Underwater jet flow ditching and cable laying operation system and method

Abstract

The invention belongs to the technical field of underwater cable laying operation, and particularly relates to an underwater jet flow ditching cable laying operation system and method. An underwater walking device is arranged at the lower end of a machine body; the spraying and flushing soil breaking device comprises a laying mechanism I and two spraying and flushing arms; the two spraying and flushing arms are arranged on the laying mechanism I and are positioned at the front end of the machine main body; the cable pressing boot and the two spraying mechanisms are arranged at the rear end of the machine body, the two spraying mechanisms are correspondingly located on the two sides of the cable pressing boot in the width direction, and a plurality of spraying openings are formed in the two spraying mechanisms and used for spraying horizontal jet flow in the length direction of a sea ditch during ditching and cable laying operation. The cable pressing shoe can be suitable for being used on a seabed with thin and soft soil and under the condition that the bending radius of a target cable is large, the cable pressing shoe is used for guiding the cable to settle, the cable settling speed is increased, it is ensured that the cable is laid to the target depth, and meanwhile cable damage is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater cable laying operations, and particularly relates to an underwater jet trenching and cable laying operation system and an operation method. Background Art

[0002] At present, for the installation of underwater cables, the cables need to be buried under the seabed. The operation process is relatively complex. It is necessary to use an underwater operation system to move along the direction of the cable pre-laid on the seabed, and use the carried trenching device to open a trench on the seabed, so that the cable sinks to the bottom of the trench to ensure that the burial depth meets the requirements. Since the cable has a certain buoyancy underwater, in order to enable the cable to accurately sink to the bottom of the trench, a cable pressing device is carried on the underwater operation system to guide the cable and press the cable into the trench. For a soft seabed with loose soil, the trenching device is generally a jet trenching, that is, a jet is sprayed towards the seabed by a spray arm to open a trench. At present, the cable pressing device is generally carried at the position directly behind the trenching device and is close to the trenching device, so as to quickly press the cable into the bottom of the trench after trenching and before the sediment is naturally backfilled by ocean currents. For example, an underwater cable laying system and method provided by Chinese Patent CN202210170701.4. However, for a cable with a relatively large bending radius, its bendable ability is limited. When using the above operation system for cable laying, the cable is prone to being damaged due to being forced to bend too much under the pressing action of the cable pressing device. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an underwater jet trenching and cable laying operation system and an operation method that can be applicable to a soft seabed with loose soil and a relatively large bending radius of the target cable, use a cable pressing boot to guide the cable to sink and accelerate the cable sinking speed, ensure that the cable is laid to the target depth, and avoid cable damage.

[0004] The present invention provides an underwater jet trenching and cable laying operation system, including: A fuselage main body; An underwater walking device, which is arranged at the lower end of the fuselage main body; A jet breaking and soil-breaking device, which includes a laying mechanism I and two spray arms. The laying mechanism I is arranged on the fuselage main body, and the two spray arms are arranged on the laying mechanism I and are located at the front end of the fuselage main body; A cable pressing boot and a jetting mechanism. The cable pressing boot and the two jetting mechanisms are both arranged at the rear end of the fuselage main body. The two jetting mechanisms are correspondingly located on both sides in the width direction of the cable pressing boot. A plurality of jetting ports are provided on each of the two jetting mechanisms. The plurality of jetting ports are used to spray horizontal jets along the length direction of the trench during the trench opening and cable laying operation, and the jetting direction of at least one jetting port on a single jetting mechanism is set towards the direction where the two spray arms are located.

[0005] Furthermore, the cable pressing shoe and the two jet flushing mechanisms are deployed and recovered respectively through independent deployment mechanisms.

[0006] Furthermore, it also includes a laying mechanism 2 and a mounting frame, wherein the laying mechanism 2 is arranged at the rear end of the fuselage main body and extends in the direction away from the fuselage main body, the mounting frame is arranged at one end of the laying mechanism 2 away from the fuselage main body, the cable pressing shoe is fixed between the two spraying mechanisms, a water flow pipeline is arranged inside the mounting frame, and a water inlet is arranged on the mounting frame, and a plurality of connecting pipes connected to the water flow pipeline are arranged at the lower end of the mounting frame, and the plurality of connecting pipes are fixed and connected to the two spraying mechanisms accordingly.

[0007] Furthermore, the second deployment mechanism includes a fixed frame, a movable frame and a linear drive component. The fixed frame is connected to the fuselage body, one end of the movable frame is hinged to the fixed frame, and the other end is hinged to the mounting frame. The linear drive component drives the mounting frame and the movable frame to change their postures, so as to simultaneously drive the cable pressing shoe and the two jetting mechanisms to rise and fall.

[0008] Furthermore, the two spray mechanisms are provided with spray openings at one end facing the two spray arms and at one end away from the two spray arms. At both ends of a single spray mechanism, the number of spray openings at the end facing the two spray arms is greater than the number of spray openings at the end away from the two spray arms.

[0009] Furthermore, the deployment mechanism 1 includes a fixed pipeline, a rotating pipeline, a driving mechanism 1 and a driving mechanism 2. The rotating pipeline is rotatably set on the fixed pipeline and connected to the fixed pipeline. The driving mechanism 1 is used to drive the rotating pipeline to rotate around the fixed pipeline. The two spray arms are both rotatably set on the rotating pipeline and connected to the rotating pipeline. The driving mechanism 2 is used to drive the two spray arms to rotate around the rotating pipeline.

[0010] Furthermore, both spray arms are provided with front nozzles for spraying jets to open trenches on the seabed. There are several front nozzles on a single spray arm, and the several front nozzles are arranged along the height direction of the spray arm, and tail nozzles are provided at the bottom of the two spray arms, and the spraying direction of the tail nozzle is set away from the spraying direction of the front nozzle.

[0011] Furthermore, it also includes a front spray mechanism, which is arranged at the front end of the fuselage body and in front of the two spray arms. The front spray mechanism is provided with a front nozzle to blow and / or pre-ditch the seabed before the two spray arms operate.

[0012] The present invention also provides an underwater jet trenching and cable laying operation method, using the underwater jet trenching and cable laying operation system as described above, and the operation method comprises the following steps: S1. Lower the underwater jet trenching and cable laying operation system onto the seabed where trenching and cable laying are to be carried out, and make the projections of the two jetting arms on the seabed be located on both sides of the cable correspondingly. S2. Lower the two jetting arms and eject jets. The underwater jet trenching and cable laying operation system walks along the length direction of the cable on the seabed through the underwater traveling device, so as to jet and break the soil on the seabed along the length direction of the cable to open a trench. S3. Lower the cable pressing shoe and the two jetting mechanisms, make the cable pressing shoe and the two jetting mechanisms extend into the trench, and eject jets along the length direction of the trench and parallel to the trench through the jetting openings in the trench, continuously liquefy the soil in the trench, use the cable guiding groove to guide the cable, and make the cable settle to the bottom of the trench along the cable guiding groove.

[0013] Furthermore, in the step S3, the water pressure of the jets ejected from the jetting openings is less than the water pressure of the jets ejected from the two jetting arms.

