Submarine cable laying robot with multi-geological adaptability

Abstract

The utility model discloses a submarine cable laying robot with multi-geological adaptability, which comprises a main body frame, a buoyancy adjusting device is arranged at the top of the main body frame, spiral propellers are respectively arranged on two sides of the main body frame, a cable pressing device and two injection devices are arranged at the bottom of the main body frame, and the two injection devices are symmetrically arranged at the bottom of the main body frame. The cable pressing device is arranged corresponding to the two spraying devices; the spiral propeller is used for driving the submarine cable laying robot to walk on the seabed, the buoyancy adjusting device is used for adjusting the buoyancy of the submarine cable laying robot on the seabed, and the two spraying devices are used for digging cable burying grooves with the corresponding depths in the corresponding positions of submarine cables in the mode of spraying high-pressure liquid. And the cable pressing device is used for pressing the cable into the cable burying groove. The cable burying device has universality of different cable burying depth operations and universality of different seabed geological operations, improves operation efficiency and safety, and reduces cost and risks.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of submarine cable laying, specifically relates to a kind of submarine cable laying robot of multi-geological adaptability. BACKGROUND

[0002] The current traditional submarine cable laying equipment has too great limitation when carrying out cable laying operation, cannot automatically adjust the buoyancy of cable laying equipment, the hardness of submarine silt is complex, and the cable laying robot has great risk of sinking into mud when operating in soft mud, and the universality is limited when different depth cable grooves need to be dug out. UTILITY MODEL CONTENTS

[0003] The utility model aims at solving the deficiencies in the above background art, and provides a kind of submarine cable laying robot of multi-geological adaptability.

[0004] The utility model adopts the technical scheme: a kind of submarine cable laying robot of multi-geological adaptability, including main body frame, the main body frame top is provided with buoyancy adjusting device, main body frame two sides are respectively provided with helical propeller, main body frame bottom is provided with cable pressing device and two injection devices, two injection devices are symmetrically arranged in the bottom of main body frame, the cable pressing device is correspondingly arranged with two injection devices;

[0005] The buoyancy adjusting device is used to adjust the buoyancy of the submarine cable laying robot in the seabed, the helical propeller is used to drive the submarine cable laying robot to walk in the seabed, and the two injection devices are used to shear the buried cable groove of corresponding depth in the seabed soil in the form of injecting high-pressure liquid at the corresponding position of submarine cable, and the cable pressing device is used to press the cable into the buried cable groove.

[0006] Further, the four buoyancy adjusting devices are used to adjust the buoyancy of the four sides of the submarine cable laying robot, and the buoyancy adjusting device comprises an oil bag and a pressure tank arranged in the oil bag and the pressure tank are connected through a connecting pipeline, the pressure tank stores low-density oil medium, and the flow of oil medium in the pressure tank into and out of the oil bag is controlled to realize the adjustment of the buoyancy.

[0007] Further, the helical propeller is a cylindrical structure with helical blades outside, the two ends of the helical propeller are fixedly connected with the main body frame through mounting brackets, the helical propeller is driven to rotate forward or reverse by motor, and then the propelling equipment advances.

[0008] Further, the pressing cable device comprises a pressing cable rod, a pressing cable arm, a telescopic hydraulic cylinder for adjusting the length of the pressing cable arm, and a rotary hydraulic cylinder for adjusting the angle of the pressing cable arm, one end of the pressing cable rod is hinged to the bottom of the main frame, one end of the pressing cable arm is sleeved in the other end of the pressing cable rod, the other end of the pressing cable arm is a pressing cable head for pressing the cable, one end of the telescopic hydraulic cylinder is fixed on the pressing cable rod, and the other end is connected with the pressing cable head, one end of the rotary hydraulic cylinder is fixed on the main frame, and the other end is fixedly connected with the pressing cable rod.

[0009] Further, the spraying device comprises a high-pressure spraying pump and a spraying arm, the high-pressure spraying pump is in communication with the inside of the spraying arm through a liquid pipeline, and a plurality of nozzles are arranged on the spraying arm.

[0010] The high-pressure spraying pump is used to compress seawater into high-pressure liquid, the high-pressure liquid flows through the liquid pipeline to the inside of the spraying arm, and is sprayed out of the nozzles to shear the seabed to form the cable burying groove, and the depth of the cable burying groove is controlled by adjusting the length of the spraying arm.

