Submarine operation equipment with variable operation types

Abstract

The utility model discloses seabed operation equipment with variable operation types, which comprises a main body frame and a sailing propulsion module arranged on the main body frame, and a cable laying device or an underwater salvaging device is arranged at the bottom of the main body frame; the sailing propulsion module is used for driving the seabed operation equipment to sail underwater; the cable laying device is used for laying submarine cables; and the underwater salvage device is used for carrying out seabed salvage operation. A cable laying function is realized when the sailing propulsion module is combined with the cable laying device, a seabed salvage function is realized when the sailing propulsion module is combined with the underwater salvage device, and the submarine cable laying operation and the seabed salvage operation can be switched by replacing the bottom device, so that different operation requirements are met; and the operation cost when different operation types are carried out is greatly reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of ocean underwater operation engineering, and particularly relates to a seabed operation device with variable operation types. Background Art

[0002] At present, traditional seabed operation devices are all single-operation devices with fixed operation modes, and can only perform specific types of operations. When performing seabed operations in different modes, multiple different devices are required to complete different types of operations. Traditional seabed operation devices not only increase the operation cost but also reduce the operation efficiency. Content of the Utility Model

[0003] The purpose of the utility model is to solve the deficiencies existing in the above background art, and provide a seabed operation device with variable operation types to improve the operation efficiency and reduce the operation cost.

[0004] The technical solution adopted by the utility model is: a seabed operation device with variable operation types,

[0005] including a main body frame and a navigation propulsion module installed on the main body frame, and a cable laying device or an underwater salvage device is installed at the bottom of the main body frame;

[0006] The navigation propulsion module is used to drive the seabed operation device to navigate underwater;

[0007] The cable laying device is used for performing seabed cable laying operations;

[0008] The underwater salvage device is used for performing underwater salvage operations.

[0009] Further, the main body frame includes a top layer frame and a bottom layer frame in a rectangular shape with a hole in the middle. The middle parts of the top layer frame and the bottom layer frame are connected by a first upright column. The two ends of the short sides of the top layer frame and the bottom layer frame extend outward respectively, and the extended ends are connected by a second upright column. The cable laying device or the underwater salvage device is installed at the bottom of the bottom layer frame and corresponds to the position of the second upright column.

[0010] Further, the navigation propulsion module includes four side thrusters and four vertical thrusters. The four side thrusters are arranged on both sides of the main body frame and below the vertical thrusters. The axes of the four side thrusters form a certain angle with the traveling direction of the seabed operation device; the four vertical thrusters are arranged at the four corners of the top of the main body frame, and the axes of the four vertical thrusters are perpendicular to the traveling direction of the seabed operation device.

[0011] Furthermore, the cable laying device includes a first support and a seabed walking device, a cable pressing device, a movable trolley, and two jetting devices mounted on the first support. The first support is fixed to the bottom of the main frame, and the two jetting devices are symmetrically arranged at the bottom of the first support. The movable trolley is located above the two jetting devices and is movably connected to the two jetting devices. The cable pressing device is arranged correspondingly to the two jetting devices.

[0012] The underwater walking device is used to propel the underwater operating equipment to move on the seabed surface.

[0013] The movable trolley is used to adjust the distance between the firing arms of the two firing devices; the two firing devices are used to cut the seabed soil at the corresponding position of the submarine cable by spraying high-pressure liquid to form a cable groove of corresponding width based on the distance; the cable pressing device is used to press the cable into the cable groove.

[0014] Furthermore, the movable trolley includes a top guide groove, a side guide groove, a cantilever support, two clamping parts, and two telescopic hydraulic cylinders, with the two telescopic hydraulic cylinders respectively arranged corresponding to the two clamping parts; the top guide groove and the side guide groove are fixed on the first bracket and arranged along the moving direction of the shooting arm;

[0015] The clamping part is used to clamp the end of the shooting arm. The shooting arm can rotate around the clamping point. The top of the clamping part is engaged with the top guide groove through the top guide wheel. One end of the cantilever support is connected to the inside of the clamping part, and the other end of the cantilever support is engaged with the side guide groove through the side guide wheel. One end of the telescopic hydraulic cylinder is fixed on the first bracket, and the other end is connected to the clamping part. The distance between the two shooting arms is adjusted by driving the clamping part to move along the direction of the guide groove through the telescopic hydraulic cylinder.

[0016] Furthermore, the jetting device includes a high-pressure jet pump, a jetting arm, and an angle adjustment mechanism. The high-pressure jet pump is fixed on the first bracket and is connected to the inside of the jetting arm through a liquid pipeline. The jetting arm is provided with a plurality of nozzles. The angle adjustment mechanism is used to adjust the angle of the jetting arm. One end of the angle adjustment mechanism is connected to a movable trolley, and the other end is connected to the fixed seat of the jetting arm.

[0017] The high-pressure jet pump is used to compress seawater into high-pressure liquid. The high-pressure liquid flows through the liquid pipeline into the inside of the jet arm and is ejected from the nozzle to shear the seabed soil and form the cable trough.

[0018] Furthermore, the liquid pipeline includes a fixed section, a transition section, a guide section, and a telescopic section connected in sequence at right angles. One end of the fixed section is connected to the output port of the high-pressure jet pump, and the other end is connected to the interior of the transition section. One end of the guide section is connected to the transition section, and the other end is coaxially sleeved on the surface of the telescopic section. One end of the telescopic section extends into the interior of the transition section after passing through the guide section, and the other end is connected to the interior of the jet arm. The end of the telescopic section extending into the interior of the transition section forms an extension section, which has several diversion holes. The transition section is a hollow column structure integrated on the first support, and the cross-sectional area of ​​the column structure is larger than the cross-sectional area of ​​the fixed section and the telescopic section.

[0019] Furthermore, the underwater walking device is a skid or track assembly, and universal components are respectively provided on both sides of the bottom of the first support. The skid or track assembly is installed on the bottom of the first support through the universal components.

