Ditching, laying and back-burying integrated robot for submarine cable

Abstract

The invention relates to the technology of submarine equipment, and aims to provide a ditching, laying and back-burying integrated robot for submarine cables. According to the robot, a crawler-type carrying chassis is used for bearing a robot frame and equipment; the deep-layer ditching operation mechanism comprises a bevel gear set driven by a motor, a deep-groove shovel and a deep-groove rotating blade driven by a linear rotating stepping motor; the cable guiding and laying mechanism comprises a cable disc, a pulley block and a delivery pipeline, and a cable is conveyed to the delivery pipeline through the pulley block and placed into the groove from the rear side of the lower portion of the robot; the in-situ backfilling and burying mechanism comprises a pressing type sledge; the deep groove shovel, the deep groove rotating blade, the delivery pipeline and the pressing type sledge are sequentially arranged in the axis direction of the integrated robot. The modular design is adopted, and ditching, ditch expanding, laying and burying operations can be sequentially executed in the advancing process; the working efficiency, the error-tolerant rate and the flexibility are greatly improved, the deep sea working cost is reduced, and high economy is achieved.

Description

Technical Field

[0001] This invention relates to submarine equipment technology, and in particular to an integrated robot for trenching, laying, and burying submarine cables. Background Technology

[0002] With the development of marine resource development and marine scientific research, the demand for the construction and maintenance of submarine cables (such as communication optical cables and power cables) and submarine sensor arrays (such as seismic monitoring arrays, hydrophone arrays, and environmental monitoring arrays) is increasing. In traditional construction methods, the laying of submarine cables and sensor array wires mainly relies on large specialized vessels, using cable-laying machines or towing devices at the stern. This method typically requires the cables to be coiled in a large cable hold on the ship first, and during laying, the ship sails along a predetermined route while simultaneously releasing the cables or array units to the seabed. For sensor arrays, it is often necessary to coordinate with divers or remotely operated vehicles (ROVs) for precise underwater docking, burial, or fixation. However, traditional laying methods have many limitations: high cost, poor flexibility, limited functionality, significant interference with the marine environment, and high dependence on personnel and risks.

[0003] Therefore, there is an urgent need in this field for a highly integrated, intelligent, and adaptable specialized robot to solve the above problems. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an integrated robot for trenching, laying and burying submarine cables.

[0005] To solve the technical problem, the solution of the present invention is:

[0006] An integrated robot for trenching, laying, and burying submarine cables is provided, comprising a tracked transport chassis, a deep trenching operation mechanism, a cable guiding and laying mechanism, and an in-situ backfilling and burying mechanism.

[0007] Tracked transport chassis are used to carry robot frames and equipment and move according to a set path or real-time commands;

[0008] The deep trenching mechanism includes a forward trenching mechanism and a vertical trench widening mechanism installed at the front of the robot frame; the former is used for trenching operations and includes a bevel gear set driven by a motor and a deep trench shovel connected to the bevel gear set; the latter is located behind the deep trench shovel and is used for trench widening operations and includes a deep trench rotating blade driven by a linear rotary stepper motor.

[0009] The cable guiding and laying mechanism includes a cable reel, a pulley system, and a delivery pipe installed inside the robot frame; the cable in the cable reel is transported to the delivery pipe by the pulley system and placed into the trench from the rear side below the robot;

[0010] In-situ backfilling and burial mechanism, including a down-pressing sled mounted on the rear of a robot frame, for backfilling and compacting silt to bury cables in trenches;

[0011] The deep trench shovel, deep trench rotating blade, delivery pipe, and downward-pressing sled are arranged sequentially along the axis of the integrated robot.

[0012] As a preferred embodiment of the present invention, the tracked transport chassis includes a central equipment chassis with two sets of tracked walking mechanisms arranged symmetrically on both sides; each set of walking mechanisms includes a support frame, a drive motor and a gear set mounted on the support frame, and tracks arranged around the gear set.

[0013] As a preferred embodiment of the present invention, the forward trenching mechanism includes an axial main bevel gear installed inside the robot frame, and two auxiliary bevel gears symmetrically arranged on both sides of the main bevel gear and meshing with it. Each auxiliary bevel gear is driven by a waterproof encapsulated motor. The axial direction of the main bevel gear is adjusted by controlling the rotation speed of the two auxiliary bevel gears differentially or synchronously, thereby changing the attitude angle of the trench shovel.

