the present invention.

[0038] Figure 8 It is a schematic structural diagram of the auxiliary leveling mechanism in the present invention.

[0039] Figure 9 It is a schematic structural diagram of the auxiliary leveling mechanism with the third hydraulic cylinder hidden in the present invention.

[0040] Figure 10 It is a schematic structural diagram of the bottom leveling mechanism in the present invention.

[0041] In the figure, 10 is the cabin body; 11 is the hydraulic oil control box; 12 is the umbilical cable; 20 is the crawler traveling mechanism; 21 is the crawler; 221 is the ground-gripping protrusion; 22 is the driving wheel; 23 is the upper driven wheel; 24 is the lower driven wheel; 241 is the lower driven wheel shaft; 30 is the flat vibration mechanism; 301 is the first connecting rod; 31 is the first hydraulic cylinder; 311 is the first connecting groove; 3111 is the first rotating shaft; 32 is the vibrating vane; 33 is the vibrator; 34 is the second hydraulic cylinder; 35 is the first reinforcing plate; 36 is the first shock-absorbing spring; 40 is the auxiliary leveling mechanism; 401 is the second connecting rod; 41 is the third hydraulic cylinder; 411 is the second connecting groove; 4111 is the second rotating shaft; 42 is the scraper; 43 is the retaining plate; 44 is the fourth hydraulic cylinder; 45 is the second reinforcing plate; 46 is the second shock-absorbing spring; 50 is the frame; 60 is the bottom leveling assembly; 61 is the fifth hydraulic cylinder; 62 is the adjusting rod; 63 is the central vibrating plate; 64 is the bottom vibrator. Detailed implementation manners

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings below is not intended to limit the scope of the claimed present invention, but merely represents the preferred embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0044] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0045] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more than two.

[0046] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "under" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0048] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0049] Embodiment 1

[0050] As Figures 1 to 10As shown, this embodiment provides a submarine vibrating self-propelled leveling device, including a cabin 10, a crawler walking mechanism 20, two sets of side leveling assemblies and a bottom leveling assembly 60. The cabin 10 is arranged on the crawler walking mechanism 20, and the cabin 10 is driven to move by the crawler walking mechanism 20. The two sets of side leveling assemblies are respectively arranged on both sides of the crawler walking mechanism 20 and connected to the cabin 10 through a frame 50, and are used for leveling the areas on both sides of the cabin 10. The bottom leveling assembly 60 is arranged at the bottom of the cabin 10, and is used for leveling the bottom area of ​​the cabin 10.

[0051] In this embodiment, the cabin 10 includes a polygonal structure formed by a front triangular frame, a middle rectangular frame and a rear equilateral triangular frame. The structural design of the cabin 10 can expand the crawler layout range, so that the crawler meets the structural design of complex seabed terrain. Cameras are provided on the triangular frame and the rear equilateral triangular frame to achieve visual monitoring during the operation. A hydraulic oil control box 11 and an umbilical cable 12 for data transmission are provided at the upper end of the cabin 10.

[0052] In this embodiment, the crawler walking mechanism 20 is set as an inverted trapezoidal structure, including a crawler 21, a driving wheel 22 connected to the side wall of the cabin 10, an upper driven wheel 23 and a lower driven wheel 24. A plurality of gripping protrusions 221 arranged in a matrix are arranged on the outer wall of the crawler 21. The crawler 21 is a segmented manganese steel chain track (pitch 100mm), and the maintenance efficiency is improved by 50%. It is covered with a polyurethane anti-skid layer, and the single-side grounding length is 2.5m. The maximum traction force of the single-side crawler 21 is 8kN, which can resist the impact of 1.5-knot ocean currents.

[0053] The driving wheel 22 is meshed with the crawler 21, driving the crawler 21 to form a closed-loop motion. The driving wheel 22 is connected to the first motor fixed on the inner wall of the cabin 10, and the rotation of the first motor drives the driving wheel 22 to rotate. The first motor can be a high-torque permanent magnet synchronous motor (rated power 15kW, protection level IP68), with a built-in temperature sensor and overload protection module. The surface of the driving wheel 22 is carburized and hardened (hardness HRC55-60), with a diameter of 600mm and a tooth pitch of 50mm.