[0014] The beneficial effects of the present invention are as follows: The distance between the cable pressing shoe and the two jetting arms is large, which can reduce the arc of the cable between the seabed and under the cable pressing shoe, and make the bending degree of the cable smaller when it falls to the bottom of the trench. For cables with a relatively large bending radius, while using the cable pressing shoe to guide the cable to settle and accelerating the settling speed of the cable, it can avoid the damage caused by excessive bending of the cable during the cable laying operation. Since the distance between the cable pressing shoe and the two jetting arms is increased, through the jetting mechanisms arranged on both sides of the cable pressing shoe, using the horizontal jets ejected along the length direction of the trench in the trench through the jetting openings, and the jets ejected from some of the jetting openings are arranged in the direction of the two jetting arms, it can continuously scour the inner wall of the trench and liquefy the soil before the cable pressing shoe guides the cable to completely settle to the bottom of the trench. When applied in the case of a soft seabed and a relatively large bending radius of the cable to be laid, it can adapt to the bendable amplitude of such cables for cable pressing operation, guide the settling of the cable, and at the same time can effectively avoid the shallowing of the trench depth caused by sediment backfilling and the collapse of both sides of the trench before the cable completely settles to the bottom of the trench, maintain the trench shape and depth. On the one hand, it can avoid the large extrusion force on the cable surface due to the reduction of the height distance between the bottom of the trench and the cable pressing shoe caused by the shallowing of the trench depth, 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, so as to ensure that the laying depth of the cable meets the operation requirements, and improve the laying operation efficiency and reliability of cables with a relatively large bending radius in a soft soil environment. Description of the Drawings

[0015] Figure 1 It is a schematic structural diagram of the first operation posture of the underwater jet trenching and cable laying operation system of the present invention.

[0016] Figure 2This is a schematic structural diagram of the second working posture of the underwater jet trenching and cable laying operation system of the present invention.

[0017] Figure 3 This is a schematic structural diagram of the underwater walking device of the present invention.

[0018] Figure 4 This is a schematic structural diagram of the rotatable thruster in the underwater walking device of the present invention.

[0019] Figure 5 This is a schematic structural diagram of the first setting mode of the crawler mechanism in the underwater walking device of the present invention.

[0020] Figure 6 This is a schematic structural diagram of the second setting mode of the crawler mechanism in the underwater walking device of the present invention.

[0021] Figure 7 This is a schematic diagram of the downward tilting posture of the crawler module in the underwater walking device of the present invention.

[0022] Figure 8 This is a schematic structural diagram of the jet cable presser of the present invention.

[0023] Figure 9 This is a schematic diagram of the recovery posture of the jet cable presser of the present invention.

[0024] Figure 10 This is a schematic diagram of the lowering posture of the jet cable presser of the present invention.

[0025] Figure 11 This is a schematic diagram of the left swing posture of the jet cable presser of the present invention.

[0026] Figure 12 This is a schematic structural diagram of the jet soil breaking device of the present invention.

[0027] Figure 13 This is a schematic diagram of the first lowering posture of the jet soil breaking device of the present invention.

[0028] Figure 14 For the present invention, the Figure 15 left view.

[0029] Figure 15 For the present invention, the Figure 15 schematic diagram after the distance between the two jet arms is increased in the

[0030] Figure 16 This is a schematic diagram of the second lowering posture of the jet soil breaking device of the present invention.

[0031] Figure 17 This is a schematic diagram of the recovery posture of the jet soil breaking device of the present invention.

[0032] Figure 18 This is a schematic structural diagram of the front jetting mechanism of the present invention.

[0033] In the figure: 1, fuselage main body; 2, underwater walking device; 21, sliding shoe; 22, crawler mechanism; 221, crawler module; 23, drive module one; 24, connecting rod; 25, vertical thruster; 26, horizontal thruster; 27, rotatable thruster; 271, connecting rod; 272, thruster body; 28, drive module two; 3, jet breaking and soil breaking device; 31, fixed pipeline; 32, rotating pipeline; 321, elbow; 322, mounting rod; 33, drive mechanism one; 34, jet breaking arm; 341, jet breaking pipe one; 3411, front nozzle; 3412, inner nozzle; 3413, tail nozzle; 35, flow guiding member; 351, flow guiding plug; 352, connecting sleeve; 36, drive mechanism two; 37, drive mechanism three; 38, water pump mechanism; 4, jet pressing cable device; 41, fixed frame; 42, moving frame; 43, linear drive member one; 44, mounting frame; 441, water inlet; 442, connecting pipe; 45, cable pressing shoe; 46, jet breaking pipe two; 461, jet breaking port; 47, position detection unit; 48, linear drive member two; 5, front jet breaking mechanism; 51, support pipe; 52, front jet breaking pipe; 51, front nozzle; 53, drive mechanism five; 100, cable. Detailed implementation manner

[0034] As Figures 1 - 18 shown, the present invention provides an underwater jet trenching and cable laying operation system, including a fuselage main body 1, an underwater walking device 2, a jet breaking and soil breaking device 3, a cable pressing shoe 45 and two jet breaking mechanisms. The underwater walking device 2 is arranged at the lower end of the fuselage main body 1 and is used to drive the underwater jet trenching and cable laying operation system to move on the seabed. The jet breaking and soil breaking device 3 includes a laying mechanism one and two jet breaking arms 34. The laying mechanism one is arranged on the fuselage main body 1, and the two jet breaking arms 34 are arranged on the laying mechanism one and are located at the front end of the fuselage main body 1. Front nozzles for jetting water jets are arranged on both of the two jet breaking arms 34 to break soil and dig trenches on the seabed, and are more applicable to the soft seabed soil compared with mechanical cutting type soil breaking devices.

[0035] The cable pressing boot 45 and the two jetting mechanisms are both arranged at the rear end of the fuselage main body 1. The two jetting mechanisms are correspondingly located on both sides in the width direction of the cable pressing boot 45, and a plurality of jetting ports 461 are provided on each of the two jetting mechanisms. The plurality of jetting ports 461 are used to eject horizontal jets along the length direction of the trench during the trench-digging and cable-laying operation. And the jetting direction of at least one jetting port 461 on a single jetting mechanism is set towards the direction where the two jetting arms 34 are located. During the trench-digging and cable-laying operation, since the cable pressing boot 45 and the two jetting mechanisms will move forward following the fuselage main body 1, that is, move along the length direction of the cable, therefore, during the trench-digging and cable-laying operation, the jetting ports 461 eject horizontal jets along the length direction of the trench, and among them, the horizontal jets ejected by the jetting ports 461 are directed towards the direction where the two jetting arms 34 are located, that is, towards the advancing direction of the fuselage main body 1 during the trench-digging and cable-laying operation.

