Subsea trenching and cable laying machine

Abstract

A subsea trenching and cable laying machine, comprising a main frame (100), a trenching burial device arranged on the main frame, and a moving mechanism arranged on the main frame. The moving mechanism comprises: skis (410), tracks (420), and height adjustment assemblies (430); the tracks (420) are located on side edges of the skis (410); the height adjustment assemblies (430) are connected between the main frame (100) and the skis (410) or the tracks (420), and are used for adjusting the relative heights between the skis (410) and the tracks (420); the skis (410) and the tracks (420) are simultaneously mounted on the main frame (100). The relative up-down heights between the skis (410) and the tracks (420) can be adjusted by means of the height adjustment assemblies (430), so that the subsea trenching and cable laying machine autonomously ascend and descend underwater, to rest the skis (410) or the tracks (420) on the seabed or simultaneously rest both on the seabed. The present invention can automatically switch between the skis (410) and the tracks (420) underwater, so as to adapt to requirements for geological changes and operating mode changes, improving the adaptability, saving time, and improving the efficiency. There is no need to haul the machine to a deck to replace the skis (410) and the tracks (420), which can also reduce the number of workers and operation costs.

Description

A submarine trenching and cable laying machine Technical Field

[0001] This invention belongs to the field of marine power equipment, and specifically relates to a submarine trenching and cable laying machine. Background Technology

[0002] Submarine cables, including submarine pipelines, power cables, and optical fiber cables, are widely used in offshore oil and gas drilling and extraction, seabed mining, wind farm construction, and submarine communication networks. Submarine cables are susceptible to damage from fishing trawling, ocean currents, tsunamis, and changes in burial depth, leading to situations such as cable exposure and buoyancy, breakage, and shallowing. To address these issues, equipment that allows for cable laying while digging trenches along the seabed is now being used to bury submarine cables deep within the seabed.

[0003] Due to the presence of soft mud, hard clay, and gravel on the seabed, subsea trenching and cable-laying machines use slippers to move when encountering soft mud and sand, and tracks when encountering hard clay and gravel. However, the slippers and tracks of existing subsea trenching and cable-laying machines need to be replaced and connected to the main frame. Replacement requires pulling the machine onto the deck, making it difficult to quickly switch between different geological conditions. Furthermore, existing subsea trenching and cable-laying machines have a single trenching mode, which cannot effectively cope with different seabed geological conditions. Different types of trenching and cable-laying machines are needed, resulting in poor adaptability, low operating efficiency, high operational safety risks, the need for complex surface systems and personnel, and high operating costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a submarine trenching and cable laying machine that can quickly switch between slippers and tracks on the seabed, thereby improving adaptability and operational efficiency.

[0005] This invention provides a submarine trenching and cable-laying machine, comprising:

[0006] Main framework;

[0007] Trenching and burying device installed on the main frame;

[0008] The traveling mechanism is mounted on the main frame and includes a skid, a track, and a height adjustment component. The track is located on the side of the skid, and the height adjustment component is connected between the main frame and the skid or track to adjust the relative height between the skid and the track.

[0009] Optionally, the height adjustment assembly includes a connecting arm with varying heights and a linear telescopic device. The two ends of the connecting arm are hinged to the main frame and the track, respectively, and the two ends of the linear telescopic device are hinged to the main frame and either the track or the connecting arm. Depending on changes in the substrate of the work environment, the trenching and cable-laying mechanism and the plow-type cable-laying mechanism can be switched, or they can be used in combination. This allows for simultaneous paving and burying, as well as jet trenching and plow trenching, shortening the project cycle and improving work efficiency.

[0010] Optionally, the trenching and burying device includes a trenching and cable laying mechanism and / or a plow cable laying mechanism mounted on the main frame;

[0011] The trenching and cable laying mechanism includes: a fixed frame connected to the main frame, an up-and-down adjustment component set on the fixed frame, at least two water jets set on the up-and-down adjustment component, and a cable pressing component set on the water jets. The cable pressing component is used to guide the pipe and cable, and the up-and-down adjustment component is used to lower and raise the water jets.