[0054] The upper driven wheels 23 are provided in three with a spaced distance for guiding. Each driven wheel is connected to the cabin body 10 through a driven wheel shaft fixed to the side wall of the cabin body 10. The diameter of the lower driven wheels 24 is larger than that of the upper driven wheels 23, and five lower driven wheels are arranged horizontally for guiding and load bearing. The lower driven wheels 24 are connected to the cabin body 10 through lower driven wheel shafts 241 fixed to the side wall of the cabin body 10. The lower driven wheel shafts 241 are arranged in an inverted "L" shape. The upper driven wheels 23 and the lower driven wheels 24 are supported by double-row tapered roller bearings. By means of the layout of the upper and lower double-row driven wheel groups, the grounding pressure is dispersed (average value ≤ 30 kPa), the disturbance to the seabed sediment is reduced, and the seabed ecological environment is protected.

[0055] An inertial navigation system (INS) is provided on the crawler traveling mechanism 20, and the straight-line traveling deviation is ≤ 0.5 m / 100 m, which improves the accuracy of traveling.

[0056] During the traveling process, after the first motor is started, it drives the driving wheel 22 to rotate through a planetary speed reducer (reduction ratio 30:1). The driving wheel 22 meshes with the crawler 21 to drive the crawler 21 to form a closed-loop movement. The upper driven wheels 23 provide tension guiding for the crawler 21, and the lower driven wheel group 24 bears the weight of the device and transmits the grounding pressure. In speed adjustment, stepless speed regulation of 0.1 - 1.2 m / min is achieved for the motor through a frequency converter, the maximum crossing height is 200 mm, and the climbing angle is ≤ 20°. By dynamically adjusting the tension of the crawler 21 (hydraulic cylinder pressure 5 - 20 MPa), the device is adapted to terrains from soft mud to hard bedrock.

[0057] Each group of the side leveling assemblies includes a flat plate vibration mechanism 30 and an auxiliary leveling mechanism 40 arranged in parallel with a spaced distance. The flat plate vibration mechanism 30 includes at least one front-end flat plate vibration mechanism 30 and one tail-end flat plate vibration mechanism 30, and the auxiliary leveling mechanism 40 is arranged between the front-end flat plate vibration mechanism 30 and the tail-end flat plate vibration mechanism 30.

[0058] In this embodiment, the side leveling assembly includes one front-end flat plate vibration mechanism 30, two auxiliary leveling mechanisms 40, and one tail-end flat plate vibration mechanism 30 arranged in sequence from front to back in the traveling direction. Of course, it can also be set as two front-end flat plate vibration mechanisms 30, two auxiliary leveling mechanisms 40, and two tail-end flat plate vibration mechanisms 30 arranged in sequence from front to back in the traveling direction. The auxiliary leveling mechanism 40 is arranged between one front-end flat plate vibration mechanism 30 and one tail-end flat plate vibration mechanism 30, and the number of settings can be adjusted according to the working conditions. Although this embodiment discloses one front-end flat plate vibration mechanism 30, two auxiliary leveling mechanisms 40, and one tail-end flat plate vibration mechanism 30, it is not limited to this way, and other arrangement ways within the design concept of the present invention are also within the protection scope of the present invention.

[0059] In this embodiment, the flat vibration mechanism 30 includes a first hydraulic cylinder 31, a vibration wing plate 32, a vibrator 33, and a second hydraulic cylinder 34. The first hydraulic cylinder 31 is vertically arranged, and its output end is hinged to the vibration wing plate 32 and fixed to the cabin body 10 through a frame 50. The input end of the first hydraulic cylinder 31 is connected to a hydraulic oil control box 11 arranged on the cabin body 10. The up and down movement of the first hydraulic cylinder 31 drives the vertical lifting of the vibration wing plate 32, and the vertical lifting stroke is 500 mm. The vibrator 33 is arranged on the vibration wing plate 32. In this embodiment, the vibrator 33 is set as a double-shaft vibrator 33 (the exciting force is adjustable from 0 to 25 kN, and the frequency is from 10 to 50 Hz). The output end of the second hydraulic cylinder 34 is connected to the vibration wing plate 32, and the contraction of the second hydraulic cylinder 34 drives the adjustment of the angle between the vibration wing plate 32 and the horizontal plane to meet the leveling of trench slopes, etc. The up and down adjustment angle of the vibration wing plate 32 is ±15°. In this embodiment, the size of the vibration wing plate 32 is 3 m × 1.5 m, made of high-strength wear-resistant steel plate with a thickness of 20 mm.