[0014] As a preferred embodiment of the present invention, the deep trench shovel has a curved shovel handle and a wedge-shaped shovel at the front end; the tail end of the shovel handle is rigidly fixedly connected to the output shaft of the bevel gear set through a connector.

[0015] As a preferred embodiment of the present invention, the vertical trenching mechanism includes a linear rotary stepper motor vertically fixed on the robot frame, and the deep trench rotary blade is mounted on the output end of the motor via a linear push rod.

[0016] As a preferred embodiment of the present invention, the pulley group includes a friction movable pulley group and a plurality of fixed pulleys; the fixed pulleys are mounted on a fixed pulley bracket and are used to change the direction of the cable; in the friction movable pulley group, two movable pulleys mounted by fastening springs are arranged opposite each other and driven by a hydraulic motor to rotate synchronously, for conveying the cable in a stable clamping state.

[0017] As a preferred embodiment of the present invention, the delivery conduit has a downward-curved end and an opening facing backward, and the cable is guided and laid into the trench after passing through the delivery conduit.

[0018] As a preferred embodiment of the present invention, the robot frame is provided with a control box equipped with underwater sealing, a hydraulic valve group and a battery box; the control box is provided with a control main board, the hydraulic valve group is connected to the hydraulic motor in the pulley group through hydraulic pipes, and the battery box is connected to the drive motor of the tracked transport chassis and the motor in the deep trenching operation mechanism through cables; a camera and a lighting group are arranged above the front end of the robot frame.

[0019] As a preferred embodiment of the present invention, the cable reel has at least two sets, and the switching operation of the cable in the pulley set is performed by a robotic arm mounted on the robot frame or on a standalone underwater ROV device.

[0020] This invention further provides a method for laying submarine cables using an integrated trenching, laying, and burying robot, comprising:

[0021] On the mother ship, the cable is loaded into the cable reel, and the end of the cable is guided through a fixed pulley to between two sets of friction pulleys, and then through the delivery pipe;

[0022] The robot is lowered to the seabed operation starting point using hoisting equipment, and real-time images are acquired through cameras.

[0023] The starter motor drives two auxiliary bevel gears to rotate, which in turn drive the main bevel gear through differential transmission, adjusting the deep trenching shovel to the designated depth. The tracked transport chassis is then driven along a set path, allowing the deep trenching shovel to cut into the shallow silt of the seabed to form a preliminary trench. A linear rotary stepper motor drives the deep trenching blade to a designated depth via a push rod, and then rotates it to widen the trench. A hydraulic motor drives two friction pulleys to rotate, applying constant tension to the cable with the help of a clamping spring, ensuring smooth delivery. Guided by a delivery pipe, the cable is laid into the trench. A downward-pressing sled backfills the trench with seabed sediment stirred up during trenching and widening operations, burying and securing the cable. Through the aforementioned operations, trenching, widening, laying, and burying are sequentially performed during the journey.

[0024] When the operation is finished, the linear rotary stepper motor stops rotating, and the deep trench rotary blade is retracted by the push rod to achieve reset; the two sets of friction pulleys release the cable tension and end the conveying action; the main bevel gear is driven by the differential transmission of the bevel gear set to adjust the deep trench shovel to perform the lifting action;

[0025] The power supply to each actuator is cut off, the robot stops power output, and then it is recovered to the mother ship through remote command or preset program control.

[0026] Compared with the prior art, the technical advantages of the present invention are:

[0027] 1. The integrated deployment robot for submarine cables described in this invention adopts a modular design, enabling it to sequentially perform trenching, trench widening, deployment, and burial operations during movement. The tracked transport chassis is designed for operation on various terrains, including hard, soft, and steep terrains, possessing excellent obstacle-crossing and terrain-following capabilities. The deep trenching mechanism can efficiently trench shallow soft geology or medium-hard seabeds, with trench depths reaching up to 0.8 meters. The cable guiding deployment mechanism, through a precision guide wheel assembly and tension control module, ensures that the cable or sensing unit maintains constant tension and the correct path during deployment, preventing entanglement, bending, or damage. The in-situ backfilling and burial mechanism automatically backfills the trench with seabed sediment generated during trenching after deployment, achieving rapid cable coverage and fixation, effectively preventing exposure caused by water erosion or external disturbances.