[0012] The plowshare cable laying mechanism includes a plowshare laying assembly, a plowshare body connected to the plowshare laying assembly, and a cable guide disposed on the back side of the plowshare body. The plowshare laying assembly is used to lower and raise the plowshare body.

[0013] Optionally, the up-down adjustment assembly includes: a connecting rod, a second linear expansion joint, and a water jet mounting frame. The connecting rod and the second linear expansion joint are distributed vertically, and both ends of the connecting rod and the second linear expansion joint are respectively hinged to the fixed frame and the water jet mounting frame. The water jet is fixedly connected to the water jet mounting frame.

[0014] Optionally, the water jet mounting bracket is rotatably connected to two sets of connecting rods and two width linear expansion joints. One end of each of the two sets of connecting rods is rotatably connected to one of the two water jets, and one end of each of the two width linear expansion joints is rotatably connected to one of the two water jets, for adjusting the width of the two water jets.

[0015] Optionally, the cable pressing component includes: two plate frames respectively connected to the bottom ends of the two water jets, and a plurality of transverse pressure bars staggered on the two plate frames, for guiding the cable through the area between the two plate frames and below the plurality of transverse pressure bars.

[0016] Optionally, the fixed frame is horizontally rotatably connected to the main frame, and a linear expansion joint three is hinged on the fixed frame. The other end of the linear expansion joint three is hinged to the main frame and is used to drive the trenching and cable laying mechanism to deflect laterally.

[0017] Optionally, the plow blade deployment assembly includes: a swing connector, a linear telescopic device four, and a linear telescopic device five. The two ends of the swing connector are respectively hinged to the side of the plow blade body and the main frame. The two ends of the linear telescopic device four are respectively hinged to the main frame and the swing connector. The two ends of the linear telescopic device five are respectively hinged to the side of the plow blade body and the main frame. The linear telescopic device four drives the swing connector to swing up and down, and the linear telescopic device five drives the plow blade body to swing up and down.

[0018] Optionally, a groove is formed on the back side of the plow blade body, and the cable guide is disposed in the groove. The cable guide includes: a support plate hinged to the plow blade body on one side, an opening and closing gate one and an opening and closing gate two hinged to both sides of the support plate, and an opening and closing linear telescopic device that is hinged to the two opening and closing gates one and two respectively at both ends. The semi-enclosed area formed by the support plate, the opening and closing gate one and the opening and closing gate two is used to support the guide cable.

[0019] Optionally, the cable guide further includes a flip-up linear expansion joint, the two ends of which are respectively hinged to the bottom of the tray and the bottom of the groove, for flipping the tray to release the cable.

[0020] The beneficial effects of this invention are that the main frame is equipped with both skids and tracks, and the relative height of the skids and tracks can be adjusted up and down by a height adjustment component, enabling the submarine trenching and cable laying machine to rise and fall autonomously underwater. This allows the skids or tracks to sit on the bottom, or both simultaneously. The system can automatically switch between skids and tracks underwater to adapt to changes in geological conditions and operational modes, improving adaptability, saving time, and increasing efficiency. Furthermore, it eliminates the need to pull the machine onto the deck to change skids and tracks, reducing the number of personnel and lowering operating costs. Attached Figure Description

[0021] Figure 1 is a three-dimensional structural schematic diagram of the submarine trenching and cable laying machine of the present invention;

[0022] Figure 2 is a side view of the submarine trenching and cable laying machine of the present invention;

[0023] Figure 3 is a three-dimensional structural schematic diagram of the trenching and cable laying mechanism of the present invention;

[0024] Figure 4 is a side view of the trenching and cable laying mechanism of the present invention;

[0025] Figure 5 is a structural schematic diagram of the plow cable laying mechanism and the main frame assembly of the present invention;

[0026] Figure 6 is a three-dimensional structural schematic diagram of the plow cable laying mechanism of the present invention;

[0027] Figure 7 is a three-dimensional structural diagram of the cable guide of the present invention.