[0036] As Figure 1 and Figure 2 shown, in the present invention, the cable pressing boot 45 is located outside the rear end of the fuselage main body 1, and the distance from the two jetting arms 34 is large, which can reduce the curvature of the cable 100 between the seabed and under the cable pressing boot 45, so that the bending degree of the cable when it falls to the bottom of the trench is small. While using the cable pressing boot 45 to guide the settlement of the cable 100, it can avoid the damage caused by excessive bending of the cable 100 during the cable-laying operation. Through the jetting mechanisms arranged on both sides of the cable pressing boot 45, using the horizontal jets ejected by the jetting ports 461 along the length direction of the trench in the trench, and among them, the jetting directions of the jets ejected by some jetting ports 461 are set towards the direction where the two jetting arms 34 are located, it can continuously scour the inner wall of the trench and liquefy the soil before the cable pressing boot 45 guides the cable 100 to completely settle to the bottom of the trench. When applied in the case of a soft seabed and a relatively large bending radius of the cable 100 to be laid, it can adapt to the bendable amplitude of such a cable 100 for cable pressing operation, guide the settlement of the cable 100, and at the same time can effectively avoid the shallowing of the trench depth caused by sediment backfilling and the collapse of both sides of the trench before the cable 100 completely settles to the bottom of the trench, maintain the trench shape and depth. On the one hand, it can avoid the large extrusion force on the surface of the cable 100 due to the reduction of the height distance between the bottom of the trench and the cable pressing boot 45 caused by the shallowing of the trench depth, so that the cable 100 can be prevented from being crushed during cable laying. On the other hand, it can ensure that the depth of the trench will not become shallower before the cable 100 completely settles into the trench, and can ensure that the cable 100 is laid completely into the trench with a depth meeting the operation requirements, so as to ensure that the laying depth of the cable 100 meets the operation requirements, and improve the laying operation efficiency and reliability of the cable 100 with a relatively large bending radius in a soft soil environment.

[0037] When the diameter of the cable 100 is small, the width dimension of the trench to be dug is relatively narrow. In the present invention, it is preferable that the two jetting mechanisms are arranged along the length direction of the cable pressing boot 45, that is, the length directions of the two jetting mechanisms are the same as the length direction of the cable pressing boot 45, and the bottoms of the two jetting mechanisms are lower than the bottom of the cable pressing boot 45. When carrying out the trench-digging and cable-laying operation, a cable guiding groove is formed between the two jetting mechanisms and the cable pressing boot 45 when the cable 100 sinks to the bottom of the trench. Therefore, the two jetting mechanisms can not only play the role of jetting 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 for the cable 100 when it sinks together with the cable pressing boot 45. While realizing the functions of liquefying the soil and guiding the cable 100, it is beneficial to simplify the overall structure, reduce the dimension in the width direction of the cable pressing boot 45, reduce the space occupation, and have less restriction on moving and turning in the trench. Therefore, it can better be applied to the trench-digging and cable-laying operation of small-diameter cables 100.

[0038] The underwater walking device includes a walking mechanism and a propulsion mechanism. The propulsion mechanism is arranged on the fuselage main body 1 and is used to generate thrust to assist the movement and attitude adjustment of the underwater walking device. There are two walking mechanisms, and the two walking mechanisms are correspondingly located on both sides of the fuselage main body 1, that is, one walking mechanism is located on one side of the fuselage main body 1, and the other walking mechanism is located on the other side of the fuselage main body 1, and the walking mechanism is connected to the fuselage main body 1. In an embodiment of the present invention, as Figure 3 shown, the walking mechanism is a sliding shoe 21, and the sliding shoe 21 is fixedly connected to the fuselage main body 1. Cooperating with the thrust generated by the propulsion mechanism, the operating system can slide on the seabed. Compared with the crawler mechanism, the sliding shoe 21 has a simple structure and is light in weight, which can reduce the overall weight of the operating system underwater and is suitable for running on soft soil prone to collapse.

[0039] In another embodiment of the present invention, as Figures 5 - 7As shown in the figure, the traveling mechanism is a crawler mechanism 22, and its connection with the fuselage main body 1 is hinged. Both crawler mechanisms 22 have a moving stroke inclined relative to the fuselage main body 1, that is, the postures of the two crawler mechanisms 22 on the fuselage main body 1 are adjustable. Driving mechanisms are correspondingly arranged on both sides of the fuselage main body 1 for driving the crawler mechanisms 22 located on both sides of the fuselage main body 1 to move respectively, so as to adjust the posture of the crawler mechanism 22, thereby adjusting the inclination of the crawler mechanism 22 relative to the fuselage main body 1 and the included angle between the bottoms of the two crawler mechanisms 22, so that the bottom surfaces of the two crawler mechanisms 22 are on the same horizontal plane to adapt to walking on a gentle seabed, or to form an upward or downward included angle between the bottom surfaces of the two crawler mechanisms 22 to adapt to a seabed with a ridge-like protrusion or a groove-like depression, improving the ground gripping ability of the crawler mechanism 22 under such seabed terrains and improving the underwater walking performance. The attitude of the device can be adjusted through the propulsion mechanism and auxiliary thrust can be provided for the device. Combining with the thrust generated when the crawler mechanism 22 works itself, the thrust requirement for walking on a soft muddy seabed can be met, slippage can be avoided, the underwater walking performance can be further improved, the walking requirements and reliability for different underwater terrains can be met, the flexibility of underwater operations can be improved, and the range of operable scenarios can be broadened. Figure 7 The posture shown is the posture when the crawler mechanism 22 is tilted upward. At this time, it can adapt to a seabed with a groove-like depression. When the crawler mechanism 22 is tilted downward, it can adapt to a seabed with a ridge-like protrusion.

[0040] In a setting mode of the present invention, as Figure 5 shown, a single crawler mechanism 22 is a crawler traveling mechanism, that is, only one crawler traveling mechanism is arranged on one side of the fuselage main body 1.

[0041] In a preferred setting mode of the present invention, as Figures 6 - 7 shown, a single crawler mechanism 22 includes two crawler modules 221. Both crawler modules 221 are hinged to the fuselage main body 1 and both have a moving stroke inclined relative to the fuselage main body 21. A single crawler module 221 is a crawler traveling mechanism, that is, two aforementioned crawler traveling mechanisms are arranged on one side of the fuselage main body 21 of the present invention. Among them, the specific structural principles of the aforementioned crawler traveling mechanisms are the same as those of the prior art and will not be elaborated here. A single driving mechanism includes two driving modules one 23, and the two driving modules one 23 are used to correspondingly drive the two crawler modules 221 to rotate around the hinge with the fuselage main body 1. In this setting mode, a total of four crawler modules 221 are arranged on both sides of the fuselage main body 1, and their postures are driven and adjusted by the corresponding driving modules one 23 respectively. Therefore, the four crawler modules 221 can have different inclination angles on a rugged seabed to improve the ground gripping ability and facilitate walking on a seabed with large granular rocks.

