Spraying soil breaking device and method and underwater operation robot

Abstract

The invention belongs to the technical field of underwater operation, and particularly relates to a spraying and breaking soil device and method and an underwater operation robot. A rotating pipeline is rotationally arranged on a fixed pipeline and communicates with the fixed pipeline; the driving mechanism I is used for driving the rotating pipeline to rotate around the fixed pipeline; the number of the spraying and flushing arms is two, the two spraying and flushing arms are each provided with a front nozzle used for spraying water jet flow to conduct spraying, flushing and soil breaking, the water inlet ends of the two spraying and flushing arms are each provided with a flow guiding piece in a communicating mode, and the two flow guiding pieces are rotationally arranged on the rotating pipeline and communicate with the rotating pipeline; the second driving mechanism is used for driving the two spraying arms and the two flow guiding pieces to rotate around the rotating pipeline. According to the invention, the spraying angle of the water jet is ensured to be the optimal angle for spraying and breaking soil at different lowering heights, the ditching quality and efficiency are ensured in ditching operation at different depths, the applicable range is wider, and the flexibility of underwater operation is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater operations, and particularly relates to a jet breaking and soil breaking device, method and underwater operation robot. Background Art

[0002] When laying cables on the seabed, in order to ensure the safety and stability of the cables and avoid damage caused by factors such as sea waves, marine organisms, and ship anchors, it is necessary to carry out trench burying operations. First, a trench of a certain depth and width is dug on the seabed through a trenching device, and then the cable is laid into the trench so that the cable is buried to a corresponding depth. Depending on the different underwater environments or the types and specifications of the target cables, the required burial depth will also be different. Therefore, the width or depth of the required trench will also be different. For the method of using high-pressure water jet to break the trench, when the trenching device operates, it is necessary to keep the jet it sprays within the optimal jetting angle range to ensure that the water jet sprayed by the jet arm can effectively act on the seabed, dig a trench with uniform depth and width, and at the same time wash the soil generated by trenching outside the trench to ensure the quality and efficiency of trenching. However, currently, the trenching device is generally hinged and installed, and is deployed by rotating downward and retrieved by rotating upward. For example, an underwater cable laying system and method provided by Chinese Patent No. CN202210170701.4. The deployment height of such a trenching device is fixed. For a relatively shallow trench, if the deployment height of the trenching device is reduced by adjusting the attitude, only the whole trenching device can be driven to rotate upward, but this will change the jet angle of the trenching device, resulting in a decline in the quality and efficiency of trenching. The applicable range of a single trenching device has great limitations and poor flexibility. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a jet breaking and soil breaking device, method and underwater operation robot that can be applicable to trench digging operations of different depths, ensure the quality and efficiency of trench digging, and have high flexibility in underwater operations.

[0004] The present invention provides a jet breaking and soil breaking device, including: A fixed pipeline; A rotating pipeline, which is rotatably arranged on the fixed pipeline and is communicated with the fixed pipeline; A driving mechanism one, which is used to drive the rotating pipeline to rotate around the fixed pipeline; Jetting arms, there are two jetting arms, and front nozzles for jetting water jets to perform jet breaking and soil breaking are arranged on both jetting arms. A flow guide member is communicatively arranged at the water inlet end of each of the two jetting arms, and the two flow guide members are rotatably arranged on the rotating pipeline and are communicated with the rotating pipeline; A driving mechanism two, which is used to drive the two jetting arms and the two flow guide members to rotate around the rotating pipeline.

[0005] Further, a dynamic seal is provided at the rotational mating portion between the rotating pipeline and the fixed pipeline, so that the rotating pipeline and the fixed pipeline are directly connected.

[0006] Further, there are two sets of fixed pipelines, and each set of fixed pipelines is connected to a set of water pump mechanisms. The rotating pipeline is U-shaped, and the two ends of the rotating pipeline are rotatably connected to the two sets of fixed pipelines respectively and are dynamically sealed for direct connection. The two sets of fixed pipelines are connected by a branch pipe and / or the two ends of the rotating pipeline are connected by a branch pipe.