[0011] Further, the spraying arm comprises a fixed seat, a fixed spraying arm, a telescopic spraying arm, a length adjusting mechanism, and an angle adjusting mechanism, the angle adjusting mechanism is used to adjust the angle of the spraying arm, the fixed seat is hinged to the liquid pipeline, the fixed ends of the fixed spraying arm and the telescopic spraying arm are installed on the fixed seat, the length of the telescopic spraying arm is greater than that of the fixed spraying arm, the fixed seat is provided with a passage for communicating the liquid pipeline with the fixed spraying arm and the telescopic spraying arm, the plurality of nozzles are arranged on the fixed spraying arm and the telescopic spraying arm, one end of the length adjusting mechanism is connected with the telescopic end of the telescopic spraying arm, and the other end is connected with the fixed seat, one end of the angle adjusting mechanism is connected with the main frame, and the other end is connected with the fixed seat.

[0012] Further, the fixed spraying arm comprises a plurality of fixed spraying pipes with different lengths, the plurality of fixed spraying pipes are arranged in order from short to long, the plurality of fixed spraying pipes are arranged in the same vertical plane and are inclined, the shortest fixed spraying pipe is located at the lowermost position, and the nozzles are arranged at the bottom of the plurality of fixed spraying pipes.

[0013] Further, the telescopic spraying arm comprises a plurality of telescopic spraying pipes arranged side by side and a plurality of fixed pipes arranged coaxially, the nozzles are arranged at the bottom of the plurality of telescopic spraying pipes, one end of the fixed pipe is connected with the fixed seat, the other end is sleeved in the inside of the telescopic spraying pipe, the other end of the fixed pipe is provided with a sealing ring on the outer wall, the sealing ring is sealingly matched with the inner wall of the telescopic spraying pipe, the telescopic spraying pipe comprises a fixed spraying section and a telescopic spraying section, the fixed spraying section is arranged at the end of the telescopic spraying section, the fixed spraying section is provided with a mounting seat connected with one end of the length adjusting mechanism, and the length of the telescopic spraying section relative to the fixed pipe can be adjusted by the length adjusting mechanism, so as to realize the adjustment of the length of the telescopic spraying arm.

[0014] Further, the fixed seat comprises a fixed plate and a hinged segment in triangular shape and internally hollow, one end of the hinged segment is hingedly connected with the liquid pipeline, the fixed spray arm, the telescopic spray arm and the end of the fixed plate are all connected with the other end of the hinged segment, and the side surfaces of the fixed spray arm and the telescopic spray arm are connected with the side surfaces of the fixed plate.

[0015] Further, the main body frame is provided with electric propellers for adjusting the relative position of the subsea cable laying robot and the subsea cable, the electric propellers comprise side propellers arranged on the four vertical columns of the main body frame and a tail propeller arranged at the tail of the subsea cable laying robot, the axes of the four side propellers form a certain angle with the advancing direction of the subsea cable laying robot, and the axis of the tail propeller is parallel to the advancing direction of the subsea cable laying robot.

[0016] Further, the main body frame is provided with a detection assembly for detecting the relative position of the subsea cable laying robot and the subsea cable, the detection assembly comprises an exogenous sensor and an endogenous sensor, the endogenous sensor is fixed to the main body frame, and the exogenous sensor is arranged on the main body frame through a mounting bracket, the end of the mounting bracket is hingedly connected with the edge of the main body frame, the mounting bracket can rotate by 90 degrees around the hinged place with the main body frame, and when the mounting bracket is parallel to the horizontal plane, the exogenous sensor is parallel to the seabed plane.

[0017] The cable laying robot has the advantages that:

[0018] The cable laying robot is provided with a buoyancy adjusting device, a spiral propeller, a cable pressing device, a spraying device, an electric propeller and a detection assembly, and the cooperation of the devices makes the whole robot have the versatility of different cable burying and ditching depth operations and the versatility of different seabed silt hardness (i.e. geology) operations, improves the operation efficiency and safety, and reduces the cost and risk.

[0019] The spraying device of the cable laying robot can dig cable burying grooves with different depths according to requirements, and has wider versatility.

[0020] The buoyancy adjusting device of the cable laying robot can adjust the buoyancy (or weight) of the robot in the sea according to different shear force mud surfaces of the seabed, so as to reduce the risk of the robot sinking into the mud.

[0021] The spiral propeller of the cable laying robot can walk on different shear force mud surfaces of the seabed, and has wider applicability.

