Stamping cable device and underwater operation robot

Abstract

The invention belongs to the technical field of underwater operation, and particularly relates to a spraying cable pressing device and an underwater operation robot, the spraying cable pressing device comprises a cable pressing shoe and two spraying mechanisms, the cable pressing shoe is in an arc shape in the length direction of the cable pressing shoe, and the two spraying mechanisms are located on the two sides of the cable pressing shoe in the width direction correspondingly; the two spraying mechanisms are arranged in the length direction of the cable pressing shoe, a cable guiding groove for containing a cable is formed between the two spraying mechanisms and the cable pressing shoe, a spraying opening is formed in the end, facing the cable pressing advancing direction of the cable pressing shoe, of the two ends of the two spraying mechanisms, the spraying direction of the spraying opening is arranged in the length direction of the spraying mechanisms, and water jet flow sprayed by the spraying opening scours the inner wall of a sea ditch. The soil is liquefied, the ditch shape and depth of the sea ditch are maintained, and the cable below the cable pressing boot can be ensured to fall at the ditch bottom of the sea ditch, so that the burying depth of the cable can meet the requirement, and the damage to the surface of the cable is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater operations, and in particular relates to a jetting and punching cable device and an underwater operation robot. Background Art

[0002] When setting cables on the seabed, trenching and cable burying operations are required to ensure the safety and stability of the cables and to prevent them from being damaged by waves, marine life, anchors and other factors. First, a trench of a certain depth and width is dug on the seabed using a trenching device, and then the cables are laid into the trench and buried to a corresponding depth. Since cables have a certain buoyancy underwater, in order to enable the cables to accurately sink to the bottom of the trench, for cables with a certain degree of flexibility, a cable press is installed on the underwater operation robot, which is used to guide the cables and press them into the trench. For seabeds with sparse and soft soil, the soil flows quickly under the action of ocean currents and the natural collapse of both sides of the trench is fast, which can easily cause damage to the cables. Before it completely sinks to the bottom of the trench, mud accumulates, causing the trench to become shallower. On the one hand, this will cause the laying depth of the cable to not meet the operational requirements. On the other hand, the shallower trench depth will cause the height distance between the cable press and the bottom of the trench to become smaller, which will produce a greater squeezing pressure on the cable and easily cause damage to the cable surface. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a cable jetting and punching device and an underwater operation robot which can ensure that the buried depth of the cable meets the requirements, reduce the damage of the cable and have a wide range of applications.

[0004] The present invention provides a jet-punching cable press, comprising a cable pressing shoe and a jet-punching mechanism, wherein the cable pressing shoe is arc-shaped in its own length direction, and the jet-punching mechanism is provided with two jet-punching mechanisms, which are respectively located on both sides of the cable pressing shoe in the width direction and are arranged along the length direction of the cable pressing shoe, and a cable guide groove for accommodating cables is formed between the two jet-punching mechanisms and the cable pressing shoe, and at least one end of the two ends of the two jet-punching mechanisms, which faces the cable pressing forward direction of the cable pressing shoe, is provided with a jet-punching port, and in the working state, the jet-punching direction of the jet-punching port is arranged along the length direction of the trench and parallel to the trench.

[0005] Furthermore, both ends of the two spraying mechanisms are provided with spraying ports.

[0006] Furthermore, at both ends of a single jetting mechanism, the number of jetting openings at the end facing the cable pressing shoe's cable pressing forward direction is greater than the number of jetting openings at the end away from the cable pressing shoe's forward direction.

[0007] Further, each of the jetting mechanisms includes two jetting pipes. Both of the two jetting pipes are arranged along the length direction of the cable pressing boot, and are arranged along the height direction of the cable pressing boot between the two jetting pipes. The jetting ports in a single jetting mechanism are distributed at both ends of the two jetting pipes.

[0008] Further, it further includes a mounting frame and a laying mechanism. The cable pressing boot is fixed between the two jetting mechanisms. A water passing pipeline is arranged inside the mounting frame, and a water inlet is arranged on the mounting frame. A plurality of connecting pipes communicating with the water passing pipeline are arranged at the lower end of the mounting frame. The plurality of connecting pipes are correspondingly fixed and communicated with the two jetting mechanisms. The laying mechanism drives the mounting frame to move to drive the laying and recovery of the cable pressing boot and the two jetting mechanisms.