[0007] Further, a single spray arm includes an array of spray pipes. The lengths of the array of spray pipes are different, and the array of spray pipes are arranged in parallel in the order of length and are all connected to the flow guide member. Front nozzles are provided on all the spray pipes in the array. Among the array of spray pipes, for the spray pipe with the shortest length, its front nozzle is arranged on the side of the spray pipe facing away from the other spray pipes, and the front nozzles of the remaining spray pipes are arranged in the area longer than the adjacent spray pipe. And the front nozzles on all the spray pipes are arranged in the same direction. A flow guide plug is provided on the flow guide member for blocking or opening some of the spray pipes on the shorter side of the array of spray pipes.

[0008] Further, a third driving mechanism is further included. The third driving mechanism can drive the flow guide member to axially move on the rotating pipeline to adjust the distance between the two spray arms.

[0009] Further, inner nozzles are provided on the array of spray pipes in both of the two spray arms. Among the array of spray pipes, for the spray pipe with the shortest length, its inner nozzle is located inside the spray pipe, and the inner nozzles of the remaining spray pipes are arranged inside the area longer than the adjacent spray pipe. And the inner nozzles in the two spray arms are arranged opposite to each other.

[0010] Further, a tail nozzle is provided at the bottom of the spray pipe with the longest length in a single spray arm, and the water jet direction of the tail nozzle is arranged opposite to the water jet direction of the front nozzle.

[0011] Further, a front spray mechanism is further included. The front spray mechanism includes a front spray pipe, and a front nozzle is provided at the lower end of the front spray pipe. When performing ditch opening operation, the front spray mechanism is located in front of the spray arm.

[0012] The content of the present invention also provides a method for spraying and breaking soil, which uses the spraying and breaking soil device as described above. The method includes the following steps: According to the required depth of the trench to be opened on the seabed, the driving mechanism 1 drives the rotating pipeline to turn downward around the fixed pipeline by a certain angle, so that the two jetting arms are synchronously lowered by a corresponding height, and the driving mechanism 2 drives the two jetting arms and the two guiding members to rotate around the rotating pipeline, so that the front nozzle faces the seabed and the angle of the front nozzle relative to the vertical direction is within the preset jetting angle range; water is supplied to the two jetting arms along the fixed pipeline, the rotating pipeline and the two guiding members in sequence, and the water jet ejected from the front nozzle breaks the soil and opens a trench on the seabed.

[0013] The content of the present invention also provides an underwater operation robot provided with the jetting and soil-breaking device as described above.

[0014] The beneficial effects of the present invention are as follows: the fixed pipeline and the rotating pipeline are used not only as the water supply pipelines for the two jetting arms, but also as the installation and bearing structures for the two jetting arms. On the basis of realizing the installation of the two jetting arms, there is no need to arrange additional pipelines that meet the lowering depth to connect the two jetting arms with the water pump mechanism, which can ensure the connection with the jetting arms under different lowering depths of the jetting arms, is beneficial to simplifying the overall structure, can reduce the overall volume, and reduce the space occupation. Compared with general pipelines, since the fixed pipeline and the rotating pipeline are used as the installation and bearing structures for the two jetting arms, they have greater strength and hardness, and are not prone to water leakage due to the impact of underwater organisms or rocks when used as water supply pipelines, and have higher reliability. By using the driving mechanism 1 and the driving mechanism 2 to form a two-stage driving structure, when the driving mechanism 1 drives the rotating pipeline to turn over to lower the two jetting arms, the driving mechanism 2 can synchronously drive the two jetting arms to rotate to adjust the posture. When the two jetting arms are lowered deeper or shallower for trench opening operations at different depths, the angle of the front nozzle relative to the vertical direction can be maintained within the optimal jetting angle range, ensuring that the jetting angle of the water jet is the optimal angle for breaking soil, so that the present invention can be applied to trench opening operations at different depths, meet the operation requirements of different specifications of cables, and ensure the quality and efficiency of trench opening in trench opening operations at different depths. Therefore, the applicable scenarios are wider and the flexibility of underwater operations is high. Description of the Drawings

[0015] Figure 1 It is a schematic structural diagram of the jetting and soil-breaking device of the present invention.

