Multi-mode submarine cable trenching device

Abstract

The utility model discloses a multi-mode submarine cable ditching device which comprises a main body frame, an electric propeller is arranged on the main body frame, a seabed walking device, a movable cart 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 movable cart is arranged above the two injection devices and is movably connected with the two injection devices; the electric propeller is used for driving the submarine electric ditching device to sail in water, and the submarine walking device is used for driving the submarine cable ditching device to walk on the submarine surface; the movable cart is used for adjusting the distance between the injection arms of the two injection devices; and the two injection devices are used for shearing seabed soil in a mode of injecting high-pressure liquid to form a cable trough with a corresponding width. The device has the universality of operation with different trenching widths and the universality of operation with different seabed sediment hardness, the operation efficiency and safety are improved, and the cost and the risk are reduced.

Description

Technical Field

[0001] This utility model belongs to the field of marine underwater operation engineering technology, specifically relating to a multimodal submarine cable trenching device. Background Technology

[0002] Currently, traditional trenching equipment has significant limitations when performing trenching operations. These limitations mainly lie in the inability to automatically adjust the trench width. Additionally, the installation height between the track assembly or skid and the trenching machine frame is fixed. Under different shear forces in the seabed sediment, this can cause the trenching equipment to sink to different depths on the sediment surface, directly affecting trenching efficiency. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of the aforementioned background technology and provide a multimodal submarine cable trenching device to adapt to trenching requirements of different widths and improve the versatility and efficiency of the trenching machine.

[0004] The technical solution adopted by this utility model is: a multimodal submarine cable trenching device, including a main frame, an electric propeller on the main frame, a submarine walking device, a movable trolley and two jetting devices at the bottom of the main frame, the two jetting devices being symmetrically arranged at the bottom of the main frame, and the movable trolley being arranged above the two jetting devices and movably connected to the two jetting devices.

[0005] The electric propulsion unit is used to drive the submarine electric trenching device to navigate in the water, and the submarine walking device is used to drive the submarine cable trenching device to walk on the seabed surface.

[0006] 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 shear the seabed soil at corresponding positions on the seabed by spraying high-pressure liquid to form cable trenches of corresponding width based on the distance.

[0007] Furthermore, the movable trolley includes a top guide groove, a side guide groove, two cantilever supports, 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 main frame and arranged along the moving direction of the punching arm;

[0008] 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 to the main frame, 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.

[0009] Furthermore, the clamping part includes a top plate, a bottom plate, and two oppositely arranged side plates. The top plate and the bottom plate are arranged in parallel. The two sides of the top plate are fixedly connected to the upper ends of the two side plates, and the two ends of the bottom plate are fixedly connected to the bottom ends of the two side plates. The top guide wheel is fixed to the top of the side plate. The bottom surface of the top plate and the top surface of the bottom plate are provided with three support wheels arranged in a triangle. The end of the punching arm is in contact with the three support wheels.

[0010] Furthermore, the jetting device includes a high-pressure jet pump, a jetting arm, and an angle adjustment mechanism. The high-pressure jet pump is connected to the inside of the jetting arm through a liquid pipeline, and 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 a fixed seat of the jetting arm.

[0011] The high-pressure jet pump is used to compress seawater into high-pressure liquid. The high-pressure liquid flows through the liquid pipeline to the inside of the jet arm and is ejected from the nozzle to shear the seabed plane and form the cable trough.

[0012] 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 into the main frame, and the cross-sectional area of ​​the column structure is larger than the cross-sectional area of ​​the fixed section and the telescopic section.

[0013] Furthermore, the jet arm includes a fixed base and several fixed nozzles of different lengths. The fixed nozzles are arranged in order from shortest to longest, and 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 is connected to a movable trolley, and the other end is connected to the fixed nozzles. The fixed base is provided with a channel connecting the liquid pipe and the fixed nozzles. The several nozzles are located at the bottom of the several fixed nozzles. The several nozzles are divided into first nozzles and second nozzles according to the different directions of the nozzle axis arrangement. The first nozzles and second nozzles are arranged alternately.

[0014] Furthermore, the fixed base includes a hinged section with a fixed plate that is triangular in shape and hollow inside. One end of the hinged section is hinged to the movable trolley, and the ends of the fixed nozzle and the fixed plate are both connected to the other end of the hinged section. The side of the fixed nozzle is connected to the side of the fixed plate.

[0015] 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 main frame. The skid or track assembly is installed on the bottom of the main frame through the universal components.

