CN112627267A

CN112627267A - Embedded plough and working method thereof

Info

Publication number: CN112627267A
Application number: CN202011495800.7A
Authority: CN
Inventors: 吴占阳; 吴富生; 王赟; 汤维佳; 黄臻; 徐伟
Original assignee: Shanghai Zhenghua Heavy Industries Co Ltd
Current assignee: Shanghai Zhenghua Heavy Industries Co Ltd
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-04-09
Anticipated expiration: 2040-12-17
Also published as: CN112627267B

Abstract

The invention discloses a buried plough and a working method thereof, which are used for laying submarine cables, and the buried plough comprises: a frame; the coulter system is arranged on the rear side of the rack and used for excavating the seabed soil; the high-pressure water spraying system is arranged on the coulter system or the rack and is used for providing high-pressure water for the coulter system in the excavation process so as to wash the soil; and the control system is used for controlling the operation of the burying plough. The invention can provide high-pressure water for the coulter system in the process of excavating hard seabed soil to wash the soil, thereby improving the excavating capacity and the excavating efficiency of the embedded plough, and enabling the embedded plough to be not only suitable for mucky soil, but also suitable for hard sandy soil.

Description

Embedded plough and working method thereof

Technical Field

The invention relates to the field of cable laying devices, in particular to an embedding plough and a working method thereof.

Background

With the rapid development of offshore wind power in recent years, offshore wind power brings the development of offshore wind power cabling besides the whole wind turbine. Meanwhile, as the country gradually increases the development of offshore oil, a large amount of submarine cables are also required to be laid. The laying of the cables requires the laying of submarine cables in the wind farm or on the oil production platform by means of a laying vessel, whereas the cable laying plow is the core equipment which the laying vessel must be equipped with.

Most of existing submarine cable burying plows are simple in structure and single in function, and the main defects of the existing submarine cable burying plows are that the existing submarine cable burying plows are only generally suitable for excavating muddy soil on the seabed, and when hard submarine soil is excavated, the burying plows have the problems of weakened excavating capacity, lowered excavating efficiency and the like.

Disclosure of Invention

The invention aims to solve the problems that when the existing embedded plough excavates hard seabed soil, the excavating capacity is weakened and the excavating efficiency is reduced. The invention provides an embedded plough and a working method thereof, which can improve the digging capacity and the digging efficiency of the embedded plough.

In order to solve the above technical problem, an embodiment of the present invention discloses an embedding plow for laying a submarine cable, including:

a frame;

the coulter system is arranged on the rear side of the rack and used for excavating the seabed soil;

the high-pressure water spraying system is arranged on the coulter system and is used for providing high-pressure water for the coulter system in the excavation process so as to wash the soil;

and the control system is used for controlling the operation of the burying plough.

Optionally, the frame is of non-sealed steel construction.

Optionally, the rack comprises:

a body;

the movable bell mouth is detachably connected below the front part of the body;

the movable cable channel is detachably connected below the body and is positioned at the rear side of the movable bell mouth;

and the fixed cable channel is connected with the body and is positioned at the rear side of the movable cable channel.

Optionally, the coulter system includes:

a coulter mounting rack;

the coulter is connected with the coulter mounting frame;

the colter head is detachably connected to the front side of the bottom of the colter;

the cable trough is arranged on the coulter;

the cable passing groove is arranged on the front side of the cable groove and is connected with the coulter mounting frame;

one end of the coulter oil cylinder is rotationally connected with the coulter mounting frame, and the other end of the coulter oil cylinder is rotationally connected with the rack.

Optionally, the plow head is made of high manganese wear resistant steel.

Optionally, the high pressure water injection system comprises:

the water system supporting frame is arranged on the colter mounting frame;

the water pump is arranged on the water system supporting frame;

the second motor is connected with the water pump and used for driving the water pump to operate;

the water inlet pipeline is connected with a water inlet of the water pump;

the water outlet pipeline is connected with a water outlet of the water pump;

the high-pressure pipeline is arranged inside the coulter, one end of the high-pressure pipeline is connected with the other end of the water outlet pipeline, the other end of the high-pressure pipeline is arranged in a sealing mode, a plurality of water spraying ports are formed in the high-pressure pipeline, and each water spraying port is connected with a water spraying pipeline;

the nozzles are arranged on two side walls of the coulter, and the water spraying pipeline is connected with the nozzles. Optionally, the coulter is provided with cutting edges on both sides, and the nozzles are arranged in sequence along the extending direction of the cutting edges.

Optionally, the buried plow further comprises a cable pressing system disposed at a rear side of the coulter system for pressing the cable into the cable trough.

Optionally, the cable compression system comprises:

one end of the cable pressing oil cylinder is rotationally connected with the coulter mounting frame;

and the cable pressing device is arranged in the cable groove and is rotationally connected with the coulter mounting frame, the rotational connection point is a rotational fulcrum of the cable pressing device, and one side of the rotational fulcrum, which is close to the cable pressing oil cylinder, is rotationally connected with the other end of the cable pressing oil cylinder.

Optionally, the buried plow further comprises a cable anti-jumping system disposed above the frame for preventing the cable from jumping out of the cable trough under its own elasticity or external force.

Optionally, the cable anti-jump system comprises:

the anti-jumping system mounting seat is arranged on the rack;

the anti-bouncing pressure rod is rotationally connected with the anti-bouncing system mounting seat;

the anti-bouncing torsion spring is a parallel double-torsion spring, a pin shaft penetrates through the anti-bouncing torsion spring, and the anti-bouncing torsion spring is respectively connected with the anti-bouncing system mounting seat and the anti-bouncing pressure bar through the pin shaft;

and the anti-bouncing roller is rotatably connected to the end part of the anti-bouncing pressure rod.

Optionally, the both sides of frame still are equipped with balanced system for the equilibrium of reinforcing buried plough underground, balanced system includes:

the left balance wing is arranged on the left side of the rack, and the upper part of the left balance wing is rotationally connected with the rack;

the two ends of the left balance wing oil cylinder are respectively and rotatably connected with the rack and the left balance wing;

the right balance wing is arranged on the right side of the rack, and the upper part of the right balance wing is rotationally connected with the rack;

and two ends of the right balance wing oil cylinder are respectively and rotatably connected with the rack and the right balance wing.

Optionally, the buried plow further comprises a fairlead system disposed in front of the frame for guiding the cable into the buried plow.

Optionally, the fairlead system comprises:

the cable guide frame is arranged in front of the frame;

the fixed shaft is arranged on the cable guide frame;

the rotating shaft is rotatably connected with the fixed shaft;

the number of the cable limiting rods is 2, the cable limiting rods are respectively connected with the rotating shaft and symmetrically arranged on two sides of the rotating shaft;

the number of the torsion springs is 2, the torsion springs are arranged up and down, one end of each torsion spring positioned at the upper end is connected with the fixed shaft, and the other end of each torsion spring is connected with the rotating shaft; one end of the torsion spring at the lower end is connected with the cable guide frame, and the other end is connected with the rotating shaft.

Optionally, the buried plow further comprises a speed measurement system mounted on one side of the balancing system for measuring the speed of travel of the buried plow when in operation.

Optionally, the speed measuring system includes:

one end of the connecting arm is connected with the left balance wing or the right balance wing;

the speed measuring shaft is rotationally connected with the connecting arm;

the speed measuring wheel is connected with the speed measuring shaft;

and the speed sensor is electrically connected with the control system, a rotating part of the speed sensor is fixedly connected with the speed measuring shaft, a fixing part of the speed sensor is fixedly connected with the connecting arm, and the speed sensor is used for detecting the traveling speed of the embedded plough.

Optionally, the buried plow further comprises a hydraulic system mounted on the frame for providing hydraulic kinetic energy to the coulter cylinder and the cable ram cylinder.

Optionally, the buried plow further comprises: the alarm device and the sensing system are both electrically connected with the control system.

Optionally, the buried plow further comprises a hydraulic system mounted on the frame for providing hydraulic kinetic energy to a cylinder in the buried plow, the sensing system comprising:

the first inclination angle sensor is arranged on the rack and used for measuring the longitudinal inclination angle of the embedded plough, and the alarm device gives an alarm when the longitudinal inclination angle is larger than or equal to a first preset angle;

the second inclination angle sensor is arranged on the rack and used for measuring the transverse inclination angle of the embedded plough, and the alarm device gives an alarm when the transverse inclination angle is larger than or equal to a second preset angle;

the first angle sensor is arranged on the cable guide system and used for measuring the angle of the cable entering the burying plow;

a second angle sensor: the measuring device is arranged at the rotary joint of the rack and the coulter system and is used for measuring the relative angle between the rack and the coulter system;

the first sonar is arranged on a working mother ship for towing the embedded plough to walk and is used for measuring the submergence depth of the embedded plough;

the second sonar is arranged on the coulter system and used for measuring the trenching depth of the coulter system;

the first pressure sensor is arranged in a pipeline of the hydraulic system and used for measuring the pressure of the hydraulic system, and the alarm device gives an alarm when the pressure is greater than a first preset pressure;

the second pressure sensor is arranged in a pipeline of the high-pressure water spraying system and used for measuring the water pressure of the high-pressure water spraying system, and the alarm device gives an alarm when the water pressure is higher than a second preset pressure;

the third pressure sensor is arranged on the balance system and used for detecting whether the embedded plough lands;

the force sensor is arranged at the contact position of the rack and the Y-shaped steel wire rope for drawing the embedding plough to move, and is used for detecting the tension of the Y-shaped steel wire rope;

the compass is arranged at the upper end of the front part of the frame and used for detecting the azimuth angle of the embedded plough;

and the temperature sensor is arranged in an oil tank of the hydraulic system and used for detecting the temperature of the hydraulic oil, and when the temperature of the hydraulic oil is higher than a preset temperature, the alarm device gives an alarm.