[0022] The cable pressing device of the cable laying robot can adjust the telescopic length according to the cable burying depth to ensure the cable burying depth, has stronger applicability and higher efficiency.

[0023] The utility model discloses a cable laying robot's spray arm of spray device passes through setting fixed spray arm and telescopic spray arm two spray arm structure, realized length telescopic adjustment, the ditching depth is deeper, can set up the cable slot of different depth according to demand simultaneously, and the universality is wider, and the spray arm can carry out multi -jet spray ditching according to actual situation, the longer the protruding part is, the more jet nozzles are, and the ditching efficiency is higher, and simultaneously, two spray devices are arranged on the main frame symmetry, and four high -pressure spray pumps of two spray devices can guarantee the symmetry of the whole robot center, reduce the swing of robot unbalanced stress because of vibration in the operation process, and the safety in the operation process and walking process is enhanced.

[0024] The utility model discloses a cable laying robot's electric propeller is installed on the frame symmetry, can reduce the swing of robot unbalanced stress because of vibration in the operation process, and the safety in the operation process and walking process is enhanced. DRAWINGS

[0025] Figure 1 It is the three-dimensional structure schematic drawing of the utility model.

[0026] Figure 2 It is a plane structure schematic drawing (the spray device is not shown complete in the drawing) of the utility model.

[0027] Figure 3 It is another plane structure schematic drawing of the utility model.

[0028] Figure 4 It is the schematic drawing of the cable pressing head of the cable pressing device of the utility model.

[0029] Figure 5 It is the schematic drawing of the connection of two spray devices of the utility model.

[0030] Figure 6 It is the schematic drawing of the spray arm of the utility model extension to the longest position.

[0031] Figure 7 It is the schematic drawing of the spray arm of the utility model contraction to the shortest position.

[0032] Figure 8 It is one kind of partial schematic drawing of the telescopic spray arm of the spray arm of the utility model.

[0033] Figure 9 It is another kind of partial schematic drawing of the telescopic spray arm of the spray arm of the utility model.

[0034] Figure 10 It is the schematic drawing of the detection assembly of the utility model.

[0035] Figure 11 It is the arrangement schematic drawing of the electric propeller of the utility model.

[0036] In the figure, 1 - main body frame; 2 - buoyancy adjusting device; 2.1 - oil bag; 2.2 - pressure tank;

[0037] 3 - screw propeller; 3.1 - mounting bracket; 3.2 - motor box; 4 - cable pressing device; 4.1 - cable pressing rod; 4.2 - cable pressing arm; 4.3 - cable pressing head; 4.3.1 - fixed support; 4.3.2 - cable pressing plate; 4.3.3 - pin shaft; 4.3.4 - pulley; 4.3.5 - connecting rod; 4.3.6 - limiting part; 4.4 - telescopic hydraulic cylinder; 4.5 - rotary hydraulic cylinder; 5 - jetting device; 5.1 - high-pressure jetting pump; 5.2 - jetting arm; 5.3 - liquid pipeline; 5.4 - nozzle; 5.5 - fixed seat; 5.6 - fixed jetting arm; 5.6.1 - fixed jetting pipe; 5.7 - telescopic jetting arm; 5.7.1 - telescopic jetting pipe; 5.7.2 - fixed pipe; 5.7.3 - fixed jetting section; 5.7.4 - telescopic jetting section; 5.7.5 - mounting seat; 5.7.6 - sealing ring; 5.8 - length adjusting mechanism; 5.9 - angle adjusting mechanism; 6 - electric propeller; 7 - detection assembly; 7.1 - exogenous sensor; 7.2 - endogenous sensor; 7.3 - mounting rack; 8 - buoyancy material. DETAILED DESCRIPTION

[0038] The specific embodiments of the utility model will be further described below in combination with the drawings. It should be noted that the description of these embodiments is used to help understand the utility model, but does not constitute the limitation of the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as there is no conflict between them.

[0039] As Figures 1-3 shown, the utility model provides a kind of multi-geological adaptability submarine cable laying robot, including main body frame 1, the underwater buoyancy adjusting device 2 of top of main body frame 1 is provided, main body frame 1 both sides are provided screw propeller 3 respectively, main body frame 1 bottom is provided cable pressing device 4 and two jetting devices 5, two jetting devices 5 are symmetrically arranged in the bottom of main body frame 1, the buoyancy adjusting device 2 is used to adjust the buoyancy of the submarine cable laying robot in seabed, the screw propeller 3 is used to drive the submarine cable laying robot to walk in seabed, two jetting devices 5 are used to form corresponding depth of cable slot by shearing seabed soil in the mode of jetting high-pressure liquid in corresponding position of submarine cable, the cable pressing device 4 is used to press cable into the cable slot.