[0028] Figure 8 is a schematic diagram of the flipped state of the cable guide of the present invention.

[0029] In the diagram: 1.1, cable conduit; 100, main frame;

[0030] 200. Trenching and cable laying mechanism; 210. Fixing frame; 220. Up and down adjustment assembly; 221. Connecting rod; 222. Linear expansion joint II; 223. Water jet mounting frame; 230. Water jet; 240. Cable clamping component; 241. Plate frame; 242. Lateral pressure bar; 250. Connecting rod; 260. Width linear expansion joint; 270. Linear expansion joint III;

[0031] 300. Plow blade cable laying mechanism; 310. Plow blade placement assembly; 311. Swing connector; 312. Linear expansion joint four; 313. Linear expansion joint five; 320. Plow blade body; 321. Groove; 330. Cable guide; 331. Support plate; 332. Opening and closing door one; 333. Opening and closing door two; 334. Opening and closing linear expansion joint; 335. Tilting linear expansion joint;

[0032] 410. Slipper; 420. Track; 430. Height adjustment assembly; 431. Connecting arm; 432. Linear telescopic device one;

[0033] 500, Buoyancy Module; 600, Water Pipe; 700, Exploration Cable Device; 800, Lifting and Towing Cable; 900, Mechanical Grab; 1000, Thruster. Detailed Implementation

[0034] As shown in Figures 1-8, the present invention provides a submarine trenching and cable laying machine, comprising: a main frame 100, a trenching and burying device disposed on the main frame 100, and a traveling mechanism disposed on the main frame 100; wherein, the traveling mechanism comprises: a slipper 410, a track 420, and a height adjustment component 430, the track 420 being located on the side of the slipper 410, and the height adjustment component 430 being connected between the main frame 100 and the slipper 410 or the track 420, for adjusting the relative height between the slipper 410 and the track 420.

[0035] Compared with the prior art, the submarine trenching and cable laying machine provided by the present invention has a main frame 100 equipped with both a slipper 410 and a track 420. The relative height of the slipper 410 and the track 420 can be adjusted up and down by the height adjustment component 430, enabling the submarine trenching and cable laying machine to rise and fall autonomously underwater. It can achieve either the slipper 410 sitting on the bottom, or the track 420 sitting on the bottom, or both simultaneously sitting on the bottom. It can automatically switch between the slipper 410 and the track 420 underwater to adapt to changes in geological conditions and operating modes, thereby improving adaptability, saving time, and increasing efficiency. It also eliminates the need to pull the machine onto the deck to change the slipper 410 and the track 420, reducing the number of personnel and lowering operating costs.

[0036] In one embodiment, the height adjustment assembly 430 includes a connecting arm 431 and a linear telescoping device 432 with different heights. The two ends of the connecting arm 431 are respectively hinged to the main frame 100 and the track 420, and the two ends of the linear telescoping device 432 are respectively hinged to the main frame 100 and the track 420 or the connecting arm 431. Specifically, the bottom sides of the main frame 100 are provided with skids 410, tracks 420 and a set of height adjustment components 430. Each set of height adjustment components 430 has at least two components to ensure sufficient connection strength. The two skids 410 are located between the two tracks 420 and are fixedly connected to the bottom of the main frame 100. The linear telescopic device 432 is located above the connecting arm 431 and the two are set at a certain angle. When the linear telescopic device 432 extends, it drives one end of the connecting arm 431 to rotate downward, causing the track 420 to move downward and sit on the bottom. The main frame 100 and the skids 410 can then rise up and detach from the seabed. The skids 410 can also sit on the bottom at the same time as the tracks 420. Conversely, when the linear telescopic device 432 shortens, the tracks 420 rise up and detach from the seabed, and the main frame 100 and the skids 410 move downward and sit on the bottom.

[0037] Of course, the track 420 can be fixedly connected to the main frame 100, and the skid 410 can be connected to the height adjustment component 430.

