Automatic laying device and method for submarine photoelectric composite cable

Abstract

The invention provides an automatic laying device and method for a submarine photoelectric composite cable, and belongs to the technical field of underwater work.The device comprises a bow module, N middle modules and a stern module, rotating speed sensors on winches in all the modules are matched with locking devices, it can be guaranteed that when the winches complete laying of the photoelectric composite cable, the locking devices are automatically loosened from the adjacent modules, and the locking devices are locked; and the photoelectric composite cables in the adjacent modules are continuously and automatically arranged. Each module is provided with a buoyancy adjusting water tank, the pitch attitude and the height position of each module can be adjusted by controlling the water amount in the water tank, driving mechanisms such as a steering engine or a propeller are omitted, energy is saved, and efficient and accurate long-distance laying of the light-light-electricity composite cable can be achieved. Different numbers of middle modules can be configured according to requirements, and laying of photoelectric composite cables with different lengths is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater operations, and particularly relates to an automatic laying device and method for a submarine optoelectronic composite cable. Background Art

[0002] With the development of ocean exploitation and utilization, how to efficiently and accurately complete the laying task of long-distance submarine cables has received extensive attention. At present, the laying of underwater cables is mainly completed by a towed submarine cable burying system, a cable laying ship or an underwater vehicle, etc. The underwater vehicle has high mobility and maneuverability and can perform relatively high-precision underwater optical cable laying tasks. However, due to the complex seabed environment and energy and other factors, it is very difficult to quickly complete the long-distance optical cable laying task relying solely on the underwater vehicle. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic laying device and method for a submarine optoelectronic composite cable, which can realize the efficient and accurate laying of a long-distance optoelectronic composite cable.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] An automatic laying device for a submarine optoelectronic composite cable includes: a bow module, N intermediate modules, and a stern module;

[0006] The bow module includes a bow housing. Thrusters are respectively installed on both sides and the top of the bow housing. A control cabin is provided inside the bow housing. A support is installed at the bottom of the bow housing. A winch one is installed at the rear end of the support through a winch seat one. A rotational speed sensor one is installed at the shaft end of the winch one. The optoelectronic composite cable is wound around the winch drum. The end of the optoelectronic composite cable passes through a guide frame one and a rear shell one and extends to the outside of the bow module. A water tank is installed in the middle of the support to compensate for the weight loss caused by the movement of the optoelectronic composite cable and can adjust the overall buoyancy of the bow module. A rear shell one is installed at the rear end of the bow housing. The rear shell one is a concave cone. A locking seat one is fixed at the center of the rear shell one;

[0007] The intermediate module includes an intermediate housing. An intermediate base is installed at the bottom of the intermediate housing. A winch two is installed at the rear end of the intermediate base through a winch seat two. A water tank two with a valve one is installed in the middle of the intermediate base. A support frame of a locking mechanism is installed at the front end of the intermediate base and ensures that the side surface of the support frame is perpendicular to the upper surface of the intermediate base;

[0008] The stern module includes a tail housing and a tail end cover. Except that the length of the tail housing is shorter than that of the intermediate housing and the bottom of the tail end cover has an optoelectronic composite cable hole, the rest of the structure is the same as that of the intermediate module.

[0009] Further, the support frame is in a U shape. The first second guiding frame is installed at the center of the bottom of the support frame on the middle base, and the second and third second guiding frames are respectively installed at the front end and the rear end of the second control cabin;

[0010] The optoelectronic composite cable of the front-end module passes through the through hole at the lower part of the front cover and is guided by the second guiding frame to access the second control cabin to supply power to it. The optoelectronic composite cable is led out from the other end of the second control cabin, passes through the third second guiding frame and is connected to the slip ring. One end of the slip ring is sleeved on the winch shaft, which can ensure that the optoelectronic composite cable on it remains electrically connected to the slip ring while the winch rotates. The optoelectronic composite cable on the second winch passes through the fourth second guiding frame and finally extends out of the middle module through the through hole on the second rear shell.