[0009] Further, the laying mechanism includes a fixed frame, a moving frame and a linear driving member I. The fixed frame is used for connecting with the fuselage of the underwater operation robot. One end of the moving frame is hinged to the fixed frame, and the other end is hinged to the mounting frame. The linear driving member I drives the mounting frame and the moving frame to change their postures, so as to drive the laying and recovery of the cable pressing boot and the two jetting mechanisms.

[0010] Further, there are two moving frames. Both of the two moving frames are hinged between the fixed frame and the mounting frame to form a quadrilateral mechanism. One end of the linear driving member I is hinged to the fixed frame, and the other end is hinged to the lower moving frame among the two moving frames.

[0011] Further, the fixed frame is hinged to the fuselage of the underwater operation robot, and the axis of the hinge is arranged along the height direction of the fuselage of the underwater operation robot.

[0012] Further, the cable pressing boot is provided with a hollow structure, and a position detection unit is arranged on the cable pressing boot.

[0013] The content of the present invention also provides an underwater operation robot, and the underwater operation robot is provided with a jetting cable presser as described above.

[0014] The beneficial effects of the present invention are as follows: when the cable pressing boot and the two jetting mechanisms move along the length direction of the trench in the trench, the jetting ports generate a horizontal jet flow along the length direction of the trench in the trench, and continuously scour the inner wall of the trench before the cable completely settles to the bottom of the trench, liquefying the soil. In the scenario of a soft and muddy seabed, it can effectively avoid the shallowing of the trench depth caused by soil backfilling and the collapse of both sides of the trench, and maintain the trench shape and depth. On the one hand, it can avoid the reduction of the height spacing between the bottom of the trench and the cable pressing boot due to the shallowing of the trench depth, which may cause a large extrusion force on the surface of the cable, so as to avoid damaging the cable during cable laying. On the other hand, it can ensure that the depth of the trench will not become shallower before the cable completely settles into the trench, and can ensure that the cable is completely settled into the trench with a depth meeting the operation requirements during cable laying, ensuring that the laying depth of the cable meets the operation requirements.

[0015] The jet - impact cable laying device can continuously liquefy the soil during cable laying to maintain the trench shape and depth, preventing the soil from backfilling before the cable completely sinks to the bottom of the trench. Therefore, when the jet - impact cable laying device is mounted on an underwater robot, the installation position has less limitation. For example, it can be arranged at a position far from the trenching device, such as at the tail of the underwater robot, increasing the distance from the trenching device and leaving enough space for the cable to be lowered. For cables with a larger bending radius, on the basis of using the cable - pressing boots to guide the cable to sink and accelerating the cable sinking speed and ensuring that the cable sinks to the bottom of the trench with a depth meeting the requirements, the bending amplitude of the cable when it sinks along the seabed to the bottom of the trench is controlled to avoid damage to the cable caused by an excessive bending amplitude. Therefore, it can be applied to the laying scenarios of different - specification cables, with a wide application range.

[0016] The two jet - impact mechanisms can not only function to spray water jets to scour the inner wall of the trench, but also, as the side walls of the guiding groove, jointly form a guiding structure with the cable - pressing boots when the cable is lowered. While simultaneously realizing the functions of liquefying the soil and guiding the cable, the complexity of the structure is reduced, which is beneficial to reducing the size in the width direction of the cable - pressing boots, and has less limitation in moving and turning in the trench. Therefore, it can be better applied to the trench - digging and cable - laying operations of small - diameter cables. The common cable - guiding groove between the two jet - impact mechanisms and the cable - pressing boots can keep the cable below the cable - pressing boots during the lowering process. On the one hand, it can ensure that the cable accurately falls into the trench. On the other hand, it can prevent the water jets ejected from the jet orifices from directly impacting the surface of the cable and causing damage to the cable surface. The arc - shaped setting of the cable - pressing boots can ensure that the bending radian is not less than its minimum bending radius when the cable smoothly descends along the cable - pressing boots, avoiding damage to the cable caused by an excessive bending amplitude during the cable - lowering process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the jet - impact cable laying device of the present invention.

[0018] Figure 2 It is a schematic diagram of the recovery state of the jet - impact cable laying device of the present invention.

[0019] Figure 3 It is a schematic diagram of the lowering state of the jet - impact cable laying device of the present invention.

[0020] Figure 4 It is a schematic diagram of the left - swing posture of the jet - impact cable laying device of the present invention.

[0021] Figure 5 It is a schematic diagram of the right - swing posture of the jet - impact cable laying device of the present invention.