[0016] Figure 2 It is a schematic diagram of the first lowering posture of the jetting and soil-breaking device of the present invention.

[0017] Figure 3 For the present invention Figure 2 Left view.

[0018] Figure 4 For the present invention Figure 3 Schematic diagram after the distance between the two jetting arms in it is increased.

[0019] Figure 5 This is a schematic diagram of the second lowering posture of the jet-breaking and soil-penetrating device of the present invention.

[0020] Figure 6 For the present invention Figure 5 Left view.

[0021] Figure 7 This is a schematic diagram of the recovery posture of the jet-breaking and soil-penetrating device of the present invention.

[0022] Figure 8 This is a schematic structural diagram of the front jetting mechanism of the present invention.

[0023] Figure 9 This is a schematic diagram of the working state of the underwater operation robot of the present invention.

[0024] In the figure: 1, fixed pipeline; 2, rotating pipeline; 21, elbow; 22, mounting rod; 3, driving mechanism I; 4, jetting arm; 41, jetting pipe; 411, front nozzle; 412, inner nozzle; 413, tail nozzle; 5, flow guiding member; 51, flow guiding plug; 52, connecting sleeve; 6, driving mechanism II; 7, driving mechanism III; 8, water pump mechanism; 9, front jetting mechanism; 91, support pipe; 92, front jetting pipe; 921, front nozzle; 93, driving mechanism V. Specific embodiments

[0025] As Figures 1-7As shown in the figure, the present invention provides a jet breaking and soil breaking device, which includes a fixed pipeline 1, a rotating pipeline 2, a first driving mechanism 3, a jet breaking arm 4 and a second driving mechanism 6. The rotating pipeline 2 is rotatably arranged on the fixed pipeline 1 and is communicated with the fixed pipeline 1, that is, the rotating pipeline 2 has a radial rotation stroke on the fixed pipeline 1, and after rotation, the rotating pipeline 2 remains communicated with the fixed pipeline 1. The first driving mechanism 3 is used to drive the rotating pipeline 2 to rotate around the fixed pipeline 1. The first driving mechanism 3 can be a rotary driving part or a linear driving part, preferably a linear driving part, such as an oil cylinder. The piston end of the oil cylinder is hinged to the rotating pipeline 2, and the cylinder body end is used to be hinged to the fuselage main body of the underwater operation robot, forming an approximate connecting rod structure, which can realize the rotation of the rotating pipeline 2 while having better bearing capacity. There are two jet breaking arms 4. Front nozzles 411 for jetting water jets to break and break the soil are arranged on both jet breaking arms 4. A flow guiding part 5 is fixedly arranged at the water inlet end of each of the two jet breaking arms 4, and each jet breaking arm 4 is communicated with its corresponding flow guiding part 5. The two flow guiding parts 5 are rotatably arranged on the rotating pipeline 2 and are communicated with the rotating pipeline 2, that is, the two flow guiding parts 5 have a radial rotation stroke on the rotating pipeline 2, and after rotation, the two flow guiding parts 5 remain communicated with the rotating pipeline 2, so that the two jet breaking arms 4 remain communicated with the rotating pipeline 2. The second driving mechanism 6 is used to drive the two jet breaking arms 4 and the two flow guiding parts 5 to rotate around the rotating pipeline 2. The number of the second driving mechanisms 6 corresponds to the number of the flow guiding parts 5, which is also two. The second driving mechanism 6 can be a rotary driving part or a linear driving part, preferably a linear driving part, such as an oil cylinder. The piston end of the oil cylinder is hinged to the flow guiding part 5, and the cylinder body end is used to be hinged to the fuselage main body of the underwater operation robot, forming an approximate connecting rod structure, which can realize the rotation of the two flow guiding parts 5 and the two jet breaking arms 4 while having better bearing capacity.

