CN112627267B

CN112627267B - Buried plow and working method thereof

Info

Publication number: CN112627267B
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: 2024-03-15
Anticipated expiration: 2040-12-17
Also published as: CN112627267A

Abstract

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

Description

Buried plow and working method thereof

Technical Field

The invention relates to the field of cable laying devices, in particular to a buried plow and a working method thereof.

Background

With the rapid development of offshore wind power in recent years, the offshore wind power brings about the development of offshore wind power cable laying besides the whole blower. Meanwhile, as the development of offshore oil is gradually increased in the country, a large number of submarine cables are required to be laid. The laying of the cable requires the laying of submarine cables in a wind farm or an oil production platform by a cable laying ship, and a cable burying plow is core equipment which the cable laying ship must be equipped with.

Most of the 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 generally only suitable for excavating mucky soil on the sea bottom, and when hard submarine soil is excavated, the problem that the excavating capacity of the burying plows is weakened, the excavating efficiency is reduced and the like can be solved.

Disclosure of Invention

The invention aims to solve the problems that the excavation capacity is weakened and the excavation efficiency is reduced when the conventional buried plow excavates hard seabed soil. The invention provides a buried plow and a working method thereof, which can improve the digging capacity and the digging efficiency of the buried plow.

In order to solve the above technical problems, an embodiment of the present invention discloses a burying plow for laying a submarine cable, comprising:

a frame;

the coulter system is arranged at the rear side of the frame and is used for excavating submarine 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 excavating process so as to wash soil;

and the control system is used for controlling the operation of the buried plow.

Optionally, the frame is a non-sealing steel structure.

Optionally, the rack comprises:

a body;

the movable horn 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 comprises:

a coulter mounting rack;

the coulter is connected with the coulter mounting frame;

the plow blade is detachably connected to the front side of the bottom of the plow blade;

the cable groove is arranged on the coulter;

the cable passing groove is arranged at 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 frame.

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

Optionally, the high pressure water spray system comprises:

the water system support frame is arranged on the coulter mounting frame;

the water pump is arranged on the water system support 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 the water outlet of the water pump;

the high-pressure pipeline is arranged in 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 way, 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 spray nozzles are arranged on the two side walls of the coulter, and the water spraying pipeline is connected with the spray nozzles. Optionally, cutting edges are arranged on two sides of the coulter, and the nozzles are sequentially arranged along the extending direction of the cutting edges.

Optionally, the burying plow further comprises a cable pressing system arranged at the rear side of the plow blade system for pressing the cable into the cable groove.

Optionally, the cable system includes:

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

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 pivot of the cable pressing device, and one side of the rotational pivot, which is close to the cable pressing oil cylinder, is rotationally connected with the other end of the cable pressing oil cylinder.

Optionally, the burying plow further comprises a cable anti-jump system, wherein the cable anti-jump system is arranged above the rack and used for preventing the cable from jumping out of the cable groove under the action of self elasticity or external force.

Optionally, the cable anti-jump system comprises:

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

the anti-jump compression bar is rotationally connected with the anti-jump system mounting seat;

the anti-jump torsion spring is a flat double-torsion spring, a pin shaft penetrates through the spring, and is respectively connected with the anti-jump system mounting seat and the anti-jump compression bar through the pin shaft;

The anti-jump roller is rotatably connected to the end part of the anti-jump compression bar.

Optionally, balance systems are further disposed on two sides of the frame for enhancing balance of the buried plow, and the balance systems include:

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

the two ends of the left balance wing oil cylinder are respectively connected with the frame and the left balance wing in a rotating way;

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

and the two ends of the right balance wing oil cylinder are respectively connected with the frame and the right balance wing in a rotating way.

Optionally, the burying plow further comprises a cable guide system provided in front of the frame for guiding the cable into the burying plow.

Optionally, the cable guiding system comprises:

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

the fixed shaft is arranged on the cable guiding frame;

the rotating shaft is rotationally 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 at 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 positioned at the lower end is connected with the cable guiding frame, and the other end is connected with the rotating shaft.

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

Optionally, the speed measurement 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;

the speed sensor is electrically connected with the control system, the rotating part of the speed sensor is fixedly connected with the speed measuring shaft, the fixed 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 buried plow.