Optionally, the first preset angle and the second preset angle are both ± 10 °, the first preset pressure is 250bar, the second preset pressure is 16bar, and the preset temperature is 60 ℃.

Optionally, the buried plow further comprises:

the underwater camera is arranged on the cable guide system, is electrically connected with the control system and is used for monitoring the actual condition when the cable enters the embedded plough;

the cloud deck is electrically connected with the control system and is connected with the underwater camera for driving the underwater camera to rotate so as to perform underwater shooting from different angles;

and the lighting equipment is used for providing lighting for monitoring the work of the embedded plough.

Optionally, the control system comprises:

the master control platform is arranged above the water surface and used for operating and monitoring the embedded plough;

the underwater part is arranged on the frame;

and the underwater umbilical cable is connected with the master control platform and the underwater part and is used for transmitting signals and electric power.

Optionally, the underwater part comprises a watertight electric control box, the watertight electric control box is fixed on the rack, and:

the power distribution module is used for stabilizing the voltage of a power supply transmitted from the master control console through an underwater umbilical cable and outputting the voltage required by each part in the sensing system so as to supply power to the sensing system;

the sensor module is electrically connected with the power distribution module and used for receiving the electric signals output by the sensing system and converting the electric signals into analog signals or digital signals for output;

and the data acquisition and processing module is electrically connected with the sensor module and is used for receiving the analog signals or the digital signals output by the sensor module, converting the received analog signals or digital signals into optical fiber signals and transmitting the optical fiber signals to the master control console through the underwater umbilical cable.

Correspondingly, the embodiment of the invention also discloses a working method of any one of the burying plows, which comprises the following steps:

in the preparation stage, a cable is led into the burying plough and led out of the coulter system;

a lowering stage, namely lowering the embedded plough into the water by utilizing a Y-shaped steel wire rope;

in the in-place stage, after the embedded plough is placed on the seabed, the coulter system cuts into the seabed, and the angle between the Y-shaped steel wire rope and the preset advancing direction of the embedded plough is adjusted, so that the Y-shaped steel wire rope can pull the embedded plough to move towards the preset advancing direction;

in the excavation stage, the embedding plough is dragged to advance through a Y-shaped steel wire rope, so that the coulter system digs a ditch and embeds a cable, and meanwhile, high-pressure water flow provided by the high-pressure water spraying system erodes the seabed soil through the coulter system;

and in the recycling stage, when the cable is buried to a preset destination, the buried plough stops running, and the buried plough is lifted above the sea surface by utilizing the Y-shaped steel wire rope.

Compared with the prior art, the invention has the following technical effects:

the coulter system is provided with the high-pressure water spraying system, so that high-pressure water can be provided for the coulter system in the process of excavating hard seabed soil to flush the soil, the excavating capacity and the excavating efficiency of the embedded plough are improved, and the embedded plough is not only suitable for mucky soil, but also suitable for hard sandy soil.

Drawings

FIG. 1 shows a perspective view of a buried plow provided by an embodiment of the present invention;

FIG. 2 shows a front view of a buried plow provided by an embodiment of the present invention;

FIG. 3 shows a left side view of a buried plow provided by an embodiment of the present invention;

FIG. 4 shows a top view of a buried plow provided by an embodiment of the present invention;

FIG. 5 shows a schematic view of a burying plow at a lowering stage provided by an embodiment of the present invention;

FIG. 6 shows a schematic view of a buried plow at the digging stage provided by an embodiment of the present invention;

FIG. 7 illustrates a perspective view of a frame provided by an embodiment of the present invention;

FIG. 8 illustrates a perspective view of a fairlead system provided by an embodiment of the present invention;

FIG. 9 illustrates a front view of a fairlead system provided by an embodiment of the present invention;

FIG. 10 illustrates a left side view of a fairlead system provided by an embodiment of the present invention;

FIG. 11 illustrates a top view of a fairlead system provided by an embodiment of the present invention;

FIG. 12 illustrates a perspective view of a traction steering system provided by an embodiment of the present invention;

FIG. 13 illustrates a front view of a traction steering system provided by an embodiment of the present invention;

FIG. 14 illustrates a left side view of a traction steering system provided by an embodiment of the present invention;

FIG. 15 illustrates a top view of a traction steering system provided by an embodiment of the present invention;

FIG. 16 is a schematic diagram illustrating a traction steering system in a horizontal and vertical position provided by an embodiment of the present invention;

FIG. 17 illustrates a steering analysis schematic of a traction steering system provided by an embodiment of the present invention;

FIG. 18 illustrates a perspective view of a depth adjustment system provided by an embodiment of the present invention;

FIGS. 19a and 19b are schematic views of a depth adjustment system according to an embodiment of the present invention in a state where the leg cylinder is extended and retracted, respectively;

FIGS. 20a, 20b, and 20c are schematic views of a depth adjustment system according to an embodiment of the present invention in a horizontal position, a pitch down position, and a pitch up position, respectively;

FIG. 21 illustrates a perspective view of a balancing system provided by an embodiment of the present invention;

FIG. 22 is a schematic diagram illustrating a counterbalance system provided in accordance with an embodiment of the present invention in a raised condition and a lowered condition;

fig. 23 is a perspective view of a speed measuring system provided in an embodiment of the present invention;

fig. 24 is a front view of a velocity measurement system according to an embodiment of the present invention;

fig. 25 is a left side view of a velocity measurement system provided by an embodiment of the present invention;

fig. 26 is a top view of a velocity measurement system provided by an embodiment of the present invention;

FIG. 27 illustrates a perspective view of a plow blade system provided by an embodiment of the invention;

FIG. 28 is a perspective view of another perspective of the plow blade system provided by the embodiment of the invention;

FIG. 29 illustrates a front view of a plow blade system provided by an embodiment of the invention;

FIG. 30 illustrates a left side view of a plow blade system provided by an embodiment of the invention;

FIG. 31 shows a cross-sectional view taken along line A-A of FIG. 30;

FIG. 32 illustrates a perspective view of a cable compression system provided by an embodiment of the present invention;

FIG. 33 illustrates a front view of a cable compression system provided by an embodiment of the present invention;

FIG. 34 illustrates a left side view of a cable compression system provided by an embodiment of the present invention;

FIG. 35 illustrates a top view of a cable compression system provided by an embodiment of the present invention;

FIG. 36 is a schematic view of a tether system provided by an embodiment of the present invention in a raised position and a lowered position;

FIG. 37 illustrates a perspective view of a cable anti-jump system provided by an embodiment of the present invention;

FIG. 38 illustrates a front view of a cable anti-bounce system provided by an embodiment of the present invention;

FIG. 39 illustrates a top view of a cable anti-jump system provided by an embodiment of the present invention;

FIG. 40 illustrates a perspective view of a hydraulic system provided by an embodiment of the present invention;

FIG. 41 illustrates a perspective view from another perspective of a hydraulic system provided by an embodiment of the present invention;

FIG. 42 illustrates a perspective view of a high pressure water injection system provided by an embodiment of the present invention;

FIG. 43 illustrates a perspective view of a control system provided by an embodiment of the present invention;

FIG. 44 is a schematic view of a buried plow provided by an embodiment of the present invention in a position where the coulter system is not cutting into the seafloor soil;

FIG. 45 is a schematic view of a buried plow as it is being cut into the seafloor soil provided by an embodiment of the present invention.