[0042] The crawler module 221 is connected to the fuselage main body 1 through a connecting rod 24, and cooperates with the first driving module 23 to realize the attitude adjustment of the crawler module 221. Compared with directly driving the crawler module 221 to rotate by a rotating driving module, adopting a connecting rod structure is beneficial to improving the bearing capacity and reducing the strength requirement for the first driving module 23. Specifically, a single crawler module 221 is connected to the fuselage main body 1 through two connecting rods 24, as Figures 7 - 9 shown. One end of the two connecting rods 24 is hinged to the fuselage main body 1, and the other end is hinged to the crawler module 221, forming a quadrilateral mechanism. Since there are two connecting rods 24 connecting the single crawler module 221 and the fuselage main body 1, it is beneficial to improve the structural strength and can disperse the load. Under the condition of the same bearing capacity, the load borne by a single connecting rod 24 is smaller, and the strength and size requirements for the connecting rod 24 are smaller. Among them, the first driving module 23 is a linear driving module, such as an oil cylinder or other driving module with linear output. The cylinder body end of the oil cylinder is hinged to the fuselage main body 21, and the piston end is hinged to one of the connecting rods 24.

[0043] The propulsion mechanism includes a vertical thruster 25 and a horizontal thruster 26, and both the vertical thruster 25 and the horizontal thruster 26 are arranged on the fuselage main body 1. As Figure 3 shown, the vertical thruster 25 is a thruster arranged along the vertical direction of the fuselage main body 1, which is used to generate a vertical thrust to assist the lifting and pressing down of the operation system; the horizontal thruster 26 is a thruster arranged along the horizontal direction of the fuselage main body 1, which is used to generate a horizontal thrust in the front-back direction or the lateral direction of the operation system, providing an auxiliary thrust for the front-back movement and lateral movement of the operation system, and improving the flexibility of underwater operations.

[0044] The propulsion mechanism further includes a rotatable thruster 27, which is arranged on the fuselage main body 1 and has a moving stroke inclined relative to the fuselage main body 1 to adjust the inclination of the rotatable thruster 27, thereby adjusting the thrust direction. For example, when the seabed has soft mud or complex terrain and the original thrust of the operation system is insufficient to meet the walking action, based on the thrust of the original vertical thruster 25 or horizontal thruster 26, a horizontal or vertical thrust can be additionally generated to increase the horizontal or vertical thrust, so as to realize the walking action of the operation system. In this setting method, since the thrust direction of the rotatable thruster 27 is adjustable, a single rotatable thruster 27 can be used to increase the vertical thrust of the operation system or the horizontal thrust of the device, with high flexibility in use. Under the condition that the power of the thruster is the same and the maximum vertical thrust and maximum horizontal thrust of the operation system are the same, the total number of thrusters arranged can also be reduced. Among them, the structural principles of the above-mentioned vertical thruster 25, horizontal thruster 26 and thruster body 272 are the same as those of the existing technology thrusters, and will not be elaborated here.

[0045] The present invention further includes a second driving module 28. The rotatable thruster 27 includes a connecting rod 271 and a thruster body 272 fixedly arranged on the connecting rod 271. The thruster body 272 moves and rotates following the connecting rod 271. The connecting rod 271 is hingedly arranged on the fuselage main body 1 and has a stroke of rotating on the fuselage main body 1. The second driving module 28 is used to drive the connecting rod 271 to rotate so as to adjust the inclination of the rotatable thruster 27 relative to the fuselage main body 1, thereby adjusting the inclination of the rotatable thruster 28. Among them, the second driving module 28 is specifically an oil cylinder or other driving module with linear output. The cylinder body end of the oil cylinder is hinged to the fuselage main body 21, and the piston end is hinged to the side surface of the connecting rod 271. When the piston end of the oil cylinder extends, it pushes the connecting rod 271 to rotate. And this setting method has better load-bearing performance compared with the direct driving rotation method using a motor. Among them, the structural principles of the above-mentioned vertical thruster 25, horizontal thruster 26 and thruster body 272 are the same as those of the prior art thrusters, and will not be elaborated here.

[0046] The present invention is also provided with a cable searching module. The cable searching module is arranged on the fuselage main body 1 and is located at the forefront of the operation system, and has two sets of mounting interfaces at different heights. There are two-stage oil cylinders on the frame of the cable searching module. The first-stage oil cylinder drives the frame of the cable searching module to rotate, and the second-stage oil cylinder changes the height of the cable searching module, finally realizing four laying heights of the cable searching module to adapt to the detection of different geological conditions and different diameter cables. The cable searching module is specifically an inductor that uses electromagnetic induction for cables, and it is electrically connected to the control system of the operation system, used to sense the position of the cable and transmit the position information to the control system of the operation system. The control system makes judgments and calculations, and automatically controls the propulsion mechanism and the traveling mechanism to adjust the overall direction and speed of the operation system, so that the operation system can automatically follow the length direction of the cable for trenching and cable laying, reducing the active intervention of the operator and making the trenching and cable laying process more intelligent.

[0047] Such as Figures 12 - 17As shown, the first cloth laying mechanism includes a fixed pipeline 31, a rotating pipeline 32, a first driving mechanism 33 and a second driving mechanism 36 for spraying. The fixed pipeline 31 is installed on the fuselage main body. The rotating pipeline 32 is rotatably arranged on the fixed pipeline 31 and communicated with the fixed pipeline 31, that is, the rotating pipeline 32 has a radial rotation stroke on the fixed pipeline 31, and after rotation, the rotating pipeline 32 remains communicated with the fixed pipeline 31. The first driving mechanism 33 is used to drive the rotating pipeline 32 to rotate around the fixed pipeline 31. The first driving mechanism 33 is an oil cylinder. The piston end of the oil cylinder is hinged to the rotating pipeline 32, and the cylinder body end is hinged to the fuselage main body, forming an approximate connecting rod structure, which not only realizes the rotation of the rotating pipeline 32 but also has better load-bearing capacity. A flow guiding member 35 is fixedly arranged at the water inlet end of each of the two spray arms 34, and each spray arm 34 is communicated with its corresponding flow guiding member 35. The two flow guiding members 35 are both rotatably arranged on the rotating pipeline 32 and communicated with the rotating pipeline 32, that is, the two flow guiding members 35 have a radial rotation stroke on the rotating pipeline 32, and after rotation, the two flow guiding members 35 remain communicated with the rotating pipeline 32, so that the two spray arms 34 remain communicated with the rotating pipeline 32. The second driving mechanism 36 is used to drive the two spray arms 34 and the two flow guiding members 35 to rotate around the rotating pipeline 32. The number of the second driving mechanisms 36 corresponds to the number of the flow guiding members 35, which is also two. The second driving mechanism 36 is an oil cylinder. The piston end of the oil cylinder is hinged to the flow guiding member 35, and the cylinder body end is hinged to the fuselage main body, forming an approximate connecting rod structure, which not only realizes the rotation of the two flow guiding members 35 and the two spray arms 34 but also has better load-bearing capacity.

[0048] The jet-breaking soil-breaking device 3 provided by the present invention uses the fixed pipeline 31 and the rotating pipeline 32 not only as the water supply pipelines for the two jetting arms 34, but also as the installation and bearing structures for the two jetting arms 34. On the basis of realizing the installation of the two jetting arms 34, there is no need to arrange additional pipelines that meet the lowering depth to connect the two jetting arms 34 with the water pump mechanism, which can ensure that the two jetting arms 34 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 31 and the rotating pipeline 32 are used as the installation and bearing structures for the two jetting arms 34, 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 33 and the second driving mechanism 36 to form a two-stage driving structure can not only realize the lowering and recovery of the two jetting arms 34, but also when the first driving mechanism 33 drives the rotating pipeline 32 to flip to lower the two jetting arms 34, the second driving mechanism 36 can synchronously drive the two jetting arms 34 to rotate to adjust the attitude. When the two jetting arms 34 are lowered deeper or shallower, the angle of the front nozzle 3411 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 soil, enabling the present invention to be applicable to trench-digging operations at different depths, while ensuring the quality and efficiency of trench-digging, with high flexibility in underwater operations.