[0040] The pressure cable device 4 is arranged corresponding to two jet devices 5, that is, in the running direction of the submarine cable laying robot, the pressure cable arm 4.2 of the pressure cable device 4 and the two jet arms 5.2 of the two jet devices 5 are all arranged vertically, and the pressure cable arm 4.2 is located in the middle of the two jet arms 5.2; in the direction perpendicular to the running direction of the submarine cable laying robot, the pressure cable arm 4.2 and the jet arms are all arranged obliquely, and the included angles A and B between the axes of the pressure cable arm 4.2 and the two jet arms 5.2 and the horizontal line satisfy certain conditions, preferably the difference between A and B is 8 degrees, so as to ensure the effect of the pressure cable device on pressing the cable into the cable burying groove.

[0041] In some embodiments, the four buoyancy adjusting devices 2 are each provided with an upper and lower oil bag 2.1 and a pressure tank 2.2, the oil bag 2.1 and the pressure tank 2.2 are communicated through a connecting pipeline, the pressure tank 2.2 stores low-density oil medium, and by controlling the inflow and outflow of the oil medium in the pressure tank to the oil bag 2.1, the volume of the bag body is changed to provide different buoyancy requirements, the weight of the robot in the sea can be adjusted according to the different shear force mud surface of the seabed, and the risk of the robot sinking into the mud is reduced. The buoyancy adjusting device 2 is further provided with a buoyancy material 8, and the buoyancy of the submarine cable laying robot in the seabed is ensured by the cooperation of the buoyancy adjusting device and the buoyancy material.

[0042] In some embodiments, the two screw propellers 3 are each a cylindrical structure with a spiral blade outside, and the two screw propellers 3 are symmetrically arranged on the two sides of the bottom of the main frame 1, and the two ends of the screw propeller 3 are fixedly connected with the main frame through the mounting bracket 3.1. The screw propeller can ensure that the robot is more adaptable to walking on different shear force mud surfaces of the seabed, and can walk on both soft mud and hard mud surfaces. The screw propeller 3 can be driven to run in forward and reverse directions by the motor in the motor box 3.2, so as to ensure that the robot can advance and retreat for work, and the ditching efficiency is higher and safer. Meanwhile, the screw propeller 3 can be used for horizontal steering operation on the seabed surface, thereby increasing the flexibility of horizontal walking of the robot.

[0043] In some embodiments, the pressure cable device 4 includes a pressure cable rod 4.1, a pressure cable arm 4.2, a telescopic hydraulic cylinder 4.4 for adjusting the length of the pressure cable arm, and a rotary hydraulic cylinder 4.5 for adjusting the angle of the pressure cable arm, one end of the pressure cable rod 4.1 is hinged to the bottom of the main frame 1, one end of the pressure cable arm 4.2 is sleeved in the other end of the pressure cable rod 4.1, the other end of the pressure cable arm 4.2 is a pressure cable head 4.3 for pressing the cable, one end of the telescopic hydraulic cylinder 4.4 is fixed on the pressure cable rod 4.1, and the other end is connected with the pressure cable head 4.3, one end of the rotary hydraulic cylinder 4.5 is fixed on the main frame 1, and the other end is fixedly connected with the pressure cable rod 4.1. Figure 4As shown, the cable pressing head 4.3 includes a fixed support 4.3.1 and two arc-shaped cable pressing plates 4.3.2, the top of the fixed support 4.3.1 is connected with the other end of the telescopic hydraulic cylinder 4.4, the two cable pressing plates 4.3.2 are arranged in parallel and spaced apart at the bottom of the fixed support 4.3.1, the two cable pressing plates 4.3.2 are arranged vertically, the two cable pressing plates 4.3.2 are connected through a pin shaft 4.3.3 and a connecting rod 4.3.5, the pin shaft 4.3.3 is sleeved with a pulley 4.3.4, the pulley 4.3.4 can reduce the friction between it and the cable, the bottom side of the cable pressing plate is provided with an outwardly inclined limiting part 4.3.6 for limiting the deviation of the cable, the limiting part 4.3.6 is composed of a plurality of rod-shaped parts.

