Underwater operation module

Abstract

The utility model provides an underwater operation module which comprises a main body frame, an operation unit and an operation auxiliary unit, the main body frame is provided with a lifting appliance connecting device, and the lifting appliance connecting device is used for being connected with lifting equipment of a mother ship to enable the underwater operation module to be in a suspended state in the operation process; the operation unit and the operation auxiliary unit are both connected with the main body frame, and the operation unit and the operation auxiliary unit are in signal connection with a control system of the mother ship. The mother ship is further used for providing a power source and a power source for the operation unit and the operation auxiliary unit. According to the underwater operation module, underwater operation can be implemented in suspension movement by means of the sailing capacity and the hoisting function of the mother ship, smooth movement is not limited by shallow offshore water depth and soft seabed geology, meanwhile, suspension movement can be achieved through the mother ship, the structural composition of the underwater operation module is simplified, and the underwater operation module is convenient to use. And the research and development and manufacturing cost can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater operation equipment, in particular to an underwater operation module. Background Art

[0002] China has a vast ocean area and rich marine resources. How to effectively detect, exploit and utilize these marine resources is an urgent problem to be solved in China. Having advanced detection and exploitation equipment is the first element to achieve this goal.

[0003] To achieve the above goal, China is vigorously developing various types of marine detection and operation equipment, including various ROVs, AUVs, manned submersibles, deep-sea trenchers, deep-sea maintenance equipment, etc. However, these marine equipment all have high R & D and usage costs, and need to be used in deep sea to play their functions. In the shallow offshore area with relatively shallow water depth and soft seabed geology, due to the limitations of water depth and seabed geology, the seaworthiness or the moving performance on the seabed is poor, and it is impossible to carry out operations smoothly while moving. Summary of the Utility Model

[0004] In view of this, the purpose of the utility model is to provide an underwater operation module to solve the problem that the existing marine detection and operation equipment mentioned above has poor seaworthiness or poor moving performance on the seabed due to the limitations of water depth and soft seabed geology in the shallow offshore area, and cannot move smoothly to carry out operations.

[0005] To solve the above technical problems, the technical solution adopted by the utility model is as follows:

[0006] An underwater operation module described in the utility model includes a main body frame, an operation unit and an operation auxiliary unit. The main body frame is provided with a sling connection device, and the sling connection device is used to connect with the lifting equipment of the mother ship to make the underwater operation module in a suspended state during the operation process;

[0007] Both the operation unit and the operation auxiliary unit are connected to the main body frame, and the operation unit and the operation auxiliary unit are respectively connected to the control system of the mother ship in signal;

[0008] The mother ship is also used to provide power supply and power source to the operation unit and the operation auxiliary unit; or, the main body frame is further provided with a hydraulic power unit, both the operation unit and the operation auxiliary unit are connected to the hydraulic power unit, and the mother ship is used to provide power supply to the operation unit and the operation auxiliary unit.

[0009] Preferably, the operation unit includes a water pump and a nozzle connected to the water pump, and both the water pump and the nozzle are connected to the main body frame;

[0010] Alternatively, the operation unit includes a water pump and a jet knife communicated with the water pump, and the water pump and the jet knife are respectively connected to the main body frame.

[0011] Further preferably, a one-way valve is provided between the water pump and the nozzle or the jet knife;

[0012] And / or, the geometric center of the water outlet of the nozzle or the jet knife is symmetrically arranged with the vertical plane where the center of gravity of the underwater operation module is located as the center;

[0013] And / or, the water outlet of the nozzle is located below the water pump.

[0014] Further preferably, the nozzle includes a first nozzle and a second nozzle. One ends of the first nozzle and the second nozzle are both connected to the water outlet end of the water pump, and the other ends of the first nozzle and the second nozzle are respectively located on both sides of the water pump;

[0015] Alternatively, the jet knife includes a first jet knife and a second jet knife. The first jet knife and the second jet knife are respectively located on both sides of the water pump, and the water inlet ends of the first jet knife and the second jet knife are both connected to the water outlet end of the water pump.

[0016] Further preferably, the water pump is a multi-stage pump. The main body frame is provided with an adjusting component located below the water pump, and the bottom side of the water pump abuts against the adjusting component.