[0038] Among them, the linear expansion joint 432 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder.

[0039] In one embodiment, the trenching and burying device includes a trenching cable laying mechanism 200 and / or a plow cable laying mechanism 300 disposed on the main frame 100. It is understood that the trenching and burying device may only have the trenching cable laying mechanism 200, or only have the plow cable laying mechanism 300, or include both the trenching cable laying mechanism 200 and the plow cable laying mechanism 300. Depending on the changes in the substrate of the working scene, the trenching cable laying mechanism 200 and the plow cable laying mechanism 300 can be switched, or they can be used in combination, thereby realizing simultaneous laying and burying, jet trenching and plow trenching, shortening the project cycle and improving the work efficiency.

[0040] It should be noted that the trenching and cable laying mechanism 200 is located behind the plow cable laying mechanism 300, and the trenching and cable laying mechanism 200 is located at the tail of the main frame 100.

[0041] In this embodiment, the trenching and cable laying mechanism 200 includes: a fixed frame 210 connected to the main frame 100, a vertical adjustment component 220 disposed on the fixed frame 210, at least two water jets 230 disposed on the vertical adjustment component 220, and a cable pressing component 240 disposed on the water jets 230. The cable pressing component 240 is used to guide the cable 1.1, and the vertical adjustment component 220 is used to lower and raise the water jets 230. In this way, the vertical adjustment component 220 drives the water jets 230 and the upper frame to move up and down as a whole, thereby adjusting the trenching depth. It can also cooperate with the height adjustment component 430 to avoid interference with the water jets 230 when switching between the skids 410 and the tracks 420, and maintain the consistency of the trenching depth and the burial depth of the cable 1.1, thereby reducing the bending of the cable 1.1.

[0042] In one embodiment, as shown in Figure 3, the vertical adjustment assembly 220 includes a connecting rod 221, a second linear expansion joint 222, and a water jet mounting frame 223. The connecting rod 221 and the second linear expansion joint 222 are vertically distributed, and both ends of the connecting rod 221 and the second linear expansion joint 222 are respectively hinged to the fixed frame 210 and the water jet mounting frame 223. The water jet 230 is fixedly connected to the water jet mounting frame 223. Specifically, when the second linear expansion joint 222 retracts, it causes the connecting rod 221 and one end of itself to move upward, causing the water jet mounting frame 223 to move upward, thereby raising the water jet 230 to a certain height, making the trenching depth shallower, or causing the water jet 230 to detach from the seabed; conversely, when the second linear expansion joint 222 extends, it causes the connecting rod 221 and one end of itself to move downward, causing the water jet mounting frame 223 to move downward, thereby lowering the water jet 230 to a certain height, making the trenching depth deeper. Compared to conventional linear lifting devices, the vertical adjustment component 220 can also change the angle of the water jet 230, enabling different amounts of high-pressure water jets to impact the seabed per unit area when facing geological surfaces of varying hardness, thereby improving the excavation efficiency of the water jet 230.

[0043] In one embodiment, the left and right water jets 230 are connected to the water jet mounting bracket 223 via flanges, allowing for the replacement of water jets 230 of different lengths to meet trenching requirements of different depths.

[0044] Among them, the linear expansion joint 432 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder.

[0045] In one embodiment, as shown in Figure 4, two sets of connecting rods 250 and two width linear expansion joints 260 are rotatably connected to the water jet mounting bracket 223. One end of each of the two sets of connecting rods 250 is rotatably connected to one of the two water jets 230, and one end of each of the two width linear expansion joints 260 is rotatably connected to one of the two water jets 230, for adjusting the width of the two water jets 230. Specifically, the two width linear expansion joints 260 drive the two sets of connecting rods 250 to swing left and right, thereby adjusting the width of the left and right water jets 230 to accommodate the laying of cables 1.1 of different sizes.

[0046] The width linear expansion joint 260 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder.