[0049] As Figure 13 shown, it is the attitude of the two jetting arms 34 after being completely lowered, that is, the attitude when lowered to the lowest position, which is applicable to trench-digging operations in deeper sea trenches; as Figure 14 shown, it is the attitude of the two jetting arms 34 with a shallower lowering depth, which is applicable to trench-digging operations in shallower sea trenches; in these two attitudes, the orientation and the angle relative to the vertical direction of the front nozzle 3411 are the same.

[0050] In an embodiment of the present invention, the fixed pipeline 31 and the rotating pipeline 32 can be connected through a flexible pipeline to ensure connection on the basis of meeting the rotation stroke of the rotating pipeline 32. The rotating pipeline 32 is connected to the two guide members 35 through a flexible pipeline to ensure connection on the basis of meeting the moving stroke of the two guide members 35.

[0051] In a preferred embodiment of the present invention, a radial dynamic seal is provided at the rotational mating part between the rotating pipeline 32 and the fixed pipeline 31, which can directly connect the rotating pipeline 32 and the fixed pipeline 31 on the basis of meeting the rotation stroke. Radial dynamic seals are also provided at the rotational mating parts between the two guide members 35 and the rotating pipeline 32, which can directly connect the two guide members 35 and the rotating pipeline 32 on the basis of meeting the rotation stroke. In this embodiment, there is no need to additionally install a flexible pipeline, reducing the complexity of the pipeline and the risk of leakage and breakage at the connection.

[0052] The fixed pipelines 31 are provided with two groups, and each of the two groups of fixed pipelines 31 is connected to a group of water pump mechanisms 38, that is, the two groups of fixed pipelines 31 are respectively supplied with water through the corresponding water pump mechanisms 38. The rotating pipeline 32 is a 凵-shaped, such as Figure 14 As shown, elbows 321 are provided at both ends of the rotating pipeline 32, and the two groups of fixed pipelines 31 are both transversely bent. The elbows 321 at both ends of the rotating pipeline 32 are rotationally connected to the transverse parts of the two groups of fixed pipelines 31 and radially dynamically sealed to be directly connected. On the basis of ensuring the connection, the rotating pipeline 32 as a whole can rotate around the two groups of fixed pipelines 31 under the action of the driving mechanism 33. The two groups of fixed pipelines 31 are connected through a branch pipe and / or the two ends of the rotating pipeline 32 are connected through a branch pipe. When one of the water pump mechanisms 38 fails or fails, the water supply of the two spray arms 34 can be maintained through the other water pump mechanism 38 to maintain the operation and avoid interruption. Among them, a connecting sleeve 352 is fixedly provided on the upper end of the guide member 35, such as Figure 12 As shown, the connecting sleeves 352 of the two guide members 35 are both sleeved on the rotating pipeline 32, that is, the guide member 35 is connected to the rotating pipeline 32 through the connecting sleeve 352. In the embodiment where the guide member 35 and the rotating pipeline 32 are dynamically sealed, the guide member 35 is communicated with the guide sleeve 352. Specifically, the guide sleeve 352 and the rotating pipeline 32 are dynamically sealed on the guide member 35, and a water hole is provided on the side wall of the rotating pipeline 32 at the overlap with the connecting sleeve 352. The water flow in the rotating pipeline 32 enters the guide member 35 along the connecting sleeve 352 through the water hole, and flows into the spray arm 34 from the guide member 35 along the water inlet end of the spray arm 34.

[0053] There are several front nozzles 3411 on a single spray arm 34, and the several front nozzles 3411 are arranged along the height direction of the spray arm 34, and tail nozzles 3413 are arranged at the bottom of the two spray arms 34. The spraying direction of the tail nozzle 3413 is set away from the spraying direction of the front nozzle 3411, that is, the direction of the water jet sprayed by the tail nozzle 3413 is away from the direction of the water jet sprayed by the front nozzle 3411, and the water jet sprayed by the tail nozzle 3413 is parallel to the bottom of the trench. The setting of the tail nozzle 3413 can, after the front nozzle 3411 opens the trench, use the high-pressure water flow in the spray arm 34 to generate a horizontal jet in the trench in the opposite direction to the front nozzle 3411, so as to continuously liquefy the soil in the rear trench. With this setting, when the distance between the two spray mechanisms and the two spray arms 34 is large, resulting in the water jet sprayed from the spray port 461 being unable to reach the position of the spray arm 34, a horizontal jet can be sprayed in the trench after the trench is opened and before the spray port 461, so as to continuously liquefy the soil, maintain the trench shape, and avoid backfilling of mud and sand.

[0054] Each of the jetting arms 34 includes an array of first jetting pipes 341. The lengths of the array of first jetting pipes 341 are different, and the array of first jetting pipes 341 are arranged side by side in the order of length, that is, they are arranged in parallel in the order from short to long. Moreover, the array of first jetting pipes 341 are all communicated with the flow guiding member 35, and front nozzles 3411 are arranged on all the first jetting pipes 341. As Figure 12 and Figure 13 shown, among the array of first jetting pipes 341, for the first jetting pipe 341 with the shortest length, its front nozzle 3411 is arranged on the side of this first jetting pipe 341 away from the other first jetting pipes 341, and the front nozzles 3411 of the other first jetting pipes 341 are arranged in the area longer than the adjacent first jetting pipe 341, and the front nozzles 3411 on all the first jetting pipes 341 are arranged in the same direction. As Figure 16 and Figure 17 shown, in the front view state of the jetting arm 34, the front nozzles 3411 on the array of first jetting pipes 341 are arranged along the height direction of the jetting arm 34.