Reference numerals:

1. a frame; 2. a cable guide system; 3. a traction steering system; 4. a depth adjustment system; 5. a balancing system; 6. a speed measuring system; 7. a coulter system; 8.a cable compression system; 9. a cable anti-bounce system; 10. a hydraulic system; 11. a high pressure water injection system; 12. a control system; 13. fixing the bell mouth; 14. a movable bell mouth; 15. a left cross brace of the frame; 16. a left slipper cylinder mounting base; 17. a left support oil cylinder mounting seat; 18. a left leg mounting base; 19. a left balance wing mounting base; 20. a left balance wing cylinder mounting base; 21. a left longitudinal support of the frame; 22. a left hoisting rod mounting base; 23. a coulter system left mounting base; 24. a coulter oil cylinder mounting base; 25. fixing a cable channel; 26. a coulter system right mounting base; 27. a right hoisting rod mounting base; 28. a rack right longitudinal support; 29. a right balance wing cylinder mounting base; 30. a right balance wing mount; 31. a right leg mounting base; 32. a right support oil cylinder mounting seat; 33. a right slipper cylinder mounting base; 34. a right cross brace of the frame; 35. a movable cable channel; 36. a hoisting rod oil cylinder mounting seat; 37. a cable guide frame; 38. an underwater camera; 39. a cable stop lever; 40. the cable guide frame is connected with a flange; 41. a rotating shaft; 42. a torsion spring; 43. a fixed shaft; 44. a traction roller; 45. a cross shaft; 46. the cross shaft is connected with a flange; 47. a right steering arm; 48. a steering bracket; 49. a left steering arm; 50. a left connecting rod; 51. a steering cylinder; 52. a left hoisting rod; 53. hoisting a rod oil cylinder; 54. a right hoisting rod; 55. a middle connecting rod; 56. a right connecting rod; 57. a left slipper; 58. a left leg; 59. a left slipper cylinder; 60. a left leg cylinder; 61. a right leg; 62. a right leg cylinder; 63. a right slipper cylinder; 64. a right slipper; 65. a left balance wing; 66. a left balance wing cylinder; 67. a right balance wing; 68. a right balance wing cylinder; 69. a speed measuring system mounting base; 70. a speed measuring wheel; 71. a speed measuring shaft; 72. a connecting arm; 73. a speed sensor; 74. a coulter mounting rack; 75. a coulter; 76. a nozzle; 77. a plough head; 78. a cable trough; 79. a cable passing groove; 80. a cable pressing system mounting base; 81. the high-pressure water spraying system is connected with a flange; 82. a coulter cylinder; 83. a cable pressing oil cylinder mounting base; 84. a cable pressing oil cylinder; 85. a cable presser; 86. an anti-bounce system mount; 87. an anti-bounce torsion spring; 88. an anti-bouncing pressure lever; 89. anti-bouncing rollers; 90. a mounting seat; 91. a hydraulic frame; 92. a first motor; 93. an oil pump; 94. a valve block; 95. a water system support frame; 97. a water inlet pipe; 98. a water pump; 99. a second motor; 100. a water outlet pipeline; 101. a control system mount; 103. a watertight electric cabinet; 104. an underwater umbilical; 105. a master control console; 106. a mother work vessel; 107. dragging a winch; 108.a type hoisting frame; y-shaped steel wire ropes; 110. a cable; 111. a high pressure pipeline; 112. a water spraying pipeline.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In the description of the present embodiment, the terms "first", "second", "third", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.

In the description of the present embodiment, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

For ease of understanding, the "front" orientation described in this embodiment is the direction of travel of the buried plow during excavation, i.e., the X direction shown in fig. 4, the "rear" orientation described in this embodiment is the direction opposite to the X direction, the "left" orientation described in this embodiment is the Y direction shown in fig. 4, the "right" orientation described in this embodiment is the direction opposite to the Y direction, the "up" orientation described in this embodiment is the Z direction shown in fig. 2, and the "down" orientation described in this embodiment is the direction opposite to the Z direction.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

An embodiment of the present invention discloses a burying plow, as shown in fig. 1 to 4, for burying a submarine cable, comprising:

the frame 1 is a non-sealing steel structure and is used for bearing the load of the burying plough, installing other mechanisms and providing a cable channel;

the guide cable system 2 is arranged in front of the frame 1 and detachably connected with the frame 1 through a guide cable frame connecting flange 40, and the guide cable system 2 is used for guiding the cable 110 to enter the burying plough;

the balance systems 5 are symmetrically arranged at the two sides of the rear part of the frame 1 and are used for enhancing the balance of the embedded plough;

the speed measuring system 6 is arranged on one side of the balance system 5 in a pin shaft connection mode and is used for measuring the running speed of the embedded plough during working;

the coulter system 7 is arranged at the rear part of the frame 1 through pin shafts and sliding bearings at the left side and the right side and is used for providing a mechanical ditching function and a high-pressure water scouring excavating function for the embedded plough;

the cable pressing system 8 is arranged at the rear part of the coulter system 7 and is used for pressing the cable 110 into the cable groove 78 of the coulter system 7;

the cable anti-jumping system 9 is arranged above the rack 1 and used for preventing the cable 110 from jumping out of the cable passing groove 79 under the action of self elasticity or external force;

the hydraulic system 10 is arranged on the right side of the middle part of the frame 1 in a bolt connection mode and is used for providing hydraulic kinetic energy for each oil cylinder of the whole embedded plough;

the high-pressure water spraying system 11 is installed on the upper part of the coulter system 7 through bolt connection and is used for providing high-pressure water scouring for hard seabed soil ditching, namely providing high-pressure water for the coulter system 7 in the process of excavating seabed hard soil so as to scour the soil, and therefore the excavating capacity of the embedded plough is improved;

a control system 12 for providing electrical control, signal detection, data transmission, seafloor monitoring, alarm, etc. functions for the buried plow;

specifically, the frame 1 can be provided with a hole to form a non-sealed steel structure, when the burying plough is submerged into the sea bottom, seawater can be poured into the frame 1 through the hole, so that the pressure inside and outside the frame 1 is equal, the frame 1 can adapt to the high pressure generated by deep water, and the burying plough can work in a deeper water depth range.

Further, as shown in fig. 7, the rack 1 includes: body, movable bell mouth 14, movable cable channel 35 and fixed cable channel 25. The movable bell mouth 14 and the movable cable channel 35 are both formed by welding high-strength steel plates and can be connected with the fixed bell mouth 13 through a pin shaft, one side of the fixed cable channel 25 is connected with the body through a connecting plate and is positioned at the rear side of the movable cable channel 35;

further, the body includes: a fixed bell mouth 13 formed by welding high-strength steel plates, a movable bell mouth 14 and a movable cable channel 35 which are detachably connected below the fixed bell mouth 13, a rear side fixedly connected with a hoisting rod cylinder mounting seat 36 of the fixed bell mouth 13, a left side fixedly connected with a rack left cross brace 15 of the fixed bell mouth 13, a rear side fixedly connected with a rack left longitudinal brace 21 of the rack left cross brace 15, a right side fixedly connected with a rack right cross brace 34 of the fixed bell mouth 13, a rear side fixedly connected with a rack right longitudinal brace 28 of the rack right cross brace 34, a left front side fixedly connected with a left sliding shoe cylinder mounting seat 16 and a left leg cylinder mounting seat 17 of the rack left cross brace 15, a left end fixedly connected with a left leg support mounting seat 18 of the rack left cross brace 15, a left rear side fixedly connected with a left balance wing mounting seat 19 and a left balance wing cylinder mounting seat 20 of the rack left cross brace 15, a rear side fixedly connected with a left hoisting rod mounting seat 22, a left lifting, The left mounting seat 23 and the oil cylinder mounting seat 24 of the coulter system, the right leg oil cylinder mounting seat 32 and the right skid shoe oil cylinder mounting seat 33 are fixedly connected to the front of the right side of the right cross brace 34 of the frame, the right leg mounting seat 31 is fixedly connected to the right end of the right cross brace 34 of the frame, the right balance wing oil cylinder mounting seat 29 and the right balance wing mounting seat 30 are fixedly connected to the rear of the right side of the right cross brace 34 of the frame, and the right mounting seat 26 and the right hoisting rod mounting seat 27 of the coulter system are fixedly connected to the rear of the right longitudinal brace 28 of the frame. Wherein, each part in the body is formed by high strength steel plate welding, and each part can be connected with each other in the welded mode.

When the construction is started, the cable 110 sequentially penetrates from the fixed bell mouth 13 and the movable bell mouth 14 and enters the coulter system 7 through the movable cable channel 35 and the fixed cable channel 25. When the construction is finished or the buried plow is overhauled, the pin shaft at one side of the movable bell mouth 14 and the movable cable channel 35 is disassembled, so that the movable bell mouth 14 and the movable cable channel 35 rotate downwards along the fixed pin shaft at the other side, the cable 110 has space to be integrally taken out from the side of the buried plow and put on the deck of the mother ship, the cable 110 is prevented from being taken out from the whole buried plow, and the cable 110 is more convenient to unload.

Further, as shown in fig. 8 to 11, the fairlead system 2 includes:

the cable guide frame 37 is formed by welding seamless steel pipes and is of a non-sealing structure;

an underwater camera 38 electrically connected to the control system 12 and mounted on the fairlead 37 for monitoring the actual conditions of the cable 110 as it enters the buried plow;

and the cloud deck is electrically connected with the control system 12 and is connected with the underwater camera 38, and the cloud deck can drive the underwater camera 38 to rotate so as to perform underwater shooting from different angles.