[0026] The jet-breaking soil-breaking device provided by the present invention uses the fixed pipeline 1 and the rotating pipeline 2 not only as the water supply pipelines for the two jetting arms 4, but also as the installation and bearing structures for the two jetting arms 4. On the basis of realizing the installation of the two jetting arms 4, there is no need to arrange additional pipelines that meet the lowering depth to connect the two jetting arms 4 with the water pump mechanism 8, which can ensure that the two jetting arms 4 are connected under different lowering depths, facilitating the simplification of the overall structure, reducing the overall volume and space occupation. Compared with general pipelines, since the fixed pipeline 1 and the rotating pipeline 2 are used as the installation and bearing structures for the two jetting arms 4, they have greater strength and hardness, and are not prone to water leakage due to the impact of underwater organisms or rocks when used as water supply pipelines, with higher reliability. The use of the first driving mechanism 3 and the second driving mechanism 6 forms a two-stage driving structure. When the first driving mechanism 3 is used to drive the rotating pipeline 2 to flip to lower the two jetting arms 4, the second driving mechanism 6 can synchronously drive the two jetting arms 4 to rotate to adjust the posture. When the two jetting arms 4 are lowered deeper or shallower for trench-digging operations at different depths, the angle of the front nozzle 411 relative to the vertical direction can be maintained within the optimal jetting angle range, ensuring that the jetting angle of the water jet is the optimal angle for breaking soil by jetting. This enables the present invention to be applied to trench-digging operations at different depths, meet the operation requirements of different specifications of cables, and ensure the quality and efficiency of trench-digging in trench-digging operations at different depths, with a wider applicable scenario and high flexibility in underwater operations.

[0027] As Figure 2 shown, it is the posture of the two jetting arms 4 after being completely lowered, that is, the posture when lowered to the lowest position, which is applicable to trench-digging operations in deeper sea trenches; as Figure 5 shown, it is the posture of the two jetting arms 4 with a shallower lowering depth, which is applicable to trench-digging operations in shallower sea trenches; in these two postures, the orientation of the front nozzle 41 and the angle relative to the vertical direction are the same.

[0028] In an embodiment of the present invention, the fixed pipeline 1 and the rotating pipeline 2 can be connected through a flexible pipeline to ensure connection on the basis of meeting the rotation stroke of the rotating pipeline 2. The rotating pipeline 2 is connected to the two flow guiding members 5 through a flexible pipeline to ensure connection on the basis of meeting the moving stroke of the two flow guiding members 5.

[0029] In a preferred embodiment of the present invention, a radial dynamic seal is provided at the rotational mating part of the rotating pipeline 2 and the fixed pipeline 1, which can directly connect the rotating pipeline 2 and the fixed pipeline 1 on the basis of meeting the rotation stroke. Radial dynamic seals are also provided at the rotational mating parts of the two flow guiding members 5 and the rotating pipeline 2, which can directly connect the two flow guiding members 5 and the rotating pipeline 2 on the basis of meeting the rotation stroke. In this embodiment, there is no need to additionally install flexible pipelines, reducing the complexity of the pipeline and the risk of breakage and water leakage at the connection.