[0060] Specifically, a first connection groove 311 is arranged at the output end of the first hydraulic cylinder 31, and the structure of the first connection groove 311 is set as an inverted "U" shape. A first rotating shaft 3111 horizontally passing through the first connection groove 311 is arranged in the first connection groove 311. The rear end of the vibration wing plate 32 is perpendicular to the first rotating shaft 3111 and fixedly connected to the first rotating shaft 3111. The second hydraulic cylinder 34 is fixed to the outer wall of the first connection groove 311, and the second hydraulic cylinder 34 drives the vibration wing plate 32 to swing upward or downward with the first rotating shaft 3111 as the rotation axis.

[0061] One end of the first rotating shaft 3111 penetrates out of the first connection groove 311 and is connected to the rear end of a first reinforcing plate 35. The front end of the first reinforcing plate 35 is connected to the vibration wing plate 32, and the included angle between the first reinforcing plate 35 and the first rotating shaft 3111 is an acute angle. Utilizing the stable structure of the triangle, the moment of the vibration wing plate 32 is reduced, the risk of the vibration wing plate 32 breaking and being damaged due to operation is reduced, making the connection between the vibration wing plate 32 and the main body more firm and more in line with mechanical properties.

[0062] In order to reduce the damage to the equipment and lower the energy consumption, a first connecting rod 301 is arranged at the connection between the vibration wing plate 32 and the first hydraulic cylinder 31, and a first shock-absorbing spring 36 is sleeved on the first connecting rod 301. Through the anti-vibration protection designed by the first shock-absorbing spring 36 and the rigid frame 50, it is ensured that the vibration acceleration of the equipment main body ≤ 0.5g, reducing the damage to the equipment and lowering the energy consumption. In this embodiment, the first shock-absorbing spring 36 is a disc spring with a stiffness coefficient of 200 N / mm. The first shock-absorbing spring 36 absorbs more than 80% of the vibration energy, ensuring that the vibration acceleration of the equipment main body ≤ 0.3g.

[0063] The auxiliary leveling mechanism 40 includes a third hydraulic cylinder 41, a scraper 42, a retaining plate 43 and a fourth hydraulic cylinder 44. The third hydraulic cylinder 41 is arranged in parallel with a distance from the first hydraulic cylinder 31. The output end of the third hydraulic cylinder 41 is hinged to the scraper 42 to drive the scraper 42 to vertically lift up and down, and the vertical lifting stroke is 500 mm. The input end of the third hydraulic cylinder 41 is connected to the hydraulic oil control box 11 on the cabin body 10. The scraper 42 is arranged in parallel with the vibrating wing plate 32 for the purpose of performing the leveling operation synchronously with the vibrating wing plate 32. The retaining plate 43 is arranged at the upper end of the scraper 42 and is perpendicular to the axis of the scraper 42. The output end of the fourth hydraulic cylinder 44 is connected to the scraper 42. When the fourth hydraulic cylinder 44 contracts, it drives the adjustment of the angle between the scraper 42 and the horizontal plane, and the up and down adjustment angle of the scraper 42 is ±15°.

[0064] In this embodiment, the scraper 42 is arranged on a scraper frame. The baffle is perpendicular to the top plate of the scraper frame and is arranged at one end away from the traveling direction. One end of the scraper frame is provided with a second connecting rod 401. The output end of the third hydraulic cylinder 41 is provided with a second connecting groove 411. A second rotating shaft 4111 is arranged on the second connecting groove 411. One end of the second connecting rod 401 is fixed on the second rotating shaft 4111. The fourth hydraulic cylinder 44 is fixed on the outer wall of the second connecting groove 411. When the fourth hydraulic cylinder 44 contracts, it drives the scraper frame to swing up or down with the second rotating shaft 4111 as the rotation axis. A second damping spring 46 is sleeved on the second connecting rod 401. The second damping spring 46 is a disc spring with a stiffness coefficient of 200 N / mm. One end of the second rotating shaft 4111 passes through the second connecting groove 411 and is connected to the rear end of a second reinforcing plate 45. The front end of the second reinforcing plate 45 is connected to the scraper frame, and the included angle between the second reinforcing plate 45 and the second rotating shaft 4111 is an acute angle.

