Crawler belt self-walking type submarine cable rear ditching equipment

Abstract

The utility model discloses crawler belt self-walking type submarine cable rear ditching equipment, and belongs to the technical field of submarine cable laying equipment. The ditching equipment comprises a main body frame, a high-pressure coulter injection structure and a main front beam structure, wherein the high-pressure coulter injection structure is arranged at the bottom end of the main body frame and is used for ditching; the main front beam structure is arranged at one end, far away from the high-pressure coulter injection structure, of the main body frame and is used for introducing high-pressure water into the high-pressure coulter injection structure; the ditching equipment further comprises a walking mechanism which is arranged at the bottom end of the main body frame and used for walking on the seabed. According to the crawler belt self-walking type submarine cable rear ditching equipment, through the arranged walking mechanism, the equipment can walk forwards on the seabed autonomously without relying on an external ship for moving and guiding, meanwhile, through the arranged cable laying machine assembly, proper backward traction force matched with the advancing speed of the equipment can be provided for a cable, and the cable laying efficiency is improved. The design can ensure that the cable is not bent or excessively stretched in the laying process.

Description

Technical Field

[0001] The present application relates to the technical field of submarine cable laying equipment, and specifically to a crawler-type self-propelled submarine cable trenching equipment. Background Art

[0002] Submarine cable laying primarily involves three phases: cable route survey and clearing, cable installation, and burial protection. During cable installation, the speed of the laying vessel and the cable release rate must be controlled to manage the cable's entry angle into the water and the cable's tension, avoiding damage due to excessive bending radius or tension.

[0003] Currently, the main method used in the market for laying cables is to lay and bury them simultaneously. Although this method can complete the laying of submarine cables in one go, its laying process currently has the following disadvantages: Due to the integrated laying and burying, the overall laying speed is relatively slow, and the laying cycle is long. The frequency of encountering severe weather such as strong winds and high waves is high, and if the cable is not abandoned, it is easy to cause damage to the submarine cable. If the cable is abandoned, the submarine cable must be cut and the incision sealed for protection. After the storm subsides, the submarine cable must be returned to the site to connect the submarine cable and continue laying. The entire process is very time-consuming, seriously affecting the laying efficiency of the submarine cable.

[0004] In addition, although there are submarine cable trenching equipment on the market, first of all, this type of equipment cannot move autonomously, and many need to be towed by larger ships, which increases construction costs a lot. Secondly, the movement of the cable through the trencher during the trenching process of this type of equipment on the market is completely passive. Once the trencher speed is too fast, the guide roller will get stuck, which can easily cause the cable to bend or even break. Finally, when threading or abandoning cables, this type of equipment on the market often requires the cooperation of divers and cranes to complete the operation. This operation has high requirements for divers and is also risky.

[0005] Therefore, the present application provides a crawler self-propelled submarine cable trenching device to solve the above problems. Utility Model Content

[0006] The present application provides a crawler-type self-propelled submarine cable trenching device, which aims to solve the problems of slow laying speed, high construction cost and high operation risk in the existing submarine cable laying process mentioned in the background technology.

[0007] To achieve the above-mentioned objectives, the present application provides the following technical solution: a crawler self-propelled submarine cable rear trenching device, comprising a main frame, a high-pressure plowshare spraying structure provided at the bottom end of the main frame for digging trenches, and a main front beam structure provided at an end of the main frame away from the high-pressure plowshare spraying structure for introducing high-pressure water into the high-pressure plowshare spraying structure;

[0008] The trenching equipment further includes a walking mechanism provided at the bottom end of the main frame for walking on the seabed, a cable traction structure provided on the main front beam structure away from the main frame for providing rear traction force to the cable, a detachable guide structure provided on the cable traction structure away from the main front beam structure for guiding the laying direction of the cable, and a cable grabbing structure symmetrically provided on the main front beam structure and the cable traction structure for grabbing and lifting the cable onto the cable traction structure.

[0009] The cable traction structure includes a fixed frame arranged on the side of the main front beam structure away from the main frame and connected to the detachable guide structure, a cable laying machine assembly arranged at the bottom end of the fixed frame for pulling the cable, and a drive component arranged on the fixed frame for clamping the current of the cable laying machine assembly; the equipment integrates multiple functional modules such as the main frame, the main front beam structure, the high-voltage plow blade jet structure, the cable traction structure, the walking mechanism, the detachable guide structure and the cable grabbing structure to form a complete construction system. This integrated design enables the equipment to efficiently complete tasks such as trenching, cable traction, direction guidance and grabbing and lifting during the construction process. , which greatly improves the construction efficiency. At the same time, through the setting of the walking mechanism, it can move forward autonomously on the seabed without relying on external ships for relocation, which improves the flexibility of the equipment and reduces external dependence during the construction process, making the construction more autonomous and efficient. In addition, the setting of the cable laying machine assembly can give the cable an appropriate backward traction force that matches the forward speed of the equipment. This design can ensure that the cable will not bend or over-stretch during the laying process, thereby effectively protecting the cable and extending its service life. At the same time, it improves the laying quality, and can thread the cable efficiently and with low risk, thereby saving construction costs and reducing safety risks during the construction process.