[0030] There are two sets of the fixed pipelines 1, and each set of the fixed pipelines 1 is connected to a set of water pump mechanisms 8, that is, the two sets of fixed pipelines 1 realize water supply through the corresponding water pump mechanisms 8 respectively. The rotating pipeline 2 is U-shaped. As Figure 1 shown, elbows 21 are arranged at both ends of the rotating pipeline 2. The two sets of fixed pipelines 1 are both arranged with horizontal bends. The elbows 21 at both ends of the rotating pipeline 2 are rotatably connected to the horizontal parts of the two sets of fixed pipelines 1 and are radially dynamically sealed to be directly communicated. On the basis of ensuring communication, the whole rotating pipeline 2 can rotate around the two sets of fixed pipelines 1 under the action of the first driving mechanism 3. And the two sets of fixed pipelines 1 are communicated through branch pipes and / or the two ends of the rotating pipeline 2 are communicated through branch pipes. When one of the water pump mechanisms 8 fails or malfunctions, the water flow supply to the two spray arms 4 can be maintained by the other water pump mechanism 8 to maintain the operation and avoid interruption. Among them, a connecting sleeve 52 is fixedly arranged at the upper end of the flow guiding member 5. As Figure 1 shown, the connecting sleeves 52 of the two flow guiding members 5 are both sleeved on the rotating pipeline 2, that is, the flow guiding member 5 is connected to the rotating pipeline 2 through the connecting sleeve 52. In the implementation manner where the flow guiding member 5 and the rotating pipeline 2 are dynamically sealed, the flow guiding member 5 is communicated with the flow guiding sleeve 52. Specifically, the flow guiding sleeve 52 on the flow guiding member 5 is dynamically sealed with the rotating pipeline 2, and a water passing hole is opened on the side wall of the rotating pipeline 2 where it coincides with the connecting sleeve 52. The water flow in the rotating pipeline 2 enters the flow guiding member 5 along the connecting sleeve 52 through the water passing hole and flows into the spray arm 4 from the flow guiding member 5 along the water inlet end of the spray arm 4.

[0031] Each of the single spray arms 4 includes an array of spray pipes 41. The lengths of the array of spray pipes 41 are different, and the array of spray pipes 41 are arranged in parallel in the order of length, that is, in the order from short to long in parallel, and the array of spray pipes 41 are all communicated with the flow guiding member 5. Front nozzles 411 are arranged on all the spray pipes 41. As Figure 1 and Figure 2 shown, among the array of spray pipes 41, for the spray pipe 41 with the shortest length, its front nozzle 411 is arranged on the side of the spray pipe 41 facing away from the other spray pipes 41, and the front nozzles 411 of the other spray pipes 41 are arranged in the area longer than the adjacent spray pipes 41, and all the front nozzles 411 on all the spray pipes 41 are arranged in the same direction. As Figure 3 and Figure 4As shown, in the front view state of the jetting arm 4, the front nozzles 411 on the array of jetting pipes 41 are arranged along the height direction of the jetting arm 4. A flow guide plug 51 is arranged on the flow guide member 5 for blocking or opening some of the jetting pipes 41 on the shorter side in terms of length in the array of jetting pipes 41. Since the array of jetting pipes 41 is arranged side by side in the order of length, the shorter side specifically refers to the side where the shortest jetting pipe 41 in the jetting arm 4 is located. Among them, the number of jetting pipes 41 that can be blocked or opened due to the flow guide plug 51 in a single jetting arm 4 is less than the number of all jetting pipes 41 in this jetting arm 4. When there are at least two groups of jetting pipes 41 that can be blocked or opened due to the flow guide plug 51, they are at least two groups counted sequentially along the length direction from the shortest jetting pipe 41. When the trench to be dug is relatively deep, the depth of the jetting arm 4 submerged in the seabed is relatively deep. As Figure 9 shown, all the jetting pipes 41 are submerged in the seabed, and all the front nozzles 411 are basically not higher than the seabed, that is, all the front nozzles 411 participate in the operation of breaking the soil and digging the trench on the seabed. When the depth of the trench to be dug is relatively shallow, the depth of the jetting arm 4 submerged in the seabed is relatively shallow. At this time, some of the front nozzles 411 will be significantly higher than the seabed and do not participate in the operation of breaking the soil and digging the trench on the seabed. The jetting pipe 41 where the front nozzle 411 is located is blocked by the flow guide plug 51, so that there is no water jetting in the jetting pipe 41 above the seabed, and all the water flow is guided into the jetting pipes 41 located in the seabed, improving the utilization efficiency of the water jet and the trench digging efficiency. Among them, the position of the flow guide plug 51 on the flow guide member 5 is above the jetting pipe 41. The flow guide plug 51 specifically includes a fourth driving mechanism and a plug body. The fourth driving mechanism is preferably an oil cylinder, the cylinder body end of which is fixedly arranged on the flow guide member 5, the plug body is arranged on the piston end of the oil cylinder, and the plug body penetrates inside the flow guide member 5 and is in dynamic sealing with the flow guide member 5. The plug body is driven by the oil cylinder to move towards the jetting pipe 41 and be inserted into the jetting pipe 41 to achieve blocking, and the plug body is driven by the oil cylinder to move away from the jetting pipe 41 to achieve opening.