[0011] Further, the locking mechanism includes the support frame. The servo cylinder is horizontally installed on the top of the support frame. The slider is installed at the end of the push rod of the servo cylinder. The ends of the slider and the positioning plate are both V-shaped, and the included angle of the V-shaped inclined plane is the same as the included angle of the V-shaped groove in the locking seat.

[0012] Further, a first valve is installed on the top of the first water tank to control the inflow of water.

[0013] Further, a battery compartment is installed at the front of the support of the bow module.

[0014] Further, a communication machine is installed on the support through an L-shaped bracket. The top of the communication machine passes through the bow housing to communicate with the upper computer.

[0015] Further, an obstacle avoidance sensor is provided at the very front end of the bow housing, and the control cabin is installed behind the obstacle avoidance sensor.

[0016] Further, a Doppler velocimeter is provided in front of the battery compartment to detect the speed and position information of the bow module.

[0017] The present invention may further include:

[0018] A laying method for the above-mentioned submarine optoelectronic composite cable automatic laying device, the method comprising the following steps:

[0019] Step 1: After the bow module, N intermediate modules, and stern module are assembled, they are laid to the seabed through a hoisting device. When it is detected that the laying is completed and the optoelectronic composite cable of the stern module is fixed to the seabed, the thruster of the bow module works to drive the bow module to drive the intermediate module and the stern module forward. The winch in the stern module rotates under the dragging of the optoelectronic composite cable. At the same time, the valve on the water tank in the stern module is opened, and seawater enters the water tank, so as to ensure the heavy buoyancy balance of the stern module;

[0020] Step 2: When the optoelectronic composite cable is completely detached from the winch, the rotational speed sensor detects that the winch stops rotating. The control cabin issues an instruction to the locking mechanism, and the servo electric cylinder in the stern module operates to disengage the hook from the locking seat on the intermediate module. The stern module disengages from the intermediate module, and the optoelectronic composite cable in the intermediate module starts to be deployed.

[0021] Step 3: Repeat Step 2 until the optoelectronic composite cable in the bow module is completely deployed.

[0022] Step 4: When the rotational speed sensor in the bow module detects that the rotational speed stops, the bow control cabin issues an instruction to stop the thruster, and the automatic deployment of the optoelectronic composite cable is completed.

[0023] Further, when the intermediate module and the bow module need to be assembled, the push rod of the servo electric cylinder pushes the slider to move forward along the groove of the positioning plate, pushing the upper and lower hooks to rotate around the pin shaft, and the spring is compressed.

[0024] The forward movement of the intermediate module drives the left and right positioning plates of the locking mechanism, so that the V-shaped ends thereof are matched with the V-shaped parts at the front of the left and right grooves inside the locking seat.

[0025] The slider retracts backward, and the two springs push the hooks to rotate back, and the ends of the hooks are embedded into the grooves of the locking seat, completing the locking function.

[0026] When the intermediate module and the bow module need to be loosened, the slider moves forward along the groove of the positioning plate, pushing the upper and lower hooks to rotate. The hooks disengage from the grooves of the locking seat one of the bow module, and the forward movement of the bow module drives the locking seat one to disengage from the locking mechanism.

[0027] The beneficial effects of the present invention are as follows:

[0028] The present invention has a high degree of automation and can adapt to different sea conditions. The bow is equipped with multiple thrusters to achieve movements in multiple degrees of freedom, so as to adapt to different seabed environments. The rotational speed sensors on the winches in each module cooperate with the locking devices, which can ensure that when the winch deploys the optoelectronic composite cable, the locking device automatically loosens from the adjacent module, enabling the optoelectronic composite cable in the adjacent module to continue to be automatically deployed.

[0029] The present invention can save energy. Each module is equipped with a buoyancy adjustment water tank, and the pitching attitude and height position of each module can be adjusted by controlling the water volume in the water tank, eliminating driving mechanisms such as steering gears or thrusters and saving energy.