[0047] In one embodiment, as shown in Figures 3 and 4, the cable clamping member 240 includes: two plate frames 241 respectively connected to the bottom ends of the two water jets 230, and a plurality of transverse clamping rods 242 staggered on the two plate frames 241, for guiding the cable 1.1 through the area between the two plate frames 241 and below the plurality of transverse clamping rods 242, and the cable 1.1 enters the trench under the constraint of the plurality of transverse clamping rods 242.

[0048] In one embodiment, as shown in Figure 3, the fixed frame 210 is horizontally rotatably connected to the main frame 100. A linear expansion joint 270 is hinged to the fixed frame 210, and the other end of the linear expansion joint 270 is hinged to the main frame 100, used to drive the trenching and cable laying mechanism 200 to deflect laterally. It can be understood that the fixed frame 210 is connected to the tail end of the main frame 100 via a pin, and the linear expansion joint 270 drives the entire plow cable laying mechanism 300 to swing left and right in the horizontal direction, providing a certain degree of rotational freedom during the turning process of the trenching and cable laying machine, which is helpful for the laying of cables 1.1 along curved paths.

[0049] Among them, the linear expansion joint 3270 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder.

[0050] In this embodiment, as shown in Figure 5, the plowshare cable laying mechanism 300 includes a plowshare laying assembly 310, a plowshare body 320 connected to the plowshare laying assembly 310, and a cable guide 330 disposed on the back side of the plowshare body 320. The plowshare laying assembly 310 is used to lower and raise the plowshare body 320. Specifically, the plowshare cable laying mechanism 300 is located at the bottom center of the main frame 100 and is used to dig trenches on hard seabeds to bury the submarine cable 1.1 along a predetermined path into the trench. The upper surface of the plowshare body 320 is arc-shaped, and the cable 1.1 is guided by the cable guide 330 to slide on the arc surface, preventing the plow head on the plowshare body 320 from contacting the cable 1.1, and is used to break the soil and dig trenches in hard clay and sand.

[0051] In one embodiment, as shown in FIG6, the plow blade placement assembly 310 includes: a swing connector 311, a linear telescoping element 4 312, and a linear telescoping element 5 313. The two ends of the swing connector 311 are hinged to the side of the plow blade body 320 and the main frame 100, respectively. The two ends of the linear telescoping element 4 312 are hinged to the main frame 100 and the swing connector 311, respectively. The two ends of the linear telescoping element 5 313 ​​are hinged to the side of the plow blade body 320 and the main frame 100, respectively. The linear telescoping element 4 312 drives the swing connector 311 to swing up and down, and the linear telescoping element 5 313 ​​drives the plow blade body 320 to swing up and down. The linear telescoping elements 4 312 and 5 313 ​​are hydraulic cylinders, electric cylinders, or pneumatic cylinders, preferably hydraulic cylinders.

[0052] Furthermore, the soil-breaking tools (water jet 230 and plow body 320) of traditional trenching and cable-laying machines have only one degree of freedom, namely, rotation and extension around one axis. When the trenching depth changes, the soil-breaking angle of the tool also changes, resulting in low trenching efficiency. In the trenching and cable-laying machine of this invention, the water jet 230, through connecting rod 221 and linear telescopic device 222, has two degrees of freedom in different directions, enabling it to achieve trenching at different depths with optimal spray angles. The extension and retraction of the plow body 320 are controlled by linear telescopic devices 312 and 313, allowing the plow body 320 to also achieve optimal soil-breaking angles with adjustable depths. This ensures that the optimal plow or jet soil-breaking angle can be used at any trenching depth, improving the energy utilization efficiency of the trenching and cable-laying machine.

[0053] In one embodiment, a groove 321 is formed on the back side of the plow body 320, and a cable guide 330 is disposed in the groove 321. The cable guide 330 includes: a support plate 331 hinged to the plow body 320 on one side, an opening and closing gate 332 and an opening and closing gate 333 hinged to both sides of the support plate 331, and an opening and closing linear telescopic device 334 with both ends respectively hinged to the two opening gates 333. The semi-enclosed area formed by the support plate 331, the opening and closing gate 332 and the opening and closing gate 333 is used to support the guide cable 1.1.