[0016] Furthermore, the electric propulsion system includes side propulsion units mounted on four columns of the main frame and a tail propulsion unit mounted at the tail of the submarine cable trenching device. The axes of the four side propulsion units form a certain angle with the direction of travel of the submarine cable trenching device, and the axis of the tail propulsion unit is parallel to the direction of travel of the submarine cable trenching device.

[0017] Furthermore, the main frame is equipped with a detection component for detecting the relative position of the submarine cable trenching device and the submarine cable. The detection component includes an external sensor and an internal sensor. The internal sensor is fixed on the main frame, and the external sensor is mounted on the main frame via a mounting bracket. The end of the mounting bracket is hinged to the edge of the main frame, and the mounting bracket can rotate 90 degrees around the hinge point with the main frame. When the mounting bracket is parallel to the horizontal plane, the external sensor is parallel to the sea level.

[0018] The beneficial effects of this utility model are as follows:

[0019] This utility model arranges a seabed walking device, a jetting device, an electric propulsion device, a cable finding mechanism, and other equipment on the cable trenching device. Through the cooperation of these devices, the entire trenching device has the versatility to operate with different trench widths and different seabed mud and sand hardness, thereby improving operational efficiency and safety, and reducing costs and risks.

[0020] The punching device on this utility model cable trenching device works in conjunction with the movable trolley to dig trenches of different widths according to requirements, making it more versatile. At the same time, the angle adjustment mechanism of the punching arm is combined with the movable trolley to ensure the flexibility of the hydraulic rod in the extension and rotation directions. Furthermore, the guide wheels on the movable trolley are arranged at right angles, which can simultaneously withstand horizontal and vertical forces to ensure the stability of the entire mechanism.

[0021] 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 improving trenching efficiency.

[0022] The main frame of this utility model serves both as support and for media flow, making the overall frame structure simpler, reducing the liquid piping system, and reducing the overall frame weight.

[0023] The two jetting devices of this invention are symmetrically arranged on the main frame, which can ensure the symmetry of the center of the entire trenching device, reduce the shaking of the trenching device due to unbalanced force caused by vibration during operation, and enhance safety during operation and walking.

[0024] The electric propellers on the cable trenching device of this utility model are symmetrically installed on the frame, which can reduce the shaking of the trenching device caused by unbalanced force due to vibration during operation, and enhance safety during operation and movement. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of one structure of the present invention (the walking device is a skid).

[0026] Figure 2 This is another structural schematic diagram of the present invention (the walking device is a track assembly).

[0027] Figure 3 This is a partial schematic diagram of the movable trolley of this utility model.

[0028] Figure 4 This is a partial schematic diagram of the arrangement of the blasting arm of this utility model.

[0029] Figure 5 This is a schematic diagram of the nozzle arrangement of this utility model.

[0030] Figure 6 This is a partial schematic diagram of the liquid pipeline of this utility model.

[0031] Figure 7 This is another partial schematic diagram of the liquid pipeline of this utility model.

[0032] Figure 8 This is a schematic diagram of the arrangement of the electric propulsion device of this utility model.

[0033] Figure 9 This is a schematic diagram of the cable-finding mechanism of this utility model.

[0034] In the diagram, 1-Main frame; 1.1-Column; 1.2-General components; 1.3-Mounting holes; 2-Buoyancy material; 2.1-Through hole; 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-Seabed walking 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 5.3.5 - Extension section; 5.3.6 - Diverter hole; 5.4 - Nozzle; 5.4.1 - First nozzle; 5.4.2 - Second nozzle; 5.5 - Fixing base; 5.5.1 - Hinge section; 5.5.2 - Fixing plate; 5.6 - Fixing nozzle; 5.7 - Angle adjustment mechanism; 6 - Electric thruster; 6.1 - Side thruster; 6.2 - Tail thruster; 7 - Cable-finding mechanism; 7.1 - External sensor; 7.2 - Internal sensor; 7.3 - Mounting bracket; 7.4 - Hydraulic cylinder; 8 - Skid; 8.1 - Slide plate; 8.2 - Meter wheel; 8.3 - Connecting plate; 8.4 - Connecting part; 8.5 - Connecting rod; 9 - Track assembly; 9.1 - Fixing plate; 9.2 - Fixing bracket; 9.3 - Connecting rod. Detailed Implementation

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] like Figure 1 , Figure 2 As shown, this utility model provides a multimodal submarine cable trenching device, including a main frame 1, an electric propeller 6 on the main frame 1, a submarine walking device 4, a movable trolley 3 and two jetting devices 5 at the bottom of the main frame 1, the two jetting devices 5 being symmetrically arranged at the bottom of the main frame 1, and the movable trolley 3 being disposed above the two jetting devices 5 and movably connected to the two jetting devices 5.