[0022] In the figure: 1. fixed frame; 2. movable frame; 3. linear drive component 1; 4. mounting frame; 41. water inlet; 42. connecting pipe; 5. cable pressing shoe; 6. spray pipe; 61. spray outlet; 7. position detection unit; 8. linear drive component 2. DETAILED DESCRIPTION

[0023] like Figures 1-5 As shown, the present invention provides a jetting cable press, including a cable pressing shoe 5 and a jetting mechanism, wherein the cable pressing shoe 5 is arc-shaped, and the extending direction of the arc is along the length direction of the cable pressing shoe 5 itself, and the radius of the arc is greater than or equal to the minimum bending radius of the cable, so that when the cable is bent by the cable pressing shoe 5, the bending degree will not be less than its minimum bending radius, thereby avoiding damage to the cable. There are two jetting mechanisms, which are respectively located on both sides of the cable pressing shoe 5 in the width direction and are arranged along the length direction of the cable pressing shoe 5, that is, the length direction of the two jetting mechanisms is in the same direction as the length direction of the cable pressing shoe 5, and a cable guide groove for accommodating the cable is formed between the two jetting mechanisms and the cable pressing shoe 5. The cable falls into the trench along the cable guide groove during the lowering process, that is, the cable guide groove plays a guiding role in lowering the cable. Since the two jet mechanisms are both arranged along the length direction of the cable pressing boot 5, and the present jet cable presser will move forward following the underwater working robot during operation, one end of the two jet mechanisms is arranged in the forward direction of the cable pressing boot 5 for cable pressing operation, and the other end is arranged in the opposite direction, that is, it is arranged away from the forward direction of the cable pressing boot 5. At least one end of the two jet mechanisms, which is arranged in the forward direction of the cable pressing boot 5 for cable pressing, is provided with a jet port 61, and the jet direction of the jet port 61 is arranged along the length direction of the jet mechanism. In the specific working state, it is arranged along the length direction of the trench and parallel to the trench.

[0024] The jetting cable presser provided by the present invention can spray water through the jetting ports 61 on the jetting ports by arranging jetting mechanisms on both sides of the cable pressing shoe 5. Since the length directions of the two jetting mechanisms are in the same direction as the length direction of the cable pressing shoe 5, and the jetting direction of the jetting ports 61 is arranged along the length direction of the jetting mechanisms, when the cable pressing shoe 5 and the two jetting mechanisms move in the trench in the length direction of the trench, the jetting ports 61 generate horizontal jets in the trench in the length direction of the trench, and continuously flush the inner wall of the trench before the cable completely sinks to the bottom of the trench, thereby liquefying the soil. In the seabed scene with fine mud, it can effectively avoid the trench depth becoming shallower due to soil backfilling and collapse on both sides of the trench, maintain the trench shape and trench depth, on the one hand, it can avoid the height distance between the trench bottom and the cable pressing shoe 5 becoming smaller due to the shallowing of the trench depth, which will cause a large squeezing pressure on the cable surface, thereby avoiding the cable being crushed during cable laying, and on the other hand, it can ensure that the trench depth will not become shallower before the cable is completely sunk into the trench, and can ensure that the cable is completely sunk into the trench with a depth that meets the operation requirements during laying, ensuring that the cable laying depth meets the operation requirements.

[0025] The spray-punched cable press can continuously liquefy the soil to maintain the trench shape and depth during cable laying, and avoid backfilling of soil before the cable is completely sunk to the bottom of the trench. Therefore, when the spray-punched cable press is carried on an underwater robot for use, the installation position is less limited. For example, it can be arranged at a position far away from the trenching device, such as at the tail of the underwater robot, to increase the distance from the trenching device and leave enough space for lowering the cable. For cables with a larger bending radius, the cable pressing shoe 5 is used to guide the cable to sink and accelerate the cable sinking speed and ensure that the cable sinks to the bottom of the trench at a depth that meets the requirements. The bending amplitude of the cable when it sinks along the seabed to the bottom of the trench is controlled to avoid damage to the cable due to excessive bending amplitude. Therefore, it can be applied to the laying scenarios of cables of different specifications and has a wide range of applications.