[0054] In one embodiment, the cable guide 330 further includes a flipping linear expansion joint 335, with its two ends hinged to the bottom of the support plate 331 and the bottom of the groove 321, respectively, for flipping the support plate 331 to release the cable 1.1. Specifically, the opening degree of the second opening door 333 is greater than that of the first opening door 332, and the direction of the second opening door 333 is the flipping direction of the support plate 331. During operation, the cable 1.1 is located on the main structure of the plow blade. The first opening door 332 and the second opening door 333 prevent the cable 1.1 from falling from the side. During the emergency release of the cable 1.1, the two opening linear expansion joints 334 drive the first opening door 332 and the second opening door 333 to open and close. The second opening door 333 is flush with the support plate 331 or deflected downwards. The flipping linear expansion joint 335 drives the support plate 331 to flip to one side of the second opening door 333 to release the cable 1.1.

[0055] Among them, the opening and closing linear expansion joint 334 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder; the flipping linear expansion joint 335 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder.

[0056] In one embodiment, the top of the main frame 100 is provided with 2-6 buoyancy modules 500, or more buoyancy modules 500 may be provided. Depending on the different mounting configurations of the trenching and cable laying machine, the number of small modules can be increased or decreased to provide the required buoyancy.

[0057] In one embodiment, mechanical grippers 900 are provided at the front and rear of the bottom center of the main frame 100, which can grab and move the cable 1.1 and move the cable 1.1 above the plow body 320. When the laying is completed, the front and rear grippers can release the cable 1.1 to the seabed. In the laying-while-burying mode, the trenching cable laying machine automatically grabs and loads the cable 1.1 on the deck by relying on the front and rear grippers. In the laying-before-burying mode, the trenching cable laying machine automatically grabs, loads and releases underwater without the need for divers to go underwater, reducing labor costs and improving the safety of underwater work.

[0058] In this embodiment, the main frame 100 is provided with two sets of symmetrically arranged water pumps and water pipes 600. The water pumps are driven by hydraulic motors or underwater motors to transport seawater through the water pipes 600 to provide water flow to the tail water jet 230.

[0059] The main frame 100 is equipped with cable detection devices 700 at both the front and rear ends, which are deployed at a certain height above the seabed to detect the signal of the submarine cable 1.1 and guide the trenching and cable laying machine to automatically follow the route of the cable 1.1. This is existing technology and will not be described in detail.

[0060] The front end of the main frame 100 is connected to a lifting towing cable 800 via a pin. It can be erected vertically for lifting and bear the entire weight of the trenching and cable laying machine. It can also be locked horizontally for towing, providing power for walking and breaking ground. It can also control the steering, enabling the trenching and cable laying machine to actively turn underwater. This is existing technology and will not be elaborated further.

[0061] Multiple thrusters 1000 can be mounted on the main frame 100. Thrusters 1000 with a 45° vector arrangement can be installed at the four corners of the buoyancy block of the trenching and cable laying machine for deployment, retrieval, and cable finding before bottoming out, and to control the direction of the trenching and cable laying machine. There is one thruster 1000 at the front end of the main frame 100 and one on the water jet mounting frame 223, which are used to assist in controlling the steering of the trenching and cable laying machine.

[0062] This invention relates to a submarine trenching and cable-laying machine, which can lay cables while burying them, or lay cables while burying them. It can use jet excavation in soft soil and plowing in hard soil. It can be self-propelled or towed, and can trench in deep water or shallow water for cable laying. Multiple operating and movement modes are based on energy sharing within the hydraulic system of the trenching and cable-laying machine, reducing energy redundancy while ensuring the overall functionality of the machine. Specific implementation methods are as follows:

[0063] Simultaneous laying and burial mode: When long-distance continuous laying of cable 1.1 is required, cable 1.1 can be loaded onto the trenching and cable laying machine on the deck. The front and rear grabs will grab cable 1.1, open the cable guide port, open the cable guide 330, grab and place cable 1.1 into the cable 1.1 channel, close the cable guide port, and close the guide.