[0028] 2. This invention realizes an integrated operation process for trenching, laying and in-situ backfilling of deep-sea cables, which greatly improves operation efficiency, reduces deep-sea operation costs, and achieves high economic efficiency.

[0029] 3. This invention utilizes a differential bevel gear set to fine-tune and correct the trenching direction during the trenching process, greatly improving the error tolerance and flexibility of the operation.

[0030] 4. Based on the robot's travel speed, this invention uses a cable guiding and laying mechanism to adjust the cable's conveying speed and tension, which can greatly improve the construction quality of cable laying and avoid cable accumulation or pulling during the laying process; while improving efficiency, it ensures that the cable will not be damaged. Attached Figure Description

[0031] Figure 1 This is the overall axonometric view of the integrated robot described in this invention.

[0032] Figure 2 for Figure 1 Side view of the robot.

[0033] Figure 3 for Figure 1 A top view of the robot.

[0034] Figure 4 This is the overall isometric view of a mechanical deep trenching mechanism.

[0035] Figure 5 for Figure 4 Side view of a medium-sized mechanical deep trenching mechanism.

[0036] Figure 6 for Figure 4 A top view of a medium-sized mechanical deep trenching mechanism.

[0037] Figure 7 This is the overall isometric view of the guiding and deployment mechanism.

[0038] Figure 8 for Figure 7 Side view of the center guidance deployment mechanism.

[0039] Figure 9 for Figure 7 A top view of the center guidance and deployment mechanism.

[0040] Figure 10 for Figure 7 Front view of the center guidance and deployment mechanism.

[0041] Figure 11 for Figure 10 The schematic diagram of the action mechanism in the guide deployment mechanism shown in the middle HH section.

[0042] Figure 12 This is a flowchart illustrating the operation of the integrated robot described in this invention.

[0043] In the diagram: 1. Tracked transport chassis; 2. In-situ backfilling and burial mechanism; 3. Robot frame; 4. Hydraulic valve assembly; 5. Guiding and deployment mechanism; 6. Shipborne endurance cable; 7. Bevel gear set; 8. Trench shovel; 9. Support frame; 10-1 secondary bevel gear; 10-2 secondary bevel gear; 11-1 waterproof encapsulated motor; 11-2 waterproof encapsulated motor; 12 main bevel gear; 13. Connector; 14. Trench shovel; 15. Bevel gear protective frame; 16-1 fixed pulley; 16-2 fixed pulley. Friction pulley 17-1; Friction pulley 17-2; Hydraulic motor 18-1; Hydraulic motor 18-2; Fastening spring 19-1; Fastening spring 19-2; Tension sensor 20-1; Tension sensor 20-2; Fixed pulley bracket 21-1; Fixed pulley bracket 21-2; Cable reel 22-1; Cable reel 22-2; Delivery pipe 23; Deep groove rotating blade 24; Camera 25; Linear rotary stepper motor 27; Push rod 26. Detailed Implementation

[0044] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0045] Part One: Implementation Scheme of the Invention

[0046] This invention provides an integrated robot for trenching, laying, and burying submarine cables, comprising a tracked transport chassis, a deep trenching mechanism, a cable guiding and laying mechanism, and an in-situ backfilling and burying mechanism. The tracked transport chassis carries the robot frame and equipment, moving according to a set path or real-time commands. The deep trenching mechanism includes a forward trenching mechanism and a vertical trench widening mechanism installed at the front of the robot frame. The former is used for trenching operations and includes a bevel gear set driven by a motor and a deep trench shovel connected to the bevel gear set; the latter is located behind the deep trench shovel and... For trench widening operations, the system includes a deep trench rotating blade driven by a linear rotary stepper motor; a cable guiding and laying mechanism, including a cable reel, pulley system, and delivery pipe installed inside the robot frame; cables in the cable reel are transported to the delivery pipe by the pulley system and placed into the trench from the rear of the robot; and an in-situ backfilling and burying mechanism, including a pressure sled installed at the rear of the robot frame for backfilling and compacting silt to bury the cables in the trench; the deep trench sled, deep trench rotating blade, delivery pipe, and pressure sled are arranged sequentially along the axial direction of the integrated robot.