[0010] Preferably, in order to facilitate the lifting of the equipment to the seabed cable line for use, the main frame includes a symmetrically arranged main frame beam, a rear bent beam and a front bent beam symmetrically arranged at the top of the two main frame beams, four reinforcing rods arranged on one side of the rear bent beam and the front bent beam close to each other, and lifting ears for lifting symmetrically fixed at the top of the rear bent beam and the front bent beam, respectively. The rear bent beam and the front bent beam are fixedly connected to the two main frame beams through flanges, wherein both ends of the two reinforcing rods are fixedly connected to the rear bent beam and the two main frame beams through flanges, and both ends of the other two reinforcing rods are fixedly connected to the front bent beam and the two main frame beams through flanges; through the combination of the main frame beam, the rear bent beam, the front bent beam and the reinforcing rods, a strong and stable main structure is formed, and at the same time, the setting of the lifting ears makes it convenient to transport and install the equipment through lifting equipment, thereby improving construction efficiency.

[0011] Preferably, in order to facilitate the introduction of high-pressure water into the high-pressure plow blade spraying structure and the installation and use of the detachable guide structure, the main front beam structure includes a bottom cross beam arranged on the two main frame cross beams and located on the side of the front bending beam away from the rear bending beam, columns symmetrically welded on the bottom cross beam, an upper cross beam welded on the top ends of the two columns, a high-pressure water inlet for high-pressure water to enter is opened on the upper cross beam, a short pipe symmetrically welded on the side of the upper cross beam away from the front bending beam and connected to the end of the fixing frame away from the detachable guide structure, a short pipe symmetrically arranged on the side of the upper cross beam close to the front bending beam and connected to the high A stainless steel braided hose connected to the pressurized water inlet and the high-pressure plowshare jet structure, and a front spray pipe symmetrically arranged between the two corresponding short tubes on the upper beam and connected to the high-pressure water inlet for flushing the detachable guide structure, the bottom beam, short tube and stainless steel braided hose and the front spray pipe are respectively fixedly connected to the main frame beam, fixed frame and upper beam through flanges; this design ensures that high-pressure water can smoothly enter the high-pressure plowshare jet structure, and the front spray pipe can also flush the detachable guide structure to reduce excessive sediment deposition on the detachable guide structure and cause malfunction of the detachable guide structure.

[0012] Preferably, in order to facilitate trenching, the high-pressure plow blade injection structure includes plow blades symmetrically arranged at the bottom ends of the inner sides of the two main frame beams, embedded ribs fixedly arranged inside the two plow blades, high-pressure water pipe cavities fixedly arranged at the bottom ends of the two plow blades and connected to the two stainless steel braided hoses at one end away from the upper beam, small nozzles arranged at the bottom ends of the two high-pressure water pipe cavities and distributed in a linear array, and an angle adjustment component arranged on the two main frames and connected to the front bending beam for adjusting the trenching angle of the two plow blades. The two high-pressure water pipe cavities are fixedly connected to the two stainless steel braided hoses through flanges. This design enables the equipment to efficiently dig seabed trenches.

[0013] Preferably, in order to facilitate the adjustment of the angle of the plow blade and thus control the depth of trenching, the angle adjustment assembly includes a connecting beam welded on the two main frame beams and located between the front bending beam and the bottom beam, an extension arm hinged on the connecting beam on the side close to the front bending beam, a connecting frame arranged on the extension arm away from one end of the connecting beam, and a first hydraulic cylinder hinged at both ends to the top of the connecting frame and the top of the front bending beam respectively, and the extension arm and the bottom end of the connecting frame are fixedly connected to the two plow blade tops through flanges; this design allows the angle of the plow blade to be flexibly adjusted, thereby controlling the depth of trenching to meet different construction needs.

[0014] Preferably, in order to facilitate the self-propelled walking of the equipment, the walking mechanism includes a crawler assembly symmetrically arranged on the outside of the bottom ends of the two main frame beams, a front beam arranged between the two crawler assemblies and located above the two plow blades close to one end of the connecting beam, and a curved beam arranged between the two crawler assemblies and located above the two plow blades away from one end of the connecting beam, the front beam and the curved beam are fixedly connected to the two crawler assemblies and the bottom ends of the two main frame beams through flanges; the combination of the crawler assembly, the front beam and the curved beam provides the equipment with a strong autonomous walking ability, which can enable the equipment to walk stably in complex terrain without the need for external ship guidance, thereby improving construction efficiency. At the same time, the design of the curved beam can ensure that the plow blade will not be affected when it is parallel to the main frame beam.