[0020] Furthermore, the first support is equipped with a cable-finding mechanism for detecting the relative position of the subsea operation equipment and the subsea cable. The cable-finding mechanism includes an external sensor and an internal sensor. The internal sensor is fixed on the first support, and the external sensor is mounted on the first support through a mounting bracket. The end of the mounting bracket is hinged to the edge of the first support, and the mounting bracket can rotate 90 degrees around the hinge point with the first support. When the mounting bracket is parallel to the horizontal plane, the external sensor is parallel to the sea level.

[0021] Furthermore, the underwater salvage device includes a second support, a gripper, and two robotic arms. The second support is fixed to the bottom of the main frame, the gripper is located at the bottom of the second support, and the two robotic arms are spaced apart at the ends of the second support. The gripper (11) is used for gripping and salvaging large-diameter pipes and equipment, and the robotic arm (12) is used for plugging and unplugging underwater connectors and installing equipment for the seabed observation network.

[0022] The beneficial effects of this utility model are as follows:

[0023] The underwater operation equipment of this utility model adopts a modular design. The navigation propulsion module, cable laying device or salvage device are all installed on the main frame and can be installed and replaced independently, which improves the flexibility and versatility of the equipment. By changing the bottom device, the equipment can switch between underwater cable laying and underwater salvage operations to meet different operational needs and greatly reduce the operating costs when carrying out different types of operations.

[0024] The top and bottom frames of this utility model are connected by columns to form a stable support structure, which improves the stability and load-bearing capacity of the equipment. Through the extended ends and the second column, cable laying devices or underwater salvage devices can be easily installed and maintained, making it highly versatile.

[0025] This utility model's navigation propulsion module includes a side thruster and a vertical thruster, enabling omnidirectional drive of the underwater walking equipment. The side thruster's axis forms a certain angle with the direction of travel, providing better steering and propulsion. The vertical thruster controls the equipment's rapid descent to the required height. Simultaneously, the thrusters are symmetrically mounted on the frame, reducing vibration-induced imbalances and swaying during operation, thus enhancing safety during operation and movement. A tail thruster is installed on the cable-laying device to provide additional thrust as the equipment moves forward; this design makes the equipment more flexible and efficient when moving underwater.

[0026] This invention achieves automated laying of submarine cables through the coordination of a submarine walking device, a mobile trolley, a jetting device, and a cable pressing device, reducing labor costs. The mobile trolley can adjust the distance between the jetting arms to adapt to the laying needs of cable trenches of different widths, thus broadening its versatility. The two jetting devices are symmetrically arranged on the first support, ensuring the symmetry of the entire equipment center, reducing swaying caused by vibration during operation due to unbalanced forces, and enhancing safety during operation and movement.

[0027] This invention achieves precise adjustment of the distance between the injection arms through the cooperation of telescopic hydraulic cylinders and guide grooves, thereby improving the forming accuracy of the cable trough; the clamping part, through the cooperation of the top guide wheel and the side guide wheel with the guide groove, ensures the stability of the injection arm during movement.

[0028] This utility model's high-pressure jet pump compresses seawater into high-pressure liquid through a liquid pipeline and sprays it out from the nozzle to shear the seabed soil and form a cable trough, which is highly efficient; the angle adjustment mechanism can flexibly adjust the angle of the jet arm to adapt to different terrains and operational needs.

[0029] This utility model ensures the stable flow of high-pressure liquid in the liquid pipeline through the cooperation of fixed section, transition section, guide section and telescopic section. The transition section is a hollow column structure integrated on the first support, which can adapt to the needs of different pressure and flow. The first support plays the role of support and medium flow at the same time, making the whole frame structure simpler, reducing the liquid pipeline system and the overall frame weight.

[0030] This invention allows for the same-side replacement of track assemblies and skids used with different shear forces in seabed sediment, reducing misoperation. At the same time, the height of the track assembly and skids relative to the trencher frame is adjustable, better matching the depth to which the trencher sinks into the sediment, thereby ensuring trenching depth and improving trenching efficiency.

[0031] This utility model cable-finding mechanism, through the cooperation of internal and external sensors, can accurately detect the relative position of the subsea operation equipment and the subsea cable. The accurate cable-finding function can avoid damage to the subsea cable during operation and improve operational safety.

[0032] The combination of the gripper and the robotic arm in this invention enables the equipment to perform salvage and installation operations on seabed equipment, meeting various needs of seabed operations; the second support is connected to the main frame through the third column, forming a stable support structure and improving the stability and load-bearing capacity of the equipment. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the upper structure of the underwater operation equipment of this utility model.

[0034] Figure 2 This is a schematic diagram of the upper structure of the underwater operation equipment of this utility model from another perspective.

[0035] Figure 3 This is a schematic diagram of the cable laying device for the submarine operation equipment of this utility model.

[0036] Figure 4 This is a schematic diagram of the underwater salvage device of the seabed operation equipment of this utility model.

[0037] Figure 5 This is a schematic diagram of a structure of Embodiment 1 of the present invention (the walking device is a skid).

[0038] Figure 6 This is another structural schematic diagram of Embodiment 1 of the present invention (the walking device is a track).

[0039] Figure 7 This is a partial schematic diagram of the movable trolley in Embodiment 1 of this utility model.

[0040] Figure 8 This is a schematic diagram of the cable clamping head of the cable device in Embodiment 1 of this utility model.

[0041] Figure 9 This is a partial schematic diagram of the arrangement of the firing arm in Embodiment 1 of this utility model.

[0042] Figure 10 This is a schematic diagram of the nozzle arrangement in Embodiment 1 of this utility model.

[0043] Figure 11 This is a partial schematic diagram of a liquid pipeline according to Embodiment 1 of this utility model.

[0044] Figure 12 This is another partial schematic diagram of the liquid pipeline in Embodiment 1 of this utility model.

[0045] Figure 13 This is a schematic diagram of the arrangement of the electric propulsion device in Embodiment 1 of this utility model.

[0046] Figure 14 This is a schematic diagram of the cable-finding mechanism in Embodiment 1 of this utility model.