[0044] In some embodiments, the spraying device 5 includes high-pressure spraying pumps 5.1 and spraying arms 5.2, wherein two high-pressure spraying pumps 5.2 are arranged on the main body frame 1 in a spaced-apart manner, the arrangement of two high-pressure spraying pumps can improve the efficiency of compressed seawater and improve the reliability; the four high-pressure spraying pumps on both sides can also ensure the symmetry of the center of the whole robot, reduce the shaking of the robot due to unbalanced stress during operation, and enhance the safety during operation and walking. The high-pressure spraying pump is a centrifugal electric pump, the high-pressure spraying pump 5.2 is in communication with the inside of the spraying arm 5.2 through a liquid pipeline 5.3, and a plurality of nozzles 5.4 are arranged on the spraying arm 5.2. Figure 5 As shown, a guide pipeline 5.3.1 is arranged between the two spraying arms 5.2, the guide pipeline 5.3.1 connects the liquid pipelines of the two spraying devices, and improves the structural stability. The high-pressure spraying pump 5.2 is used to compress seawater into high-pressure liquid, the high-pressure liquid flows through the liquid pipeline 5.3 to the inside of the spraying arm 5.2, and is sprayed out of the nozzle 5.4 to shear the seabed to form the cable burying groove, and the length of the spraying arm 5.2 is adjusted to control the depth of the excavated cable burying groove.

[0045] It can be understood that, as Figures 6-9As shown, the spray arm 5.2 comprises a fixed seat 5.5, a fixed spray arm 5.6, a telescopic spray arm 5.7, a length adjusting mechanism 5.8 and an angle adjusting mechanism 5.9, the fixed seat 5.5 is hinged to the liquid pipeline 5.3, the fixed ends of the fixed spray arm 5.6 and the telescopic spray arm 5.7 are both installed on the fixed seat 5.5, the length of the telescopic spray arm 5.7 is greater than that of the fixed spray arm 5.6, the telescopic spray arm 5.7 is arranged side by side with the fixed spray arm 5.6 and is spaced a certain distance apart, which is convenient for the telescopic spray arm 5.7 to retract and accommodate the nozzles on the telescopic spray arm 5.7, the fixed seat 5.5 is provided with a channel communicating with the liquid pipeline and the fixed spray arm 5.6 and the telescopic spray arm 5.7, the plurality of nozzles 5.4 are arranged on the fixed spray arm 5.6 and the telescopic spray arm 5.7, the axes of the plurality of nozzles 5.4 are kept consistent, one end of the length adjusting mechanism 5.8 is connected with the telescopic end of the telescopic spray arm 5.7 and the other end is connected with the fixed seat 5.5, the length of the telescopic spray arm is adjusted by the length adjusting mechanism 5.8 to realize the length adjustment of the spray arm; the angle adjusting mechanism 5.9 is used for adjusting the angle between the spray arm 5.2 and the horizontal line, the angle adjusting device 5.9 is a telescopic hydraulic cylinder, one end of the angle adjusting mechanism 5.9 is connected with the main frame 1 and the other end is connected with the fixed seat 5.5.

[0046] It can be understood that the fixed spray arm 5.6 includes several fixed spray pipes 5.6.1 of different lengths, the several fixed spray pipes 5.6.1 are arranged in order from short to long, the several fixed spray pipes 5.6.1 are arranged in the same vertical plane and are inclined, the shortest fixed spray pipe is located at the lowermost position, and the nozzle is arranged at the position where the bottom of the several fixed spray pipes is not covered by the corresponding shorter fixed spray pipe. The telescopic spray arm 5.7 includes several telescopic spray pipes 5.7.1 arranged side by side and several fixed pipes 5.7.2 arranged coaxially, the nozzle 5.4 is arranged at the bottom of the several telescopic spray pipes 5.7.1, one end of the fixed pipe 5.7.2 is connected with the fixed seat 5.5, the other end of the fixed pipe 5.7.2 is sleeved in the telescopic spray pipe 5.7.1, the other end of the fixed pipe 5.7.2 is provided with a sealing ring 5.7.6, the sealing ring 5.7.6 is in sealing cooperation with the inner wall of the telescopic spray pipe 5.7.1, the telescopic spray pipe 5.7.1 includes a fixed spraying section 5.7.3 and a telescopic spraying section 5.7.4, the fixed spraying section 5.7.3 is arranged at the end of the telescopic spraying section 5.7.4, and the fixed spraying section 5.7.3 is provided with a mounting seat 5.7.5 connected with one end of the length adjusting mechanism, and the length of the telescopic spraying section 5.7.4 relative to the fixed pipe 5.7.2 can be adjusted through the length adjusting mechanism 5.8, so that the length of the telescopic spray arm 5.7 can be adjusted. The sealing ring 5.7.6 on the fixed pipe 5.7.2 can ensure that the corresponding nozzle is sealed (i.e., the nozzle is separated from the inside of the fixed pipe) after the telescopic spraying section is adjusted (the length of the spraying arm is shortened), so that the high-pressure liquid is not sprayed from the nozzle 5.4.1 at the shortened position, but is only sprayed from the unsealed nozzle 5.4.2, and the number of nozzles is reduced (the length of the spraying arm is adjusted).