[0065] After the front-end flat vibrating mechanism 30 finishes vibrating and leveling, the scraper 42 cuts into the soil layer at a speed of 0.5 m / min, and the scraping accuracy reaches ±2 cm. The retaining plate 43 collects the loose soil materials that are not leveled by the front-end flat vibrating mechanism 30 and conveys them back to the front end of the scraper 42 through a screw conveyor, achieving a soil material leveling rate of ≥95%. Through the coordinated operation of the vibration compaction and the fine repair of the scraper 42 in a dual mode, the operation efficiency is increased by 40% compared with the single vibration mode.

[0066] The bottom leveling assembly 60 includes a fifth hydraulic cylinder 61, an adjustment rod 62, a central vibrating plate 63, and a bottom vibrator 64. The fifth hydraulic cylinder 61 is fixed on the bottom surface of the cabin body 10. One end of the adjustment rod 62 is hinged to the cabin body 10, and the other end of the adjustment rod 62 is connected to the central vibrating plate 63. The bottom vibrator 64 is fixed at the center of the central vibrating plate 63. The output end of the fifth hydraulic cylinder 61 is connected to the adjustment rod 62. The fifth hydraulic cylinder 61 expands and contracts to drive the adjustment rod 62 to move up and down, further driving the up and down adjustment of the central vibrating plate 63, and leveling the seabed at the bottom of the cabin body 10 through the bottom vibrating plate. During the leveling process, to prevent the central vibrating plate 63 from cutting into the soil layer, the central vibrating plate 63 is designed to be inclined with the horizontal plane for leveling operations.

[0067] The application scenarios of the subsea vibrating self-propelled leveling device in the above embodiments are as follows:

[0068] 1. Slope leveling: Through the inclination angle adjustment function, uniform compaction is achieved on the slope of the subsea pipeline (slope ≤ 15°).

[0069] 2. Hard bottom treatment: The exciting force is increased to 25 kN, and the compacted clay layer (shear strength ≥ 50 kPa) can be broken.

[0070] 3. Construction in ecologically sensitive areas: The low-frequency vibration mode (<15 Hz) is combined with soil material recovery to meet the marine ecological protection specifications.

[0071] Embodiment 2

[0072] A subsea leveling method includes the subsea vibrating self-propelled leveling device in Embodiment 1 and comprises the following steps:

[0073] 1) Deployment and positioning: Through the sonar system carried by the surface operation ship, the coordinates of the subsea leveling area are accurately calibrated (accuracy ±0.1 m), and the operation path is generated in combination with three-dimensional terrain modeling.

[0074] 2) Hoisting and umbilical cable 12 deployment: A high-strength titanium alloy hoisting ring (tensile strength ≥ 800 MPa) is used, and the device is hoisted into the water smoothly through double-cable synchronous hoisting to avoid tilting or collision. The umbilical cable 12 adopts integrated power supply (10 kV DC), optical fiber communication, and hydraulic oil circuit, and the outer layer is coated with a Kevlar tensile layer and a polyethylene anti-corrosion sheath, supporting the operation environment with a water depth of 2000 meters.

[0075] 3) Hydraulic system startup: The hydraulic oil control box 11 internally has a proportional reversing valve to drive the vibrating plate to vertically descend at a speed of 0.1 - 0.5 m / s. After touching the bottom, it automatically switches to the constant pressure mode (pressure range 5 - 30 kN) to ensure full contact between the vibrating plate and the seabed. Safety mechanism: The hydraulic system is equipped with overload protection and oil temperature monitoring. When abnormal, it automatically locks and feeds back the fault code to the surface control terminal.