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 burying plow further comprises: the alarm device and the sensing system are 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 the cylinder in the buried plow, the sensing system comprising:

the first inclination angle sensor is arranged on the frame and used for measuring the longitudinal inclination angle of the embedded plow, and when the longitudinal inclination angle is larger than or equal to a first preset angle, the alarm device alarms;

the second inclination sensor is arranged on the frame and used for measuring the transverse inclination of the embedded plow, and when the transverse inclination is greater than or equal to a second preset angle, the alarm device alarms;

The first angle sensor is arranged on the cable guiding system and is used for measuring the angle of the cable entering the buried plow;

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

the first sonar is arranged on a working mother ship for dragging the buried plow to walk and is used for measuring the submergence depth of the buried plow;

the second sound is arranged on the coulter system and is used for measuring the ditching depth of the coulter system;

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

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

the third pressure sensor is arranged on the balance system and is used for detecting whether the buried plow lands or not;

the force sensor is arranged at the contact part of the frame and the Y-shaped steel wire rope for dragging the embedded plow 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 is used for detecting the azimuth angle of the buried plow;

And the temperature sensor is arranged in an oil tank of the hydraulic system and used for detecting the temperature of hydraulic oil, and when the temperature of the hydraulic oil is greater than the preset temperature, the alarm device alarms.

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 burying plow further comprises:

the underwater camera is arranged on the cable guiding system, is electrically connected with the control system and is used for monitoring the actual situation when the cable enters the buried plow;

the cradle head is electrically connected with the control system, is connected with the underwater camera and is used for driving the underwater camera to rotate so as to carry out underwater shooting from different angles;

and the illumination equipment is used for providing illumination for the work monitoring of the buried plow.

Optionally, the control system comprises:

the master control table is arranged above the water surface and is used for operating and monitoring the buried plow;

the underwater part is arranged on the frame;

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

Optionally, the underwater part comprises a watertight electric cabinet, the watertight electric cabinet is fixed on the frame, and the watertight electric cabinet is internally provided with:

the power supply distribution module is used for stabilizing the voltage of the power supply transmitted by the underwater umbilical cable on the master control board 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 is used for receiving the electric signals output by the sensing system, converting the electric signals into analog signals or digital signals and outputting the analog signals or the digital signals;

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 embedded plow, which comprises the following steps:

the preparation stage, the cable is penetrated into the buried plow, and the cable is penetrated out of the plow blade system;

in the lowering stage, the buried plow is lowered into water by utilizing a Y-shaped steel wire rope;

in the in-situ stage, after the buried plow 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 buried plow is adjusted, so that the Y-shaped steel wire rope can pull the buried plow to move towards the preset advancing direction;

in the digging stage, the buried plow is pulled to advance through the Y-shaped steel wire rope, so that the coulter system digs a ditch while burying a cable, and simultaneously, high-pressure water flow provided by the high-pressure water spraying system washes out submarine soil through the coulter system;

And in the recovery stage, when the cable is buried to a preset destination, the buried plow stops running, and the Y-shaped steel wire rope is used for lifting the buried plow to the position above the sea surface.

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

the high-pressure water spraying system is arranged on the coulter system, so that high-pressure water can be provided for the coulter system in the process of excavating hard submarine soil so as to flush the soil, the excavating capacity and the excavating efficiency of the buried plow are improved, and the buried plow is suitable for not only muddy soil but also hard sandy soil.

Drawings

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

FIG. 2 illustrates a front view of the burial plow provided by an embodiment of the invention;

FIG. 3 illustrates a left side view of the burial plow provided by an embodiment of the invention;

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

FIG. 5 shows a schematic view of a buried plow provided in an embodiment of the present invention during a lowering phase;

FIG. 6 shows a schematic view of a buried plow provided in an embodiment of the present invention during an excavation phase;

FIG. 7 shows a perspective view of a rack provided by an embodiment of the present invention;

fig. 8 shows a perspective view of a cable guiding system provided by an embodiment of the present invention;

fig. 9 shows a front view of a cable guiding system provided by an embodiment of the invention;

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

fig. 11 shows a top view of a cable guiding system provided by an embodiment of the 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 view of a traction steering system provided by an embodiment of the present invention in both horizontal and vertical states;

FIG. 17 illustrates a schematic steering analysis 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 respectively showing a depth adjusting system according to an embodiment of the present invention in a state where a leg cylinder is extended and a leg cylinder is retracted;

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

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

FIG. 22 is a schematic view of a balance system according to an embodiment of the present invention in a raised state and a lowered state;

FIG. 23 shows a perspective view of a speed measurement system provided by an embodiment of the present invention;

FIG. 24 shows a front view of a speed measurement system provided by an embodiment of the present invention;

FIG. 25 shows a left side view of the speed measurement system provided by an embodiment of the present invention;

FIG. 26 shows a top view of a speed measurement system provided by an embodiment of the present invention;

FIG. 27 shows a perspective view of a coulter system provided by an embodiment of the invention;