[0040] The electric propulsion 6 is used to drive the submarine electric trenching device to navigate in the water, and the submarine walking device 4 is used to drive the submarine cable trenching device to move on the seabed surface. The submarine walking device 4 is a skid 8 or a track assembly 9.

[0041] 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 shear the seabed soil at the corresponding position on the seabed by spraying high-pressure liquid based on the distance to form a cable trough of the corresponding width.

[0042] In some embodiments, such as Figure 3As 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 main frame 1 and arranged along the moving direction of the injection arm; the clamping parts 3.4 are used to clamp the end of the injection arm 5.2, and the injection arm 5.2 can rotate around the clamping point. 3.4 The top guide wheel 3.6 engages with the top guide groove 3.1. 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 main frame 1, 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 shooting 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.

[0043] 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.

[0044] In some embodiments, such as Figure 4-7As 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. 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 angle adjustment mechanism is preferably a telescopic hydraulic cylinder. 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 wash the seabed surface and form the groove.

[0045] 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... After passing through guide section 5.3.3, it extends into transition section 5.3.2, with its other end connecting to the interior of jet arm 5.2. Extension section 5.3.4 extends into the transition section, forming extension section 5.3.5. Extension section 5.3.5 has several diversion holes 5.3.6. Transition section 5.3.2 is a hollow column structure 1.1 integrated into the main frame 1. The cross-sectional area of ​​the column structure is larger than that of the fixed section 5.3.1 and extension section 5.3.4. The supporting column 1.1 of the main frame 1 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 column 1.1 is larger than that of the outlet pipe, ensuring sufficient liquid flow.

[0046] 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.

[0047] In some embodiments, such as Figure 8 As shown, the electric propulsion unit 6 includes side propellers 6.1 located at the four corners (on the sides of the four columns) of the main frame and a tail propeller 6.2 located at the end of the main frame (the tail of the submarine cable trenching device). The electric propulsion unit adopts a spiral fan structure. The axes of the side propellers 6.1 located at the four corners of the main frame form a 45° angle with the direction of travel of the submarine cable trenching device, and the axis of the tail propeller 6.2 located at the tail of the submarine cable trenching device is parallel to the direction of travel of the submarine cable trenching device. To make the submarine trenching device more flexible and efficient when moving on the seabed, four vertical propellers can also be installed on the main frame. The four vertical propellers are located at the top of the four corners of the main frame, and through holes 2.1 are opened at the four corners of the buoyancy material 2, with the top of the vertical propellers located in the through holes. The axes of the four vertical propellers are perpendicular to the direction of travel of the submarine operating equipment, that is, perpendicular to the plane formed by the axes of the four side propellers 6.1. The vertical propellers mainly control the descent speed of the equipment in the water. By controlling the vertical propellers, the equipment can be quickly lowered to the required height, resulting in higher efficiency. The three types of thruster combinations can provide power to the trenching device in six dimensions, ensuring that the trenching device can move in six dimensions.

[0048] In some embodiments, the main frame 1 is provided with a cable-finding mechanism 7 for detecting the relative position of the submarine cable trenching device and the submarine cable. The cable-finding mechanism 7 is arranged at the head of the trenching device, such as... Figure 9As shown, it includes an external sensor 7.1 and an internal sensor 7.2. The internal sensor 7.2 is fixed to the main frame 1, and the external sensor 7.1 is mounted on the main frame 1 via a mounting bracket 7.3. The end of the mounting bracket 7.3 is hinged to the edge of the main frame 1. A retractable hydraulic cylinder 7.4 is provided between the mounting bracket 7.3 and the main frame 1. The hydraulic cylinder can drive the mounting bracket to rotate 90 degrees around its hinge point with the main frame. When the mounting bracket is parallel to the main frame, 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 combines 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.

[0049] It is understood that universal components 1.2 are respectively provided on both sides of the bottom of the main frame 1, and the skid plate 8 or track assembly 9 is installed on the bottom of the main frame 1 through the universal components 1.2. The universal components 1.2 are fixed to the sides of the four columns 1.1 of the main frame 1. The universal components 1.2 are mounting plates with a number of mounting holes 1.3. Different underwater walking devices are connected to the main frame 1 through mounting holes at different positions.