[0076] 4) Stepped leveling of vibration rough leveling - scraping knife 42 fine leveling: The leveling of the seabed on both sides is achieved through two sets of side leveling components, and the leveling of the seabed under the lower part of the cabin 10 is achieved through the bottom leveling component 60. During the leveling process, the flat plate vibration mechanism set at the front, as the cabin 10 moves forward, further levels the parts that are not leveled or have poor leveling effect by the front flat plate vibration mechanism 30 through the auxiliary leveling mechanism 40. Subsequently, the seabed after secondary leveling is finally vibration-leveled by the flat plate vibration mechanism 30 at the tail. When leveling an inclined groove is required, the height and angle of the vibration wing plate 32 and the scraping knife 42 are adjusted through the first hydraulic cylinder 31, the second hydraulic cylinder 34, the third hydraulic cylinder 41, and the fourth hydraulic cylinder 44. After adjustment, the vibration wing plate 32 and the scraping knife 42 have a height and angle matching the leveling slope, so as to achieve the leveling of the groove slope.

[0077] 5) Real-time monitoring and feedback: Through the cameras set on the cabin 10 and the water surface control terminal, the leveling progress, energy consumption statistics, and equipment health status are displayed, realizing the full digital management of the operation process.

[0078] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A seabed vibrating self-propelled leveling device, characterized in that: The invention comprises a cabin (10), a crawler walking mechanism (20) and two groups of side leveling assemblies; the cabin (10) is arranged on the crawler walking mechanism (20), and the two groups of side leveling assemblies are respectively arranged on both sides of the crawler walking mechanism (20) and connected to the cabin (10) through a frame (50); each group of the side leveling assemblies comprises a plate vibration mechanism (30) and an auxiliary leveling mechanism (40) which are arranged in parallel at a distance; the plate vibration mechanism (30) comprises a first hydraulic cylinder (31), a vibration wing plate (32), an exciter (33) and a second hydraulic cylinder (34); the first hydraulic cylinder (31) is arranged vertically and its output end is hinged to the vibration wing plate (32); the exciter (33) is arranged on the vibration wing plate (32), and the output end of the second hydraulic cylinder (34) is hinged to the vibration wing plate (32); The output end is connected to the vibrating wing plate (32), and the second hydraulic cylinder (34) contracts to drive the vibrating wing plate (32) to adjust the angle with the horizontal plane; the auxiliary leveling mechanism (40) comprises a third hydraulic cylinder (41), a scraper (42), a retaining plate (43) and a fourth hydraulic cylinder (44); the third hydraulic cylinder (41) is arranged in parallel with the first hydraulic cylinder (31) at a distance, the output end of the third hydraulic cylinder (41) is hinged to the scraper (42), and the scraper (42) is arranged in parallel with the vibrating wing plate (32); the retaining plate (43) is arranged at the upper end of the scraper (42) and is arranged perpendicular to the scraper shaft, the output end of the fourth hydraulic cylinder (44) is connected to the scraper (42), and the fourth hydraulic cylinder (44) contracts to drive the scraper (42) to adjust the angle with the horizontal plane.

2. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: The plate vibration mechanism (30) comprises at least one front plate vibration mechanism (30) and one rear plate vibration mechanism (30), and the auxiliary leveling mechanism (40) is arranged between the front plate vibration mechanism (30) and the rear plate vibration mechanism (30).

3. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: The flat plate vibration mechanism (30) comprises a front flat plate vibration mechanism (30), two auxiliary leveling mechanisms (40) and a rear flat plate vibration mechanism (30) which are arranged side by side at a distance along the traveling direction.

4. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: The crawler walking mechanism (20) is arranged in an inverted trapezoidal structure, comprising a crawler (21), a driving wheel (22) connected to the side wall of the cabin (10), an upper driven wheel (23) and a lower driven wheel (24); a plurality of gripping protrusions (221) arranged in a matrix are arranged on the outer side wall of the crawler (21); the driving wheel (22) is meshed with the crawler (21) to drive the crawler (21) to form a closed-loop motion; the upper driven wheels (23) are arranged in a plurality of intervals, and the wheel diameter of the lower driven wheel (24) is larger than the wheel diameter of the upper driven wheel (23) and is arranged in a plurality of horizontal arrangements.

5. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: The output end of the first hydraulic cylinder (31) is provided with a first connecting groove (311), a first rotating shaft (3111) is provided in the first connecting groove (311), a rear end of the vibrating wing plate (32) is perpendicular to the first rotating shaft (3111) and is fixedly connected to the first rotating shaft (3111), the second hydraulic cylinder (34) is fixed to the outer wall of the first connecting groove (311), and the second hydraulic cylinder (34) drives the vibrating wing plate (32) to swing upward or downward with the first rotating shaft (3111) as a rotating axis.