[0017] Preferably, the operation unit is a submersible pump or a first thruster, and the submersible pump or the first thruster is connected to the main body frame;

[0018] The submersible pump is used for sucking water fluid; the first thruster is used for providing propulsion force for the navigation of the underwater operation module.

[0019] Further preferably, the operation auxiliary unit includes an electric control box, a first position monitoring component, an imaging device and a second position monitoring component, all of which are connected to the main body frame. The first position monitoring component, the imaging device and the second position monitoring component are respectively electrically connected to the electric control box and signal-connected to the control system of the mother ship, and the electric control box is also used for being electrically connected to the power supply of the mother ship;

[0020] The first position monitoring component is used for monitoring the position information of the underwater operation module in water and sending the position information to the control system;

[0021] The second position monitoring component is used for monitoring the position information of the underwater operation target object and sending the position information to the control system;

[0022] The imaging device is used to acquire the image information of the underwater operation target object and send the image information to the control system.

[0023] Further preferably, the first position monitoring component includes an altimeter, a height gauge, and an ultra-short baseline positioning device respectively connected to the main body frame. The altimeter is used to monitor the distance data between the underwater operation module and the seabed. The height gauge is used to monitor the distance data between the underwater operation module and the sea surface. The ultra-short baseline positioning device is used to monitor the relative position data between the underwater operation module and the mother ship.

[0024] The altimeter, the height gauge, and the ultra-short baseline positioning device are all electrically connected to the electric control box, signal-connected to the control system, and each sends the monitored data to the control system.

[0025] And / or, the second position monitoring component is a TSS350 cable detection system connected to the main body frame. The TSS350 cable detection system sends the target submarine cable information it acquires to the control system.

[0026] Further preferably, the operation assistance unit further includes a second thruster connected to the main body frame. The second thruster is used to provide thrust for adjusting the attitude of the underwater operation module.

[0027] Further preferably, the operation assistance unit further includes a compensator connected to the main body frame. The drive oil circuits of the hydraulic drive components in the operation unit and the operation assistance unit are respectively communicated with the compensator.

[0028] The beneficial effects of the underwater operation module of the present invention compared with the prior art are mainly reflected in:

[0029] The present invention integrates both the operation unit and the operation assistance unit on the main body frame, and a sling connection device is provided on the main body frame. Furthermore, the underwater operation module of the present invention can implement underwater operations during suspended movement by means of the navigation ability and lifting function of the mother ship, and will not be restricted by the relatively shallow offshore water depth and soft seabed geology for smooth movement. It can solve the problems that existing marine exploration and operation equipment are restricted by the water depth and soft seabed geology in the shallow offshore area, have poor seaworthiness or poor moving performance on the seabed, and cannot move smoothly to implement operations.

[0030] Meanwhile, by realizing the suspension movement with the help of the mother ship, the power equipment required for autonomous navigation can be omitted, and the structural composition of the underwater operation module of the present invention is also simplified, which can reduce its R & D and manufacturing costs; moreover, the power supply and power source of the operation unit and the operation auxiliary unit can both come from the mother ship or the main frame is provided with a hydraulic power unit to provide the power source for the operation unit and the operation auxiliary unit, while only the power supply is taken from the mother ship, which also greatly reduces the comprehensive cost of the underwater operation module of the present invention and has good economy. Brief Description of the Drawings

[0031] The above and other objects, features and advantages of the present invention will become clearer through the preferred embodiments of the present invention shown in the drawings. The same reference numerals in all the drawings indicate the same parts, and the drawings are not deliberately drawn to scale in actual size, with the emphasis on showing the gist of the present invention.

[0032] Figure 1 It is a schematic diagram of the operation state of an underwater operation module provided by an embodiment of the present invention;

[0033] Figure 2 It is a three-dimensional structure schematic diagram of an underwater operation module provided by an embodiment of the present invention;

[0034] Figure 3 is Figure 1 the front view of the underwater operation module in

[0035] Figure 4 is Figure 2 the top view of the underwater operation module in

[0036] Brief Description of the Drawings: Underwater operation module 100, mother ship 200, lifting equipment 300,

[0037] Main frame 1, lifting lug 2, water pump 3, first nozzle 4, second nozzle 5, check valve 6, U-shaped pipe clamp 7, flange 8, base 9, adjusting pad 10, electric control box 11, imaging device 12, altimeter 13, height gauge 14, ultra-short baseline positioning device 15, TSS350 cable detection system 16, second thruster 17, compensator 18. Detailed Description of the Preferred Embodiments

[0038] The technical solution of the present utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it. However, the embodiments given are not intended to limit the present utility model. In this embodiment, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present utility model.