[0055] A flow guiding plug 351 is arranged on the flow guiding member 35, which is used to block or open some of the first jetting pipes 341 on the side with shorter length in the array of first jetting pipes 341. Since the array of first jetting pipes 341 are arranged side by side in the order of length, the side with shorter length is specifically the side where the shortest first jetting pipe 341 in the jetting arm 34 is located. Among them, the number of first jetting pipes 341 that can be blocked or opened due to the flow guiding plug 351 in a single jetting arm 34 is less than the number of all the first jetting pipes 341 in this jetting arm 34. When there are at least two groups of first jetting pipes 341 that can be blocked or opened due to the flow guiding plug 351, they are at least two groups counted successively in the length direction from the shortest first jetting pipe 341. When the required trench to be dug is relatively deep, the depth of the jetting arm 34 immersed in the seabed is relatively deep. As Figure 1 shown, all the first jetting pipes 341 are immersed in the seabed, and all the front nozzles 3411 are basically not higher than the seabed, that is, all the front nozzles 3411 participate in the operation of breaking the seabed for trench opening. When the required depth of the trench to be dug is relatively shallow, as Figure 2As shown, the depth at which the flushing arm 34 penetrates into the seabed is relatively shallow. At this time, some of the front nozzles 3411 will be significantly higher than the seabed and will not participate in the seabed trenching operation. The flushing pipe 341 where the front nozzle 3411 is located is blocked by the diversion plug 351, so that there is no water jet flushing in the flushing pipe 341 above the seabed, and all the water flow is guided into the flushing pipe 341 inside the seabed, improving the water jet utilization efficiency and the trenching efficiency. Among them, the position of the diversion plug 351 on the diversion member 35 is above the flushing pipe 341. The diversion plug 351 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 diversion member 35, the plug body is arranged on the piston end of the oil cylinder, and the plug body penetrates inside the diversion member 35 and is in dynamic seal with the diversion member 35. The plug body is driven by the oil cylinder to move towards the flushing pipe 341 and be inserted into the flushing pipe 341 to achieve blocking, and the plug body is driven by the oil cylinder to move away from the flushing pipe 341 to achieve opening.

[0056] The present invention further includes a third driving mechanism 37. The third driving mechanism 37 can drive the diversion member 35 to axially move along the rotating pipeline 32 to adjust the distance between the two flushing arms 34 to be suitable for opening trenches with different widths. Among them, the axial moving stroke of the diversion member 35 on the rotating pipeline 32 is the axial moving stroke of the connecting sleeve 352 on the rotating pipeline 32. In the implementation manner of the present invention based on dynamic seal, the dynamic seal between the connecting sleeve 352 on the diversion member 35 and the rotating pipeline 32 further includes axial dynamic seal, that is, the diversion member 35 also has an axial moving stroke on the rotating pipeline 32. When the connecting sleeve 352 axially moves on the rotating pipeline 32, the water passing hole is always within the overlapping range of the connecting sleeve 352 and the rotating pipeline 32; in the implementation manner of the present invention based on flexible pipeline connection, the length of the flexible pipeline can meet the moving stroke of the diversion member 35. Ensure that after the distance between the two flushing arms 34 is adjusted, the two flushing arms 34 can maintain the state of being connected to the rotating pipeline 32 through the diversion member 35. The third driving mechanism 37 is an oil cylinder, and this oil cylinder is connected between the two diversion members 35 to drive the synchronous movement of the two diversion members 35. Or there are two such oil cylinders. An installation rod 322 is fixedly arranged on the rotating pipeline 32. The cylinder body ends of the two oil cylinders are both fixed on the installation rod 322, and the piston ends are correspondingly connected to the two diversion members 35.

[0057] The array of two spray arms 34 is provided with inner nozzles 3412 on the spray pipes 1 341. Among the array of spray pipes 1 341, the inner nozzle 3412 of the shortest spray pipe 1 341 is located on the inner side of the spray pipe 1 341, and the front nozzles 3411 on the remaining spray pipes 1 341 are arranged on the inner side of the area longer than the adjacent spray pipes 1 341, and the inner nozzles 3412 in the two spray arms 34 are arranged opposite to each other. When the width of the trench to be opened is wide, the distance between the two spray arms 34 is large, and the soil in the middle of the trench may not be liquefied. The setting of the inner nozzle 3412 can form opposite water jets in the trench along the width of the trench, so that the soil between the two spray arms 34 is liquefied, so as to facilitate the opening of a wide trench according to the large-diameter cable 100 and ensure the trench shape of the wide trench, further improving the flexibility of use.

[0058] Preferably, the tail nozzle 3413 is arranged at the bottom of the longest spray pipe 341 in the spray arm 34, so that the tail nozzle 3413 can be kept at the bottom of the trench when the depth of the trench is different.

[0059] The present invention also includes a front spray mechanism 5, which is arranged on the fuselage body 1 and between the two spray arms 4. The setting of the front spray mechanism 5 can play a role of pre-spraying before the spray arm 34 sprays and breaks the soil. On the one hand, it can be used to clean the silt, gravel and seabed organisms attached on the seabed surface and cables. On the other hand, it can open a shallow trench on the seabed surface before the spray arm 34 to form a pre-ditching. When turning, it can reduce the difficulty of breaking the soil and trenching by the spray arm 34, which is conducive to turning trenching and cable burying operations. Among them, the front spray mechanism 5 includes a support tube 51, a front nozzle 52 and a driving mechanism 53. The support tube 51 is connected to the external water supply unit. The front nozzle 52 is rotatably set at the lower end of the support tube 51 and is a dynamic seal. The lower end of the front nozzle 52 is provided with a front nozzle 521 for spraying a water jet. The driving mechanism 53 is specifically an oil cylinder, which is hingedly set between the support tube 51 and the front nozzle 52. Specifically, Figure 18 As shown, two front nozzles 52 are provided, and both front nozzles 52 are bent and one end away from the front nozzle 521 is rotatably connected to the lower end of the support tube 51 and dynamically sealed. The two front nozzles 52 together form a U-shaped nozzle structure, and the two front nozzles 52 are fixedly connected by a rod body, and the oil cylinder is specifically hinged between the support tube 51 and the rod body.

[0060] In one embodiment of the present invention, the cable pressing shoe 45 and the two spraying mechanisms are deployed and recovered respectively by independent deployment mechanisms, that is, the deployment and recovery of the cable pressing shoe 45 and the two spraying mechanisms are carried out independently, ensuring that the two spraying mechanisms are located on both sides of the cable pressing shoe 45 when trenching and laying cables.

[0061] In a preferred embodiment of the present invention, it further includes a cable laying mechanism II and a mounting bracket 44. The cable laying mechanism II is arranged at the rear end of the fuselage main body 1 and extends in a direction away from the fuselage main body 1. The mounting bracket 44 is arranged at one end of the cable laying mechanism II away from the fuselage main body 1 and is far from the distance between the two jetting arms 34. The cable pressing boot 45 and the two jetting mechanisms are both arranged at the lower end of the mounting bracket 44. The laying and recovery of the cable pressing boot 45 and the two jetting mechanisms are synchronously carried out by the same cable laying mechanism II. In this embodiment, the cable laying mechanism II, the mounting bracket 44, the cable pressing boot 45 and the two jetting mechanisms together form the jetting and cable pressing device 4.

[0062] Among them, the cable pressing boot 45 is arc-shaped, and the extending direction of this arc is along the length direction of the cable pressing boot 45 itself, and the radius of this arc is greater than or equal to the minimum bending radius of the cable 100, so that when the cable 100 is laid to the bottom of the trench under the action of the cable pressing boot 45, the bending degree will not be less than its minimum bending radius, avoiding damage to the cable 100.

[0063] In the present invention, jetting ports 461 are arranged at both the end of the two jetting mechanisms facing the two jetting arms 34 and the end away from the two jetting arms 34, which can continuously liquefy the soil at both ends of the trench inside the cable pressing boot 45 during the movement of the cable pressing boot 45, ensuring that the cable 100 can effectively sink to the bottom of the trench. Among them, when the cable pressing boot 45 and the two jetting mechanisms are arc-shaped, the jetting ports 461 on the two jetting mechanisms are both horizontally arranged, that is, when the two jetting mechanisms are operating in the trench, the jetting ports 461 are both horizontally arranged to generate a horizontal jet flow in the trench.