[0032] The present invention also includes a driving mechanism 3 7, which can drive the guide member 5 to move axially along the rotating pipeline 2 to adjust the spacing between the two spray arms 4 to adapt to the trenches of different widths. Among them, the axial movement stroke of the guide member 5 on the rotating pipeline 2 is the axial movement stroke of the connecting sleeve 52 on the rotating pipeline 2. In the embodiment of the present invention based on dynamic sealing, the dynamic seal between the connecting sleeve 52 on the guide member 5 and the rotating pipeline 2 also includes an axial dynamic seal, that is, the guide member 5 also has an axial movement stroke on the rotating pipeline 2. When the connecting sleeve 52 moves axially on the rotating pipeline 2, the water hole is always located within the overlap range of the connecting sleeve 52 and the rotating pipeline 2; in the embodiment of the present invention based on flexible pipe connection, the length of the flexible pipe can meet the movement stroke of the guide member 5. After ensuring that the spacing between the two spray arms 4 is adjusted, the two spray arms 4 can maintain a state of being connected to the rotating pipeline 2 through the guide member 5. The driving mechanism 3 7 is an oil cylinder, which is connected between the two guide members 5 to drive the synchronous movement of the two guide members 5. Or the oil cylinder is provided with two, a mounting rod 22 is fixedly provided on the rotating pipeline 2, the cylinder ends of the two oil cylinders are fixed on the mounting rod 22, and the piston ends are connected to the two guide members 5 accordingly.

[0033] The array of two spray arms 4 is provided with inner nozzles 412 on the spray pipes 41. In the array of spray pipes 41, the inner nozzle 412 of the shortest spray pipe 41 is located on the inner side of the spray pipe 41, and the front nozzles 411 on the remaining spray pipes 41 are arranged on the inner side of the area longer than the adjacent spray pipes 41, and the inner nozzles 412 in the two spray arms 4 are arranged opposite to each other. When the width of the trench to be opened is wide, the distance between the two spray arms 4 is large, and the soil in the middle of the trench may not be liquefied. The setting of the inner nozzle 412 can form opposite water jets in the trench along the width of the trench, so that the soil between the two spray arms 4 is liquefied, which is conducive to the opening of a wide trench and ensures the trench shape of the wide trench.

[0034] The spray arm 4 is provided with a tail nozzle 413, which is arranged away from the front nozzle 411, that is, the direction of the water jet sprayed by the tail nozzle 413 is away from the direction of the water jet sprayed by the front nozzle 411, and is used to continuously liquefy the soil in the trench after the front nozzle 411 sprays and opens the trench, maintain the trench shape, and prevent the collapse of the soil on both sides of the trench, so that the present invention can be better applied to trenches with softer soil. Preferably, the tail nozzle 413 is arranged at the bottom of the longest spray pipe 41 in the spray arm 4, so that when the depth of the opened trench is different, the tail nozzle 413 can be kept at the bottom of the trench.