[0026] When the cable diameter is small, the required trench width is correspondingly reduced, and the two spraying mechanisms can not only play the role of spraying water jets to flush the inner wall of the trench, but also serve as the side walls of the guide groove to form a guiding structure for the cable when it is lowered, while achieving the functions of liquefying soil and guiding cables at the same time, reducing the complexity of the structure, which is conducive to reducing the size along the width direction of the cable shoe 5, and the movement and turning in the trench are less restricted, so it can be better applied to the trenching and cable laying operations of small diameter cables. The common cable guide groove between the above two spraying mechanisms and the cable shoe 5 can make the cable always be located below the cable shoe 5 during the lowering process, on the one hand, it can ensure that the cable falls accurately into the trench, and on the other hand, it can avoid the water jet sprayed from the spraying port 61 directly impacting the cable surface and causing damage to the cable surface, and the arc setting of the cable shoe 5 can ensure that the cable is smoothly lowered along the cable shoe 5, and the bending arc is not less than or equal to its minimum bending radius, avoiding damage caused by excessive bending during the lowering of the cable.

[0027] In the present invention, both ends of the two jet mechanisms are provided with jet ports 61, which can continuously liquefy the soil at both ends of the cable pressing shoe 5 in the trench during the movement of the cable pressing shoe 5, ensuring that the cable can be effectively sunk to the bottom of the trench. When the cable pressing shoe 5 and the two jet mechanisms are arranged in an arc shape, the jet ports 61 on the two jet mechanisms are arranged horizontally, that is, when the two jet mechanisms are operating in the trench, the jet ports 61 are arranged horizontally to generate approximately horizontal jets in the trench.

[0028] At both ends of the single jetting mechanism, the number of jetting openings 61 at the end facing the cable pressing shoe 5 in the cable pressing forward direction is greater than the number of jetting openings 61 at the end away from the cable pressing shoe 5 in the forward direction. Figure 2As shown, the number of the jet nozzles 61 on the left side is greater than that on the right side, so as to increase the scouring ability of the water jet at one end in the cable pressing and advancing direction of the cable pressing boot 5, ensure soil liquefaction before the cable sinks to the bottom of the trench, avoid the shallowing of the trench depth caused by soil backfilling, and thus maintain the trench shape and depth.

[0029] Each of the jetting mechanisms includes two jetting pipes 6. The two jetting pipes 6 are both arranged along the length direction of the cable pressing boot 5, and are arranged along the height direction between the two jetting pipes 6. The jet nozzles 61 in a single jetting mechanism are distributed at both ends of the two jetting pipes 6. When ensuring the jetting flow rate and the total height of the water jet, the thickness of a single jetting mechanism is smaller and will not increase the size of the cable pressing boot 5 in the width direction. Among them, when the number of the jet nozzles 61 at one end of the two jetting pipes 6 is greater than the number of the jetting pipes 6, jetting branch pipes are arranged in parallel at the end of the jetting pipes 6, and the jet nozzles 61 are formed at the ends of the jetting branch pipes.

[0030] The present invention further includes a mounting frame 4 and a laying mechanism. The cable pressing boot 5 is fixed between the two jetting mechanisms. The interior of the mounting frame 4 is hollow and is provided with a water pipe line. A water inlet 41 is arranged on the mounting frame 4. A plurality of connecting pipes 42 communicated with the water pipe line are fixedly arranged at the lower end of the mounting frame 4. The plurality of connecting pipes 42 are correspondingly fixed and communicated with the two jetting mechanisms. The laying mechanism drives the mounting frame 4 to move so as to drive the laying and recovery of the cable pressing boot 5 and the two jetting mechanisms. The water inlet 41 is connected with an external water supply unit or a water pump. External water flows into the water pipe line along the water inlet 41 and enters the two jetting mechanisms along the water pipe line, and finally sprays out from the jet nozzles 61 at both ends. This setting method can not only fix the cable pressing boot 5 and the two jetting mechanisms to the mounting frame 4 through the connecting pipes 41, but also the mounting frame 4 and the connecting pipes 42 can be used as the water supply structures of the two jetting mechanisms. Among them, the laying described herein refers to lowering the target mechanism to the working posture.

[0031] The cable laying mechanism includes a fixed frame 1, a moving frame 2, and a first linear drive member 3. The fixed frame 1 is used to connect to the fuselage of the underwater operation robot. One end of the moving frame 2 is hinged to the fixed frame 1, and the other end is hinged to the mounting frame 4, forming a link structure. The first linear drive member 3 drives the mounting frame 4 and the moving frame 2 to change their postures, thereby driving the laying and recovery of the cable pressing boot 5 and the two jetting mechanisms. Compared with the method of vertically driving the mounting frame 4 through a linear drive mechanism, this setting method occupies less height space during recovery and laying, requires less avoidance space in the height direction, and when used on an underwater operation robot, it can reduce interference with other tools in the height direction. On this basis, a certain distance can be provided between the fixed frame 1 and the mounting frame 4, which is beneficial for the cable pressing boot 5 to be located at a relatively far position at the tail of the underwater operation robot after the fixed frame 1 is connected to the fuselage of the underwater operation robot, ensuring that there is enough cable laying distance between the cable pressing boot 5 and the trenching device. In addition, this cable laying mechanism can also adjust the height of the cable pressing boot 5 on the basis of ensuring that the posture of the cable pressing boot 5 does not change, so as to adapt to operations with different trench depths.