[0047] The integrated robot in this invention utilizes a deep trenching mechanism to complete trenching operations before laying submarine cables. During operation, the trenching depth and position angle of the trenching shovel are adjusted via a bevel gear set, and the trenching width and depth are further expanded using a rotating blade. A guided deployment mechanism enables the pre-storage, on-vehicle loading, and delivery of submarine cables along a predetermined path, with the cable delivery speed determined by the tracked chassis's travel speed. An in-situ backfilling and burying mechanism covers the cables with the silt stirred up during trenching. Onboard cameras and lighting units monitor the entire device's movement in real time during the laying process, and the path is corrected based on a local control system embedded in the control motherboard or via remote online control.

[0048] The tracked transport chassis includes a central equipment chassis with two sets of tracked walking mechanisms arranged symmetrically on both sides. Each set of walking mechanisms includes a support frame, a drive motor and gear set mounted on the support frame, and tracks arranged around the gear set.

[0049] The deep trenching mechanism includes a forward trenching mechanism comprising an axial main bevel gear mounted inside the robot frame, with two symmetrically arranged secondary bevel gears meshing with it on both sides. Each secondary bevel gear is driven by a waterproof encapsulated motor. The axial direction of the main bevel gear is adjusted by differential or synchronous control of the rotational speeds of the two secondary bevel gears, thereby changing the attitude angle of the deep trench shovel. The deep trench shovel has a curved handle with a wedge-shaped blade at the front end; the tail end of the handle is rigidly fixed to the output shaft of the bevel gear set via a connector. The vertical trenching mechanism includes a linear rotary stepper motor vertically fixed to the robot frame, with the deep trenching rotary blade mounted on the output end of the motor via a linear push rod.

[0050] The deep trenching mechanism operates by using differential or synchronous control of two waterproof encapsulated motors to adjust the axial direction of the main bevel gear, and further adjusting the depth and angle of the deep trench shovel via a connector. When preparing to trench, the two motors control the bevel gear to rotate synchronously, and the deep trench shovel descends. Once it reaches the designated position, trenching operations can commence based on the movement of the transport chassis. After the initial trench is formed in the soft seabed soil layer, a linear rotary stepper motor drives the deep trench rotating blades to further deepen and / or widen the initial trench. During operation, if difficulties arise in adjusting the transport chassis's path or encountering challenging hard geological conditions, the angle of the deep trench shovel can be adjusted by controlling the differential speed of the two motors, thus allowing for smooth and flexible adjustment of the trench trajectory.

[0051] The cable guiding and laying mechanism includes a pulley system comprising a friction-driven movable pulley system and multiple fixed pulleys. The fixed pulleys are mounted on a fixed pulley bracket and are used to change the cable direction. In the friction-driven movable pulley system, two movable pulleys, mounted by fastening springs, are arranged opposite each other and driven synchronously by a hydraulic motor to transport the cable under stable clamping conditions. The delivery pipe has a downward-curved end and an opening facing rearward. After passing through the delivery pipe, the cable is guided and laid into the trench. There are at least two sets of cable reels, allowing for switching between different cables within the pulley system using a robotic arm mounted on a robot frame or a standalone underwater ROV.

[0052] The cable guidance and deployment mechanism operates as follows: Before the robot lowers the cable or sensor array, it is pre-arranged on a cable reel. During operation, the cable passes sequentially through fixed pulleys, a friction pulley system, and a delivery pipe to reach the pre-drilled trench. Two symmetrically placed fixed pulleys ensure the stability and uniform force distribution of the cable guidance path. Two retaining springs tension the friction pulley system, clamping the cable for stable delivery. The travel speed of the tracked vehicle chassis can be calculated from the rotational speed of the drive motor. The operating parameters of two hydraulic motors are then synchronized with this speed to ensure the cable delivery speed of the friction pulley system matches the speed of the tracked vehicle chassis, preventing cable accumulation or excessive tension. To monitor the cable delivery status in real time, a device is installed on the friction pulley system to receive operational data from the tracked delivery mechanism (i.e., the track), ensuring successful completion of the submarine cable deployment operation. Furthermore, the device platform can be modularly equipped with multiple cable reels, allowing for reel replacement during operation using an ROV robotic arm, enabling long-distance continuous deployment tasks.