[0015] Preferably, in order to facilitate the cable laying machine assembly to clamp the cable, the driving component includes a second hydraulic cylinder respectively arranged at the corner positions around the cable laying machine assembly and connected to the fixed frame, a rail welded on the fixed frame at a position corresponding to the upper part of the cable laying machine assembly, a suspension arm welded around the upper part of the cable laying machine assembly, and a rail trolley slidably connected to the rail and fixed at the top end corresponding to the suspension arm, and the two ends of the second hydraulic cylinder are fixedly connected to the cable laying machine assembly and the fixed frame through flanges respectively; through the drive of the second hydraulic cylinder and the guidance of the rail trolley and the rail, the cable laying machine assembly can achieve the clamping of cables of different thicknesses.

[0016] Preferably, in order to guide and limit the direction of the cable and facilitate the disassembly and use of the detachable guiding structure, the detachable guiding structure includes a roller shaft arranged on the side of the fixed frame away from the cable laying machine assembly, a guide roller rotatably connected to the roller shaft, and a pin shaft arranged at both ends of the roller shaft, and the two ends of the roller shaft are fixedly connected to the roller shaft through the pin shaft; the combination of the roller shaft, the guide roller and the pin shaft enables the cable to be laid smoothly along a predetermined route, and at the same time, the design of the pin shaft connection facilitates the disassembly of the guide roller and the roller shaft, so that when using the cable grabbing structure to grab the cable, the operator can easily disassemble the detachable guiding structure, and after grabbing, the detachable guiding structure can be easily installed.

[0017] Preferably, in order to press down the laid cable and make it sink to the bottom of the ditch, the two plow blades are rotatably connected to a limiting roller near a position above one end of the curved beam; the setting of the limiting roller can press down the laid cable so that the cable can sink to the bottom of the ditch better due to its own gravity, thereby ensuring the laying quality of the cable.

[0018] Preferably, in order to achieve cable grabbing, the cable grabbing structure includes a third hydraulic cylinder, a horseshoe-shaped clamp movably connected to the bottom end of the piston rod of the third hydraulic cylinder, a wire rope eyelet symmetrically fixedly connected to the horseshoe-shaped clamp, a U-shaped clamp respectively fixedly connected to the two ends of the wire rope eyelets away from the horseshoe-shaped clamp, and a grab hook fixedly connected to the two ends of the U-shaped clamps away from the wire rope eyelets for cable grabbing; with this design, it is only necessary to start the third hydraulic cylinder to achieve cable grabbing, and lift the cable to the cable traction structure, preparing for subsequent laying work.

[0019] This crawler-type self-propelled submarine cable trenching equipment integrates multiple functional modules, including the main frame, main front beam structure, high-pressure plowshare jet structure, cable traction structure, travel mechanism, detachable guide structure and cable grabbing structure, forming a complete construction system. This integrated design enables the equipment to efficiently complete tasks such as trenching, cable traction, direction guidance and grabbing and lifting during the construction process, thereby greatly improving construction efficiency.

[0020] The crawler-type self-propelled submarine cable trenching equipment can move forward on the seabed autonomously through the walking mechanism, without relying on external ships for relocation. This improves the flexibility of the equipment and reduces external dependence during the construction process, making the construction more autonomous and efficient.

[0021] The crawler-type self-propelled submarine cable trenching equipment can provide the cable with an appropriate backward traction force that matches the forward speed of the equipment through the cable laying machine assembly. This design can ensure that the cable will not bend or over-stretch during the laying process, thereby effectively protecting the cable and extending its service life. At the same time, it improves the laying quality and threades the cable with low risk, thereby saving construction costs and reducing safety risks during the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of a crawler-type self-propelled submarine cable trenching device;

[0023] Figure 2 This is a side view of a crawler-type self-propelled submarine cable trenching device;

[0024] Figure 3 This is a structural diagram of the main frame and main front beam structure of the crawler self-propelled submarine cable rear trenching equipment;

[0025] Figure 4 This is a schematic diagram of the high-pressure plowshare jetting structure in the crawler-type self-propelled submarine cable trenching equipment;

[0026] Figure 5 This is a schematic diagram of the structure of the walking mechanism of the crawler self-propelled submarine cable trenching equipment;

[0027] Figure 6 This is a structural diagram of the cable traction structure, detachable guide structure and cable grabbing structure in the crawler self-propelled submarine cable trenching equipment;

[0028] Figure 7 This is a schematic diagram of the application structure of the crawler self-propelled submarine cable trenching equipment.