[0032] There are two moving frames 2, and both of the two moving frames 2 are hinged between the fixed frame 1 and the mounting frame 4, that is, one end of each of the two moving frames 2 is hinged to the fixed frame 1, and the other end is hinged to the mounting frame 4. The fixed frame 1, the mounting frame 4, and the two moving frames 2 together form a quadrilateral mechanism. The arrangement of the two moving frames 2 can share the load, improve the stability and load-bearing capacity of the structure, and ensure the reliable progress of laying and recovery. The first linear drive member 3 is specifically an oil cylinder or other drive member with linear output. The cylinder body end of the oil cylinder is hinged to the fixed frame 1, and the piston end is hinged to the lower moving frame 2 among the two moving frames 2. As Figure 2 shown, it is a schematic diagram of the state after the piston end of the oil cylinder extends. At this time, the cable pressing boot 5 and the two jetting mechanisms are in the recovery state. As Figure 3 shown, it is a schematic diagram of the state after the piston end of the oil cylinder retracts. At this time, the cable pressing boot 5 and the two jetting mechanisms are in the fully lowered state.

[0033] When the fixed frame 1 is connected to the fuselage of the underwater operation robot, it is specifically hinged, and the axis of the hinge is arranged along the height direction of the fuselage of the underwater operation robot, so that this jetting and cable pressing device can have a left and right swing stroke on the underwater operation robot, that is, as Figure 4 and Figure 5 shown in the posture. The present invention also includes a second linear drive member 8. The second linear drive member 8 is specifically an oil cylinder or other drive member with linear output. The cylinder body end of the oil cylinder is hinged to the fuselage of the underwater operation robot, and the piston end is hinged to the fixed frame 1. The fixed frame 1 is pushed by the oil cylinder to achieve left or right swing to cooperate with the underwater operation robot to adapt to the turning area or the trench opened in a curve.

[0034] The cable pressing boot 5 is provided with a hollow structure, and a position detection unit 7 is arranged on the cable pressing boot 5. On the one hand, the cable pressing boot 5 with a hollow structure can reduce the contact with the cable and reduce the wear on the cable surface. On the other hand, it is also convenient for the position detection unit 7 to detect the cable located below the cable pressing boot 5. The position detection unit 7 is specifically a position sensor, which is electrically connected to the control system of the underwater operation robot to detect the position of the cable below the cable pressing boot 5 and ensure that the cable is located below the cable pressing boot 5.

[0035] The present invention also provides an underwater operation robot, and the above-mentioned jet-pressurized cable device is arranged on the underwater operation robot. Due to the arrangement of the above-mentioned jet-pressurized cable device, when the underwater operation robot moves, the cable pressing boot 5 and the two jetting mechanisms move along the length direction of the trench in the trench. The jetting ports 61 generate a horizontal jet flow along the length direction of the trench in the trench, and continuously scour the inner wall of the trench before the cable completely sinks to the bottom of the trench, liquefying the soil. In the scenario of a soft muddy seabed, it can effectively avoid the shallowing of the trench depth caused by soil backfilling and the collapse of both sides of the trench, and maintain the trench shape and depth. On the one hand, it can avoid the reduction of the height spacing between the bottom of the trench and the cable pressing boot 5 due to the shallowing of the trench depth, resulting in a large extrusion force on the cable surface, so that the cable can be avoided from being damaged during cable laying. On the other hand, it can ensure that the depth of the trench does not become shallower before the cable completely sinks into the trench, and can ensure that the cable is laid completely into the trench with a depth meeting the operation requirements, ensuring that the laying depth of the cable meets the operation requirements. The two jetting mechanisms can not only play the function of jetting water jets to scour the inner wall of the trench, but also act as the side walls of the guiding groove and jointly form a guiding structure when the cable is lowered with the cable pressing boot 5. While realizing the functions of liquefying the soil and guiding the cable, the complexity of the structure is reduced, which is beneficial to reducing the size in the width direction of the cable pressing boot 5. The common cable guiding groove between the two jetting mechanisms and the cable pressing boot 5 can make the cable always located below the cable pressing boot 5 during the lowering process. On the one hand, it can ensure that the cable accurately falls into the trench. On the other hand, it can avoid the water jet ejected from the jetting port 61 directly impacting on the cable surface and causing damage to the cable surface. The arc-shaped setting of the cable pressing boot 5 can ensure that the bending radian is not less than its minimum bending radius when ensuring the smooth lowering of the cable along the cable pressing boot 5, and avoid damage caused by excessive bending amplitude during the lowering process of the cable.