[0047] It can be understood that the fixed seat 5.5 includes a fixed plate 5.5.2 and a hinged section 5.5.1 in a triangular shape and hollow inside, one end of the hinged section 5.5.1 is hingedly connected with the liquid pipeline 5.3, the other end of the hinged section 5.5.1 is connected with the fixed spray arm 5.6, the telescopic spray arm 5.7 and the end of the fixed plate 5.5.2, and the side surface of the fixed spray arm 5.6 and the telescopic spray arm 5.7 is connected with the side surface of the fixed plate 5.5.2.

[0048] In some embodiments, an electric propeller 6 and a detection assembly 7 are further included, and the electric propeller 6 and the detection assembly 7 are integrated on the main body frame 1; the detection assembly 7 is used for detecting the relative position between the submarine cable laying robot and the submarine cable, and the electric propeller 6 is used for adjusting the relative position between the submarine cable laying robot and the submarine cable. As shown in FIG. 1, the electric propeller 6 is arranged on the main body frame 1, and the detection assembly 7 is arranged on the fixed spray arm 5.6. Figure 10As shown, the electric thrusters 6 are arranged at the four corners of the main frame (on the four column sides) and the tail of the subsea cable laying robot respectively, the electric thrusters adopt a paddle structure, the axes of the electric thrusters (6.1-6.4) at the four corners of the main frame form a 45° angle with the advancing direction of the subsea cable laying robot, the axes of the electric thrusters (6.5, 6.6) at the tail of the subsea cable laying robot are parallel to the advancing direction of the subsea cable laying robot, and such a combined arrangement of the thrusters can provide power to the robot in six direction dimensions and ensure the robot to walk in six direction dimensions. Figure 11 As shown, the detection assembly 7 is arranged at the head of the robot and includes an exogenous sensor 7.1 and an endogenous sensor 7.2, both of which are conventional devices in the art, the endogenous sensor 7.2 is fixed to the main frame 1, and the exogenous sensor 7.1 is arranged on the main frame 1 through a mounting bracket 7.3, the end of the mounting bracket 7.3 is hinged to the edge of the main frame 1, a telescopic hydraulic cylinder 7.4 is arranged between the mounting bracket 7.3 and the main frame 1, and the hydraulic cylinder can drive the mounting bracket to rotate 90° around the hinge between the mounting bracket and the main frame; when the mounting bracket is parallel to the main frame, the exogenous sensor 7.1 faces the seafloor. The cable searching and tracking are performed through the detection assembly, and the cable searching and tracking are performed in a combined manner of the endogenous and exogenous sensors, and the efficiency of the cable searching and tracking is higher and the cable searching and tracking position is more accurate relative to the single endogenous or single exogenous sensor.

[0049] In some embodiments, the adjustment and control of the buoyancy adjusting device 2, the screw thruster 3, the cable pressing device 4, the two jet devices 5, the electric thruster 6 and the detection assembly 7 are controlled through a control unit to realize the cable laying operation, and the control unit can be a conventional control system externally arranged on a ship or the like, and the specific process is as follows:

[0050] The buoyancy adjusting device 2 inflates the oil bag 2.1 to a set volume according to the set value to ensure the buoyancy in water.

[0051] The robot flies to the destination in water through the six electric thrusters.

[0052] The hydraulic cylinder 7.4 in the detection assembly 7 acts to make the mounting bracket 7.3 into a horizontal posture, the endogenous sensor 7.2 and the exogenous sensor 7.1 perform cable searching and tracking to determine the specific position and direction of the submarine cable, and the robot adjusts the posture according to the position and direction of the submarine cable until the posture is consistent with that during the trenching and cable burying operation.

[0053] The electric thruster 6 group stops working, the screw thruster 3 starts, and the high-pressure jet pump 5.1 starts.