A fixed shaft 43 connected to the fairlead frame 37 by bolts;

a rotating shaft 41 rotatably connected to the fixed shaft 43;

the number of the cable limiting rods 39 is 2, the cable limiting rods are respectively connected with the rotating shaft 41 through bolts and are symmetrically arranged on two sides of the rotating shaft 41;

2 torsion springs 42, which are arranged up and down, wherein one end of the torsion spring 42 at the upper end is connected with the fixed shaft 43, and the other end is connected with the rotating shaft 41; one end of the torsion spring 42 at the lower end is connected to the fairlead 37, and the other end is connected to the rotating shaft 41.

During construction, the cable 110 penetrates from the middle of the two cable limiting rods 39, and in the working process of embedding the plough, when the cable 110 swings left and right, the cable limiting rods 39 can swing around the rotating shaft 41, and the swinging process can be influenced by the torsional reaction force of the torsional spring 42 no matter left or right, so that the swinging amplitude and speed of the cable 110 are reduced, the limiting and stabilizing effects on the cable 110 are achieved, and the cable 110 is effectively protected. In addition, the cable guide 37 may be a multi-layer steel pipe structure with a certain inclination so as to better adapt to the bending radius of the cable 110 and prevent the cable 110 from being damaged due to an excessively small bending radius.

Further, the balance system 5, as shown in fig. 21, includes:

the left balance wing 65 is formed by welding high-strength steel plates, and the upper end of the left balance wing is rotationally connected with the left balance wing mounting seat 19 through a pin shaft and a sliding bearing;

a fixed end of the left balance wing oil cylinder 66 is rotationally connected with the left balance wing oil cylinder mounting seat 20 through a pin shaft and a sliding bearing, and an extending end of the left balance wing oil cylinder is rotationally connected with the middle part of the left balance wing 65 through a pin shaft and a sliding bearing;

a speed measuring system mounting base 69 fixedly connected to the rear end portion of the left balance wing 65;

the right balance wing 67 is formed by welding high-strength steel plates, and the upper end of the right balance wing is rotationally connected with the right balance wing mounting seat 30 through a pin shaft and a sliding bearing;

a fixed end of the right balance wing oil cylinder 68 is rotationally connected with the right balance wing oil cylinder mounting seat 29 through a pin shaft and a sliding bearing, and an extending end of the right balance wing oil cylinder 68 is rotationally connected with the middle part of the right balance wing 67 through a pin shaft and a sliding bearing;

the balance system 5 is symmetrically arranged at the left side and the right side of the embedded plough and plays a balance role in the embedded plough. In the process of the embedded plough moving, the left balance wing 65 and the right balance wing 67 can support the embedded plough, and the left balance wing oil cylinder 66 and the right balance wing oil cylinder 68 can provide supporting force and adjust the supporting force, so that the embedded plough can be prevented from overturning due to uneven stress.

Further, as shown in fig. 23 to 26, the speed measuring system 6 includes:

a connecting arm 72, one end of which is connected with the speed measuring system mounting base 69;

the speed measuring shaft 71 is rotatably connected with the connecting arm 72 through a sliding bearing;

the speed measuring wheel 70 is formed by welding steel plates and is connected with a speed measuring shaft 71 in a key mode;

and a speed sensor 73 electrically connected with the control system 12, wherein a rotating part of the speed sensor 73 is in threaded connection with the speed measuring shaft 71, a fixed part is in threaded connection with the connecting arm 72, and the speed sensor 73 is used for detecting the traveling speed of the buried plough.

When the embedded plough advances, the speed wheel 70 is driven to rotate by the connecting arm 72 connected with the left balance wing 65, and the speed wheel 70 drives the speed sensor 73 connected with the speed measuring shaft 71 to measure the advancing speed of the embedded plough. The speed measuring system 6 is designed to enable the traveling speed of the embedded plough to be readable and controllable, effectively measure the length and the traveling mileage of the embedded plough, and ensure the high efficiency of the embedded plough.

Further, the coulter system 7 is shown in fig. 27-31 and includes:

a plow blade mounting bracket 74 made of a high-strength steel plate;

a coulter 75 made of high strength steel plate and welded to the coulter mounting bracket 74;

a colter head 77 made of high manganese wear-resistant steel and detachably connected with the colter 75 through a pin shaft;

the cable trough 78 is of a welded steel structure and is fixedly connected above the coulter 75 through bolts;

the cable passing groove 79 is of a welded steel structure, is used as a transition structure for the cable 110 to enter the cable groove 78 and is fixedly connected with the coulter mounting frame 74 through a pin shaft;

a cable press system mount 80 welded to the plow blade mount 74;

the high-pressure water spraying system connecting flange 81 is welded on the coulter mounting frame 74;

the extension end of the coulter oil cylinder 82 is rotationally connected with the coulter mounting frame 74 through a pin shaft, and the fixed end of the coulter oil cylinder is rotationally connected with the coulter oil cylinder mounting seat 24 through a pin shaft;

and the cable pressing oil cylinder mounting seat 83 is welded on the colter mounting frame 74.

And the coulter system is a core component of the embedded plough, when the embedded plough is dragged by a working mother ship to advance, the coulter 75 and the coulter head 77 carry out mechanical excavation on the seabed soil, and simultaneously, high-pressure water sprayed by the high-pressure water spraying system 11 washes the seabed soil through the nozzle 76, so that the mechanical excavation effect is improved. And the coulter system 7 also has a coulter posture adjusting function. The relative position angle of the coulter system 7 and the frame 1 can be effectively adjusted through the extension and retraction of the coulter oil cylinder 82, so that the plough body posture can be effectively adjusted.

Further, the cable pressing system 8, as shown in fig. 32 to 35, includes:

the fixed end of the cable pressing oil cylinder 84 is rotationally connected with a cable pressing oil cylinder mounting seat 83 in the coulter system 7 through a pin shaft;

the cable pressing device 85 is of a welded steel structure and is arranged in the cable groove 78, the cable pressing device 85 is rotatably connected with a cable pressing system mounting seat 80 in the coulter system 7 through a pin shaft and a sliding bearing, the rotating connection point is a rotating fulcrum of the cable pressing device 85, and one side, close to the cable pressing oil cylinder 84, of the rotating fulcrum is rotatably connected with the extending end of the cable pressing oil cylinder 84 through a pin shaft;

as shown in fig. 36, when the cable ram 84 is retracted, the cable ram 85 is lifted away from the cable groove 78; when the cable pressing cylinder 84 extends, the cable pressing device 85 descends to the cable groove 78 to press the cable 110. The design of the cable pressing system 8 enables the cable 110 to be effectively pressed into the cable groove 78 of the coulter system 7, so that the cable 110 effectively enters the excavated groove bottom along the cable groove 78, and the effective burial depth of the cable 110 is realized.

Further, the cable anti-jump system 9, as shown in fig. 37 to 39, includes:

the anti-jumping system mounting seat 86 is welded on the frame 1;

the anti-bouncing pressure rod 88 is rotationally connected with the anti-bouncing system mounting seat 86 through a pin shaft;

the anti-bouncing torsion spring 87 is in a form of a parallel double-torsion spring, wherein a pin shaft penetrates through the anti-bouncing torsion spring, and is respectively connected with the anti-bouncing system mounting seat 86 and the anti-bouncing pressure rod 88 through the pin shaft penetrating through the anti-bouncing torsion spring;

the anti-bouncing roller 89 is of a steel welding structure and is rotationally connected with the anti-bouncing pressure rod 88 through a pin shaft and a sliding bearing.

When the cable 110 passes through the fixed cable channel 25, the cable 110 has a certain diameter, and the anti-jump roller 89 is jacked upwards to drive the anti-jump pressure rod 88 to rotate upwards around the shaft and drive the anti-jump torsion spring 87 to twist, the generated reverse torsion moment acts on the anti-jump roller 89 to apply a certain pressure to the cable 110, so that the cable 110 is prevented from jumping out of the cable groove 79 under the action of external force or self elasticity, and the anti-jump function of the cable is realized.

The design of the cable guide system 2, the cable pressing system 8, the cable anti-jumping system 9 and the speed measuring system 6 enables the cable 110 to be smoother in the burying process, so that the efficient burying of the cable 110 is ensured.

Further, as shown in fig. 40 and 41, the hydraulic system 10 includes: the mounting seat 90 is welded on the frame 1, the hydraulic frame 91 is connected to the mounting seat 90 through bolts, and the first motor 92, the oil pump 93, the valve group 94, the filter, the oil tank and the like are connected to the hydraulic frame 91 through bolts. When the hydraulic cylinder telescopic hydraulic cylinder works, a power cable from the underwater umbilical cable provides power for the first motor 92, the first motor 92 drives the oil pump 93, and the generated high-pressure oil is conveyed to each execution cylinder through a corresponding pipeline to realize the telescopic of the cylinders.