[0029] In the picture:

[0030] 1. Main frame; 11. Main frame crossbeam; 12. Rear curved beam; 13. Front curved beam; 14. Reinforcement rod; 15. Lifting lug;

[0031] 2. Main front beam structure; 21. Bottom crossbeam; 22. Upright column; 23. Upper crossbeam; 24. High-pressure water inlet; 25. Short pipe; 26. Stainless steel braided hose; 27. Front injection pipe;

[0032] 3. High-pressure coulter jet structure; 31. Coulter; 311. Limit roller; 32. High-pressure water pipe cavity; 33. Small nozzle; 34. Angle adjustment assembly; 341. Connecting beam; 342. Extension arm; 343. Connecting frame; 344. First hydraulic cylinder; 35. Embedded rib plate;

[0033] 4. Traveling mechanism; 41. Track assembly; 42. Front crossbeam; 43. Curved crossbeam;

[0034] 5. Cable pulling structure; 51. Fixed frame; 52. Cable laying machine assembly; 53. Drive assembly; 531. Second hydraulic cylinder; 532. Track; 533. Suspension arm; 534. Track trolley;

[0035] 6. Removable guide structure; 61. Roller shaft; 62. Guide roller; 63. Pin shaft;

[0036] 7. Cable grabbing structure; 71. Third hydraulic cylinder; 72. Horseshoe-shaped clamp; 73. Wire rope eye; 74. U-shaped clamp; 75. Grab hook. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] This embodiment provides a crawler self-propelled submarine cable trenching device, such as Figure 1-Figure 7As shown, the trenching equipment includes a main frame 1, a high-pressure plowshare jet structure 3 for trenching arranged at the bottom of the main frame 1, and a main front beam structure 2 arranged on the end of the main frame 1 away from the high-pressure plowshare jet structure 3 for introducing high-pressure water into the high-pressure plowshare jet structure 3; the trenching equipment also includes a walking mechanism 4 arranged at the bottom of the main frame 1 for walking on the seabed, a cable traction structure 5 arranged on the side of the main front beam structure 2 away from the main frame 1 for providing rear traction force to the cable, a detachable guide structure 6 arranged on the side of the cable traction structure 5 away from the main front beam structure 2 for guiding the cable laying direction, and a cable grabbing structure 7 symmetrically arranged on the main front beam structure 2 and the cable traction structure 5 for grabbing and lifting the cable to the cable traction structure 5; the cable traction structure 5 includes a fixed frame 51 arranged on the side of the main front beam structure 2 away from the main frame 1 and connected to the detachable guide structure 6, a cable laying machine assembly 52 arranged at the bottom of the fixed frame 51 for pulling the cable, and a drive component 53 arranged on the fixed frame 51 for clamping the current of the cable laying machine assembly 52.

[0039] Among them, in order to facilitate the lifting of the equipment to the seabed cable line for use, the main frame 1 includes a symmetrically arranged main frame beam 11, a rear curved beam 12 and a front curved beam 13 symmetrically arranged at the top of the two main frame beams 11, four reinforcing rods 14 arranged on one side of the rear curved beam 12 and the front curved beam 13 close to each other, and lifting ears 15 for lifting symmetrically fixed at the top of the rear curved beam 12 and the front curved beam 13, respectively. The rear curved beam 12 and the front curved beam 13 are fixedly connected to the two main frame beams 11 through flanges, wherein the two ends of the two reinforcing rods 14 are fixedly connected to the rear curved beam 12 and the two main frame beams 11 through flanges, and the other two ends of the two reinforcing rods 14 are fixedly connected to the front curved beam 13 and the two main frame beams 11 through flanges; through the combination of the main frame beam 11, the rear curved beam 12, the front curved beam 13 and the reinforcing rods 14, a strong and stable main structure is formed. At the same time, the setting of the lifting ears 15 makes it convenient to transport and install the equipment through lifting equipment, thereby improving construction efficiency.

[0040] It should be added that the cable laying machine assembly 52 is an existing technology, which is usually powered by an engine. The engine drives traction devices such as traction wheels, drums, hydraulic systems, etc. to achieve cable traction and transportation, and the drive component 53 drives the two chain plates of the cable laying machine assembly 52 to achieve cable clamping.

[0041] During use, when operating at sea, first use the lifting lugs 15 on the main frame 1 to lift the equipment to the seabed cable road, then the diver dives underwater to remove the detachable guide structure 6, then informs the operator on the ship to control the two cable grabbing structures 7 to be lowered at the same time, and then the diver and the operator cooperate to make the cable grabbing structure 7 grab the cable and slowly lift the cable until the cable enters the middle of the chain plate of the cable laying machine assembly 52, and then start the drive component 53 to drive the two chain plates of the cable laying machine assembly 52 to approach each other and clamp the lifted cable, and then loosen the two cable grabbing structures 7 to grab the cable, and at the same time the diver installs the detachable guide structure 6 on the fixed frame 51 to complete the detachable guide structure After the installation of 6, high-pressure water is introduced into the high-pressure plowshare jet structure 3 from the main front beam structure 2, and the high-pressure plowshare jet structure 3 is started. The high-pressure plowshare jet structure 3 can easily break the soil layer on the seabed by spraying high-pressure water to form the required cable trench. At the same time, the walking mechanism 4 and the cable laying machine assembly 52 are started. The walking mechanism 4 enables the equipment to move forward independently while digging the trench, without the need for ship guidance, and when the equipment moves forward, the cable laying machine assembly 52 will give the cable a backward traction force to prevent the cable from bending. Finally, as the equipment moves forward, the cable will automatically sink into the dug cable trench due to its own gravity under the guidance and traction of the detachable guide structure 6 and the cable grabbing structure 7.