[0050] When the underwater walking device 4 is a skid plate 8, there are two skid plates 8, which are symmetrically installed on both sides of the main frame 1. The two ends of the skid plates 8 are respectively connected to the corresponding universal components 1.2 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 1.2, 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 plate 8 includes a sliding plate 8.1 and a measuring wheel 8.2. The measuring wheel contains a measuring device for measuring the travel speed and distance of the working 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 installed at the head of the submarine cable trenching device. This utility model designs the skid plate as a submarine walking device. In conjunction with an electric propulsion unit, it can drive the entire trenching device forward on the seabed. It features a simple structure, is lightweight, and easy to operate. The two skid plates are symmetrically installed on both sides of the main frame, ensuring the balance and stability of the equipment when walking on the seabed. At the same time, the design of the skid plate also 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 improves the torsional resistance of the connecting member, ensuring the safety of the equipment during movement. The skid design of this invention includes a sliding plate and a meter-counting wheel, which can further improve the flexibility and stability of the equipment when moving on the seabed. The folded edge design reduces the resistance of the equipment during movement, while the meter-counting wheel provides better support and sliding effect on uneven seabed terrain.

[0051] When the underwater walking device 4 is a track assembly 9, there are two track assemblies 9, symmetrically installed on both sides of the main frame 1. 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 1.2, 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.

[0052] In some embodiments, the adjustment and control of the two ramming devices 5, the electric thruster 6, the cable-finding mechanism 7, and the seabed walking device 4 are controlled by a control unit to realize cable trenching operations. The control unit can be a conventional control system external to equipment such as ships, and signals are transmitted through a wireless communication module. The specific process is as follows:

[0053] 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.

[0054] The cable trenching device travels to the designated work position via an electric propeller 6.

[0055] The hydraulic cylinder in the cable-finding mechanism 7 is activated until the mounting frame is in a horizontal position. Two types of sensors then perform cable-finding detection to determine the specific location of the submarine cable.

[0056] The trenching device adjusts its overall position based on the orientation detected by the submarine cable until it matches the shape during trenching operations.

[0057] 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.

[0058] When the underwater walking device is a skid 8, the electric propulsion unit 6 is activated, and the trenching device moves forward along the cable laying track through the cooperation of the electric propulsion unit 6 and the skid 8. When the underwater walking device is a track assembly, the track assembly 9 is activated, driving the trenching device forward along the cable laying track. At this time, the electric propulsion unit can be activated or deactivated according to actual needs.

[0059] The cable trenching equipment began trenching operations.

[0060] 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 multi-modal subsea cable trenching apparatus, characterized by: The utility model provides a kind of seabed cable trenching device, including main body frame (1), electric propeller (6) is arranged on the main body frame, seabed walking device (4) is arranged on the bottom of main body frame, movable cart (3) and two jetting devices (5) are arranged, two jetting devices (5) are symmetrically arranged on the bottom of main body frame, and movable cart (3) is arranged above two jetting devices and is movably connected with two jetting devices (5); The electric propeller (6) is used to drive the seabed cable trenching device to sail in water, and the seabed walking device (4) is used to drive the seabed cable trenching device to walk on the seabed surface. The movable cart (3) is used to adjust the distance between the jetting arms of the two jetting devices. The two jetting devices (5) are used to shear the seabed soil to form a corresponding width of cable trench by spraying high-pressure liquid at the corresponding position on the seabed based on the distance.

2. The multi-modal subsea cable trenching apparatus of claim 1, wherein: The movable cart (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), and the two telescopic hydraulic cylinders (3.5) are correspondingly arranged with the two clamping parts (3.4). The top guide groove (3.1) and the side guide groove (3.2) are fixed on the main body frame (1) and arranged along the moving direction of the jetting arms. The clamping part (3.4) is used to clamp the end of the jetting arm, the jetting arm (5.2) 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 through the side guide wheel (3.7), one end of the telescopic hydraulic cylinder (3.5) is fixed on the main body frame, and the other end is connected with the clamping part (3.4). The distance between the two jetting 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).

3. The multi-modal subsea cable trenching apparatus of claim 2, wherein: The clamping part (3.4) includes a top plate (3.4.1), a bottom plate (3.4.2), and two side plates (3.4.3) oppositely arranged, the top plate (3.4.1) is arranged in parallel with the bottom plate (3.4.2), the two sides of the top plate (3.4.1) are respectively fixedly connected with the upper ends of the two side plates (3.4.3), the two ends of the bottom plate (3.4.2) are respectively fixedly connected with the bottom ends of the two side plates (3.4.3), the top guide wheel (3.6) is fixed on the top of the side plate, and 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 supporting wheels (3.4.4) arranged in a triangular shape, and the end of the jetting arm (5.2) is connected with the three supporting wheels (3.4.4).