Further, the high pressure water injection system 11, as shown in fig. 42 and 31, includes:

the water system supporting frame 95 is connected with a high-pressure water spraying system connecting flange 81 in the coulter system 7 through bolts;

a water pump 98 connected to the water system support frame 95 by bolts;

the second motor 99 is connected with the water pump 98 and used for driving the water pump 98 to operate;

a water inlet pipe 97 connected to a water inlet of the water pump 98;

an outlet pipe 100, one end of which is connected with the outlet of the water pump 98;

the high-pressure pipeline 111 is arranged inside the coulter 75 along the extension direction of the coulter 75, one end of the high-pressure pipeline 111 is connected with the other end of the water outlet pipeline 100, the other end of the high-pressure pipeline 111 is arranged in a sealing mode, a plurality of water spray nozzles are formed in the high-pressure pipeline 111, each water spray nozzle is connected with a water spray pipeline 112, holes are further formed in two side walls of the coulter 75, a nozzle 76 is installed in each hole, the water spray pipelines 112 are connected with the nozzle 76 through flanges, the nozzle 76 is used for spraying high-pressure water, cutting edges are arranged on two sides of the coulter 75.

The high-pressure water spraying system 11 is arranged on the coulter system 7 and can provide high-pressure water washing for hard seabed soil ditching, so that the ditching efficiency is improved, and the coulter system 7 has a high-efficiency excavating function. The digging function of the coulter is realized by two modes of mechanical digging and high-pressure water spraying and scouring. When the buried plow is dragged by the mother working vessel to advance, the coulter 75 and the coulter head 77 perform mechanical excavation of the seabed soil, and simultaneously, the high-pressure water flow provided by the high-pressure water spraying system 11 flushes the seabed soil through the nozzles 76 arranged on the two side surfaces of the coulter 75, so that the excavation capacity of the buried plow is greatly improved, and the buried plow can adapt to the excavation of the soil with different soil qualities. In operation, the power cable from the underwater umbilical provides power to the second motor 99, the second motor 99 drives the water pump 98, and seawater is filtered from the water inlet pipe 97 and then delivered from the water outlet pipe 100 to the nozzle 76 of the coulter system 7 through the pipeline, thereby realizing high-pressure washing of the seabed soil.

The hydraulic system 10, the high-pressure water spraying system 11 and the underwater part of the control system 12 are integrated on the embedded plough body, so that the deep-water use of the embedded plough can be realized. Because the high-pressure hydraulic pipe specially led out from the ship generally reaches 250bar pressure and the high-pressure hydraulic pipe generally reaches 16bar pressure to the seabed of the water depth of more than 500m, the cost is high, the technical reliability is difficult to ensure, for example, the hydraulic hose and the water pipe are easy to break under the action of the underwater environment, the pipe joint leaks, and the like, and the maintenance is difficult. According to the invention, the hydraulic system 10, the high-pressure water spraying system 11 and the underwater part of the control system 12 are integrated on the burying plough body, the hydraulic system 10 and the high-pressure water spraying system 11 can be powered and controlled by the first motor 92, the second motor 99 and the underwater part of the control system only by leading out an underwater umbilical cable with electric power and electric signals from the ship body, and a hydraulic hose and a water pipe are not required to be led out from a ship to the underwater burying plough, so that the cost is saved, the reliability of the hydraulic system 10 and the high-pressure water spraying system 11 is improved, and the burying plough is not only suitable for shallow sea construction, but also is more suitable for deep sea construction of more than 500 m.

In addition, the hydraulic system 10 and the high-pressure water spraying system 11 are both designed to be pressure-resistant and watertight, namely, the design with high pressure resistance and good sealing performance is adopted, so that the embedded plough can adapt to deep water. Wherein, the oil pump 93 and the water pump 98 can adopt series products of the Japan Kawasaki company and can also adopt products of foreign brand parker company; the first motor 92 and the second motor 99 may be products provided by Tianjin Pomitomo electromechanical Co., Ltd., China; hydraulic accessories such as valves, filters, fittings, etc. may be provided by the company parker, rossmont, etc. The underwater part of the control system also meets the requirements of sealing and high pressure resistance, and Siemens and Schneider products can be adopted.

Furthermore, an alarm device and a sensing system are also arranged on the embedded plough, and the alarm device and the sensing system are both electrically connected with the control system; wherein, the alarm device can be an acoustic alarm; the sensing system includes:

a first tilt sensor: and the angle measuring device is arranged on the frame left longitudinal support 21 or the frame right longitudinal support 28 and is used for measuring the longitudinal inclination angle of the embedded plough, namely the included angle between the upper surface of the frame left longitudinal support 21 or the frame right longitudinal support 28 and the horizontal plane. And when the longitudinal inclination angle is larger than or equal to a first preset angle, the alarm device gives an alarm.

A second tilt sensor: and the angle measuring device is arranged on the left cross brace 15 of the frame or the right cross brace 34 of the frame and is used for measuring the transverse inclination angle of the embedded plough, namely the included angle between the upper surface of the left cross brace 15 of the frame or the right cross brace 34 of the frame and the horizontal plane. And when the transverse inclination angle is larger than or equal to a second preset angle, the alarm device gives an alarm.

A first angle sensor: is mounted on the fairlead 37 for measuring the angle at which the cable 110 enters the buried plow, i.e., the angle of the cable 110 from the horizontal as the cable 110 enters the fairlead 37.

A second angle sensor: is arranged on a pin shaft penetrating into the left mounting seat 23 of the coulter system or the right mounting seat 26 of the coulter system and is used for measuring the relative angle between the frame 1 and the coulter system 7, namely the included angle between the left longitudinal support 21 of the frame or the right longitudinal support 28 of the frame and the upper plane of the coulter mounting frame 74.

A first sonar: mounted on the mother vessel 106 for measuring the submergence depth of the buried plow.

A second sonar: mounted to the plow blade mounting bracket 74 for measuring the depth of the trench, i.e., the depth of burial of the cable 110.

A first pressure sensor: the alarm device is arranged in a pipeline of the hydraulic system 10 and used for measuring the pressure of the hydraulic system 10, and when the pressure is greater than a first preset pressure, the alarm device gives an alarm.

A second pressure sensor: the alarm device is arranged in a pipeline of the high-pressure water spraying system 11 and used for measuring the water pressure of the high-pressure water spraying system 11, and when the water pressure is greater than a second preset pressure, the alarm device gives an alarm.

A third pressure sensor: and are mounted on the left balance wing 65 and the right balance wing 67 for detecting whether the buried plow lands on the ground.

The force sensor is arranged at the contact position of the rack 1 and the Y-shaped steel wire rope 109 used for dragging the embedded plough to move, and is used for detecting the tension of the Y-shaped steel wire rope 109;

compass: is arranged at the upper end of a fixed bell mouth 13 of the frame 1 and is used for detecting the azimuth angle of the embedded plough.

A temperature sensor; is installed in the oil tank of the hydraulic system 10 for detecting the temperature of the hydraulic oil. And when the temperature of the hydraulic oil is higher than the preset temperature, the alarm device gives an alarm.

Specifically, the first preset angle and the second preset angle are both +/-10 degrees, the first preset pressure is 250bar, the second preset pressure is 16bar, and the preset temperature is 60 ℃.

Furthermore, the buried plough is also provided with lighting equipment for lighting the work monitoring of the buried plough.

Further, the control system 12, as shown in fig. 43, includes: a general control station 105, a subsea umbilical 104 and a subsea section. Wherein, the master control station 105 is arranged on the mother ship 106 and is used for enabling the operator to carry out all operations and monitoring; the underwater part is arranged on the frame 1 through bolts; the underwater umbilical 104 connects the general control station 105 to the underwater portion as a signal and power transmission medium.

Specifically, the underwater portion includes: the device comprises a control system mounting seat 101 fixed on the machine frame 1 and a watertight electric control box 103 fixed on the control system mounting seat 101, wherein a sensor module, a power distribution module and a data acquisition and processing module are arranged in the watertight electric control box 103. The power distribution module is used for stabilizing the 380V power transmitted from the working mother ship 106 through the underwater umbilical cable 104, outputting the voltage required by each sensor and supplying the voltage to each sensor of the embedded plough; the sensor module is used for converting the electric signals transmitted by the sensors into standard analog or digital signals to be output; the data acquisition and processing module is used for receiving various analog or digital signals output from the sensor module, converting the received signals into optical fiber signals and transmitting the optical fiber signals to the master control console 105 through the underwater umbilical 104.

When the control system 12 is in operation, the general control console 105 located on the mother ship 106 sends an operation command to start the first motor 92 in the hydraulic system 10 to provide power for each hydraulic cylinder. In the working process of the embedded plough, a second motor 99 in the high-pressure water spraying system 11 is started to provide high-pressure water for the coulter system 7; signals of various sensors, monitoring detection devices and alarm devices of the embedded plough are fed back to a general control platform 105 on the ship through a sensor module, a data acquisition and processing module and an underwater umbilical cable 104 of the watertight electric control box 103, an operator correspondingly makes various operations according to various signal data display and monitoring display, and power and signal cables are distributed to various electric equipment, sensors, detection, monitoring and alarm devices through the underwater umbilical cable 104 and the watertight electric control box 103. Ensuring the smooth operation of the embedded plough. The control system 12 effectively monitors various parameters, so that the high-efficiency adjustment capability of the control system 12 on the posture of the embedded plough is ensured, and the embedded plough can adapt to various complex working conditions when working.