[0042] Specifically, the main front beam structure 2 includes a bottom crossbeam 21 arranged on the two main frame crossbeams 11 and located on the side of the front curved beam 13 away from the rear curved beam 12, a column 22 symmetrically welded on the bottom crossbeam 21, an upper crossbeam 23 welded to the top of the two columns 22, a high-pressure water inlet 24 opened on the upper crossbeam 23 for high-pressure water to enter, a short pipe 25 symmetrically welded on the side of the upper crossbeam 23 away from the front curved beam 13 and connected to the end of the fixing frame 51 away from the detachable guide structure 6, and a short pipe 25 symmetrically arranged on the upper crossbeam 23. The upper crossbeam 23 is located near one side of the front curved beam 13 and is connected to the high-pressure water inlet 24 and the high-pressure plowshare spray structure 3. A front spray pipe 27 is symmetrically arranged between the two corresponding short pipes 25 on the upper crossbeam 23 and is connected to the high-pressure water inlet 24 for flushing the detachable guide structure 6. The bottom crossbeam 21, the short pipe 25, the stainless steel braided hose 26, and the front spray pipe 27 are respectively fixedly connected to the main frame crossbeam 11, the fixing frame 51, and the upper crossbeam 23 via flanges.

[0043] When high-pressure water enters the high-pressure water inlet 24, it will flow in two directions: one is to be transmitted to the high-pressure plowshare jet structure 3 through the stainless steel braided hose 26. After the high-pressure plowshare jet structure 3 receives the high-pressure water, it will break the soil layer on the seabed by spraying high-pressure water for trenching operations; the other is to flush the mud and sand on the surface of the detachable guide structure 6 through the front spray pipe 27 to reduce the excessive deposition of mud and sand on the detachable guide structure 6 and cause failure of the detachable guide structure 6.

[0044] More specifically, the high-pressure plowshare spraying structure 3 includes plowshares 31 symmetrically arranged at the bottom inner ends of the two main frame cross beams 11, embedded stiffeners 35 fixedly arranged inside the two plowshares 31, high-pressure water pipe cavities 32 fixedly arranged at the bottom ends of the two plowshares 31 and connected to the ends of the two stainless steel braided hoses 26 away from the upper cross beam 23, small nozzles 33 arranged at the bottom ends of the two high-pressure water pipe cavities 32 and distributed in a linear array, and an angle adjustment component 34 arranged on the two main frames 1 and connected to the front bending beam 13 for adjusting the trenching angle of the two plowshares 31. The two high-pressure water pipes The cavities 32 are fixedly connected to the two stainless steel braided hoses 26 through flanges; the angle adjustment assembly 34 includes a connecting beam 341 welded on the two main frame beams 11 and located between the front bending beam 13 and the bottom beam 21, an extension arm 342 hinged on the side of the connecting beam 341 close to the front bending beam 13, a connecting frame 343 arranged on the end of the extension arm 342 away from the connecting beam 341, and a first hydraulic cylinder 344 with both ends hinged to the top of the connecting frame 343 and the top of the front bending beam 13 respectively. The bottom ends of the extension arm 342 and the connecting frame 343 are fixedly connected to the top of the two plow blades 31 through flanges.

[0045] In addition, in order to press down the laid cable and sink it to the bottom of the ditch, the two plowshares 31 are rotatably connected to the limiting roller 311 near the upper position of one end of the curved beam 43; the setting of the limiting roller 311 can press down the laid cable so that the cable can sink to the bottom of the ditch better due to its own gravity, thereby ensuring the laying quality of the cable.