[0036] Those of ordinary skill in the art should understand that the discussion of any above embodiment is only exemplary, and is not intended to imply that the protection scope of the present application is limited to these examples; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments of the present application as described above. For the sake of brevity, they are not provided in detail.

[0037] One or more embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A cable spraying and pressing device, characterized in that The invention comprises a cable pressing shoe (5) and a jetting mechanism, wherein the cable pressing shoe (5) is arc-shaped in its length direction, and the two jetting mechanisms are respectively located on both sides of the cable pressing shoe (5) in the width direction and are arranged along the length direction of the cable pressing shoe (5). A cable guide groove for accommodating a cable is formed between the two jetting mechanisms and the cable pressing shoe (5), and at least one end of the two jetting mechanisms, which faces the cable pressing forward direction of the cable pressing shoe (5), is provided with a jetting port (61). In a working state, the jetting direction of the jetting port (61) is arranged along the length direction of the trench and is parallel to the trench.

2. The cable spraying and pressing device according to claim 1, characterized in that Both ends of the two spraying mechanisms are provided with spraying ports (61).

3. The cable spraying and pressing device according to claim 2, characterized in that a single At both ends of the spraying mechanism, the number of the spraying openings (61) at the end facing the cable pressing shoe (5) in the direction of advance of the cable pressing shoe (5) is greater than the number of the spraying openings (61) at the end facing away from the direction of advance of the cable pressing shoe (5).

4. The cable spraying and pressing device according to claim 2 or 3, characterized in that The single spray mechanism comprises two spray pipes (6), the two spray pipes (6) are arranged along the length direction of the cable pressing shoe (5), and the space between the two spray pipes (6) is arranged along the height direction of the cable pressing shoe (5), and the spray ports (61) in the single spray mechanism are distributed at both ends of the two spray pipes (6).

5. The cable spraying and pressing device according to any one of claims 1-3, characterized in that It also includes a mounting frame (4) and a laying mechanism, the cable pressing shoe (5) is fixed between the two spraying mechanisms, a water flow pipeline is provided inside the mounting frame (4), and a water inlet (41) is provided on the mounting frame (4), a plurality of connecting pipes (42) connected to the water flow pipeline are provided at the lower end of the mounting frame (4), and the plurality of connecting pipes (42) are fixed to and connected to the two spraying mechanisms respectively, and the laying mechanism drives the mounting frame (4) to move so as to drive the laying and recovery of the cable pressing shoe (5) and the two spraying mechanisms.

6. The cable spraying and pressing device according to claim 5, characterized in that The deployment mechanism comprises a fixed frame (1), a movable frame (2) and a linear drive member (3); the fixed frame (1) is used to be connected to the body of the underwater operation robot; one end of the movable frame (2) is hinged to the fixed frame (1), and the other end is hinged to the mounting frame (4); the linear drive member (3) drives the mounting frame (4) and the movable frame (2) to change their posture, thereby driving the deployment and recovery of the cable pressing shoe (5) and the two jet flushing mechanisms.

7. The cable spraying and pressing device according to claim 6, characterized in that Two movable frames (2) are provided, and both movable frames (2) are hingedly arranged between the fixed frame (1) and the mounting frame (4) to form a quadrilateral mechanism; one end of the linear drive member (3) is hingedly connected to the fixed frame (1), and the other end is hingedly connected to the movable frame (2) located at the bottom of the two movable frames (2).

8. The cable spraying and pressing device according to claim 6 or 7, characterized in that The fixing frame (1) is hinged to the body of the underwater working robot, and the axis of the hinge is arranged along the height direction of the body of the underwater working robot.

9. The cable spraying and pressing device according to any one of claims 1-3, 6, 7, characterized in that The cable pressing shoe (5) is hollowed out, and a position detection unit (7) is provided on the cable pressing shoe (5).

10. An underwater operation robot, characterized in that The underwater working robot is provided with a cable jetting device as described in any one of claims 1-9.

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