When the cable needs to be laid by using the burying plow, the burying plow is dragged by a towing winch 107 arranged on the working mother ship 106 to be lowered to the seabed through an A-type hanging frame 108, trenching burying is carried out under the dragging of the working mother ship 106, and after the cable is buried completely, the burying plow is lifted to the deck surface of the working mother ship 106 through the A-type hanging frame 108 by the towing winch 107.

a preparation stage: as shown in fig. 1, a cable 110 to be buried is passed from the fairlead system 2 into the burying plow, sequentially through the fairlead frame 37, the fixed bell 13, the movable bell 14, the movable cable channel 35, the fixed cable channel 25, the cable trough 79, the cable trough 78, and finally out of the cable trough 78. During cable threading, the cable ram 84 is retracted to lift the cable ram 85, as shown in FIG. 36, to allow the cable 110 to pass through the cable slot 78.

A lowering stage: the Y-shaped wire rope 109 is connected to the burying plow by a towing winch 107 on the mother ship 106 through an A-shaped cradle 108 at the stern. As the towing winch 107 on the mother vessel 106 turns, the burying plow is gradually lifted to the sea surface and slowly lowered into the water, as shown in fig. 5. In the process of putting water under the burying plough, the Y-shaped steel wire rope 109 is pulled down by the winch 107, meanwhile, the cable 110 is synchronously and slowly laid under the action of the cable laying mechanism, and the underwater umbilical cable 104 is synchronously and slowly laid under the action of the umbilical cable winch. At this time, the cable presser 85 keeps the cable in the cable groove 78 under the action of the extending of the cable pressing oil cylinder 84.

A positioning stage: after the buried plow is lowered onto the seabed by the towing winch 107, the coulter 75 cuts into the seabed and the position of the vessel is adjusted forward to ensure that the submerged cable remains in a more reasonable catenary condition. A first angle sensor on the fairlead 37 measures the angle at which the cable 110 enters the buried plow; the third pressure sensor buried in the left balance wing 65 and the right balance wing 67, the second inclination angle sensor installed on the frame left cross brace 15 or the frame right cross brace 34, and the first inclination angle sensor installed on the frame left longitudinal brace 21 or the frame right longitudinal brace 28 all send out signals, and when the first inclination angle sensor or the second inclination angle sensor exceeds a specified value, an alarm is given out.

After the buried plough is in place on the seabed, the cable releasing mechanism of the working mother ship 106 releases the cable and maintains a certain tension, and the lengths of the Y-shaped steel wire rope 109 and the underwater umbilical cable 104 are adjusted, so that the distance between the buried plough and the working mother ship 106 reaches an optimal value, and the included angle between the Y-shaped steel wire rope 109 and the horizontal direction reaches a reasonable value. The optimal value and the reasonable value are determined according to the actual working conditions in the field, and are not particularly limited herein.

And (3) excavating: after the position of the embedded plough and the working mother ship 106 is properly adjusted according to the water depth, the working mother ship 106 pulls the embedded plough to advance along a route, wherein the route refers to a determined cable embedding path before cable embedding construction, the depth of a trench is detected by a second sonar at the moment, a force sensor detects the tension of a Y-shaped steel wire rope 109, and a speed sensor 73 detects the advancing speed of the embedded plough; underwater cameras 38 and lighting mounted on fairleads 37 can monitor the conditions in front of and behind the burying plow.

When the mother work vessel 106 drags the buried plow to move forward, the buried plow digs and buries the cable 110 along the route direction by means of the navigation system under the traction of the mother work vessel 106. Meanwhile, the high-pressure water flow provided by the high-pressure water spraying system 11 washes the seabed soil through the nozzles 76 arranged on the two side surfaces of the coulter 75. After entering the burying plow from the navigation system 2, the cable 110 passes through the fixed bell mouth 13, the movable bell mouth 14, the movable cable channel 35, the fixed cable channel 25, the cable passing groove 79 and the cable groove 78 in sequence, and is buried in the dug plow ditch under the action of the cable pressing device 85, as shown in fig. 6. During the trenching and burying process of the burying plow, the advancing speed of the burying plow is ensured to be consistent with the cable releasing speed of the tensioner on the mother work ship 106.

And (3) a recovery stage: when the cable 110 is buried at a predetermined destination, the working mother ship 106 stops moving and slowly moves backward, and at the same time, the cable 110, the Y-shaped steel wire rope 109 and the underwater umbilical 104 are retracted at the speed at which the working mother ship 106 moves backward, and when the working mother ship 106 reaches the position of the buried plow and stops moving, the buried plow is gradually lifted to the deck surface of the working mother ship 106 by the Y-shaped steel wire rope 109 through the A-shaped hoisting frame 108 by the towing winch 107 located on the working mother ship 106.

In some embodiments, the buried plow of the present invention further comprises:

the traction steering system 3 is arranged in the middle of the rack 1 and is connected with the rack 1 through a pin shaft; the traction steering system 3 is connected with the working mother ship through a traction steel wire rope and is used for driving the whole embedded plough to advance under the dragging of the working mother ship and providing the functions of hoisting and steering for the embedded plough;

and the excavation depth adjusting systems 4 are arranged on the two sides of the front part of the frame 1 in a bilateral symmetry manner and are used for adjusting the excavation depth and the pitching angle of the contact part between the front part of the embedded plough and the seabed.

Further, as shown in fig. 12 to 15, the traction steering system 3 includes:

a steering bracket 48;

a right steering arm 47 rotatably connected to the right side of the steering bracket 48 by a pin shaft and a slide bearing;

a left steering arm 49 arranged symmetrically with the right steering arm 47, the left steering arm 49 passing through a pin shaft and a sliding shaft

Pivotally attached to the left side of the steering bracket 48;

a right hoisting rod 54, one end of which is rotatably connected to the right side of the steering bracket 48 through a pin shaft and a sliding bearing, and the other end of which is rotatably connected with the right hoisting rod mounting seat 27;

the left hoisting rod 52 and the right hoisting rod 54 are symmetrically arranged, one end of the left hoisting rod 52 is rotatably connected to the left side of the steering bracket 48 through a pin shaft and a sliding bearing, and the other end of the left hoisting rod 52 is rotatably connected with the left hoisting rod mounting seat 22;

an intermediate link 55 rotatably connected to the rear side of the steering bracket 48 by a pin shaft and a slide bearing;

the number of the cross shafts 45 is two, the two cross shafts 45 are arranged in bilateral symmetry and are respectively fixedly connected to the right steering arm 47 and the left steering arm 49 through cross shaft connecting flanges 46, and the cross shafts 45 can rotate in two directions;

the number of the traction rollers 44 is two, and the two traction rollers 44 are arranged in bilateral symmetry and are respectively connected with the end parts of the two cross shafts 45 through bolts and pin shafts;

a right link 56, both ends of which are rotatably connected with the right steering arm 47 and the intermediate link 55 through a pin shaft and a sliding bearing, respectively;

a left connecting rod 50, two ends of which are respectively connected with the left steering arm 49 and the middle connecting rod 55 through a pin shaft and a sliding bearing in a rotating way;

a steering oil cylinder 51, the fixed end of which is rotationally connected with the left hoisting rod 52 through a pin shaft, and the extended end of which is rotationally connected with the left steering arm 49 through a pin shaft;

a fixed end of the hoisting rod cylinder 53 is rotatably connected with the hoisting rod cylinder mounting seat 36 through a pin shaft, and an extending end of the hoisting rod cylinder is rotatably connected with the left hoisting rod 52;

the right steering arm 47, the steering bracket 48, the left steering arm 49, the left connecting rod 50, the left hoisting rod 52, the right hoisting rod 54, the middle connecting rod 55 and the right connecting rod 56 are all formed by welding high-strength steel plates.

The traction steering system 3 integrates three functions of traction, steering and hoisting. When the embedded plough works, the traction steering system 3 can simultaneously complete the traction and steering functions; when the embedded plough needs to be put down to the seabed or pulled out of the seabed, the traction steering system 3 can also realize the hoisting function of the embedded plough, a sling and a sling do not need to be specially prepared, a steel wire rope does not need to be replaced, and the traction, steering and hoisting functions of the same steel wire rope are realized through the posture adjustment of the traction steering system 3.

Specifically, when the traction steering system 3 needs to realize the hoisting function, as shown in fig. 16, the hoisting rod cylinder 53 extends out to push the left hoisting rod 52 to rotate 90 degrees around the shaft, so that the traction steering system 3 is in a vertical position, the left end and the right end of the Y-shaped steel wire rope 109 are respectively connected with the traction rollers 44 at the two sides of the traction steering system 3, and at this time, the whole burying plow is hoisted through the traction rollers 44 under the action of the Y-shaped steel wire rope 109.