[0046] When it is necessary to use the high-pressure plowshare jet structure 3 for trenching, the first hydraulic cylinder 344 can be started according to the depth of the hook to control the extension and contraction of the piston rod of the first hydraulic cylinder 344. Since the first hydraulic cylinder 344 is hinged to the connecting frame 343 and the front bending beam 13, the connecting frame 343 is fixedly connected to the two plowshares 31, and the two plowshares 31 are hinged to the connecting beam 341 through the extension arm 342, when the piston rod of the first hydraulic cylinder 344 is extended and contracted, it will push the two plowshares 31 to flip between the two main frames 1, thereby achieving The inclination angle between the two plowshares 31 and the two main frames 1 can control the depth of the trench. Afterwards, when high-pressure water enters the high-pressure water pipe cavity 32 through the stainless steel braided hose 26, the high-pressure water will be guided into the small nozzle 33. Then, the small nozzle 33 will spray the high-pressure water at a high speed to form a powerful impact force to break the soil layer on the seabed. Therefore, when the device is moved forward autonomously by the walking mechanism 4, the small nozzle 33 on the plowshare 31 will continuously spray high-pressure water along the walking route to break the soil layer to form a cable trench.

[0047] Furthermore, the walking mechanism 4 includes a crawler track assembly 41 symmetrically arranged on the outside of the bottom ends of the two main frame cross beams 11, a front cross beam 42 arranged between the two crawler track assemblies 41 and located above one end of the two plow blades 31 close to the connecting beam 341, and a curved cross beam 43 arranged between the two crawler track assemblies 41 and located above one end of the two plow blades 31 away from the connecting beam 341. The front cross beam 42 and the curved cross beam 43 are both fixedly connected to the two crawler track assemblies 41 and the bottom ends of the two main frame cross beams 11 through flanges.

[0048] The crawler assembly 41 is an existing technology. Its walking principle is to provide power through the driving wheel, driving the crawler to roll on the ground to realize the movement of the machine. When the equipment needs to move, the crawler in the crawler assembly 41 starts to rotate, and it moves through the friction with the ground. When the crawler assembly 4 moves, the front crossbeam 42 and the curved crossbeam 43 are connected with the main frame crossbeam 11, which can drive the entire equipment to move forward autonomously.

[0049] It can be understood that the driving assembly 53 includes second hydraulic cylinders 531 respectively arranged at the corner positions around the cable laying machine assembly 52 and connected to the fixed frame 51, rails 532 welded on the fixed frame 51 at positions above the corresponding cable laying machine assembly 52, suspension arms 533 welded around the top of the cable laying machine assembly 52, and a rail trolley 534 slidably connected to the rails 532 and fixed to the top of the corresponding suspension arms 533. The two ends of the second hydraulic cylinder 531 are fixedly connected to the cable laying machine assembly 52 and the fixed frame 51 through flanges respectively.

[0050] The four second hydraulic cylinders 531 are respectively connected to the two corners of the two chain plates of the cable laying machine assembly 52, and the four suspension arms 533 are respectively connected to the two corners of the top of the two chain plates of the cable laying machine assembly 52. ​​When the cable is grabbed and lifted between the two chain plates of the cable laying machine assembly 52 by the two cable grabbing structures 7, the second hydraulic cylinders 531 corresponding to the two chain plates of the cable laying machine assembly 52 can be started. At this time, under the sliding guidance of the rail trolley 534 on the rail 532, the second hydraulic cylinders 531 arranged on both sides of the two chain plates of the cable laying machine assembly 52 will stably push the two chain plates closer to each other until the cable is clamped.

[0051] Furthermore, the detachable guide structure 6 includes a roller shaft 61 provided on a side of the fixed frame 51 away from the cabling machine assembly 52, a guide roller 62 rotatably connected to the roller shaft 61, and pins 63 provided at both ends of the roller shaft 61. The two ends of the roller shaft 61 are fixedly connected to the roller shaft 61 through the pins 63.

[0052] When the diver needs to disassemble the detachable guide structure 6 and use the two cable grabbing structures 7 to grab the cable, the diver can disassemble the pin 63, release the fixation of the two ends of the roller shaft 61 and the fixing frame 51, and then remove the roller shaft 61 from the fixing frame 51, so that the static roller shaft 61 and the guide roller 62 can be removed from the fixing frame 51. Then, the laid cable can be directly grabbed by the two cable grabbing structures 7 without being blocked by the roller shaft 61 and the guide roller 62. After the cable is grabbed between the two chain plates of the cable laying machine assembly 52, the diver can then After installing the roller shaft 61 at a fixed position on the fixing frame 51 and further fixing the roller shaft 61 on the fixing frame 51 by the pin shaft 63, the roller shaft 61 and the guide roller 62 can be installed on the fixing frame 51 for use. When the cable laying machine assembly 52 is used to clamp the grabbed cable and the two cable grabbing structures 7 are released to grab the cable, the diver can place the end of the cable close to the guide roller 62 on the guide roller 62. Therefore, when laying the cable in the later stage, the guide roller 62 can guide the cable so that the cable will not deviate from the laying direction.