[0064] Among the two ends of a single jetting mechanism, the number of jetting ports 461 at the end facing the direction of the two jetting arms is greater than the number of jetting ports 461 at the end in the direction of the two jetting arms. That is, as Figure 9 and Figure 10 shown, the number of jetting ports 461 on the left side is greater than the number of jetting ports 461 on the right side, so as to increase the scouring ability of the water jet flow at the end in the cable pressing forward direction of the cable pressing boot 45, ensure soil liquefaction before the cable 100 sinks to the bottom of the trench, avoid the shallowing of the trench depth caused by sediment backfilling, and thus maintain the trench shape and depth.

[0065] Each of the flushing mechanisms includes two second flushing pipes 46. The two second flushing pipes 46 are both arranged along the length direction of the cable pressing boot 45, and the two second flushing pipes 46 are arranged along the height direction of the cable pressing boot 45. The flushing ports 461 in a single flushing mechanism are distributed at both ends of the two second flushing pipes 46. When ensuring the injection flow rate and the total height of the water jet, the thickness of a single flushing mechanism is smaller and will not increase the size of the cable pressing boot 45 in the width direction. Among them, when the number of flushing ports 461 at one end of the two second flushing pipes 46 is greater than the number of the second flushing pipes 46, flushing branch pipes are arranged in parallel at the end of the second flushing pipes 46, and the flushing ports 461 are formed at the ends of the flushing branch pipes.

[0066] The cable pressing boot 45 is fixed between the two flushing mechanisms. The mounting frame 44 is hollow inside and is provided with a water passing pipeline. A water inlet 441 is arranged on the mounting frame 44. A plurality of connecting pipes 442 communicated with the water passing pipeline are fixedly arranged at the lower end of the mounting frame 44. The plurality of connecting pipes 442 are correspondingly fixed and communicated with the two flushing mechanisms. The second laying mechanism drives the mounting frame 44 to move so as to drive the laying and recovery of the cable pressing boot 45 and the two flushing mechanisms. The water inlet 441 is connected with an external water supply unit or a water pump. External water flows into the water passing pipeline along the water inlet 441 and enters the two flushing mechanisms along the water passing pipeline, and finally sprays out from the flushing ports 461 at both ends. This setting method can not only fix the cable pressing boot 45 and the two flushing mechanisms to the mounting frame 44 through the connecting pipes 442, but also the mounting frame 44 and the connecting pipes 442 can be used as the water supply structures of the two flushing mechanisms.

[0067] The second laying mechanism includes a fixed frame 41, a moving frame 42 and a first linear driving member 43. The fixed frame 41 is connected with the fuselage main body 1. One end of the moving frame 42 is hinged to the fixed frame 41, and the other end is hinged to the mounting frame 44, forming a link structure. The first linear driving member 43 drives the mounting frame 44 and the moving frame 42 to change their postures, so as to drive the lifting of the cable pressing boot 45 and the two flushing mechanisms. Compared with the method of vertically driving the mounting frame 44 through a linear driving mechanism, this setting method occupies less height space during lifting, requires less avoidance space in the height direction, can reduce the interference with other tools on the operation system in the height direction. On this basis, a certain distance can be provided between the fixed frame 41 and the mounting frame 44 to ensure that the cable pressing boot 45 and the two flushing mechanisms can be located at a relatively far position at the tail of the fuselage main body 1, so as to ensure that there is enough cable laying distance between the cable pressing boot 45 and the two flushing arms. In addition, the second laying mechanism can also adjust the height of the cable pressing boot 45 on the basis of ensuring that the posture of the cable pressing boot 45 does not change, that is, as Figure 1 and Figure 2 shown, so as to adapt to the operations of different depth trenches.

[0068] There are two such moving frames 42, and both of the two moving frames 42 are hinged between the fixed frame 41 and the mounting frame 44. That is, one end of each of the two moving frames 42 is hinged to the fixed frame 41, and the other end is hinged to the mounting frame 44. The fixed frame 41, the mounting frame 44 and the two moving frames 42 together form a quadrilateral mechanism. The arrangement of the two moving frames 42 can share the load, improve the stability and load-bearing capacity of the structure, and ensure the reliable progress of laying and retrieving. The linear driving member 43 is specifically an oil cylinder or other driving member with linear output. The cylinder body end of the oil cylinder is hinged to the fixed frame 41, and the piston end is hinged to the lower moving frame 42 among the two moving frames 42. As Figure 9 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 45 and the two jetting mechanisms are in the retracted state. As Figure 10 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 45 and the two jetting mechanisms are in the fully lowered state.

[0069] When the fixed frame 41 is connected to the fuselage main body 1, it is specifically hinged, and the axis of the hinge is arranged along the height direction of the fuselage main body 1, so that the jetting and cable pressing device 4 can have a left and right swinging stroke on the operation system. The present invention also includes a linear driving member 48. The linear driving member 48 is specifically an oil cylinder or other driving member with linear output. The cylinder body end of the oil cylinder is hinged to the fuselage main body 1, and the piston end is hinged to the fixed frame 411. The fixed frame 411 is pushed by the oil cylinder to achieve left or right swing to cooperate with the operation system to adapt to the turning area or the trench opened in a curve.

[0070] The cable pressing boot 45 is provided with a hollow structure, and a position detection unit 47 is arranged on the cable pressing boot 45. The hollow cable pressing boot 45 can, on the one hand, reduce the contact with the cable 100 and reduce the wear on the surface of the cable 100, and on the other hand, it is also convenient for the position detection unit 47 to detect the cable 100 located below the cable pressing boot 45. The position detection unit 47 is specifically a position sensor, which is electrically connected to the control system of the operation system to detect the position of the cable 100 below the cable pressing boot 45 and ensure that the cable 100 is located below the cable pressing boot 45.

[0071] The present invention also provides an underwater jet trenching and cable laying operation method. This operation method uses the underwater jet trenching and cable laying operation system as described above. This operation method includes the following steps: S1. Lower the underwater jet trenching and cable laying operation system to the seabed to be trenched and cable laid, and make the projections of the two jetting arms 34 on the seabed correspond to both sides of the cable 100. That is, in the height direction, the positions of the two jetting arms 34 and the cable 100 do not overlap, so as to avoid damaging the cable 100 when the jetting arms 34 are lowered and trenching operations are carried out; S2. Two spray arms 34 are deployed downward, and the front nozzle 3411 is used to spray jets to open trenches. The underwater jet trenching and cable laying operation system moves on the seabed along the length direction of the cable 100 through the underwater walking device 2 to spray and break the seabed along the length direction of the cable 100 to open a trench. At the same time, the tail nozzle 3413 sprays jets away from the direction of the front nozzle 3411 to continuously liquefy the soil in the trench, maintain the trench shape and depth, and reduce sediment backfill deposition and collapse on both sides of the trench; S3, press the cable shoe 45 and the two jet mechanisms downward, so that the cable shoe 45 and the two jet mechanisms extend into the trench, and spray a jet in the trench in the length direction of the trench and parallel to the trench through the jet port 461, continuously liquefy the soil in the trench, and use the cable guide groove to guide the cable 100, so that the cable 100 sinks to the bottom of the trench along the cable guide groove.