When the traction steering system 3 needs to realize the traction function, the hoisting rod oil cylinder 53 retracts to pull the left hoisting rod 52 to rotate 90 degrees around the axial direction in the opposite direction, so that the traction steering system 3 is in the horizontal position, at the moment, the working mother ship can pull the burying plough to move forward through the Y-shaped steel wire rope 109,

the steering function of the traction steering system 3 adopts a design with motion self-locking prevention and motion distortion prevention. As shown in fig. 17, the specific implementation method is as follows: the steering bracket 48, the left steering arm 49, the left link 50 and the middle link 55 are connected with each other by a pin shaft to form an OACD four-side parallelogram as shown in FIG. 17; the right steering arm 47, the steering bracket 48, the intermediate link 55 and the right link 56 are connected with each other by a pin so that the OA ' C ' D ' quadrangle shown in fig. 17 is a parallelogram, and the two parallelogram mechanisms can prevent motion self-locking and motion distortion when the steering mechanism is steered under the action of traction force. Specifically, when the embedded plow moves straight, the two sides of the Y-shaped steel wire rope 109 are stressed in the same size under the horizontal dragging force T. When the embedded plough needs to turn to the right, the left steering oil cylinder 51 retracts, at the moment, A, A 'and O points are fixed, a point B, F, C rotates anticlockwise around a point A, and points B' and C 'rotate anticlockwise around a point A'; D. the point D' rotates anticlockwise around the point O, the stress on the two sides of the Y-shaped steel wire rope 109 changes, the stress on the right side is reduced, the stress on the left side is increased, and therefore a steering torque is generated, and the embedded plough is steered towards the right. Conversely, when the left steering cylinder 51 is extended, the above points are rotated clockwise correspondingly, and the burying plow is rotated left.

When the buried plow is provided with the traction steering system 3, a force sensor may also be mounted on the cross-pin 45 of the traction steering system 3 for measuring the traction force of the Y-wire rope 109 during excavation of the buried plow. And when the traction steering system 3 is arranged in the embedded plough, the sensing system also comprises a third angle sensor which is arranged on a cross shaft 45 of the traction steering system 3 and is used for measuring the traction angle of the Y-shaped steel wire rope 109, namely, after the Y-shaped steel wire rope 109 is connected with the traction roller 44, the included angle between the tangent direction of the Y-shaped steel wire rope 109 on the traction roller 44 and the horizontal direction is formed. When the traction angle of the Y-shaped steel wire rope 109 is larger than a third preset angle, the alarm device gives an alarm. In particular, the third preset angle is 15 °.

The working method of the traction steering system 3 comprises the following steps:

before the burying plough is lowered, the lifting rod cylinder 53 installed between the frame 1 and the left lifting rod 52 is slowly extended to slowly raise the left lifting rod 52 together with the traction steering system 3 to the vertical position. The Y-shaped steel wire rope 109 is connected with the two traction rollers 44 at the left and right sides of the burying plow by a dragging winch 107 on the mother ship 106 through an A-shaped hoisting frame 108 at the stern. Subsequently, the towing winch 107 on the mother vessel 106 is turned, gradually lifting the burying plow to the sea surface and slowly lowering it into the water.

After the embedded plough is lowered to the seabed, the hoisting rod oil cylinder 53 retracts, the traction steering system 3 returns to the horizontal position, the cable releasing mechanism of the working mother ship 106 releases the cable and maintains certain tension, the lengths of the Y-shaped steel wire rope 109 and the underwater umbilical cable 104 are adjusted, the distance between the embedded plough and the working mother ship 106 reaches the optimal value, and the included angle between the Y-shaped steel wire rope 109 and the horizontal direction reaches the reasonable value. The alarm is given when the third angle sensor mounted on the traction steering system 3 detects that the value exceeds the specified value.

When the cable 110 is buried to a predetermined destination, the mother work vessel 106 stops moving and slowly retreats, and when the mother work vessel 106 reaches the position of the buried plow and stops moving, the lifting rod cylinder 53 of the buried plow extends to position the traction steering system 3 in the vertical position. A towing winch 107 on the mother vessel 106 gradually raises the buried plow to the deck surface of the mother vessel 106 by a Y-shaped wire rope 109 through an a-type hoist frame 108.

Further, as shown in fig. 18, the excavation depth adjusting system 4 includes:

the upper end of the left leg 58 is rotationally connected with the left leg mounting seat 18 through a pin shaft and a sliding bearing;

a left skid shoe 57 rotatably connected to the bottom of the left leg 58;

a fixed end of the left leg oil cylinder 60 is rotationally connected with the left leg oil cylinder mounting seat 17 through a pin shaft and a sliding bearing, and an extending end of the left leg oil cylinder 60 is rotationally connected with the left leg 58 through a pin shaft and a sliding bearing;

a fixed end of the left sliding shoe oil cylinder 59 is rotationally connected with the left sliding shoe oil cylinder mounting base 16 through a pin shaft and a sliding bearing, and an extending end of the left sliding shoe oil cylinder 59 is rotationally connected with the left sliding shoe 57 through a pin shaft and a sliding bearing;

the upper end of the right supporting leg 61 is rotationally connected with the right supporting leg mounting seat 31 through a pin shaft and a sliding bearing;

a right slipper 64 rotatably connected to the bottom of the right leg 61;

a fixed end of the right support oil cylinder 62 is rotationally connected with the right support oil cylinder mounting seat 32 through a pin shaft and a sliding bearing, and an extending end of the right support oil cylinder is rotationally connected with the right support 61 through a pin shaft and a sliding bearing;

a fixed end of the right sliding shoe oil cylinder 63 is rotationally connected with the right sliding shoe oil cylinder mounting seat 33 through a pin shaft and a sliding bearing, and an extending end of the right sliding shoe oil cylinder is rotationally connected with the right sliding shoe 64 through a pin shaft and a sliding bearing;

the left slipper 57, the left leg 58, the right leg 61 and the right slipper 64 are all formed by welding high-strength steel plates.

The excavation depth adjusting system 4 has a continuous excavation depth adjusting function and a slipper attitude pitch adjusting function. The ditching depth of the embedding plough can be continuously adjusted by the extension and contraction of the left supporting leg oil cylinder 60 and the right supporting leg oil cylinder 62; by means of the expansion of the left slipper oil cylinder 59 and the right slipper oil cylinder 63, the pitching adjustment of the slipper can be achieved, and the embedded plough can effectively adapt to complex seabed terrains.

Specifically, when the depth adjustment system 4 is required to perform the depth adjustment function, the left leg cylinder 60 is fully extended at the start of trenching, as shown in fig. 19 a. As the left leg cylinder 60 is progressively retracted, the buried plow is under its own weight causing the coulter 75 to progressively cut into the seabed as shown in fig. 19 b. The digging depth is gradually deepened, and when the left support oil cylinder is completely retracted, the maximum digging depth is reached.

When the excavation depth adjusting system 4 needs to realize the slipper attitude pitch adjusting function, the left slipper 57 can realize various attitudes of horizontal, downward bending and upward bending of the slipper under the telescopic action of the left slipper oil cylinder 59, as shown in fig. 20a, 20b and 20 c. By adjusting the pitch angle of the slipper and the mutual position relationship among the supporting legs, the balance wings, the coulter system 7 and the frame 1, the embedded plough can be well adapted to the complex topography of the seabed.

When the buried plow is provided with the digging depth adjusting system 4, the balancing system 5 can also assist in adjusting the digging depth of the buried plow, and the digging depth can be adjusted by matching with the digging depth adjusting system 5 in the process of burying the cable 110. As shown in fig. 22, when the left stabilizer cylinder 66 retracts, the left stabilizer 65 rises; when the left balance wing cylinder 66 extends, the left balance wing 65 descends. And when the buried plow is provided with a depth adjustment system 4, third pressure sensors may be mounted on the left and

right shoes

57, 64 for detecting whether the buried plow lands.

The mode that the depth adjusting system 4 and the balance system 5 adjust the depth of the embedded plough is as follows:

in the excavation stage of the buried plough, when the excavation depth needs to be increased, the left support oil cylinder 60, the right support oil cylinder 62, the left balance wing oil cylinder 66 and the right balance wing oil cylinder 68 are respectively contracted, so that the left skid shoe 57, the right skid shoe 64, the left balance wing 65 and the right balance wing 67 are lifted, and the coulter 75 cuts into the seabed at a certain angle under the self-weight action of the buried plough. As the left and

right shoes

57, 64, 65, 67 rise, the depth of the furrow of the coulter 75 gradually increases as shown in fig. 45. When the buried plow is adjusted to the desired trenching depth, the left leg cylinder 60, the right leg cylinder 62, the left trim tab cylinder 66, and the right trim tab cylinder 68 are deactivated.