[0047] Figure 15 This is a schematic diagram of the structure of Embodiment 2 of this utility model.

[0048] In the diagram, 1-Main frame; 1.1-Top layer frame; 1.2-Bottom layer frame; 1.3-First column; 1.4-Second column; 1.5-Guide hole; 2-Buoyancy material; 3-Mobile trolley; 3.1-Top guide groove; 3.2-Side guide groove; 3.3-Cantilever support; 3.4-Clamping part; 3.4.1-Top plate; 3.4.2-Bottom plate; 3.4.3-Side plate; 3.4.4-Support wheel; 3.5-Telescopic hydraulic cylinder; 3.6-Top guide wheel; 3.7-Side guide wheel; 4-Cable pressing device; 4.1-Pressure... 4.2-Cable arm; 4.3-Cable clamping head; 4.3.1-Fixed support; 4.3.2-Cable clamping plate; 4.3.3-Sensor; 4.3.4-Pulley; 4.3.5-Support rod; 4.3.6-Limiting part; 5-Injection device; 5-Injection device; 5.1-High pressure jet pump; 5.2-Injection arm; 5.3-Liquid pipeline; 5.3.1-Fixed section; 5.3.2-Transition section; 5.3.3-Guide section; 5.3.4-Telescopic section; 5.3.5-Extension section; 5.3.6-Diverter hole; 5 5.4-Nozzle; 5.4.1-First Nozzle; 5.4.2-Second Nozzle; 5.5-Fixed Base; 5.5.1-Hinged Section; 5.5.2-Fixed Plate; 5.6-Fixed Nozzle; 5.7-Angle Adjustment Mechanism; 6-Sailing Propulsion Module; 6.1-Side Thruster; 6.2-Tail Thruster; 6.3-Vertical Thruster; 7-Cable Finding Mechanism; 7.1-External Sensor; 7.2-Internal Sensor; 7.3-Mounting Bracket; 7.4-Hydraulic Cylinder; 8-Skirt; 8.1-Skip; 8.2-Meter Counter Wheel; 8.3-Connecting 8.4 Connecting plate; 8.5 Connecting rod; 9 Track assembly; 9.1 Fixing plate; 9.2 Fixing bracket; 9.3 Connecting rod; 10 First bracket; 10.1 Square frame; 10.2 Transition column; 10.3 Support column; 10.4 Longitudinal beam; 10.5 General component; 10.6 Mounting hole; 11 Second bracket; 11.1 Support frame; 11.2 Support connecting rod; 11.3 Third column; 12 Gripper; 12.1 Adjusting hydraulic cylinder; 13 Robotic arm; 14 Guide column. Detailed Implementation

[0049] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0050] When using the terms "comprising," "having," and "including" as described in this specification, another part or other components may be included unless used. The terms are generally singular but can also represent plural forms. In the description of this specification, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, when constructing components, although not explicitly described, it is understood that a certain margin of error is necessarily included.

[0051] It should be noted that although various components may appear and be described in this specification using terms such as "first," "second," "top," "bottom," "one side," "the other side," "one end," "the other end," etc., these components and parts should not be limited by these terms. These terms are only used to distinguish one component and part from another. For example, without departing from the scope of this specification, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component; top and bottom components may, under certain circumstances, be interchanged or converted; and components at one end and the other end may have the same or different performance characteristics.

[0052] When describing positional relationships, for example, when the positional order is described as "on," "above," "below," and "next," situations where they are not in contact or are in contact may be included, unless words or terms such as "exactly" or "directly" are used. If it is said that the first element is "on" the second element, it does not mean that the first element must be above the second element in the drawing. The upper and lower parts of the components will change depending on the viewing angle and orientation. Therefore, in the drawings or in the actual construction, the situation where the first element is "on" the second element can include situations where the first element is "below" the second element and situations where the first element is "above" the second element.

[0053] like Figure 1-4As shown, this utility model provides a seabed operation equipment with variable operation type, including a main frame 1 and a navigation propulsion module 6 installed on the main frame 1. A cable laying device or an underwater salvage device is installed at the bottom of the main frame 1. The navigation propulsion module 6 is used to drive the seabed operation equipment underwater, that is, to adjust the position of the operation equipment. The cable laying device is used to carry out seabed cable laying operations, and the underwater salvage device is used to carry out seabed salvage operations. The specific structures of the cable laying device and the underwater salvage device are described in detail in the following embodiments.

[0054] The underwater operation equipment of this utility model adopts a modular design. The navigation propulsion module 6, cable laying device or salvage device are all installed on the main frame 1, which can be installed and replaced independently, improving the flexibility and multi-functionality of the equipment. By cooperating with the bottom device, different bottom devices can be replaced, and the equipment can switch between underwater cable laying and underwater salvage operations to meet different operational needs and greatly reduce the operating costs when carrying out different types of operations.

[0055] In some embodiments, the main frame 1 includes a top frame 1.1 and a bottom frame 1.2 in a U-shape. The top frame 1.1 and the bottom frame 1.2 are connected at their middle sections by a first column 1.3. The two ends of the short sides of the top frame 1.1 and the bottom frame 1.2 extend outwards respectively, and the extended ends are connected by a second column 1.4. The cable laying device or underwater salvage device is installed at the bottom of the bottom frame 1.2 and corresponds to the position of the second column 1.4. That is, the four corners of the bottom surface of the bottom frame 1.2, corresponding to the positions of the second column 1.4, are common connection points for connecting to the cable laying device or underwater salvage device. Bolt holes (not shown in the figure) are provided at the connection points, and guide holes 1.5 are provided at the center of the two diagonally opposite connection points. To enhance the structural strength, reinforcing rods can also be provided between the short sides of the U-shaped frame.