[0030] The present invention has high locking reliability between modules. The locking mechanism is designed with V-shaped positioning plates on both sides, and the locking seat is an inward concave structure closed on both sides, which can ensure reliable cooperation between the V-shaped positioning plate and the locking seat after locking, achieving full 6-degree-of-freedom positioning. The double-spring hook locking structure can ensure sufficient locking force and improve the locking reliability.

[0031] The present invention can realize the laying of optoelectronic composite cables with different lengths. Different numbers of intermediate modules can be configured according to requirements to realize the laying of optoelectronic composite cables with different lengths.

[0032] The structure of the present invention is simple and highly operable. Only a winch, a locking device, a buoyancy adjustment water tank, a control cabin, etc. are designed in each module, without complex structures, which is convenient to manufacture. The locking device can be locked and released only by driving a servo electric cylinder, and the operability is strong. Description of the Drawings

[0033] Appendix Figure 1 is a schematic structural diagram of the present invention.

[0034] Appendix Figure 2 is a perspective view of the bow module of the present invention.

[0035] Appendix Figure 3 is a front view of the bow module of the present invention.

[0036] Appendix Figure 4 is a left view of the bow module of the present invention.

[0037] Appendix Figure 5 is a perspective view of the intermediate module of the present invention.

[0038] Appendix Figure 6 is a front view of the intermediate module of the present invention.

[0039] Appendix Figure 7 is a left view of the intermediate module of the present invention.

[0040] Appendix Figure 8 is a front view of the locking mechanism of the present invention.

[0041] Appendix Figure 9 is a left view of the locking mechanism of the present invention.

[0042] Appendix Figure 10 is a perspective view of the locking mechanism of the present invention.

[0043] Appendix Figure 11 is a schematic diagram of the locking process of the locking mechanism of the present invention.

[0044] Appendix Figure 12 is a schematic structural diagram of the stern module of the present invention.

[0045] In the drawings: 1. Bow module 1; 2. Intermediate module; 3. Stern module;

[0046] 1-1, Bow outer shell, 1-2, Winch 1, 1-3, Water tank 1, 1-4, Valve 1, 1-5, Thruster, 1-6, Battery compartment, 1-7, Communication device, 1-8, Obstacle avoidance sensor, 1-9, Control cabin, 1-10, Support, 1-11, Rotation speed sensor 1, 1-12, Winch base 1, 1-13, Rear shell 1, 1-14, Locking seat 1, 1-15, Optoelectronic composite cable, 1-16, Guide frame 1, 1-17, Doppler velocimeter;

[0047] 2-1, Intermediate shell, 2-2, Intermediate base, 2-3, Control cabin 2, 2-4, Front cover, 2-5, Locking mechanism, 2-6, Electrical slip ring, 2-7, Winch 2, 2-8, Water tank 2, 2-9, Valve 2, 2-10, Rotation speed sensor 2, 2-11, Winch base 2, 2-12, Rear shell 2, 2-13, Locking seat 2, 2-14, Guide frame 2;

[0048] 2-5-1, Support frame, 2-5-2, Servo electric cylinder, 2-5-3, Slide block, 2-5-4, Positioning plate, 2-5-5, Hook, 2-5-6, Pin shaft, 2-5-7, Spring;

[0049] 3-1, Stern shell, 3-2, Stern end cover. Detailed implementation mode

[0050] The present invention will be further described below with reference to the accompanying drawings.

[0051] The present invention provides an automatic laying device for an undersea optoelectronic composite cable. As shown in the attached Figure 1 drawing, it includes: a bow module 1, N intermediate modules 2, and a stern module 3;

[0052] As shown in the attached Figures 2 - 4 drawing, the bow module 1 includes a bow outer shell 1-1, a winch 1 1-2, a water tank 1 1-3, a valve 1 1-4, a thruster 1-5, a battery compartment 1-6, a communication device 1-7, an obstacle avoidance sensor 1-8, a control cabin 1-9, a support 1-10, a rotation speed sensor 1 1-11, a winch base 1 1-12, a rear shell 1 1-13, a locking seat 1 1-14, an optoelectronic composite cable 1-15, a guide frame 1 1-16, and a Doppler velocimeter 1-17.