[0039] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element and integrated with it, or there may be an intermediate element present at the same time. The terms "installation", "one end", "the other end" and similar expressions used in the present utility model are only for the purpose of illustration.

[0040] This embodiment provides an underwater operation module, as Figures 1 to 4 shown, which includes a main body frame 1, an operation unit and an operation assistance unit. The main body frame 1 is provided with a sling connection device, and the sling connection device is used to connect with the lifting device 300 of the mother ship 200 so that the underwater operation module 100 is in a suspended state during the operation process; among them, the sling connection device includes but is not limited to a lifting lug 2.

[0041] Both the operation unit and the operation assistance unit are connected to the main body frame 1, and the operation unit and the operation assistance unit are respectively connected to the control system of the mother ship 200 by signals;

[0042] The mother ship 200 is also used to provide power and power sources to the operation unit and the operation assistance unit. Specifically, the mother ship 200 or the underwater operation module 100 is provided with matching connecting cables (not shown in the figure) and pipelines (not shown in the figure), and both the connecting cables and the pipelines are provided with flexible sections to cope with the real-time change of the relative position between the underwater operation module 100 and the mother ship 200; among them, the operation unit is used to directly implement the operation, and the operation assistance unit is used to obtain auxiliary operation information and send it to the control system of the mother ship 200 to assist the smooth implementation of the operation.

[0043] The utility model integrates both the operation unit and the operation assistance unit on the main frame 1, and is provided with a sling connection device on the main frame 1. Furthermore, the underwater operation module 100 of the utility model can utilize the navigation ability and lifting function of the mother ship 200 to perform underwater operations during suspended movement, without being restricted by the relatively shallow offshore water depth and the soft seabed geology for smooth movement. It can solve the problem that existing marine exploration and operation equipment are restricted by the water depth and the soft seabed geology in the relatively shallow offshore area, with poor seaworthiness or poor movement performance on the seabed, and cannot move smoothly to perform operations.

[0044] At the same time, by utilizing the mother ship 200 to achieve suspended movement, the power equipment required for autonomous navigation can be omitted, and the structural composition of the underwater operation module 100 of the utility model is also simplified, which can reduce its R & D and manufacturing costs; moreover, the power supply and power source of the operation unit and the operation assistance unit can both come from the mother ship 200 or the main frame 1 is provided with a hydraulic power unit to provide a power source for the operation unit and the operation assistance unit, while only the power supply is taken from the mother ship 200, which also greatly reduces the comprehensive cost of the underwater operation module 100 of the utility model and has good economy.

[0045] In another embodiment, the main frame 1 is further provided with a hydraulic power unit (not shown in the figure), such as an underwater power source PCU, etc. Both the operation unit and the operation assistance unit are connected to the hydraulic power unit, and the mother ship 200 is used to provide power supply for the operation unit and the operation assistance unit, that is, the mother ship 200 or the underwater operation module 100 is provided with a matching connecting cable. In this embodiment, the main frame 1 is provided with a hydraulic power unit, which can provide a power source for the operation unit and the operation assistance unit, while only the power supply is taken from the mother ship 200. Compared with the situation where both the power supply and the power source need to be self-sufficient, this embodiment can also reduce the comprehensive cost of the underwater operation module 100 to a certain extent.

[0046] In a preferred embodiment, as Figures 2 to 4 shown, the operation unit includes a water pump 3 and a nozzle connected to the water pump 3. Both the water pump 3 and the nozzle are connected to the main frame 1;

[0047] Alternatively, the operation unit includes a water pump 3 and a jet knife (not shown in the figure) communicated with the water pump 3. The water pump 3 and the jet knife are respectively connected to the main frame 1; in this embodiment, the high-pressure water column ejected by the nozzle or the jet knife can form a gully on the seabed, so as to perform seabed trenching operations.