[0072] Among them, since the jet ejected from the jet port 461 only needs to maintain the groove shape and does not need to play an additional role in breaking the soil, the required water pressure is less than the jet water pressure ejected from the front nozzle 3411, that is, in S3, the jet water pressure ejected from the jet port 461 is less than the jet water pressure ejected from the front nozzle 3411. Therefore, two groups of underwater motors are provided in the operating system, one group is used in the water pump mechanism 38 to provide a dedicated high-pressure jet for the jet arm 34, and the other group is applied to the water pump of the jet mechanism to provide it with a corresponding low-pressure jet, thereby improving the energy utilization efficiency of the operating system.

[0073] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0074] 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 should be included in the protection scope of the present application.

Claims

1. An underwater jet trenching and cable laying operation system, characterized in that, Comprising: A fuselage main body (1); An underwater walking device (2), which is arranged at the lower end of the fuselage main body (1); A jet-breaking and soil-penetrating device (3), the jet-breaking and soil-penetrating device (3) includes a first laying mechanism and two jet-blasting arms (34), the first laying mechanism is arranged on the fuselage main body (1), and the two jet-blasting arms (34) are arranged on the first laying mechanism and are located at the front end of the fuselage main body (1); A cable-pressing boot (45) and two jet-blasting mechanisms, the cable-pressing boot (45) and the two jet-blasting mechanisms are both arranged at the rear end of the fuselage main body (1), the two jet-blasting mechanisms are correspondingly located on both sides in the width direction of the cable-pressing boot (45), and a plurality of jet-blasting ports (461) are provided on both jet-blasting mechanisms, and the plurality of jet-blasting ports (461) are used to eject a horizontal jet along the length direction of the trench during the trench-digging and cable-laying operation, and the jet-blasting direction of at least one jet-blasting port (461) on a single jet-blasting mechanism is set towards the direction where the two jet-blasting arms (34) are located.

2. The underwater jet trenching and cable laying operation system according to claim 1, characterized in that, The cable-pressing boot (45) and the two jet-blasting mechanisms are laid and recovered through their respective laying mechanisms.

3. The underwater jet trenching and cable laying operation system according to claim 1, characterized in that, It further includes a second laying mechanism and a mounting frame (44), the second laying mechanism is arranged at the rear end of the fuselage main body (1) and extends in a direction away from the fuselage main body (1), the mounting frame (44) is arranged at one end of the second laying mechanism away from the fuselage main body (1), the cable-pressing boot (45) is fixed between the two jet-blasting mechanisms, a water pipe is arranged inside the mounting frame (44), and a water inlet (441) is arranged on the mounting frame (44), and a plurality of connecting pipes (442) communicating with the water pipe are arranged at the lower end of the mounting frame (44), and the plurality of connecting pipes (442) are correspondingly fixed and communicated with the two jet-blasting mechanisms.

4. The underwater jet trenching and cable laying operation system according to claim 3, characterized in that, The second laying mechanism includes a fixed frame (41), a moving frame (42) and a first linear driving member (43), the fixed frame (41) is connected to the fuselage main body (1), one end of the moving frame (42) is hinged to the fixed frame (41), and the other end is hinged to the mounting frame (44), and the first linear driving member (43) drives the mounting frame (44) and the moving frame (42) to change their postures, so as to simultaneously drive the cable-pressing boot (45) and the two jet-blasting mechanisms to lift.

5. The underwater jet trenching and cable laying operation system according to any one of claims 1-4, characterized in that, Jet-blasting ports (461) are arranged at both ends of the two jet-blasting mechanisms facing the two jet-blasting arms (34) and at both ends away from the two jet-blasting arms (34), and among the two ends of a single jet-blasting mechanism, the number of jet-blasting ports (461) at the end facing the two jet-blasting arms (34) is greater than the number of jet-blasting ports (461) at the end away from the two jet-blasting arms (34).

6. The underwater jet trenching and cable laying operation system according to any one of claims 1-4, characterized in that, The first laying mechanism includes a fixed pipeline (31), a rotating pipeline (32), a first driving mechanism (33) and a second driving mechanism (36), the rotating pipeline (32) is rotatably arranged on the fixed pipeline (31) and communicated with the fixed pipeline (31), the first driving mechanism (33) is used to drive the rotating pipeline (32) to rotate around the fixed pipeline (31), the two jet-blasting arms (34) are both rotatably arranged on the rotating pipeline (32) and communicated with the rotating pipeline (32), and the second driving mechanism (36) is used to drive the two jet-blasting arms (34) to rotate around the rotating pipeline (32).

7. The underwater jet trenching and cable laying operation system according to claim 6, characterized in that, Each of the two jetting arms (34) is provided with a front nozzle (3411) for ejecting a jet flow to form a trench on the seabed. The number of front nozzles (3411) on a single jetting arm (34) is several. The several front nozzles (3411) are arranged along the height direction of the jetting arm (34). And the bottom of each of the two jetting arms (34) is provided with a tail nozzle (3413). The jetting direction of the tail nozzle (3413) is arranged to be away from the jetting direction of the front nozzle (3411).

8. The underwater jet trenching and cable laying operation system according to any one of claims 1-3, 6, 7, characterized in that, It further includes a pre-jetting mechanism (5). The pre-jetting mechanism (5) is arranged at the front end of the fuselage main body (1) and is located in front of the two jetting arms (34). The pre-jetting mechanism (5) is provided with pre-nozzles (51) to purge and / or pre-trench the seabed before the two jetting arms (34) operate.

9. An underwater jet trenching and cable laying operation method, characterized in that, An underwater jet trenching and cable laying operation system as recited in any one of claims 2-8 is used. The operation method includes the following steps: S1. Lower the underwater jet trenching and cable laying operation system to the seabed to be trenched and cable laid, and make the projections of the two jetting arms (34) on the seabed correspond to be located on both sides of the cable (100). S2. Lower the two jetting arms (34) and eject the jet flow. The underwater jet trenching and cable laying operation system walks along the length direction of the cable (100) on the seabed through the underwater traveling device (2) to jet and break the soil on the seabed along the length direction of the cable (100) to form a trench. S3. Lower the cable pressing shoe (45) and the two jetting mechanisms, make the cable pressing shoe (45) and the two jetting mechanisms extend into the trench, and eject a jet flow along the length direction of the trench and parallel to the trench in the trench through the jetting ports (461) to continuously liquefy the soil in the trench, and use the cable guiding groove to guide the cable (100) to make the cable (100) sink to the bottom of the trench along the cable guiding groove.

10. The underwater jet trenching and cable laying operation method according to claim 9, other features being that, in S3, the water pressure of the jet water ejected from the jet orifice (461) is less than the water pressure of the jet water ejected from the two jet arms (34).

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