[0056] In some embodiments, the navigation propulsion module 6 employs an electric propulsion system, primarily comprising side thrusters 6.1 positioned on both sides of the main frame 1 (near the second column) and vertical thrusters 6.3 positioned at the top of the four corners of the main frame. The electric propulsion system utilizes a spiral fan structure. The axes of the four side thrusters 6.1 form a 45° angle with the direction of travel of the underwater operating equipment. The four side thrusters 6.1 are symmetrically arranged on the main frame, providing better steering and propulsion performance. The axes of the four vertical thrusters 6.3 are perpendicular to the direction of travel of the underwater operating equipment, i.e., perpendicular to the plane formed by the axes of the four side thrusters 6.1. The vertical thrusters 6.3 primarily control the descent speed of the equipment in the water, allowing for rapid descent to the required height with higher efficiency.

[0057] In some embodiments, a buoyancy material 2 may also be provided on the top of the main frame 1, which, together with the navigation propulsion module 6, can better control the stability of the equipment in water. After the buoyancy material 2 is provided, through holes are opened at the four corners of the buoyancy material 2, and the top of the vertical thruster 6.3 is located in the through hole.

[0058] Example 1

[0059] like Figure 1-3 , Figure 5 , Figure 6 As shown, this utility model provides a submarine operation equipment with variable operation type, mainly used for submarine cable laying operations. It includes a main frame 1, a buoyancy material 2, a navigation propulsion module 6, and a cable laying device. The buoyancy material 2 is installed on the top of the main frame 1, the navigation propulsion module 6 is installed on the main frame 1 and located below the buoyancy material 2, and the cable laying device is installed at the bottom of the main frame 1.

[0060] The cable laying device includes a first support 10, a seabed walking device, a cable pressing device 4, a movable trolley 3, and two jetting devices 5. The first support 10 is fixed to the bottom of the main frame 1, and the two jetting devices 5 are symmetrically arranged at the bottom of the first support 10. The movable trolley 3 is located above the two jetting devices 5 and is movably connected to the two jetting devices 5. The seabed walking device is used to drive the seabed operation equipment to move on the seabed surface. The seabed walking device is a skid 8 or a track assembly 9.

[0061] The movable trolley 3 is used to adjust the distance between the two jetting arms 5.2 of the two jetting devices 5; the two jetting devices 5 are used to cut the seabed soil at the corresponding position of the submarine cable by spraying high-pressure liquid based on the distance to form a cable groove of corresponding width; the cable pressing device 4 is used to press the cable into the cable groove.

[0062] The cable pressing device 4 is arranged in correspondence with the two jetting devices 5. That is, in the direction of travel of the seabed operating equipment, the cable pressing arm 4.1 of the cable pressing device 4 and the two jetting arms 5.2 of the two jetting devices 5 are both arranged vertically, and the cable pressing arm 4.1 is located in the middle of the two jetting arms 5.2. In the direction perpendicular to the direction of travel of the seabed operating equipment, the cable pressing arm 4.1 and the jetting arms are both arranged at an angle. The first angle between the axis of the cable pressing arm 4.1 and the horizontal line and the second angle between the axis of the two jetting arms 5.2 and the horizontal line meet certain conditions. Preferably, the difference between the first angle and the second angle is 8 degrees, so as to ensure the effect of the cable pressing device pressing the cable into the cable groove.

[0063] In some embodiments, the first support 10 includes a top square frame 10.1, which is formed by connecting corresponding steel structures or other material structures. The four corners of the top of the square frame are connected to the main frame 1 via four transition columns 10.2. Bolt holes (not shown in the figure) are provided on the transition columns. Guide columns 14 are provided on the top of two transition columns 10.2 at opposite corners. When the cable laying device is installed on the main support, the guide columns 14 cooperate with the guide holes 1.5 at the corresponding two corners of the bottom frame of the main frame 1 to guide the installation of the first support 10 to the main frame 1. Then, the first support is connected to the main frame by fastening bolts, realizing the connection between the cable laying device and the upper structure of the working equipment. Longitudinal beams 10.4 are connected to the bottom two sides of the square frame 10.1 via support columns 10.3. The support columns 10.3 can be solid structures, hollow structures, or I-shaped structures, designed according to actual needs. The movable trolley 3 and the cable pressing device 4 are installed on the square frame 10.1, the blasting device 5 is installed on the longitudinal beam 10.4 and the support column 10.3, and the seabed walking device is fixedly connected to the support column 10.3.

[0064] In some embodiments, such as Figure 7 As shown, the movable trolley 3 includes a top guide groove 3.1, a side guide groove 3.2, a cantilever support 3.3, two clamping parts 3.4, and two telescopic hydraulic cylinders 3.5, with the two telescopic hydraulic cylinders 3.5 respectively arranged corresponding to the two clamping parts 3.4; the top guide groove 3.1 and the side guide groove 3.2 are fixed to the first bracket 10 and arranged along the moving direction of the shooting arm. The top guide groove 3.1 and the side guide groove 3.2 serve as a guiding structure and also as part of the first bracket 10, which can increase the structural strength of the first bracket 10; the clamping parts 3.4 are used for clamping. At the end of the firing arm 5.2, the firing arm 5.2 can rotate around the clamping point. The top of the clamping part 3.4 engages with the top guide groove 3.1 via the top guide wheel 3.6. One end of the cantilever support 3.3 is connected to the inner side of the clamping part 3.4, and the other end of the cantilever support 3.3 engages with the side guide groove 3.2 via the side guide wheel 3.7. One end of the telescopic hydraulic cylinder 3.5 is fixed to the support column of the first bracket, and the other end is connected to the clamping part 3.4. The telescopic hydraulic cylinder 3.5 drives the clamping part 3.4 to move along the direction of the guide groove to adjust the distance between the two firing arms 5.2. Both the top guide wheel 3.6 and the side guide wheel 3.7 include two types of guide wheels arranged perpendicularly to each other. The two types of guide wheels are arranged alternately, so that the trolley can withstand both lateral and longitudinal forces.