[0053] Thrusters 1-5 are respectively installed on both sides and the top of the bow shell 1-1. A control cabin 1-9 is provided inside the bow shell 1-1. A support 1-10 is installed at the bottom of the bow shell 1-1. The first winch 1-2 is installed at the rear end of the support 1-10 through the first winch seat 1-12. The first rotational speed sensor 1-11 is installed at the shaft end of the first winch 1-2. The optoelectronic composite cable 1-15 is wound around the winch drum. The end of the optoelectronic composite cable 1-15 passes through the first guide frame 1-16 and the first rear shell 1-13 and extends to the outside of the bow module 1. A water tank is installed in the middle of the support 1-10 to compensate for the weight loss caused by the movement of the optoelectronic composite cable 1-15 and adjust the overall buoyancy of the bow module 1. The rear end of the bow shell 1-1 is installed with the first rear shell 1-13. The first rear shell 1-13 is a concave cone. A first locking seat 1-14 is fixed at the center of the first rear shell 1-13;

[0054] A first valve 1-4 is installed at the top of the first water tank 1-3 to control the inflow of water.

[0055] A battery compartment 1-6 is installed at the front of the support 1-10 of the bow module 1.

[0056] A communicator 1-7 is installed on the support 1-10 through an L-shaped bracket. The top of the communicator 1-7 passes through the bow shell 1-1 to communicate with the upper computer.

[0057] An obstacle avoidance sensor 1-8 is provided at the very front end of the bow shell 1-1. The control cabin 1-9 is installed behind the obstacle avoidance sensor 1-8.

[0058] A Doppler velocimeter 1-17 is provided in front of the battery compartment 1-6 to detect the speed and position information of the bow module 1.

[0059] As shown in the appendix Figures 5 - 7 As shown, the intermediate module 2 includes a housing 2-1, an intermediate base 2-2, a control cabin 2-3, a front cover 2-4, a locking mechanism 2-5, an electric slip ring 2-6, a second winch 2-7, a second water tank 2-8, a second valve 2-9, a second rotational speed sensor 2-10, a second winch seat 2-11, a second rear shell 2-12, a second locking seat 2-13, the optoelectronic composite cable 1-15, and 4 second guide frames 2-14.

[0060] When a very long optoelectronic composite cable needs to be deployed, the number of intermediate modules 2 can be increased to achieve this.

[0061] A middle base 2-2 is installed at the bottom of the middle housing 2-1. The second winch 2-7 is installed at the rear end of the middle base 2-2 through a second winch seat 2-11. A second water tank 2-8 with a first valve 2-9 is installed in the middle of the middle base 2-2. A support frame 2-5-1 of the locking mechanism 2-5 is installed at the front end of the middle base 2-2, and it is ensured that the side surface of the support frame 2-5-1 is perpendicular to the upper surface of the middle base 2-2.

[0062] In this embodiment, the support frame 2-5-1 is in a shape of "ji". The first second guide frame 2-14 is installed at the center of the bottom of the support frame 2-5-1 on the middle base 2-2. The second and third second guide frames 2-14 are respectively installed at the front end and the rear end of the second control cabin 2-3.

[0063] The optoelectronic composite cable 1-15 of the front-end module passes through the through hole at the lower part of the front cover 2-4 and is guided by the second guide frame 2-14 to access the second control cabin 2-3 to provide electrical energy for it. The optoelectronic composite cable 1-15 is led out from the other end of the second control cabin 2-3, passes through the third second guide frame 2-14 and is connected to the electrical slip ring 2-6. One end of the electrical slip ring 2-6 is sleeved on the winch shaft, which can ensure that while the winch 1-2 rotates, the optoelectronic composite cable 1-15 on it maintains electrical connection with the electrical slip ring 2-6. The optoelectronic composite cable 1-15 on the second winch 2-7 passes through the fourth second guide frame 2-14 and finally extends out of the middle module 2 through the through hole on the second rear shell 2-12.