[0053] To drive and control the various motors and hydraulic motors in the transport chassis and working mechanism, an underwater-sealed control box, hydraulic valve assembly, and battery box are installed in the robot frame. The control box contains a main control board, the hydraulic valve assembly is connected to the hydraulic motors in the pulley system via hydraulic pipes, and the battery box is connected via cables to the drive motors of the tracked transport chassis and the motors in the deep trenching working mechanism. To assist in movement and operation, a camera and lighting assembly are also installed above the front end of the robot frame.

[0054] In this invention, the driving control of the transport chassis, the drive control of the motor and hydraulic motor, and the path adjustment method of the integrated robot during the driving process or the control method of the ROV robotic arm can all adopt mature existing technologies, and this invention does not impose any special restrictions.

[0055] Part Two: Specific Embodiments

[0056] The following embodiments are intended to enable those skilled in the art to gain a more comprehensive understanding of the present invention, but do not limit the invention in any way.

[0057] Figures 1 to 3The diagram shows the overall structural layout of the integrated deployment robot, including a tracked transport chassis 1, an in-situ backfilling and burial mechanism 2, a robot frame 3, a hydraulic valve assembly 4, a guiding deployment mechanism 5, a shipborne endurance cable 6, a bevel gear set 7, and a trench shovel 8. The robot frame 3 is fixedly mounted in the center of the tracked transport chassis 1; the in-situ backfilling and burial mechanism 2 is fixed to the rear of the robot frame 3, including a downward-pressing sled bolted to the rear of the robot frame; the hydraulic valve assembly 4 (along with the control box and battery box) and the guiding deployment mechanism 5 are bolted to the main platform of the robot frame 3; the shipborne endurance cable 6 extends from a cable hole on the top of the robot frame 3; and the trench shovel 8 is located directly in front of the robot frame 3 and is connected to the bevel gear set 7 fixed within the robot frame 3.

[0058] Figures 4 to 6 This is a structural diagram of a deep trenching mechanism. The forward trenching mechanism includes a support frame 9; secondary bevel gears 10-1 and 10-2; waterproof encapsulated motors 11-1 and 11-2; a main bevel gear 12; a connector 13; a deep trench shovel 14; and a bevel gear protective frame 15. The support frame 9 is bolted to the front of the robot frame 3, and its other end is bolted to the bevel gear protective frame 15. Secondary bevel gears 10-1 and 10-2 are driven by waterproof encapsulated motors 11-1 and 11-2, respectively. Both secondary bevel gears mesh with the main bevel gear 12 and are fixed by the bevel gear protective frame 15. The output end of the main bevel gear 12 is fixedly connected to the deep trench shovel 14 via the connector 13. The connector is used to rigidly fix the deep trench shovel to the main bevel gear shaft. The deep trench shovel and the connector are fixedly connected by bolts and nuts, and the connector and the main bevel gear shaft are fixedly connected by set screws. The vertical trenching mechanism includes a deep trench rotating blade 24, a push rod 26, and a linear rotary stepper motor 27. The linear rotary stepper motor 27 is fixed to the side of the platform of the robot frame 3 by bolts. The push rod 26 is mounted on the end of the vertical output shaft of the linear rotary stepper motor 27. The deep trench rotating blade 24 is fixed below the push rod 26 and moves coaxially with it.

[0059] Figures 7 to 11This is a schematic diagram of the guiding and deployment mechanism, including cable reels 22-1 and 22-2, a fixed pulley bracket 21-1, a fixed pulley 16-1, a fixed pulley bracket 21-2, a fixed pulley 16-2, a friction pulley 17-1, a hydraulic motor 18-1, a fastening spring 19-1, a tension sensor 20-1, a friction pulley 17-2, a hydraulic motor 18-2, a fastening spring 19-2, a tension sensor 20-2, and a delivery pipe 23, all located on the platform inside the robot frame 3. Fixed pulleys 16-1 and 16-2 are mounted on the platform of the robot frame 3 via their respective brackets. The friction pulley 17-1, hydraulic motor 18-1, fastening spring 19-1, and tension sensor 20-1 form one group, while the friction pulley 17-2, hydraulic motor 18-2, fastening spring 19-2, and tension sensor 20-2 form another group. These two groups are symmetrically arranged around the cable axis and are used for clamping and delivering the cable. The delivery pipe 23 is fixed at the center of the robot frame 3, has a downward arc end and an opening facing backward, and is used for cable positioning and laying.