[0048] In a further preferred embodiment, a check valve 6 is provided between the water pump 3 and the nozzle, or between the water pump 3 and the jet knife, to ensure that the water flow sucked by the water pump 3 only flows in the direction of the nozzle or the jet knife and will not flow back in the direction of the water pump 3;

[0049] The geometric center of the water spray opening of the nozzle or the injection knife is symmetrically arranged with respect to the perpendicular plane passing through the center of gravity of the underwater operation module 100. In this way, the reaction forces formed when the nozzle or the injection knife sprays water are symmetrically located on both sides of the perpendicular plane passing through the center of gravity of the underwater operation module 100, so as to ensure the attitude balance of the underwater operation module 100 during operation;

[0050] The water spray opening of the nozzle is located below the water pump 3, which can avoid the interference between the water flow sucked by the water pump 3 and the water flow sprayed by the nozzle, and improve the working efficiency of the water pump 3 and the trenching operation.

[0051] In another preferred embodiment, the nozzle includes a first nozzle 4 and a second nozzle 5. One ends of the first nozzle 4 and the second nozzle 5 are both connected to the water outlet end of the water pump 3, and the other ends of the first nozzle 4 and the second nozzle 5 are respectively located on both sides of the water pump 3; each nozzle can be detachably connected and fixed to the main frame 1 through a U-shaped pipe clamp 7 respectively. An adjusting pad 10 can be arranged below the U-shaped pipe clamp 7 to adjust the height of the nozzle axis relative to the main frame 1. The water pump 3 can be detachably connected to the main frame 1 through a suitable mounting bracket. The water outlet end of the water pump 3 can be detachably connected to one ends of the first nozzle 4 and the second nozzle 5 through a flange 8, and a sealing gasket made of corrosion-resistant materials such as ethylene is arranged at the docking place for sealing.

[0052] Alternatively, the injection knife includes a first injection knife (not shown in the figure) and a second injection knife (not shown in the figure). The first injection knife and the second injection knife are respectively located on both sides of the water pump 3, and the water inlet ends of the first injection knife and the second injection knife are both connected to the water outlet end of the water pump 3. In this case, the one-way valve 6 can be arranged at the water outlet end of the water pump 3, and the water pump 3 sucks seawater through its water inlet end; when carrying out the trenching and burying operation of the submarine cable, the distance between the water spray openings of the first nozzle 4 and the second nozzle 5 or the distance between the first injection knife and the second injection knife is preferably 5 times the diameter of the submarine cable.

[0053] In a specific embodiment, the water pump 3 is a multi-stage pump, and the main frame 1 is provided with an adjusting assembly located below the water pump 3, and the bottom side of the water pump 3 abuts against the adjusting assembly. Among them, the adjusting assembly includes a base 9 and an adjusting pad 10. The base 9 closely abuts against the water pump 3 to play a supporting role. Preferably, the base 9 is centered on the bottom side of the water pump 3, and the adjusting pad 10 is arranged on the bottom side of the base 9 to adjust the axis of the multi-stage pump to be parallel to the main frame 1. The number and thickness of the adjusting pads 10 can be selected according to the actual installation situation.

[0054] In another preferred embodiment, the operating unit is a submersible pump (not shown in the figure) or a first thruster (not shown in the figure), and the submersible pump or the first thruster is connected to the main frame 1;

[0055] The submersible pump is used for sucking the fluid in the water and can be used for channel dredging, etc.; the first thruster is used to provide propulsion force for the underwater operation module 100 to navigate, so as to have the self-navigation ability.

[0056] In another preferred embodiment, the operation assistance unit includes an electric control box 11, a first position monitoring component, an imaging device 12, and a second position monitoring component, all of which are connected to the main body frame 1. The first position monitoring component, the imaging device 12, and the second position monitoring component are electrically connected to the electric control box 11 respectively and are signal-connected to the control system of the mother ship 200. The electric control box 11 is also used to be electrically connected to the power supply of the mother ship 200;

[0057] The first position monitoring component is used to monitor the position information of the underwater operation module 100 in water and send the position information to the control system;

[0058] The second position monitoring component is used to monitor the position information of the underwater operation target object and send the position information to the control system;

[0059] The imaging device 12 is used to acquire the image information of the underwater operation target object and send the image information to the control system. Preferably, a multi-beam image sonar is adopted, which is an instant imaging sonar system. The multi-beam image sonar can be detachably connected to the main body frame 1 through a matching mounting plate frame.