[0065] The clamping part 3.4 includes a top plate 3.4.1, a bottom plate 3.4.2, and two oppositely arranged side plates 3.4.3. The top plate 3.4.1 is arranged parallel to the bottom plate 3.4.2. The two sides of the top plate 3.4.1 are fixedly connected to the upper ends of the two side plates 3.4.3, respectively. The two ends of the bottom plate 3.4.2 are fixedly connected to the bottom ends of the two side plates 3.4.3, respectively. The top guide wheel 3.6 is fixed to the top of the side plate 3.4.3. The bottom surface of the top plate 3.4.1 and the top surface of the bottom plate 3.4.2 are provided with three support wheels 3.4.4 arranged in a triangle. The hinged end of the shooting arm 5.2 is in contact with the three support wheels 3.4.4. When the angle adjustment mechanism 5.7 adjusts the rotation angle of the shooting arm 5.2, the hinged section can rotate within the clamping part 3.4. The three-point arrangement of support wheels not only ensures the rotation function but also improves the stability of the entire mechanism.

[0066] In some embodiments, the cable pressing device 4 includes a cable pressing arm 4.1, a cable pressing head 4.3, and a rotary hydraulic cylinder 4.2 for adjusting the angle of the cable pressing arm. One end of the cable pressing arm 4.1 is hinged to the bottom of the first support 10 (on a square frame), and the other end is fixedly connected to the cable pressing head 4.3. One end of the rotary hydraulic cylinder 4.2 is fixed to the first support 10, and the other end is fixedly connected to the cable pressing arm 4.1. Figure 8 As shown, the cable clamping head 4.3 includes a fixed support 4.3.1 and two arc-shaped cable clamping plates 4.3.2. The other end of the cable clamping arm 4.1 at the top of the fixed support 4.3.1 is connected. The two cable clamping plates 4.3.2 are arranged in parallel at intervals at the bottom of the fixed support 4.3.1. The two cable clamping plates 4.3.2 are arranged vertically and are connected by a pin and a support rod 4.3.5. A sliding wheel 4.3.4 is sleeved on the pin. The sliding wheel 4.3.4 can reduce the friction between it and the cable. The bottom side of the cable clamping plate 4.3.2 is provided with an outwardly inclined limiting part 4.3.6 to limit the cable deviation. The limiting part 4.3.6 is composed of several rod-shaped components spaced apart. A sensor 4.3.3 for detecting the cable is provided on the outside of the cable clamping plate 4.3.2. The sensor detects whether the cable clamping head accurately clamps the cable.

[0067] In some embodiments, such as Figure 9-12As shown, the jetting device 5 includes a high-pressure jet pump 5.1, a jetting arm 5.2, and an angle adjustment mechanism 5.7. The high-pressure jet pump 5.1 is a centrifugal electric pump, fixed on the longitudinal beam 10.4 of the first support 10. The high-pressure jet pump 5.2 is connected to the inside of the jetting arm 5.2 through a liquid pipeline 5.3. The jetting arm 5.2 is equipped with several nozzles 5.4. The angle adjustment mechanism 5.1 is used to adjust the angle of the jetting arm 5.2. One end of the angle adjustment mechanism 5.7 is connected to the movable trolley 3, and the other end is connected to the fixed seat 5.5 of the jetting arm 5.2. The high-pressure jet pump 5.2 is used to compress seawater into high-pressure liquid. The high-pressure liquid flows into the inside of the jetting arm 5.2 through the liquid pipeline 5.3 and is ejected from the nozzles 5.4 to shear the seabed soil and form the cable trough.

[0068] It is understood that the liquid pipeline 5.3 includes a fixed section 5.3.1, a transition section 5.3.2, a guide section 5.3.3, and a telescopic section 5.3.4 connected sequentially to form a right angle. One end of the fixed section 5.3.1 is connected to the output port of the high-pressure jet pump 5.1, and the other end is connected to the interior of the transition section 5.3.2. One end of the guide section 5.3.3 is connected to the interior of the transition section 5.3.2, and the other end is coaxially sleeved on the surface of the telescopic section 5.3.4. One end of the telescopic section 5.3.4 passes through the guide... The extension section 5.3.3 extends into the transition section 5.3.2, with its other end connected to the interior of the jet arm 5.2. The telescopic section 5.3.4 extends into the transition section, forming an extension section 5.3.5. The extension section 5.3.5 has several diversion holes 5.3.6. The transition section 5.3.2 is a hollow support column 10.3 integrated into the first support 10. The cross-sectional area of ​​the support column is larger than that of the fixed section 5.3.1 and the telescopic section 5.3.4. The support column 10.3 of the first support 10 serves both to support the entire frame and to connect the pipelines, achieving a compact structure between the pipeline mechanism and the frame. The cross-sectional area of ​​the internal section of the support column 10.3 is larger than that of the outlet pipe, ensuring sufficient liquid flow.

[0069] It is understood that the jet arm 5.2 includes a fixed base 5.5 and several fixed nozzles 5.6 of different lengths. The fixed nozzles 5.6 are arranged in order from shortest to longest. The fixed nozzles 5.6 are located in the same vertical plane and are arranged at an angle. The shortest fixed nozzle is located at the bottom. One end of the fixed base 5.5 is connected to the movable trolley 3 and the other end is connected to the fixed nozzle 5.6. The fixed base 5.5 is provided with a channel connecting the liquid pipe and the fixed nozzle. The several nozzles 5.4 are located at the bottom of the several fixed nozzles 5.5 and are not covered by the corresponding shorter fixed nozzles. The several nozzles 5.4 are divided into a first nozzle 5.4.1 and a second nozzle 5.4.2 according to the different directions of the nozzle axis arrangement. The first nozzle 5.4.1 and the second nozzle 5.4.2 are arranged alternately. It is understood that the fixed base 5.5 includes a fixed plate 5.5.2 and a triangular and hollow hinge section 5.5.1. One end of the hinge section 5.5.1 is hinged to the movable trolley, and the ends of the fixed nozzle and the fixed plate 5.5.2 are both connected to the other end of the hinge section 5.5.1. The side of the fixed nozzle is connected to the side of the fixed plate 5.5.2.