[0064] As shown in the Figures 8 - 10 accompanying drawings, the locking mechanism 2-5 includes the support frame 2-5-1. A servo electric cylinder 2-5-2 is horizontally installed on the top of the support frame 2-5-1. A slider 2-5-3 is installed at the end of the push rod of the servo electric cylinder 2-5-2. The ends of the slider 2-5-3 and the positioning plate 2-5-4 are both V-shaped, and the included angle of the V-shaped inclined surface is the same as the included angle of the V-shaped groove in the locking seat 1-14.

[0065] As shown in the Figure 12 accompanying drawings, the stern module 3 includes: a tail housing 3-1 and a tail end cover 3-2. Except that the length of the tail housing is shorter than that of the middle housing 2-1 and there is an optoelectronic composite cable hole at the bottom of the tail end cover 3-2, the rest of the structure is the same as that of the middle module 2.

[0066] This embodiment further includes:

[0067] A laying method for an undersea optoelectronic composite cable automatic laying device as described above. The method includes the following steps:

[0068] Step 1: After the bow module 1, N intermediate modules 2, and the stern module 3 are assembled, they are deployed to the seabed by a hoisting device. When it is detected that the deployment is completed and the fiber optic composite cable 1-15 of the stern module 3 is fixed to the seabed, the thrusters 1-5 of the bow module 1 operate to drive the bow module 1 to drive the intermediate module 2 and the stern module 3 forward. The winch in the stern module 3 rotates under the drag of the fiber optic composite cable 1-15. At the same time, the valve on the water tank in the stern module 3 is opened, and seawater enters the water tank to ensure the weight-buoyancy balance of the stern module 3.

[0069] Step 2: When the fiber optic composite cable 1-15 is completely disengaged from the winch, the rotational speed sensor detects that the winch stops rotating. The control cabin issues an instruction to the locking mechanism 2-5, and the servo cylinder in the stern module 3 operates to disengage the hook 2-5-5 from the locking seat 1-14 on the intermediate module 2. The stern module 3 disengages from the intermediate module 2, and the fiber optic composite cable 1-15 in the intermediate module 2 starts to be deployed.

[0070] Step 3: Repeat Step 2 until the fiber optic composite cable 1-15 in the bow module 1 is completely deployed.

[0071] Step 4: When the rotational speed sensor 1-11 in the bow module 1 detects that the rotational speed stops, the bow control cabin 1-9 issues an instruction to stop the thrusters 1-5, and the automatic deployment of the fiber optic composite cable is completed.

[0072] The following combines the appendix Figure 11 to describe the locking process of the locking mechanism:

[0073] When the intermediate module 2 and the bow module 1 need to be assembled, the push rod of the servo cylinder 2-5-2 pushes the slider 2-5-3 to move forward along the groove of the positioning plate, pushing the upper and lower hooks 2-5-5 to rotate around the pin shaft 2-5-6, and the spring 2-5-7 is compressed, as Figure 11 (a);

[0074] The forward movement of the intermediate module 2 drives the left and right positioning plates 2-5-4 of the locking mechanism 2-5, so that the V-shaped ends thereof are matched with the V-shaped parts at the front of the left and right grooves inside the locking seat 1-14, as Figure 11 (b);

[0075] The slider 2-5-3 retracts backward, and the two springs 2-5-7 push the hook 2-5-5 to rotate back. The end of the hook 2-5-5 is embedded in the groove of the locking seat 1-14 to complete the locking function, as Figure 11 (c).