[0060] Specifically, the first position monitoring component includes an altimeter 13, a height gauge 14, and an ultra-short baseline positioning device 15, which are respectively connected to the main body frame 1. The altimeter 13 is used to monitor the distance data between the underwater operation module 100 and the seabed. The height gauge 14 is used to monitor the distance data between the underwater operation module 100 and the sea surface. The ultra-short baseline positioning device 15 is used to monitor the relative position data between the underwater operation module 100 and the mother ship 200;

[0061] The altimeter 13, the height gauge 14, and the ultra-short baseline positioning device 15 are all electrically connected to the electric control box 11 and signal-connected to the control system, and each sends the monitored data to the control system. Among them, the altimeter 13 and the electric control box 11 can both be detachably connected to the main body frame 1 through a mounting plate frame. The electric control box 11 is of a watertight structure. The height gauge 14 can be arranged inside the electric control box 11 to make it waterproof and avoid being corroded by seawater.

[0062] The second position monitoring component is a TSS350 cable detection system 16 connected to the main body frame 1. The TSS350 cable detection system 16 can obtain the accurate position and burial depth of the target submarine cable through algorithms and can send the obtained target submarine cable information to the control system to assist in the implementation of the operation. The TSS350 can be fastened to the main body frame 1 through nylon straps.

[0063] Taking the trenching operation with a submarine pipeline as the underwater operation target object as an example, during the operation, the mother ship 200 carrying the underwater operation module 100 uses the route map marked with the position information of the submarine pipeline obtained from the previous investigation. After sailing to the waters near the submarine cable, the underwater operation module 100 is connected to the power supply and hydraulic power source of the mother ship 200 respectively. Or in the case where the underwater operation module 100 is equipped with a hydraulic power unit, the power supply of the mother ship 200 is connected to the underwater operation module 100, and the electric control box 11 is powered on. The underwater operation module 100 is lifted to a position near the submarine cable by a lifting device 300 such as a marine crane. The hydraulic power source is started, the altimeter 13 and the height gauge 14 are started to detect, and the distance data between the underwater operation module 100 and the seabed and the sea surface are obtained in real time. The ultra-short baseline positioning device 15 is started to obtain the relative distance from the mother ship 200 in real time to comprehensively monitor the position information of the underwater operation module 100. At the same time, the TSS350 cable detection system 16 is also started to operate, and the position of the submarine pipeline is detected in real time and sent to the control system of the mother ship 200 in real time, so as to control the navigation of the mother ship 200 and the operation of the lifting device 300, and lift the underwater operation module 100 directly above the submarine pipeline;

[0064] When the relative distance between the underwater operation module 100 and the seabed reaches a preset spacing value, an imaging device 12 such as an imaging sonar is started and the situation of the submarine cable is fed back to the control system interface of the mother ship 200 in real time. The position of the underwater operation module 100 is adjusted according to the image information sent by the imaging device 12, and then the water pump 3 is started, and the nozzle continuously sprays for operation, and a high-pressure jet is ejected to trench the seabed. After trenching, the submarine cable naturally falls into the trench. The above preset spacing value is usually determined according to the diameter of the submarine cable and the size and water pressure of the jet, and is usually 1500 mm.

[0065] Further preferably, the operation assistance unit further includes a second thruster 17 connected to the main body frame 1. The second thruster 17 is used to provide thrust for adjusting the attitude of the underwater operation module 100 to control the overall attitude of the underwater operation module 100 in real time to ensure its safe and reliable construction. In specific applications, an attitude sensor can be set on the main body frame 1, and the operation of the second thruster 17 can be regulated according to the attitude information obtained by the attitude sensor, so as to quickly and accurately adjust the underwater operation module 100 to a suitable operation attitude.

[0066] In a further preferred embodiment, the operation assistance unit further includes a compensator 18 connected to the main body frame 1. The compensator 18 is preferably detachably connected to the main body frame 1 through a suitable mounting plate frame. The drive oil circuits of the hydraulic drive components in the operation unit and the operation assistance unit are respectively communicated with the compensator 18. For example, the drive hydraulic pipelines (not shown in the figure) of hydraulic drive devices such as thrusters and water pumps 3 are respectively communicated with the compensator 18. Just fill the hydraulic pipelines with oil to make the compensator 18 reach the preset pressure. By setting the compensator 18, the applicable water depth of the underwater operation module 100 can be increased, enabling it to achieve deep-sea operation capabilities. It should be noted that the more specific connection method of the hydraulic pipelines is conventional technology in the art and will not be elaborated here.