[0053] Furthermore, the cable grabbing structure 7 includes a third hydraulic cylinder 71, a horseshoe-shaped clamping ring 72 movably connected to the bottom end of the piston rod of the third hydraulic cylinder 71, a wire rope eye 73 symmetrically fixedly connected to the horseshoe-shaped clamping ring 72, a U-shaped clamping ring 74 respectively fixedly connected to the two wire rope eyes 73 at one end away from the horseshoe-shaped clamping ring 72, and a grabbing hook 75 fixedly connected to the two U-shaped clamping rings 74 at one end away from the wire rope eye 73 for cable grabbing.

[0054] It should be noted that the cable grabbing structure 7 located on the main front beam structure 2 has its third hydraulic cylinder 71 fixedly connected to the bottom crossbeam 21 through a flange at one end away from the horseshoe-shaped clamp 72, and is located between the two stainless steel braided hoses 26. In addition, the cable grabbing structure 7 located on the cable traction structure 5 has its third hydraulic cylinder 71 fixedly connected to the side of the fixing frame 51 close to the detachable guide structure 6 through a flange at one end away from the horseshoe-shaped clamp 72.

[0055] When it is necessary to use the two cable grabbing structures 7 to grab the cable, the diver first holds the cable and places the cable at the position of the grab hook 75 of the two cable grabbing structures 7, and then notifies the onshore personnel to operate the two third hydraulic cylinders 71 to push the corresponding horseshoe-shaped clamping rings 72 to rise. When the two horseshoe-shaped clamping rings 72 rise, the wire rope lifting ring 73 set on the two horseshoe-shaped clamping rings 72 will drive the grab hook 75 to lift through the corresponding U-shaped clamping ring 74. As the third hydraulic cylinder 71 slowly rises, the opening of the grab hook 75 will slowly close and firmly grasp the cable. Afterwards, as the third hydraulic cylinder 71 continues to rise, the grab hook 75 will continue to drive the cable to rise between the two chain plates of the cable laying machine assembly 52. ​​After the cable laying machine assembly 52 clamps the cable, the diver loosens the two grab hooks 75 to release the grip on the cable.

[0056] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.

Claims

1. A crawler self-propelled submarine cable rear trenching device, comprising a main frame (1), a high-pressure plowshare spraying structure (3) arranged at the bottom end of the main frame (1) for digging trenches, and a main front beam structure (2) arranged at an end of the main frame (1) away from the high-pressure plowshare spraying structure (3) for introducing high-pressure water into the high-pressure plowshare spraying structure (3); Its characteristics are: The trenching equipment further comprises a walking mechanism (4) arranged at the bottom end of the main frame (1) for walking on the seabed, a cable traction structure (5) arranged on the main front beam structure (2) away from the main frame (1) for providing rear traction force to the cable, a detachable guide structure (6) arranged on the cable traction structure (5) away from the main front beam structure (2) for guiding the laying direction of the cable, and a cable grabbing structure (7) symmetrically arranged on the main front beam structure (2) and the cable traction structure (5) for grabbing and lifting the cable onto the cable traction structure (5); The cable pulling structure (5) comprises a fixing frame (51) arranged on a side of the main front beam structure (2) away from the main body frame (1) and connected to the detachable guide structure (6), a cable laying machine assembly (52) arranged at the bottom end of the fixing frame (51) for pulling the cable, and a driving component (53) arranged on the fixing frame (51) for causing the cable laying machine assembly (52) to clamp the current.

2. The crawler self-propelled submarine cable trenching equipment according to claim 1, characterized in that: The main frame (1) includes a symmetrically arranged main frame cross beam (11), a rear curved beam (12) and a front curved beam (13) symmetrically arranged at the top ends of the two main frame cross beams (11), four reinforcing rods (14) arranged on one side of the rear curved beam (12) and the front curved beam (13) close to each other, and lifting ears (15) symmetrically fixedly arranged at the top ends of the rear curved beam (12) and the front curved beam (13) for lifting, wherein the rear curved beam (12) and the front curved beam (13) are fixedly connected to the two main frame cross beams (11) through flanges, wherein both ends of the two reinforcing rods (14) are fixedly connected to the rear curved beam (12) and the two main frame cross beams (11) through flanges, and both ends of the other two reinforcing rods (14) are fixedly connected to the front curved beam (13) and the two main frame cross beams (11) through flanges.

3. The crawler self-propelled submarine cable trenching equipment according to claim 2, characterized in that: The main front beam structure (2) comprises a bottom crossbeam (21) arranged on the two main frame crossbeams (11) and located on the side of the front bending beam (13) away from the rear bending beam (12), a column (22) symmetrically welded on the bottom crossbeam (21), an upper crossbeam (23) welded to the top of the two columns (22), a high-pressure water inlet (24) provided on the upper crossbeam (23) for high-pressure water to enter, a short pipe (25) symmetrically welded to the side of the upper crossbeam (23) away from the front bending beam (13) and connected to the end of the fixing frame (51) away from the detachable guide structure (6), and a plurality of pipes (25) symmetrically arranged on the upper crossbeam (23) and connected to the fixing frame (51) at the side away from the detachable guide structure (6). The upper crossbeam (23) is close to one side of the front bending beam (13) and is connected to the high-pressure water inlet (24) and the high-pressure plowshare spray structure (3), and a front spray pipe (27) is symmetrically arranged between the corresponding two short pipes (25) on the upper crossbeam (23) and is connected to the high-pressure water inlet (24) for flushing the detachable guide structure (6). The bottom crossbeam (21), the short pipe (25), the stainless steel braided hose (26) and the front spray pipe (27) are respectively fixedly connected to the main frame crossbeam (11), the fixed frame (51) and the upper crossbeam (23) through flanges.