[0076] When it is necessary to loosen between the intermediate module 2 and the bow module 1, the slider 2-5-3 moves forward along the groove of the positioning plate, pushing the upper and lower hooks 2-5-5 to rotate. The hooks 2-5-5 disengage from the groove of the locking seat 1-14 of the bow module 1. The forward movement of the bow module 1 drives the locking seat 1-14 to disengage from the locking mechanism 2-5.

[0077] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic laying device for submarine optoelectronic composite cables, characterized in that: include: A bow module (1), N middle modules (2), and a stern module (3); The bow module (1) comprises a bow shell (1-1), thrusters (1-5) are respectively installed on both sides and the top of the bow shell (1-1), a control cabin (1-9) is provided inside the bow shell (1-1), a support (1-10) is installed at the bottom of the bow shell (1-1), a winch (1-2) is installed at the rear end of the support (1-10) through a winch seat (1-12), a speed sensor (1-11) is installed at the shaft end of the winch (1-2), and an optical-electrical composite cable (1-15) is wound on the winch drum. The end of the photoelectric composite cable (1-15) passes through a guide frame (1-16) and a rear shell (1-13) and extends to the outside of the bow module (1). A water tank is installed in the middle of the support (1-10) to compensate for the weight loss caused by the movement of the photoelectric composite cable (1-15) and to adjust the overall buoyancy of the bow module (1). The rear end of the bow shell (1-1) is installed with a rear shell (1-13). The rear shell (1-13) is in a concave cone shape. A locking seat (1-14) is fixed at the center of the rear shell (1-13). The intermediate module (2) comprises an intermediate housing (2-1), an intermediate base (2-2) is installed at the bottom of the intermediate housing (2-1), a second winch (2-7) is installed at the rear end of the intermediate base (2-2) through a second winch seat (2-11), a second water tank (2-8) with a first valve (2-9) is installed in the middle of the intermediate base (2-2), and a support frame (2-5-1) of a locking mechanism (2-5) is installed at the front end of the intermediate base (2-2), and the side surface of the support frame (2-5-1) is ensured to be perpendicular to the upper surface of the intermediate base (2-2); The stern module (3) comprises a tail shell (3-1) and a tail end cover (3-2). Except that the tail shell (3-1) is shorter than the middle shell (2-1) and the bottom of the tail end cover (3-2) has an optoelectronic composite cable hole, the rest of the structure is the same as that of the middle module (2).

2. The automatic laying device for submarine optoelectronic composite cable according to claim 1 is characterized in that: The support frame (2-5-1) is in the shape of a "X", the first guide frame (2-14) is installed on the middle base (2-2) and is located at the bottom center of the support frame (2-5-1), and the second and third guide frames (2-14) are installed at the front end and the rear end of the control cabin (2-3) respectively; The photoelectric composite cable (1-15) of the front module passes through the through hole at the bottom of the front cover (2-4) and is connected to the control cabin (2-3) under the guidance of the guide frame (2-14) to provide electric energy for it. The photoelectric composite cable (1-15) is led out from the other end of the control cabin (2-3), passes through the third guide frame (2-14) and is connected to the electric slip ring (2-6). One end of the electric slip ring (2-6) is sleeved on the winch shaft to ensure that the photoelectric composite cable (1-15) on the winch (1-2) is electrically connected to the electric slip ring (2-6) while the winch (1-2) rotates. The photoelectric composite cable (1-15) on the winch (2-7) passes through the fourth guide frame (2-14) and through the through hole on the rear shell (2-12) to finally extend out of the middle module (2).

3. The automatic laying device for submarine optoelectronic composite cable according to claim 2 is characterized in that: The locking mechanism (2-5) comprises the support frame (2-5-1), the servo electric cylinder (2-5-2) is horizontally mounted on the top of the support frame (2-5-1), the slider (2-5-3) is mounted on the end of the push rod of the servo electric cylinder (2-5-2), the ends of the slider (2-5-3) and the positioning plate (2-5-4) are both V-shaped, and the angle of the V-shaped inclined surface is the same as the angle of the V-shaped groove in the locking seat (1-14).