[0070] In some embodiments, to make the underwater working equipment more flexible and efficient when moving on the seabed, auxiliary thrusters can be provided on the first support 10 to provide additional thrust. Specifically, the auxiliary thrusters can be tail thrusters 6.2 installed on the two supporting columns 10.3 of the first support 10. The axis of the tail thrusters 6.2 is parallel to the direction of travel of the underwater working equipment. By cooperating with the side thrusters 6.1 and the vertical thrusters 6.3, the tail thrusters 6.2 can provide power to the working equipment in all directions, ensuring that the working equipment can move in all directions, making the equipment more flexible and efficient when moving on the seabed. The arrangement of the tail thrusters 6.2 and the side thrusters 6.1 is as follows. Figure 13 As shown.

[0071] In some embodiments, the first support 10 is further provided with a cable-finding mechanism 7, which is used to detect the relative position of the subsea operating equipment and the subsea cable. The cable-finding mechanism 7 is arranged at the head of the subsea operating equipment, and its structure is as follows: Figure 14As shown, it includes an external sensor 7.1 and an internal sensor 7.2. The internal sensor 7.2 is fixed to the first bracket 10, and the external sensor 7.1 is mounted on the first bracket 10 via a mounting bracket 7.3. The end of the mounting bracket 7.3 is hinged to the edge of the first bracket 10. A retractable hydraulic cylinder 7.4 is provided between the mounting bracket 7.3 and the first bracket 10. The hydraulic cylinder can drive the mounting bracket to rotate around its hinge point 90 degrees with the first bracket. When the mounting bracket is parallel to the first bracket 10, the external sensor 7.1 faces the seabed. Cable finding and tracking are performed through a cable finding mechanism. The cable finding and tracking method is a combination of internal and external sources. Compared with a single internal or single external source, the cable finding and tracking efficiency of this invention is higher, and the cable finding and tracking position is more accurate.

[0072] It is understood that universal components 10.5 are provided on the outer side of the support columns of the first bracket 10, and the skid plate 8 or track assembly 9 is installed on the bottom of the first bracket 10 through the universal components 10.5. The universal components 10.5 are fixed to the sides of the four support columns 10.3 of the first bracket 10. The universal components 10.5 are mounting plates with several mounting holes 10.6. Different underwater walking devices are connected to the first bracket 10 through mounting holes at different positions. This utility model achieves the variability of the underwater walking equipment by designing the first bracket 10 and the underwater walking device, and by setting universal components 10.5 that can be connected to different underwater walking devices. This design enables the equipment to adapt to different seabed terrains and operational needs, improving the equipment's versatility and flexibility. The universal components of this utility model use mounting plates with several mounting holes, which can easily connect different underwater walking devices through mounting holes at different positions. This design simplifies the installation and replacement process, improves work efficiency, and also reduces maintenance costs. This invention fixes universal components to the sides of the four supporting columns of the first bracket, ensuring that the underwater walking device is stably installed on the first bracket while maintaining the overall structural strength of the equipment. This design helps improve the stability and durability of the equipment.

[0073] When the underwater walking device is a skid plate 8, there are two skid plates 8, which are symmetrically installed on both sides of the first support 10. The two ends of the skid plates 8 are respectively connected to the corresponding universal components 10.5 through first connectors. The first connector includes a connecting plate 8.3 and a connecting part 8.4. The connecting part 8.4 is a tubular structure formed by connecting several plates. One side of the connecting plate 8.3 is connected to the universal component 10.5, and the other side is fixedly connected to one end of the connecting part 8.4. The other end of the connecting part 8.4 is fixedly connected to the skid plate 8. The skid 8 includes a sliding plate 8.1 and a measuring wheel 8.2. The measuring wheel contains a measuring device for measuring the speed and distance traveled by the equipment. Both ends of the sliding plate 8.1 are curved upwards to form folded edges. The top of the two ends of the sliding plate 8.1 located inside the folded edges are connected to two first connecting members, respectively. The measuring wheel 8.2 is located at one end of the sliding plate 8.1 and is spaced a certain distance from the end of the sliding plate. The measuring wheel 8.2 is connected to the first connecting member via a connecting rod 8.5. That is, the measuring wheel is only located at the head of the underwater operating equipment. This utility model designs the skid as an underwater walking device. By cooperating with a propulsion unit, it can propel the entire equipment forward on the seabed. It features a simple structure, is lightweight, and easy to operate. The two skids are symmetrically installed on both sides of the first support, ensuring the balance and stability of the equipment when walking on the seabed. Simultaneously, the design of the skids facilitates gliding on different seabed terrains. The design of the first connecting member in this invention allows the skid to be firmly connected to the universal component, while ensuring the strength and stability of the connection. The tubular structure of the connecting part can improve the torsional resistance of the connecting member and ensure the safety of the equipment during movement. The design of the skid in this invention includes a sliding plate and a meter wheel, which can further improve the flexibility and stability of the equipment when moving on the seabed; the folded edge design can reduce the resistance of the equipment during movement.

[0074] When the underwater walking device is a track assembly 9, there are two track assemblies 9, symmetrically installed on both sides of the first support 10. Each track assembly 9 is equipped with a power mechanism (not shown in the figure) capable of driving the tracks forward. Both ends of each track assembly 9 are connected to a corresponding universal component via a second connecting member. The second connecting member includes a fixing plate 9.1, a fixing bracket 9.2, and a connecting rod 9.3. One side of the fixing plate 9.1 is connected to the universal component 10.5, and the other side is connected to one end of the fixing bracket 9.2. The other end of the fixing bracket 9.2 is connected to the inner side of the track assembly 9. One end of the connecting rod 9.3 is connected to the outer side of the track assembly 9, and the other end is connected to the fixing bracket 9.2. This utility model designs a track assembly as an underwater walking device, which has better obstacle-crossing ability and adaptability; the symmetrical installation of two track assemblies on both sides of the first support ensures the equipment's passability and stability on complex seabed terrain; the track assembly design also improves the equipment's traction and climbing ability. The design of the second connector of this utility model enables the track assembly to be firmly connected to the general components, while ensuring the strength and stability of the connection; the combined design of the fixing plate, fixing bracket and connecting rod can ensure the stability and safety of the track during movement.