[0067] In this specification, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0068] In the description of this specification, the description referring to terms such as "preferred embodiment", "another embodiment", "other embodiments" or "specific examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0069] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. An underwater operation module, characterized in that: It includes a main frame, an operation unit and an operation auxiliary unit. The main frame is provided with a sling connection device, and the sling connection device is used to connect with the slinging equipment of the mother ship so that the underwater operation module is in a suspended state during the operation process; The operation unit and the operation auxiliary unit are both connected to the main frame, and the operation unit and the operation auxiliary unit are respectively connected to the control system signal of the mother ship; The mother ship is also used to provide power and power source to the working unit and the working auxiliary unit; alternatively, the main frame is also provided with a hydraulic power unit, the working unit and the working auxiliary unit are both connected to the hydraulic power unit, and the mother ship is used to provide power to the working unit and the working auxiliary unit.

2. An underwater operation module according to claim 1, characterized in that: The operation unit comprises a water pump and a nozzle connected to the water pump, and the water pump and the nozzle are both connected to the main frame; Alternatively, the operation unit includes a water pump and a jet knife connected to the water pump, and the water pump and the jet knife are respectively connected to the main frame.

3. An underwater operation module according to claim 2, characterized in that: A one-way valve is provided between the water pump and the spray pipe or the spray knife; And / or, the geometric center of the water jet of the nozzle or the jet knife is symmetrically arranged with the vertical plane where the center of gravity of the underwater operation module is located as the center; And / or, the water spray port of the spray pipe is located below the water pump.

4. An underwater operation module according to claim 2, characterized in that: The nozzle comprises a first nozzle and a second nozzle, one end of the first nozzle and the second nozzle are both connected to the water outlet of the water pump, and the other ends of the first nozzle and the second nozzle are respectively located at two sides of the water pump; Alternatively, the jet knife includes a first jet knife and a second jet knife, the first jet knife and the second jet knife are respectively located on both sides of the water pump, and the water inlet ends of the first jet knife and the second jet knife are connected to the water outlet end of the water pump.

5. An underwater operation module according to claim 2, characterized in that: The water pump is a multi-stage pump, the main frame is provided with an adjusting component located below the water pump, and the bottom side of the water pump abuts against the adjusting component.

6. An underwater operation module according to claim 1, characterized in that: The operating unit is a submersible pump or a first propeller, and the submersible pump or the first propeller is connected to the main frame; The submersible pump is used to pump fluid in the water; the first propeller is used to provide propulsion for the underwater operation module to navigate.

7. An underwater operation module according to any one of claims 1 to 6, characterized in that: The operation auxiliary unit includes an electric control box, a first position monitoring component, an imaging device, and a second position monitoring component, all of which are connected to the main frame. The first position monitoring component, the imaging device, and the second position monitoring component are electrically connected to the electric control box and connected to the control system signal of the mother ship respectively. The electric control box is also used to be electrically connected to the power supply of the mother ship; The first position monitoring component is used to monitor the position information of the underwater operation module in water and send the position information to the control system; The second position monitoring component is used to monitor the position information of the underwater operation target object and send the position information to the control system; The imaging device is used to obtain image information of the underwater operation target object and send the image information to the control system.

8. An underwater operation module according to claim 7, characterized in that: The first position monitoring component comprises a height gauge, an altimeter and an ultra-short baseline positioning device respectively connected to the main frame, the height gauge is used to monitor the distance data between the underwater operation module and the seabed, the altimeter is used to monitor the distance data between the underwater operation module and the sea surface, and the ultra-short baseline positioning device is used to monitor the relative position data between the underwater operation module and the mother ship; The altimeter, height meter and ultra-short baseline positioning device are all electrically connected to the electric control box and connected to the control system by signal, and each sends the monitored data to the control system; And / or, the second position monitoring component is a TSS350 cable detection system connected to the main frame, and the TSS350 cable detection system sends the acquired target submarine cable information to the control system.

9. An underwater operation module according to claim 7, characterized in that: The operation auxiliary unit also includes a second thruster connected to the main frame, and the second thruster is used to provide thrust for the underwater operation module to adjust its posture.

10. An underwater operation module according to claim 7, characterized in that: The operation auxiliary unit further includes a compensator connected to the main frame, and the driving oil circuits of the hydraulic driving components in the operation unit and the operation auxiliary unit are respectively connected to the compensator.

Images