[0054] The angle adjusting mechanism 5.9 of the jetting arm 5.2 is actuated until the whole jetting arm 5.2 is rotated to a set angle, then the length adjusting mechanism 5.8 is actuated, the jetting arm 5.2 is elongated to a set position, i.e. positioned to a depth position required to be dug.

[0055] The rotating hydraulic cylinder 4.5 of the cable pressing device 4 is actuated until the whole cable pressing arm is rotated to a set angle, then the telescopic hydraulic cylinder 4.4 is actuated, the cable pressing arm is elongated to a set position, i.e. positioned to a cable pressing position required;

[0056] After the robot reaches the seabed mud surface, the buoyancy of the whole robot in water is adjusted according to the hardness degree of the seabed mud, so as to ensure the operation efficiency.

[0057] According to the hardness degree of the seabed mud, the speed of the screw propeller is adjusted, so as to ensure the speed during the ditching operation and improve the operation efficiency.

[0058] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. The contents not described in detail in the specification belong to the prior art known by the professional technical personnel.

Claims

1. A multi-geological-adaptability subsea cable-laying robot, characterized by: The utility model relates to a kind of seabed cable laying robot, including main body frame (1), the underwater buoyancy adjusting device (2) is provided at the top of the main body frame (1), the screw propeller (3) is respectively provided at the both sides of the main body frame (1), the pressure cable device (4) and two jet devices (5) are arranged at the bottom of the main body frame (1), two jet devices are symmetrically arranged in the bottom of main body frame (1), the pressure cable device (4) is arranged with two jet devices (5) corresponding; The underwater buoyancy adjusting device (2) is used to adjust the buoyancy of the seabed cable laying robot, the screw propeller (3) is used to drive the seabed cable laying robot to walk on the seabed, the two jet devices (5) are used to shear the seabed soil in the corresponding position of the seabed cable to form a buried cable slot of corresponding depth by spraying high-pressure liquid, and the pressure cable device (4) is used to press the cable into the buried cable slot.

2. The multi-geological-adapted subsea cable-laying robot according to claim 1, characterized in that: The underwater buoyancy adjusting device (2) is provided with four, and the four underwater buoyancy adjusting devices are used to adjust the buoyancy of the four sides of the seabed cable laying robot, respectively, and the underwater buoyancy adjusting device (2) comprises an oil bag (2.1) and a pressure tank (2.2) arranged in communication through a connecting pipeline, the oil bag (2.1) and the pressure tank (2.2) are connected in communication through a connecting pipeline, the pressure tank (2.2) stores a low-density oil medium, and the buoyancy is adjusted by controlling the inflow and outflow of the oil medium in the pressure tank (2.2) to the oil bag (2.1).

3. The multi-geologic-adapted undersea cable-laying robot of claim 1, wherein: The screw propeller (3) is a cylindrical structure with helical blades on the outside, the screw propeller (3) is fixedly connected to the main body frame (1) through mounting brackets (3.1) at both ends, and the screw propeller (3) is driven to rotate forward or reverse by a motor.

4. The multi-geologic-adapted undersea cable-laying robot of claim 1, wherein: The pressure cable device (4) comprises a pressure cable rod (4.1), a pressure cable arm (4.2), a telescopic hydraulic cylinder (4.4) for adjusting the length of the pressure cable arm, and a rotary hydraulic cylinder (4.5) for adjusting the angle of the pressure cable arm, one end of the pressure cable rod (4.1) is hinged to the bottom of the main body frame (1), one end of the pressure cable arm (4.2) is sleeved in the other end of the pressure cable rod (4.1), the other end of the pressure cable arm (4.2) is a pressure cable head (4.3) for pressing the cable, one end of the telescopic hydraulic cylinder (4.4) is fixed to the pressure cable rod (4.1), and the other end is connected to the pressure cable head (4.3), one end of the rotary hydraulic cylinder (4.5) is fixed to the main body frame (1), and the other end is fixedly connected to the pressure cable rod (4.1).

5. The multi-geologic-adapted undersea cable-laying robot of claim 1, wherein: The jet device (5) comprises a high-pressure jet pump (5.1) and a jet arm (5.2), the high-pressure jet pump (5.1) is in communication with the inside of the jet arm (5.2) through a liquid pipeline (5.3), and a plurality of nozzles (5.4) are arranged on the jet arm (5.2). The high-pressure jet pump (5.1) is used to compress seawater into high-pressure liquid, the high-pressure liquid flows to the inside of the jet arm (5.2) through the liquid pipeline (5.3), and is sprayed from the nozzles (5.4) to shear the seabed to form the buried cable slot, and the depth of the buried cable slot is controlled by adjusting the length of the jet arm (5.2).