[0075] In some embodiments, the adjustment and control of the various components of the cable laying device (cable pressing device 4, two jetting devices 5, cable searching mechanism 7, and seabed walking device) are controlled by a control unit to realize the cable laying operation. The control unit can be a conventional control system external to equipment such as ships, and transmits signals through a wireless communication module. The specific operation process for laying submarine cables is as follows:

[0076] Based on the predicted shear force of the seabed sediment, select either the track assembly 9 or the skid 8 for installation, and determine the installation height.

[0077] The underwater operation equipment travels to the designated operation location via the navigation propulsion module 6.

[0078] The hydraulic cylinder in the cable-finding mechanism 7 is activated until the mounting frame is in a horizontal position. Two types of sensors perform cable-finding detection to determine the specific location of the submarine cable.

[0079] The underwater operating equipment adjusts its overall direction of travel based on the location detected by the submarine cable, and navigates directly above the submarine cable route.

[0080] The high-pressure jet pump 5.1 is started. The extension distance of the jetting arm 5.2 is set according to the required trench width. The distance between the two jetting arms 5.2 is adjusted by the movable trolley 3. The jetting arm is rotated to the required position by the angle adjustment mechanism 5.7. The cable pressing arm 4.1 is rotated to the required position.

[0081] When the underwater walking device is a skid 8, the propulsion unit 6 is activated (it can be any one or more of the side thrusters, vertical thrusters, and tail thrusters). The propulsion unit 6 and the skid 8 work together to propel the equipment along the cable laying track. When the underwater walking device is a tracked assembly, the tracked assembly 9 is activated, propelling the equipment along the cable laying track. In this case, the propulsion unit 6 can be activated or deactivated as needed.

[0082] Submarine work equipment has begun trenching and cable laying operations.

[0083] Example 2

[0084] like Figure 1-2 , Figure 4 , Figure 15 As shown, this utility model provides a seabed operation equipment with variable operation type, mainly used for seabed salvage operations. It includes a main frame 1, a buoyancy material 2, a propulsion module 6, and an underwater salvage device. The buoyancy material 2 is installed on the top of the main frame 1, the propulsion module 6 is installed on the main frame 1 and located below the buoyancy material, and the underwater salvage device is installed at the bottom of the main frame.

[0085] In some embodiments, the underwater salvage device includes a second support 11, grippers 12, and two robotic arms 13. The second support 11 is fixed to the bottom of the main frame 1, the grippers 12 are disposed at the bottom of the second support 11, and the two robotic arms 13 are spaced apart at the ends of the second support 11. The grippers 12 are used for gripping and salvaging large-diameter pipes and equipment, and the opening and closing of the grippers 12 is achieved by a set adjusting hydraulic cylinder 12.1. The robotic arms 13 are used for inserting and removing underwater connectors for the seabed observation network and installing equipment. Several sensors can be installed on the robotic arms 13. Both the grippers 12 and the robotic arms 13 are conventional structures. This invention, through the cooperation of the grippers and robotic arms, enables the device to perform seabed salvage operations, meeting various needs of seabed operations.

[0086] In some embodiments, the second support 11 includes a U-shaped support frame 11.1. Supporting rods 11.2 are provided between the short side beams of the support frame 11.1. The two ends of the outer short side beams of the support frame 11.1 extend outwards, and a third column 11.3 is provided at the top of the extended portion. The third column 11.3 is connected to the bottom of the main frame 1. Specifically, guide columns 14 are provided at the top of the two diagonally positioned third columns 11.3. The second support 11 is installed on the main frame 1 by cooperating with the guide holes 1.5 on the main frame 1 through the guide columns 14. After the two are installed and in contact, they are fastened together with bolts, realizing the connection between the underwater salvage device and the upper structure of the working equipment. The gripper 12 is fixed to the bottom of the supporting rods 11.2 between the middle short side beams of the support frame 11.1. The cooperation of the U-shaped support frame and the supporting rods forms a stable support structure, improving the stability and load-bearing capacity of the gripper and the robotic arm. The connection between the third column and the main frame facilitates the installation and maintenance of the underwater salvage device.

[0087] In some embodiments, the specific process for underwater salvage operations using underwater equipment is as follows:

[0088] The underwater operation equipment travels to the designated operation location via the navigation propulsion module 6.

[0089] The location of the target can be detected by the underwater camera or sonar carried by the equipment, or the location of the target can be obtained directly by connecting to the corresponding equipment on the ship;

[0090] The propulsion system is activated, propelling the equipment to the target location.

[0091] The target is gripped and retrieved by adjusting the opening and closing angle of the gripper 12; the corresponding equipment is installed by adjusting the robotic arm 13.

[0092] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Contents not described in detail in this specification belong to prior art known to those skilled in the art.

Claims

1. A seabed work apparatus of which work type is variable, characterized by: The utility model provides a kind of seabed operation equipment, including main body frame (1) and install on main body frame (1) navigation propulsion module (6), the bottom of the main body frame (1) is installed cable laying device or underwater salvage device; The navigation propulsion module (6) is used to drive the seabed operation equipment to navigate underwater; The cable laying device is used for seabed cable laying operation; The underwater salvage device is used for seabed salvage operation.

2. The seabed work apparatus of claim 1, wherein: The main body frame (1) includes top frame (1.1) and bottom frame (1.2) in the form of eye, the middle part between top frame (1.1) and bottom frame (1.2) is connected by first column (1.3), the short side of top frame (1.1) and bottom frame (1.2) extends to the outside respectively, and the extended end is connected by second column (1.4), and the cable laying device or underwater salvage device is installed on the bottom of bottom frame (1.2) and corresponds with the position of second column (1.4).