[0064] Laying first and then burying mode: When encountering areas near wind turbine pile legs or areas that ships cannot approach, the trenching and cable laying machine can be equipped with a cable detection device 700 to locate the cable, sit on the bottom and straddle the cable 1.1, and use a water jet 230 or a plow to open trenches and lay the cable.

[0065] Soft soil jet trenching mode: When operating in sandy or soft clay soil, the trenching and cable laying machine can rely solely on the 230mm tail water jet for trenching and cable laying.

[0066] Trenching in medium-hard soil: When the soil hardens and jet trenching cannot achieve satisfactory results, the trenching and cable laying machine can switch to plow mode underwater. The front and rear grabs grab the cable underwater and release it into the cable channel. The plow body is lowered 320 degrees, and the trenching and cable laying machine relies on the ship to tow it to open the trench and break the soil.

[0067] Trenching in harder soils: When the soil is harder and the ditching effect of the plow blade alone is not good, the tail water jet 230 can be lowered. The soil cut by the plow blade is further broken by the water jet 230 at the tail of the trench. At the same time, the water jet 230 can also be used as a cable presser to help the cable 1.1 be buried to the predetermined depth.

[0068] Slipper 410 towing mode: In towing mode, slipper 410 mode can be used for rapid movement. In order to further reduce the ground pressure, in towing mode, the track 420 can be lowered to be flush with the slipper 410, and the track 420 motor moves accordingly, increasing the contact area with the ground and preventing the trenching and cable laying machine from sinking.

[0069] Track 420 self-propelled: In self-propelled mode, track 420 is lowered and skid 410 is raised, realizing the underwater switching of track 420 and skid 410.

[0070] Shallow water operation mode: In shallow water mode, the immersion depth of the trenching and cable laying machine is insufficient, making conventional jet trenching impossible. The trenching and cable laying machine involved in this invention can travel autonomously from deep water areas along the cable 1.1 path to the shallow water landing area. At this time, the ship is in deep water and remotely controls the trenching and cable laying machine via an umbilical cable. After the trenching and cable laying machine is positioned in the shallow water, the fore and aft grabbers grab the cable underwater and release it into the cable channel. The water jet 230 is retrieved, the plow blade is lowered, and the towing wire rope is tightened. Under the towing action of the ship, the trenching and cable laying machine breaks through the soil and digs a trench in the shallow water, gradually moving towards the deep water along the cable 1.1, burying the cable as it goes.

[0071] The plow body 320 of the heavy-duty trenching and cable laying machine involved in this invention can be replaced with a chain cutter or a wheel cutter for breaking soil and opening trenches in hard rock and soil. The specific implementation method and operation process are similar to those of the plow body 320.

[0072] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0073] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A submarine trenching and cable-laying machine, characterized in that, include: Main framework (100); Trenching and burying device installed on the main frame (100); The walking mechanism is mounted on the main frame (100). The walking mechanism includes a slipper (410), a track (420), and a height adjustment component (430). The track (420) is located on the side of the slipper (410). The height adjustment component (430) is connected between the main frame (100) and the slipper (410) or the track (420) for adjusting the relative height between the slipper (410) and the track (420).

2. The submarine trenching and cable laying machine according to claim 1, characterized in that, The height adjustment assembly (430) includes a connecting arm (431) with different heights and a linear telescopic device (432). The two ends of the connecting arm (431) are respectively hinged to the main frame (100) and the track (420), and the two ends of the linear telescopic device (432) are respectively hinged to the main frame (100) and the track (420) or the connecting arm (431).