[0035] The present invention also includes a front spray mechanism 9, which is located in front of the spray arm 4 during trenching operations. The front spray mechanism 9 can play a pre-spraying role before the spray arm 4 sprays and breaks the soil. On the one hand, it can be used to clean the silt, gravel and seabed organisms attached to the seabed surface and cables. On the other hand, it can open a shallow trench on the seabed surface before the spray arm 4 to form a pre-ditching. When turning, it can reduce the difficulty of the spray arm 4 breaking the soil and trenching, which is conducive to turning trenching and cable burying operations. Among them, the front spray mechanism 9 includes a support tube 91, a front nozzle 92 and a driving mechanism 5 93. The support tube 91 is connected to an external water supply unit. The front nozzle 92 is rotatably set at the lower end of the support tube 91 and is a dynamic seal. The lower end of the front nozzle 92 is provided with a front nozzle 921 for spraying a water jet. The driving mechanism 5 93 is specifically an oil cylinder, which is hingedly set between the support tube 91 and the front nozzle 92. Specifically, Figure 8 As shown, two front nozzles 92 are provided, and both front nozzles 92 are bent and one end away from the front nozzle 921 is rotatably connected to the lower end of the support tube 91 and dynamically sealed. The two front nozzles 92 together form a U-shaped nozzle structure, and the two front nozzles 92 are fixedly connected by a rod body, and the oil cylinder is specifically hinged between the support tube 91 and the rod body.

[0036] The present invention also provides a method for breaking soil by spraying and blasting, wherein the method uses the above-mentioned device for breaking soil by spraying and blasting, and the method comprises the following steps: According to the required trench depth to be opened on the seabed, the rotating pipeline 2 is driven by the driving mechanism 1 3 to flip around the fixed pipeline 1 at a certain angle, so that the two spray arms 4 are synchronously lowered to a corresponding height, and the two spray arms 4 and the two guide members 5 are driven by the driving mechanism 2 6 to rotate around the rotating pipeline 2, so that the front nozzle 411 is set toward the seabed and the angle of the front nozzle 411 relative to the vertical is a preset optimal spray angle range, that is, the optimal angle range required for spraying and breaking the soil; water is supplied to the two spray arms 4 along the fixed pipeline 1, the rotating pipeline 2 and the two guide members 5 in turn, and the front nozzle 411 sprays a water jet to break the soil and open a trench on the seabed. When the two spray arms 4 are lowered deeper or shallower to perform trenching operations at different depths, the angle of the front nozzle 411 relative to the vertical can be maintained in the optimal spray angle range, ensuring that the spray angle of the water jet is the optimal spraying and breaking the soil angle, so that the quality and efficiency of trenching in trenching operations at different depths are guaranteed by the present invention, so the scope of application is wider and the flexibility of underwater operations is high.

[0037] The present invention also provides an underwater operation robot, such as Figure 9As shown, the underwater operation robot is provided with the jet breaking and soil excavation device as described above. When the two jetting arms 4 are lowered to a greater or lesser depth for trench digging operations at different depths, the angle of the front nozzle 411 relative to the vertical direction can be maintained within the optimal jetting angle range, ensuring that the jetting angle of the water jet is the optimal angle for jet breaking and soil excavation, so that the present invention can guarantee the quality and efficiency of trench digging operations at different depths. Therefore, the applicable range is wider and the flexibility for underwater operations is high.

[0038] Those of ordinary skill in the art should understand that the discussion of any embodiment above is only exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; under the concept of this 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, which are not provided in detail for the sake of brevity.

[0039] One or more embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this application shall be included within the scope of protection of this application.

Claims

1. A jet-breaking and soil-penetrating device, characterized in that it comprises: Fixed pipeline (1); Rotating pipeline (2), which is rotatably arranged on the fixed pipeline (1) and communicates with the fixed pipeline (1); First driving mechanism (3), which is used to drive the rotating pipeline (2) to rotate around the fixed pipeline (1); Flushing arms (4), there are two flushing arms (4), and front nozzles (411) for spraying water jets to break soil are arranged on both flushing arms (4). A flow guide (5) is connected to the water inlet end of each of the two flushing arms (4). The two flow guides (5) are rotatably arranged on the rotating pipeline (2) and communicate with the rotating pipeline (2); Second driving mechanism (6), which is used to drive the two flushing arms (4) and the two flow guides (5) to rotate around the rotating pipeline (2).

2. The jet-breaking and soil-penetrating device according to claim 1, characterized in that The rotating pipeline (2) is in dynamic seal with the rotating mating part of the fixed pipeline (1), so that the rotating pipeline (2) is directly connected to the fixed pipeline (1).