3. The seabed work apparatus of claim 1, wherein: The navigation propulsion module (6) includes four edge propellers (6.1) and four vertical propellers (6.3), four edge propellers (6.1) are arranged on both sides of main body frame (1) and below vertical propeller (6.3), and the axis of four edge propellers (6.1) forms a certain angle with the direction of travel of seabed operation equipment;Four vertical propellers (6.3) are arranged on the top of four corners of main body frame, and the axis of four vertical propellers (6.3) is perpendicular to the direction of travel of seabed operation equipment.

4. The seabed work apparatus of claim 1, wherein: The cable laying device includes first support (10) and seabed walking device, cable pressing device (4), movable cart (3) and two jetting devices (5) installed on first support (10), the first support (10) is fixed on the bottom of main body frame, two jetting devices are symmetrically arranged on the bottom of first support (10), the movable cart (3) is arranged above two jetting devices (5) and is movably connected with two jetting devices (5), and the cable pressing device (4) is arranged corresponding to two jetting devices (5); The seabed walking device is used to drive the seabed operation equipment to walk on seabed surface; The movable cart (3) is used to adjust the distance between the jetting arms of two jetting devices (5); The two jetting devices (5) are used to shear seabed soil to form a corresponding width of cable groove in the form of spraying high-pressure liquid based on the distance at the corresponding position of seabed cable, and the cable pressing device (4) is used to press the cable into the cable groove.

5. The seabed work apparatus of claim 4, wherein: The movable cart (3) includes top guide groove (3.1), side guide groove (3.2), cantilever support (3.3), two clamping parts (3.4) and two telescopic hydraulic cylinders (3.5), two telescopic hydraulic cylinders (3.5) are arranged corresponding to two clamping parts (3.4) respectively;The top guide groove (3.1) and side guide groove (3.2) are fixed on first support and arranged along the moving direction of jetting arm. The clamping part (3.4) is used for clamping the end of the shooting arm, the shooting arm can rotate around the clamping point, the top of the clamping part (3.4) is matched with the top guide groove (3.1) through the top guide wheel (3.6), one end of the cantilever support (3.3) is connected with the inner side of the clamping part (3.4), the other end of the cantilever support (3.3) is matched with the side guide groove (3.2) through the side guide wheel (3.7), one end of the telescopic hydraulic cylinder (3.5) is fixed on the first support (10), the other end is connected with the clamping part (3.4), the distance between the two shooting arms is adjusted by driving the clamping part (3.4) to move along the arrangement direction of the guide groove through the telescopic hydraulic cylinder (3.5).

6. The seabed work apparatus of claim 4, wherein: The shooting device (5) comprises a high-pressure jet pump (5.1), a shooting arm (5.2) and an angle adjusting mechanism (5.7), the high-pressure jet pump (5.1) is fixed on the first support, the high-pressure jet pump (5.1) is communicated with the inside of the shooting arm (5.2) through the liquid pipeline (5.3), a plurality of nozzles (5.4) are arranged on the shooting arm (5.2); the angle adjusting mechanism (5.7) is used for adjusting the angle of the shooting arm (5.2), one end of the angle adjusting mechanism (5.7) is connected with the movable cart, the other end is connected with the fixed seat of the shooting arm (5.2); The high-pressure jet pump (5.1) is used for compressing seawater into high-pressure liquid, the high-pressure liquid is communicated to the inside of the shooting arm (5.2) through the liquid pipeline, and is sprayed out of the nozzles (5.4) to shear the seabed soil to form the cable trench.

7. The seabed work apparatus of claim 6, wherein: The liquid pipeline (5.3) comprises a fixed section (5.3.1), a transition section (5.3.2), a guide section (5.3.3) and an extension section (5.3.4) connected in sequence to form a right angle, one end of the fixed section (5.3.1) is communicated with the output port of the high-pressure jet pump, the other end is communicated with the inside of the transition section (5.3.2), one end of the guide section (5.3.3) is communicated with the transition section (5.3.2), the other end is coaxially sleeved on the surface of the extension section (5.3.4), one end of the extension section (5.3.4) extends to the inside of the transition section (5.3.2) after passing through the guide section (5.3.3), the other end is communicated with the inside of the shooting arm, the end of the extension section (5.3.4) extending to the inside of the transition section (5.3.2) forms an extension section, a plurality of shunt holes are opened on the extension section, the transition section (5.3.2) is a hollow support column integrated on the first support (10), the cross-sectional area of the support column is larger than the cross-sectional area of the fixed section and the extension section.

8. The seabed work apparatus of claim 4, wherein: The seabed walking device is a skid plate (8) or a track assembly (9), universal assemblies (10.5) are arranged on the bottom of the first support (10) on both sides, the skid plate (8) or the track assembly (9) is installed on the bottom of the first support (10) through the universal assemblies (10.5).

9. The seabed work apparatus of claim 4, wherein: The first support (10) is provided with a cable searching mechanism (7) for detecting the relative position of the seabed operation equipment and the submarine cable, the cable searching mechanism (7) comprises an exogenous sensor (7.1) and an endogenous sensor (7.2), the endogenous sensor (7.2) is fixed on the first support (10), the exogenous sensor (7.1) is arranged on the first support (10) through a mounting bracket (7.3), the end of the mounting bracket (7.3) is hinged to the edge of the first support (10), the mounting bracket (7.3) can rotate 90 around the hinged place with the first support (10), when the mounting bracket (7.3) is parallel to the horizontal plane, the exogenous sensor (7.1) is parallel to the sea level.

10. The seabed work apparatus of claim 1, wherein: The underwater salvage device comprises a second support (11), a clamping jaw (12) and two mechanical arms (13), the second support (11) is fixed at the bottom of the main body frame (1), the clamping jaw (12) is arranged at the bottom of the second support (11), and the two mechanical arms (13) are arranged at the ends of the second support (11) in a spaced manner, the clamping jaw (11) is used for clamping and salvaging large-diameter equipment of large pipelines, and the mechanical arms (12) are used for plugging and unplugging the underwater connector of the seabed observation net and installing equipment.

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