6. The multi-geological-adapted subsea cable-laying robot according to claim 5, characterized in that: The spray arm (5.2) comprises a fixed seat (5.5), a fixed spray arm (5.6), a telescopic spray arm (5.7), a length adjusting mechanism (5.8) for adjusting the length of the spray arm, and an angle adjusting mechanism (5.9) for adjusting the angle of the spray arm, the fixed seat (5.5) is hinged to the liquid pipeline, the fixed ends of the fixed spray arm (5.6) and the telescopic spray arm (5.7) are installed on the fixed seat (5.5), the length of the telescopic spray arm (5.7) is greater than that of the fixed spray arm (5.6), the fixed seat (5.5) is provided with channels communicating with the liquid pipeline and the fixed spray arm (5.6) and the telescopic spray arm (5.7), the plurality of nozzles are arranged on the fixed spray arm (5.6) and the telescopic spray arm (5.7), one end of the length adjusting mechanism (5.8) is connected with the telescopic end of the telescopic spray arm (5.7), and the other end is connected with the fixed seat (5.5), one end of the angle adjusting mechanism (5.9) is connected with the main body frame (1), and the other end is connected with the fixed seat (5.5).

7. The multi-geological-adapted undersea cable-laying robot according to claim 6, characterized in that: The fixed spray arm (5.6) comprises a plurality of fixed spray pipes (5.6.1) of different lengths, the plurality of fixed spray pipes (5.6.1) are arranged in order from short to long, the plurality of fixed spray pipes (5.6.1) are arranged in the same vertical plane and are inclined, and the shortest fixed spray pipe is located at the lowermost position.

8. The multi-geologic-adapted undersea cable-laying robot of claim 6, wherein: The telescopic spray arm (5.7) comprises a plurality of telescopic spray pipes (5.7.1) arranged side by side and a plurality of fixed pipes (5.7.2) arranged coaxially, the nozzles (5.4) are arranged at the bottom of the plurality of telescopic spray pipes (5.7.1), one end of the fixed pipe (5.7.2) is connected with the fixed seat, and the other end is sleeved in the telescopic spray pipe (5.7.1), the other end of the fixed pipe (5.7.2) is provided with a sealing ring (5.7.6) on the outer wall, the sealing ring (5.7.6) is in sealing cooperation with the inner wall of the telescopic spray pipe (5.7.1), the telescopic spray pipe (5.7.1) comprises a fixed spraying section (5.7.3) and a telescopic spraying section (5.7.4), the fixed spraying section is arranged at the end of the telescopic spraying section (5.7.4), the fixed spraying section (5.7.3) is provided with a mounting seat (5.7.5) connected with one end of the length adjusting mechanism, and the length of the telescopic spraying section (5.7.4) relative to the fixed pipe (5.7.2) can be adjusted by the length adjusting mechanism, so that the length adjustment of the telescopic spray arm is realized.

9. The multi-geologic-adapted undersea cable-laying robot of claim 1, wherein: The main body frame is provided with an electric propeller (6) for adjusting the relative position of the submarine cable laying robot and the submarine cable, the electric propeller (6) comprises side propellers arranged on the four columns of the main body frame and a tail propeller arranged at the tail of the submarine cable laying robot, the axes of the four side propellers form a certain angle with the advancing direction of the submarine cable laying robot, and the axis of the tail propeller is parallel to the advancing direction of the submarine cable laying robot.

10. The multi-geologic-adapted undersea cable-laying robot of claim 1, wherein: The main body frame is provided with a detection assembly (7) for detecting the relative position of the submarine cable laying robot and the submarine cable, the detection assembly (7) comprises an exogenous sensor (7.1) and an endogenous sensor (7.2), the endogenous sensor (7.2) is fixed on the main body frame (1), the exogenous sensor (7.1) is arranged on the main body frame (1) through a mounting bracket (7.3), the end of the mounting bracket (7.3) is hinged to the edge of the main body frame (1), the mounting bracket (7.3) can rotate 90 degrees around the hinged place with the main body frame, when the mounting bracket (7.3) is parallel to the horizontal plane, the exogenous sensor (7.1) is parallel to the submarine plane.

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