[0060] The working process flow exemplified in this invention is as follows: Figure 12 As shown, the specific operation process is described below:

[0061] First, on the mother ship, the cables or sensor array cables are loaded into two cable reels. The cables in cable reel 21 are guided between fixed pulley 16, friction pulley 17-1 and friction pulley 17-2, and through delivery pipe 23 to complete the preset operation. The robot is then lowered to the seabed operation starting point using a hoisting device.

[0062] The robot is controlled to reach the designated work location based on real-time images acquired by camera 25. Waterproof encapsulation motors 11-1 and 11-2 are activated, driving the secondary bevel gears 10-1 and 10-2 to rotate. The differential transmission of the bevel gear set drives the main bevel gear 12 to adjust the deep trench shovel 14 to the designated trench position. Then, the tracked transport chassis 1 is driven to move along the set path, while the deep trench shovel 14 cuts into the shallow silt of the seabed, initially forming a trench of the predetermined depth. Then, the linear rotary stepper motor 27 drives the deep trench rotating blade 24 to the designated depth via push rod 26, initiating the trench widening operation. During movement, the cable is precisely guided from cable reel 22-1 through the center of fixed pulleys 16-1 and 16-2, friction moving pulleys 17-1 and 17-2, and delivery pipe 23 to the bottom of the trenching path, achieving simultaneous trenching and cable laying. Hydraulic motors 18-1 and 18-2 work together to drive friction pulleys 17-1 and 17-2 to rotate, while simultaneously applying constant tension to the cable with the help of a fastening spring, ensuring smooth cable delivery. The downward-pressing sled in the in-situ backfilling and burying mechanism 2 backfills the seabed sediment stirred up during trenching and widening operations into the trench, burying and securing the cable. Throughout the process, tension sensors 20-1 and 20-2 monitor the cable tension in real time, and the drive motor of the tracked transport chassis 1 controls the main board to calculate the travel speed and dynamically adjust the control signal of the hydraulic motors to ensure a perfect match between the cable laying speed and the robot's travel speed. When camera 25 detects obstacles such as hard rocks or piles of debris on the path, or when the tracked transport chassis 1 deviates slightly in direction, it adjusts the speed of waterproof encapsulated motors 11-1 and 11-2, and through differential transmission of the bevel gear set, drives the main bevel gear 12 to adjust the attitude angle of the deep trench shovel 14. During the operation, cable reel 22-1 and cable reel 22-2 can be interchanged, and the cable can be replaced in place by using the operation of the robotic arm.

[0063] When the cable laying operation is completed, the deep trench rotating blade 24 stops rotating, and the push rod 26 retracts under the drive of the linear rotary stepper motor 27, realizing the blade reset; at the same time, the friction moving pulleys 17-1 and 17-2 release the cable tension, ending the laying action. The waterproof encapsulation motors 11-1 and 11-2 drive the auxiliary bevel gears 10-1 and 10-2 to rotate, and through the differential transmission of the bevel gear set, drive the main bevel gear 12 to adjust the lifting action of the deep trench shovel 14.

[0064] Power to all actuators is cut off, and the robot ceases power output. It then connects its lifting interface module to the mother ship's deployment and retrieval system via remote commands or a pre-programmed sequence. The surface support system then retrieves the robot to the deck, completing the current work cycle. This integrated deployment robot is reusable and suitable for multi-section continuous laying tasks, significantly improving operational efficiency and system reliability.

[0065] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. An integrated robot for trenching, laying, and burying submarine cables, characterized in that, This includes a tracked transport chassis, a deep trenching operation mechanism, a cable guiding and laying mechanism, and an in-situ backfilling and burial mechanism; Tracked transport chassis are used to carry robot frames and equipment and move according to a set path or real-time commands; The deep trenching mechanism includes a forward trenching mechanism and a vertical trench widening mechanism installed at the front of the robot frame; the former is used for trenching operations and includes a bevel gear set driven by a motor and a deep trench shovel connected to the bevel gear set; the latter is located behind the deep trench shovel and is used for trench widening operations and includes a deep trench rotating blade driven by a linear rotary stepper motor. The cable guiding and laying mechanism includes a cable reel, a pulley system, and a delivery pipe installed inside the robot frame; the cable in the cable reel is transported to the delivery pipe by the pulley system and placed into the trench from the rear side below the robot; In-situ backfilling and burial mechanism, including a down-pressing sled mounted on the rear of the robot frame, for backfilling and compacting silt to bury cables in trenches; The deep trench shovel, deep trench rotating blade, delivery pipe, and downward-pressing sled are arranged sequentially along the axis of the integrated robot.