4. The crawler self-propelled submarine cable trenching equipment according to claim 3, characterized in that: The high-pressure plowshare spraying structure (3) comprises plowshares (31) symmetrically arranged at the inner bottom ends of the two main frame cross beams (11), embedded stiffeners (35) fixedly arranged inside the two plowshares (31), high-pressure water pipe cavities (32) fixedly arranged at the bottom ends of the two plowshares (31) and connected to the ends of the two stainless steel braided hoses (26) away from the upper cross beam (23), small nozzles (33) arranged at the bottom ends of the two high-pressure water pipe cavities (32) and distributed in a linear array, and an angle adjustment assembly (34) arranged on the two main frames (1) and connected to the front bending beam (13) for adjusting the trenching angle of the two plowshares (31), and the two high-pressure water pipe cavities (32) are fixedly connected to the two stainless steel braided hoses (26) through flanges.

5. The crawler self-propelled submarine cable trenching equipment according to claim 4, characterized in that: The angle adjustment assembly (34) includes a connecting beam (341) welded to the two main frame cross beams (11) and located between the front bending beam (13) and the bottom cross beam (21), an extension arm (342) hinged to the connecting beam (341) on a side close to the front bending beam (13), a connecting frame (343) arranged on the extension arm (342) at one end away from the connecting beam (341), and a first hydraulic cylinder (344) with two ends hinged to the top of the connecting frame (343) and the top of the front bending beam (13), respectively. The bottom ends of the extension arm (342) and the connecting frame (343) are fixedly connected to the top ends of the two plow blades (31) through flanges.

6. The crawler self-propelled submarine cable trenching equipment according to claim 5, characterized in that: The walking mechanism (4) includes a crawler track assembly (41) symmetrically arranged on the outer sides of the bottom ends of the two main frame cross beams (11), a front cross beam (42) arranged between the two crawler track assemblies (41) and located above one end of the two plow blades (31) close to the connecting beam (341), and a curved cross beam (43) arranged between the two crawler track assemblies (41) and located above one end of the two plow blades (31) away from the connecting beam (341). The front cross beam (42) and the curved cross beam (43) are both fixedly connected to the two crawler track assemblies (41) and the bottom ends of the two main frame cross beams (11) through flanges.

7. The crawler self-propelled submarine cable trenching equipment according to claim 1, characterized in that: The driving assembly (53) includes a second hydraulic cylinder (531) respectively arranged at corner positions around the cable laying machine assembly (52) and connected to the fixed frame (51), a rail (532) welded on the fixed frame (51) at a position above the cable laying machine assembly (52), a suspension arm (533) welded around the top of the cable laying machine assembly (52), and a rail trolley (534) slidably connected to the rail (532) and fixed to the top of the suspension arm (533). The two ends of the second hydraulic cylinder (531) are fixedly connected to the cable laying machine assembly (52) and the fixed frame (51) through flanges.

8. The crawler self-propelled submarine cable trenching equipment according to claim 7, characterized in that: The detachable guide structure (6) comprises a roller shaft (61) arranged on a side of the fixed frame (51) away from the cable laying machine assembly (52), a guide roller (62) rotatably connected to the roller shaft (61), and pins (63) arranged at both ends of the roller shaft (61), wherein both ends of the roller shaft (61) are fixedly connected to the roller shaft (61) via the pins (63).

9. The crawler self-propelled submarine cable trenching equipment according to claim 6, characterized in that: The two plow blades (31) are rotatably connected to a limiting roller (311) at a position above one end of the curved beam (43).

10. The crawler self-propelled submarine cable trenching equipment according to claim 1, characterized in that: The cable grabbing structure (7) comprises a third hydraulic cylinder (71), a horseshoe-shaped clamping ring (72) movably connected to the bottom end of the piston rod of the third hydraulic cylinder (71), a wire rope eye (73) symmetrically fixedly connected to the horseshoe-shaped clamping ring (72), a U-shaped clamping ring (74) fixedly connected to one end of each of the two wire rope eyes (73) away from the horseshoe-shaped clamping ring (72), and a grab hook (75) fixedly connected to one end of each of the two U-shaped clamping rings (74) away from the wire rope eye (73) for grabbing the cable.

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