6. The seabed vibrating self-propelled leveling device according to claim 5 is characterized in that: One end of the first rotating shaft (3111) passes through the first connecting groove (311) and is connected to the rear end of the first reinforcing plate (35); the front end of the first reinforcing plate (35) is connected to the vibrating wing plate (32); and the angle between the first reinforcing plate (35) and the first rotating shaft (3111) is an acute angle.

7. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: A first damping spring (36) is provided at the connection between the vibrating wing plate (32) and the first hydraulic cylinder (31); a first connecting rod (301) is provided at the connection between the vibrating wing plate (32) and the first hydraulic cylinder (31), and the first damping spring (36) is sleeved on the first connecting rod (301).

8. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: The scraper (42) is arranged on the scraper frame, the baffle is perpendicular to the top plate of the scraper frame and is arranged at one end away from the travel direction, a second connecting rod (401) is arranged at one end of the scraper frame, a second connecting groove (411) is arranged at the output end of the third hydraulic cylinder (41), a second rotating shaft (4111) is arranged on the second connecting groove (411), and one end of the second connecting rod (401) is fixed on the second rotating shaft (4111); the fourth hydraulic cylinder (44) is fixed in the second connecting groove ( The outer wall of the second connecting rod (401) is provided with a fourth hydraulic cylinder (44), the fourth hydraulic cylinder (44) contracts to drive the scraper frame to swing upward or downward with the second rotating shaft (4111) as the rotating shaft; a second shock-absorbing spring (46) is sleeved on the second connecting rod (401); one end of the second rotating shaft (4111) passes through the second connecting groove (411) and is connected to the rear end of the second reinforcing plate (45); the front end of the second reinforcing plate (45) is connected to the scraper frame, and the angle between the second reinforcing plate (45) and the second rotating shaft (4111) is an acute angle.

9. The seabed vibrating self-propelled leveling device according to claim 1 is characterized in that: It also includes a bottom leveling component (60), which includes a fifth hydraulic cylinder (61), an adjustment rod (62), a central vibration plate (63) and a bottom vibrator (64). The fifth hydraulic cylinder (61) is fixed on the bottom surface of the cabin (10), one end of the adjustment rod (62) is hinged to the cabin (10), the other end of the adjustment rod (62) is connected to the central vibration plate (63), the bottom vibrator (64) is fixed at the center of the central vibration plate (63), the output end of the fifth hydraulic cylinder (61) is connected to the adjustment rod (62), and the fifth hydraulic cylinder (61) telescopically drives the adjustment rod (62) to move up and down, further driving the central vibration plate (63) to adjust up and down.

10. A method for seabed leveling, characterized in that: The seabed vibrating self-propelled leveling device according to any one of claims 1 to 9 comprises the following steps: 1) Use a sonar system mounted on a surface operation vessel to calibrate the coordinates of the seabed leveling area and generate an operation path based on three-dimensional terrain modeling, and then use a hoisting device to place the device into the water; 2) A proportional reversing valve disposed in a hydraulic oil control box (11) on the cabin (10) drives the vibrating wing plate (32) and the scraper (42) to descend vertically, and automatically switches to a constant pressure mode after touching the bottom, thereby ensuring that the vibrating wing plate (32) and the scraper (42) are in full contact with the seabed; 3) During the leveling process, the seabeds on both sides are leveled by two sets of side leveling assemblies, and the seabed below the cabin (10) is leveled by the bottom leveling assembly (60); 4) During the leveling process in 3), the flat plate vibration mechanism (30) arranged at the front end further leveled the portion not leveled by the flat plate vibration mechanism (30) at the front end through the auxiliary leveling mechanism (40) as the cabin (10) moves, and then the flat plate vibration mechanism (30) at the rear end performs final vibration leveling on the seabed after the secondary leveling; 5) When an inclined groove needs to be leveled, a hydraulic cylinder for adjusting the height and angle of the vibrating wing plate (32) and the scraper (42) is used to achieve a height and angle that matches the leveling slope, thereby achieving leveling of the groove slope.

Images