4. The automatic laying device for submarine optoelectronic composite cable according to claim 1 is characterized in that: A valve (1-4) is installed on the top of the water tank (1-3) to control the inflow of water.

5. The automatic laying device for submarine optoelectronic composite cable according to claim 1 is characterized in that: A battery compartment (1-6) is installed at the front of the support (1-10) of the bow module (1).

6. The automatic laying device for submarine optoelectronic composite cable according to claim 1 is characterized in that: A communication machine (1-7) is installed on the support (1-10) via an L-shaped bracket, and the top of the communication machine (1-7) passes through the bow shell (1-1) to communicate with the host computer.

7. The automatic laying device for submarine optoelectronic composite cable according to claim 1 is characterized in that: The front end of the bow shell 1-1 is provided with an obstacle avoidance sensor (1-8), and the control cabin (1-9) is installed at the rear side of the obstacle avoidance sensor (1-8).

8. The automatic laying device for submarine optoelectronic composite cable according to claim 1 is characterized in that: A Doppler speed meter (1-17) is provided in front of the battery compartment (1-6) for detecting speed and position information of the bow module (1).

9. A method for laying a submarine optoelectronic composite cable automatic laying device according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: Step 1: After the bow module (1), N middle modules (2), and the stern module (3) are assembled, they are laid to the seabed by means of a lifting device. When it is detected that the laying is completed and the optoelectronic composite cable (1-15) of the stern module (3) is fixed to the seabed, the propeller (1-5) of the bow module (1) works to drive the bow module (1) to drive the middle module (2) and the stern module (3) forward, and the winch in the stern module (3) rotates under the drag of the optoelectronic composite cable (1-15). At the same time, the valve on the water tank in the stern module (3) is opened, and seawater enters the water tank, thereby ensuring the weight and buoyancy balance of the stern module (3); Step 2: When all the photoelectric composite cables (1-15) are detached from the winch, the rotation speed sensor detects that the winch has stopped rotating, and the control cabin sends a command to the locking mechanism (2-5), and the servo electric cylinder in the stern module (3) works to make the hook (2-5-5) detach from the locking seat (1-14) on the middle module (2), and the stern module (3) detaches from the middle module (2), and the photoelectric composite cable (1-15) in the middle module (2) starts to be laid; Step 3: Repeat step 2 until all the optical-electrical composite cables (1-15) in the bow module (1) are laid out; Step 4: When the rotation speed sensor (1-11) in the bow module (1) detects that the rotation speed stops, the bow control cabin (1-9) issues a command to stop the propeller (1-5) from working, and the automatic deployment of the optoelectronic composite cable is completed.

10. The method for laying a submarine optoelectronic composite cable automatic laying device according to claim 9, characterized in that: When the middle module (2) and the bow module (1) need to be assembled, the push rod of the servo electric cylinder (2-5-2) pushes the slider (2-5-3) to move forward along the groove of the positioning plate, pushing the upper and lower hooks (2-5-5) to rotate around the pin shaft (2-5-6), and the spring (2-5-7) is compressed; The middle module (2) moves forward to drive the left and right positioning plates (2-5-4) of the locking mechanism (2-5), so that the V-shapes at the ends thereof match the V-shapes at the front of the left and right grooves inside the locking seat (1-14); The slider (2-5-3) retracts backwards, and the two springs (2-5-7) push the hook (2-5-5) to rotate, and the end of the hook (2-5-5) is embedded in the groove of the locking seat (1-14), completing the locking function; When the middle module (2) and the bow module (1) need to be loosened, the slider (2-5-3) moves forward along the groove of the positioning plate, pushing the upper and lower hooks (2-5-5) to rotate, and the hooks (2-5-5) are disengaged from the grooves of the locking seat one (1-14) of the bow module (1), and the bow module (1) moves forward to drive the locking seat one (1-14) to disengage from the locking mechanism (2-5).

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