3. The submarine trenching and cable-laying machine according to claim 1, characterized in that, The trenching and burying device includes a trenching and cable laying mechanism (200) and / or a plow cable laying mechanism (300) mounted on the main frame (100); The trenching and cable laying mechanism (200) includes: a fixed frame (210) connected to the main frame (100), an up-and-down adjustment assembly (220) disposed on the fixed frame (210), at least two water jets (230) disposed on the up-and-down adjustment assembly (220), and a cable pressing member (240) disposed on the water jets (230). The cable pressing member (240) is used to guide the cable (1.1), and the up-and-down adjustment assembly (220) is used to lower and raise the water jets (230). The plow cable laying mechanism (300) includes a plow placement assembly (310), a plow body (320) connected to the plow placement assembly (310), and a cable guide (330) disposed on the back side of the plow body (320). The plow placement assembly (310) is used to lower and raise the plow body (320).

4. The submarine trenching and cable-laying machine according to claim 3, characterized in that, The up-down adjustment assembly (220) includes: a connecting rod (221), a second linear telescopic device (222), and a water jet mounting bracket (223). The connecting rod (221) and the second linear telescopic device (222) are distributed vertically, and both ends of the connecting rod (221) and the second linear telescopic device (222) are respectively hinged to the fixed frame (210) and the water jet mounting bracket (223). The water jet (230) is fixedly connected to the water jet mounting bracket (223).

5. The submarine trenching and cable-laying machine according to claim 4, characterized in that, The water jet mounting bracket (223) is rotatably connected to two sets of connecting rods (250) and two width linear expansion joints (260). One end of each of the two sets of connecting rods (250) is rotatably connected to two water jets (230), and one end of each of the two width linear expansion joints (260) is rotatably connected to two water jets (230), which are used to adjust the width of the two water jets (230).

6. The submarine trenching and cable-laying machine according to claim 5, characterized in that, The cable clamping component (240) includes: two plate frames (241) respectively connected to the bottom ends of two water jets (230), and multiple transverse clamping rods (242) staggered on the two plate frames (241) for guiding the cable (1.1) through the area between the two plate frames (241) and below the multiple transverse clamping rods (242).

7. The submarine trenching and cable-laying machine according to any one of claims 3-6, characterized in that, The fixed frame (210) is horizontally rotatably connected to the main frame (100). A linear telescopic device (270) is hinged on the fixed frame (210). The other end of the linear telescopic device (270) is hinged to the main frame (100) and is used to drive the trenching and cable laying mechanism (200) to deflect laterally.

8. The submarine trenching and cable-laying machine according to any one of claims 3-6, characterized in that, The plow blade placement assembly (310) includes: a swing connector (311), a linear telescoping device four (312), and a linear telescoping device five (313). The two ends of the swing connector (311) are respectively hinged to the side of the plow blade body (320) and the main frame (100). The two ends of the linear telescoping device four (312) are respectively hinged to the main frame (100) and the swing connector (311). The two ends of the linear telescoping device five (313) are respectively hinged to the side of the plow blade body (320) and the main frame (100). The linear telescoping device four (312) drives the swing connector (311) to swing up and down, and the linear telescoping device five (313) drives the plow blade body (320) to swing up and down.

9. The submarine trenching and cable-laying machine according to any one of claims 3-6, characterized in that, A groove (321) is provided on the back side of the plow body (320), and the cable guide (330) is disposed in the groove (321). The cable guide (330) includes: a support plate (331) hinged to the plow body (320) on one side, an opening and closing door one (332) and an opening and closing door two (333) hinged to both sides of the support plate (331), and an opening and closing linear telescopic device (334) hinged to the two opening and closing doors one and two opening and closing doors two (333) at both ends respectively. The semi-enclosed area formed by the support plate (331), the opening and closing door one (332) and the opening and closing door two (333) is used to support the guide cable (1.1).

10. The submarine trenching and cable-laying machine according to claim 9, characterized in that, The cable guide (330) also includes a flipping linear telescoping device (335), the two ends of which are respectively hinged to the bottom of the tray (331) and the bottom of the groove (321) for flipping the tray (331) to release the cable (1.1).

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