3. The jet-breaking and soil-penetrating device according to claim 2, characterized in that There are two groups of fixed pipelines (1), and each group of fixed pipelines (1) is connected to a group of water pump mechanisms (8). The rotating pipeline (2) is U-shaped, and the two ends of the rotating pipeline (2) are rotatably connected and in dynamic seal with the two groups of fixed pipelines (1) respectively for direct connection. The two groups of fixed pipelines (1) are connected by a branch pipe and / or the two ends of the rotating pipeline (2) are connected by a branch pipe.

4. The jet-breaking and soil-penetrating device according to any one of claims 1-3, characterized in that a single The flushing arm (4) includes several groups of flushing pipes (41). The lengths of the several groups of flushing pipes (41) are different, and the several groups of flushing pipes (41) are arranged side by side in the order of length and are all connected to the flow guide (5). Front nozzles (411) are arranged on all the flushing pipes (41). Among the several groups of flushing pipes (41), the front nozzle (411) of the shortest flushing pipe (41) is arranged on the side of the flushing pipe (41) away from the other flushing pipes (41). The front nozzles (411) of the other flushing pipes (41) are arranged in the area longer than the adjacent flushing pipe (41), and the front nozzles (411) on all the flushing pipes (41) are arranged in the same direction. A flow guide plug (51) is arranged on the flow guide (5) for blocking or opening some of the flushing pipes (41) on the shorter side among the several groups of flushing pipes (41).

5. The jet-breaking and soil-penetrating device according to claim 4, characterized in that It also includes a third driving mechanism (7), and the third driving mechanism (7) can drive the flow guide (5) to axially move on the rotating pipeline (2) to adjust the distance between the two flushing arms (4).

6. The jet-breaking and soil-penetrating device according to claim 5, characterized in that Inner nozzles (412) are arranged on the several groups of flushing pipes (41) in the two flushing arms (4). Among the several groups of flushing pipes (41), the inner nozzle (412) of the shortest flushing pipe (41) is located inside the flushing pipe (41). The inner nozzles (412) on the other flushing pipes (41) are arranged inside the area longer than the adjacent flushing pipe (41), and the inner nozzles (412) in the two flushing arms (4) are arranged opposite to each other.

7. The jet-breaking and soil-penetrating device according to claim 4, characterized in that a single A tail nozzle (413) is arranged at the bottom of the longest flushing pipe (41) in the flushing arm (4), and the water jet direction of the tail nozzle (413) is arranged away from the water jet direction of the front nozzle (411).

8. The jet-breaking and soil-penetrating device according to any one of claims 1-3, 5-7, characterized in that It further includes a front flushing mechanism (9), and the front flushing mechanism (9) includes a front nozzle pipe (92). A front nozzle (921) is arranged at the lower end of the front nozzle pipe (92). When the ditching operation is carried out, the front flushing mechanism (9) is located in front of the flushing arm (4).

9. A jet-breaking and soil-penetrating method, characterized in that The jet breaking and soil breaking device according to any one of claims 1-8 is used, and the method includes the following steps: According to the required trench depth to be opened on the seabed, the driving mechanism I (3) is used to drive the rotating pipeline (2) to turn downward around the fixed pipeline (1) by a certain angle, so that the two flushing arms (4) are synchronously lowered by a corresponding height, and the driving mechanism II (6) is used to drive the two flushing arms (4) and the two guiding members (5) to rotate around the rotating pipeline (2), so that the front nozzle (411) faces the seabed and the angle of the front nozzle (411) relative to the vertical direction is within a preset jet flushing angle range; water is sequentially supplied to the two flushing arms (4) corresponding to the fixed pipeline (1), the rotating pipeline (2) and the two guiding members (5), and the water jet ejected from the front nozzle (411) breaks the soil and opens a trench on the seabed.

10. An underwater operation robot, characterized in that The jet breaking and soil breaking device according to any one of claims 1-8 is provided.

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