4. The multi-modal subsea cable trenching apparatus of claim 1, wherein: The jetting device (5) comprises a high-pressure jet pump (5.1), a jetting arm (5.2) and an angle adjusting mechanism (5.7), the high-pressure jet pump (5.1) is in communication with the inside of the jetting arm (5.2) through a liquid pipeline (5.3), and a plurality of nozzles (5.4) are arranged on the jetting arm (5.2); the angle adjusting mechanism (5.7) is used for adjusting the angle of the jetting arm (5.2), one end of the angle adjusting mechanism (5.7) is connected with the movable cart (3), and the other end is connected with the fixed seat of the jetting arm (5.2). The high-pressure jet pump (5.1) is used for compressing seawater into high-pressure liquid, the high-pressure liquid flows to the inside of the jetting arm (5.2) through the liquid pipeline (5.3), and is sprayed from the nozzles (5.4) to shear the seabed surface to form the cable trench.

5. The multi-modal subsea cable trenching apparatus of claim 4, 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 expansion section (5.3.4) connected in sequence to form a right angle, one end of the fixed section (5.3.1) is in communication with the output port of the high-pressure jet pump (5.1), and the other end is in communication with the inside of the transition section (5.3.2); one end of the guide section (5.3.3) is in communication with the transition section (5.3.2), and the other end is coaxially sleeved on the surface of the expansion section (5.3.4); one end of the expansion section (5.3.4) extends to the inside of the transition section (5.3.2) after passing through the guide section (5.3.3), and the other end is in communication with the inside of the jetting arm; the end of the expansion section (5.3.4) extending to the inside of the transition section (5.3.2) forms an extension section (5.3.5), a plurality of shunt holes (5.3.6) are arranged on the extension section, the transition section (5.3.2) is a hollow column structure integrated on the main frame (1), and the cross-sectional area of the column structure is greater than that of the fixed section and the expansion section.

6. The multi-modal subsea cable trenching apparatus of claim 4, wherein: The jetting arm (5.2) comprises a fixed seat (5.5) and a plurality of fixed nozzles (5.6) of different lengths, the plurality of fixed nozzles (5.6) are arranged in order from short to long, the plurality of fixed nozzles (5.6) are arranged in the same vertical plane and are inclined, and the shortest fixed nozzle is located at the lowermost position; one end of the fixed seat (5.5) is connected with the movable cart (3), and the other end is connected with the fixed nozzles; the fixed seat (5.5) is provided with a channel in communication with the liquid pipeline and the fixed nozzles (5.6); the plurality of nozzles (5.4) are arranged at the bottom of the plurality of fixed nozzles (5.6), and the plurality of nozzles (5.4) are divided into first nozzles and second nozzles according to the different arrangement directions of the nozzle axes, and the first nozzles and the second nozzles are arranged alternately.

7. The multi-modal subsea cable trenching apparatus of claim 6, wherein: The fixed seat (5.5) comprises a fixed plate (5.5.2) and a hinged section (5.5.1) which is triangular and hollow; one end of the hinged section (5.5.1) is hingedly connected with the movable cart (3), and the other end of the hinged section (5.5.1) is connected with the fixed nozzles (5.6) and the fixed plate (5.5.2); the side surface of the fixed nozzle (5.6) is connected with the side surface of the fixed plate (5.5.2).

8. The multi-modal subsea cable trenching apparatus of claim 1, wherein: The seabed walking device is a skid plate (8) or a track assembly (9), and general assemblies (1.2) are arranged on the bottom of the main body frame (1) on both sides, and the skid plate (8) or the track assembly (9) is installed on the bottom of the main body frame (1) through the general assemblies (1.2).

9. The multi-modal subsea cable trenching apparatus of claim 1, wherein: The electric propeller (6) comprises side propellers arranged on four vertical columns of the main body frame and a tail propeller arranged at the tail of the seabed cable trenching device, the axis of the four side propellers forms a certain angle with the advancing direction of the seabed cable trenching device, and the axis of the tail propeller is parallel to the advancing direction of the seabed cable trenching device.

10. The multi-modal subsea cable trenching apparatus of claim 1, wherein: The main body frame (1) is provided with a cable searching mechanism (7) for detecting the relative position of the seabed cable trenching device and the seabed 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 main body frame (1), the exogenous sensor (7.3) 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, the mounting bracket (7.3) can rotate 90 around the hinged place with the main body frame (1), and when the mounting bracket (7.3) is parallel to the horizontal plane, the exogenous sensor (7.1) is parallel to the sea level.

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