During the recovery phase of the buried plow, the left stabilizer cylinder 66, the right stabilizer cylinder 68, the left leg cylinder 60 and the right leg cylinder 62 of the buried plow extend slowly, the buried plow gradually rises under the seabed bracing force until the coulter system 7 is fully raised to the surface of the seabed, as shown in fig. 44, and then the buried plow is gradually lifted to the deck surface of the mother vessel 106 by the Y-shaped wire rope 109.

Because each functional structure uses the oil cylinder to adjust the position and monitors the posture through various sensors, depth detection devices, underwater cameras and the like, the posture of the embedded plough can be adjusted according to the submarine topography, and the embedded plough is effectively suitable for the submarine complex topography.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. An embedded plow for laying a submarine cable, comprising:

a frame;

the high-pressure water spraying system is arranged on the coulter system and is used for providing high-pressure water for the coulter system in the excavation process so as to wash soil;

2. A buried plow as defined in claim 1, wherein said frame is of non-sealed steel construction.

3. A buried plow as defined in claim 2, wherein said frame includes:

a body;

4. A buried plow as defined in claim 1, wherein the coulter system comprises:

a coulter mounting rack;

the coulter is connected with the coulter mounting frame;

the cable trough is arranged on the coulter;

the cable passing groove is formed in the front side of the cable groove and connected with the coulter mounting frame;

and one end of the coulter oil cylinder is rotatably connected with the coulter mounting frame, and the other end of the coulter oil cylinder is rotatably connected with the rack.

5. A buried plow as defined in claim 4, wherein said coulter head is made of high manganese wear resistant steel.

6. A buried plow according to claim 4, wherein the high pressure water injection system comprises:

the water system supporting frame is arranged on the colter mounting frame;

the water pump is arranged on the water system supporting frame;

the water inlet pipeline is connected with a water inlet of the water pump;

the water outlet pipeline is connected with a water outlet of the water pump;

the nozzles are arranged on two side walls of the coulter, and the water spraying pipeline is connected with the nozzles.

7. A buried plow as defined in claim 6, wherein said coulter is provided with cutting edges on both sides thereof, and said nozzles are arranged in sequence along the direction of extension of said cutting edges.

8.A buried plow as defined in claim 4, further comprising a cable compression system provided behind the coulter system for compressing the cable into the cable trough.

9. A buried plow as defined in claim 8, wherein the cable tie system includes:

one end of the cable pressing oil cylinder is rotatably connected with the coulter mounting frame;

and the cable pressing device is arranged in the cable groove and is rotationally connected with the coulter mounting frame, the rotational connection point is a rotation fulcrum of the cable pressing device, and one side of the rotation fulcrum, which is close to the cable pressing oil cylinder, is rotationally connected with the other end of the cable pressing oil cylinder.

10. A buried plow as defined in claim 4, further comprising a cable anti-jump system, said cable anti-jump system being located above said frame for preventing said cable from jumping out of said cable-passing trough under its own resilience or external force.

11. A buried plow as defined in claim 10, wherein said cable anti-jump system comprises:

the anti-jumping system mounting seat is arranged on the rack;

the anti-bouncing torsion spring is a parallel double-torsion spring, a pin shaft penetrates through the anti-bouncing torsion spring, and the anti-bouncing torsion spring is respectively connected with the anti-bouncing system mounting seat and the anti-bouncing pressure lever through the pin shaft;

and the anti-bouncing roller is rotatably connected to the end part of the anti-bouncing pressure lever.

12. A buried plow as defined in claim 1, wherein said frame is further provided with a balancing system on each side thereof for enhancing the balance of said buried plow, said balancing system comprising:

the left balance wing is arranged on the left side of the rack, and the upper part of the left balance wing is rotatably connected with the rack;

13. A burying plow as defined in claim 12, wherein said burying plow further includes a cable guide system disposed forwardly of said frame for guiding a cable into the burying plow.

14. A buried plow as defined in claim 13, wherein the fairlead system comprises:

the cable guide frame is arranged in front of the rack;

the fixed shaft is arranged on the cable guide frame;

the rotating shaft is rotatably connected with the fixed shaft;

the number of the torsion springs is 2, the torsion springs are arranged up and down, one end of each torsion spring positioned at the upper end is connected with the fixed shaft, and the other end of each torsion spring is connected with the rotating shaft; and one end of the torsion spring positioned at the lower end is connected with the cable guide frame, and the other end of the torsion spring is connected with the rotating shaft.

15. A buried plow as defined in claim 12, wherein said buried plow further includes a speed measurement system mounted on one side of said counterbalance system for measuring the speed of travel of said buried plow when in operation.

16. A buried plow as defined in claim 15, wherein the speed measurement system comprises:

the speed measuring shaft is rotationally connected with the connecting arm;

the speed measuring wheel is connected with the speed measuring shaft;

and the speed sensor is electrically connected with the control system, a rotating part of the speed sensor is fixedly connected with the speed measuring shaft, a fixing part of the speed sensor is fixedly connected with the connecting arm, and the speed sensor is used for detecting the travelling speed of the embedded plough.

17. A buried plow as defined in claim 9, wherein said buried plow further includes a hydraulic system mounted on said frame for providing hydraulic kinetic energy to said coulter cylinder and said cable ram cylinder.

18. A buried plow as defined in claim 13, wherein said buried plow further comprises: the alarm device and the sensing system are both electrically connected with the control system.

19. A burying plow as defined in claim 18, wherein said burying plow further includes a hydraulic system mounted to said frame for providing hydraulic kinetic energy to a cylinder in said burying plow, said sensing system including:

the first inclination angle sensor is arranged on the rack and used for measuring the longitudinal inclination angle of the embedded plough, and when the longitudinal inclination angle is larger than or equal to a first preset angle, the alarm device gives an alarm;

the second inclination angle sensor is arranged on the rack and used for measuring the transverse inclination angle of the embedded plough, and when the transverse inclination angle is larger than or equal to a second preset angle, the alarm device gives an alarm;

a first angle sensor mounted on the fairlead system for measuring the angle at which the cable enters the buried plow;

a second angle sensor: the measuring device is arranged at the rotary connection part of the rack and the coulter system and is used for measuring the relative angle of the rack and the coulter system;

a second sonar mounted on the coulter system for measuring a depth of the trench of the coulter system;

the first pressure sensor is arranged in a pipeline of the hydraulic system and used for measuring the pressure of the hydraulic system, and when the pressure is greater than a first preset pressure, the alarm device gives an alarm;

a third pressure sensor mounted on the balance system for detecting whether the buried plow lands;

the force sensor is arranged at the contact position of the rack and a Y-shaped steel wire rope for drawing the embedded plough to move, and is used for detecting the tension of the Y-shaped steel wire rope;

20. A buried plow according to claim 19, wherein the first predetermined angle and the second predetermined angle are both ± 10 °, the first predetermined pressure is 250bar, the second predetermined pressure is 16bar, and the predetermined temperature is 60 ℃.

21. A buried plow as defined in claim 19, wherein said buried plow further comprises:

the cloud deck is electrically connected with the control system and is used for driving the underwater camera to rotate so as to perform underwater shooting from different angles;

and the lighting equipment is used for providing lighting for the work monitoring of the embedded plough.

22. A buried plow as defined in claim 19, wherein the control system comprises:

the underwater part is arranged on the frame;

23. A buried plow as defined in claim 22, wherein the submerged portion includes a watertight electric cabinet, the watertight electric cabinet being secured to the frame, the watertight electric cabinet having disposed therein:

the power distribution module is used for stabilizing the voltage of the power transmitted from the master console through the underwater umbilical cable and outputting the voltage required by each part in the sensing system so as to supply power to the sensing system;

and the data acquisition and processing module is electrically connected with the sensor module and is used for receiving the analog signal or the digital signal output by the sensor module, converting the received analog signal or the received digital signal into an optical fiber signal and transmitting the optical fiber signal to the master control console through the underwater umbilical cable.

24. A method of operating a buried plow according to any one of claims 1 to 23, the method including the steps of:

a preparation stage, wherein the cable is threaded into the burying plough and is threaded out of the coulter system;

a lowering stage, namely lowering the embedding plough into water by utilizing a Y-shaped steel wire rope;

in a positioning stage, after the embedded plough is lowered onto the seabed, the coulter system cuts into the seabed, and the angle between the Y-shaped steel wire rope and the preset advancing direction of the embedded plough is adjusted, so that the Y-shaped steel wire rope can pull the embedded plough to move towards the preset advancing direction;

in the excavation stage, the embedding plough is pulled to advance through a Y-shaped steel wire rope, so that the coulter system digs a ditch and embeds a cable, and meanwhile, high-pressure water flow provided by the high-pressure water spraying system scours seabed soil through the coulter system;

and in the recycling stage, when the cable is buried to a preset destination, the buried plough stops running, and the buried plough is lifted above the sea surface by using the Y-shaped steel wire rope.