2. The robot according to claim 1, characterized in that, The tracked transport chassis includes a central equipment chassis with two sets of tracked walking mechanisms arranged symmetrically on both sides. Each set of walking mechanisms includes a support frame, a drive motor and gear set mounted on the support frame, and tracks arranged around the gear set.

3. The robot according to claim 1, characterized in that, The forward trenching mechanism includes an axial main bevel gear installed inside the robot frame, with two auxiliary bevel gears symmetrically arranged on both sides of it and meshing with it. Each auxiliary bevel gear is driven by a waterproof encapsulated motor. The axial direction of the main bevel gear is adjusted by controlling the rotation speed of the two auxiliary bevel gears differentially or synchronously, thereby changing the attitude angle of the trench shovel.

4. The robot according to claim 1, characterized in that, The deep trench shovel has a curved shovel handle and a wedge-shaped shovel at the front end; the tail end of the shovel handle is rigidly fixedly connected to the output shaft of the bevel gear set through a connector.

5. The robot according to claim 1, characterized in that, The vertical trenching mechanism includes a linear rotary stepper motor vertically fixed to the robot frame, and a deep trench rotary blade is mounted on the output end of the motor via a linear push rod.

6. The robot according to claim 1, characterized in that, The pulley assembly includes a friction movable pulley assembly and multiple fixed pulleys; the fixed pulleys are mounted on a fixed pulley bracket and are used to change the direction of the cable; in the friction movable pulley assembly, two movable pulleys mounted by fastening springs are arranged opposite each other and driven by a hydraulic motor to rotate synchronously, for conveying the cable in a stable clamping state.

7. The robot according to claim 1, characterized in that, The delivery conduit has a downward-curved end and an opening facing backward. After passing through the delivery conduit, the cable is guided and laid into the trench.

8. The robot according to claim 1, characterized in that, The robot frame contains a control box with underwater sealing, a hydraulic valve group, and a battery box. The control box contains a control main board, the hydraulic valve group is connected to the hydraulic motor in the pulley group through hydraulic pipes, and the battery box is connected to the drive motor of the tracked transport chassis and the motor in the deep trenching mechanism through cables. A camera and a lighting group are arranged above the front end of the robot frame.

9. The robot according to claim 1, characterized in that, The cable reels are at least two sets, and the switching of cables between the reels is performed using a robotic arm mounted on the robot frame or on a standalone underwater ROV.

10. A method for laying submarine cables using an integrated trenching, laying, and burying robot, characterized in that... include: On the mother ship, the cable is loaded into the cable reel, and the end of the cable is guided through a fixed pulley to between two sets of friction pulleys, and then through the delivery pipe; The robot is lowered to the seabed operation starting point using hoisting equipment, and real-time images are acquired through cameras. The starter motor drives two auxiliary bevel gears to rotate, which in turn drive the main bevel gear through differential transmission, adjusting the deep trench shovel to the specified depth. The tracked transport chassis is driven to move along the set path, allowing the deep trench shovel to cut into the shallow silt of the seabed to form a preliminary trench. A linear rotary stepper motor drives the deep trench rotating blade to the specified depth via a push rod, and then rotates it to perform trench widening operations. A hydraulic motor drives two friction pulleys to rotate, applying constant tension to the cable with the help of a fastening spring, allowing it to be delivered smoothly. The cable is then laid into the trench under the guidance of the delivery pipe. The downward-pressing sled backfills the seabed sediment stirred up during trenching and widening operations into the trench, burying and securing the cable; through the aforementioned operations, the trenching, widening, deployment, and burial operations are sequentially executed during the movement. When the operation is finished, the linear rotary stepper motor stops rotating, and the deep trench rotary blade is retracted by the push rod to achieve reset; the two sets of friction pulleys release the cable tension and end the conveying action; the main bevel gear is driven by the differential transmission of the bevel gear set to adjust the deep trench shovel to perform the lifting action; The power supply to each actuator is cut off, the robot stops power output, and then it is recovered to the mother ship through remote command or preset program control.

Images