FIG. 28 illustrates a perspective view of another view of the coulter system provided by an embodiment of the invention;

FIG. 29 shows a front view of a coulter system provided by an embodiment of the invention;

FIG. 30 shows a left side view of a coulter 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 system provided by an embodiment of the present invention;

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

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

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

FIG. 36 is a schematic view of a cable system in a raised state and a lowered state according to an embodiment of the present invention;

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

fig. 38 is a front view of a cable anti-skip system provided by an embodiment of the present invention;

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

FIG. 42 illustrates a perspective view of a high pressure water jet 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 the buried plow provided by an embodiment of the present invention when the coulter system is not cutting into the seafloor soil;

FIG. 45 shows a schematic view of a buried plow provided by an embodiment of the present invention as the coulter system cuts into the seafloor soil.

Reference numerals:

1. a frame; 2. a cable guide system; 3. a traction steering system; 4. a depth adjusting system; 5. a balancing system; 6. a speed measuring system; 7. a coulter system; 8.a cable pressing system; 9. a cable anti-jump system; 10. a hydraulic system; 11. a high pressure water spray system; 12. a control system; 13. fixing the horn mouth; 14. a movable bell mouth; 15. a left transverse support of the frame; 16. a left sliding shoe oil cylinder mounting seat; 17. a left support leg oil cylinder mounting seat; 18. a left leg mounting base; 19. a left balance wing mounting base; 20. a left balance wing oil cylinder mounting seat; 21. a left longitudinal support of the frame; 22. a left hoisting rod mounting seat; 23. a left mounting seat of the coulter system; 24. a coulter cylinder mounting seat; 25. a fixed cable channel; 26. a right mounting seat of the coulter system; 27. a right hoisting rod mounting seat; 28. a frame right longitudinal support; 29. a right balance wing cylinder mounting seat; 30. a right balance wing mounting base; 31. a right leg mounting base; 32. a right support leg oil cylinder mounting seat; 33. a right slipper cylinder mounting seat; 34. a right transverse support of the frame; 35. a movable cable tunnel; 36. a lifting rod oil cylinder mounting seat; 37. a cable guide frame; 38. an underwater camera; 39. a cable stop lever; 40. a cable guide frame connecting flange; 41. a rotation shaft; 42. a torsion spring; 43. a fixed shaft; 44. traction rollers; 45. a cross shaft; 46. a cross shaft connecting 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. an intermediate connecting rod; 56. a right connecting rod; 57. a left slipper; 58. a left leg; 59. a left slipper cylinder; 60. a left support leg oil cylinder; 61. a right leg; 62. a right landing leg oil 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 seat; 70. a tachometer 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 plow bit; 78. a cable trough; 79. a cable trough; 80. a cable pressing system mounting seat; 81. a high-pressure water spraying system connecting flange; 82. a coulter cylinder; 83. a cable pressing oil cylinder mounting seat; 84. a cable pressing oil cylinder; 85. a cable pressing device; 86. an anti-jump system mounting seat; 87. an anti-jump torsion spring; 88. a jump preventing lever; 89. anti-jump rollers; 90. a mounting base; 91. a hydraulic frame; 92. a first motor; 93. an oil pump; 94. a valve group; 95. a water system support frame; 97. a water inlet pipe; 98. a water pump; 99. a second motor; 100. a water outlet pipe; 101. a control system mounting seat; 103. watertight electric cabinet; 104. an underwater umbilical; 105. a master control board; 106. a mother ship; 107. towing winch; a hanging rack of type A; y-wire rope; 110. a cable; 111. a high pressure pipe; 112. and a water spraying pipeline.

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples. While the description of the invention will be described in connection with the preferred embodiments, it is not intended to limit the inventive features to the implementation. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The following description contains many specific details for the purpose of providing a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

It should be noted that in this specification, like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present embodiment, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present embodiment can be understood in a specific case by those of ordinary skill in the art.

In the description of the present embodiment, it should be noted that, the azimuth or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present invention.

For convenience of understanding, the "front" direction in this embodiment is the running direction of the buried plow during the digging process, i.e., the X direction shown in fig. 4, the "rear" direction in this embodiment is the opposite direction to the X direction, the "left" direction in this embodiment is the opposite direction to the Y direction shown in fig. 4, the "right" direction in this embodiment is the opposite direction to the Y direction, the "up" direction in this embodiment is the Z direction shown in fig. 2, and the "down" direction in this embodiment is the opposite direction to the Z direction.

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

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

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

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

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

The speed measuring system 6 is arranged at one side of the balance system 5 in a pin shaft connection mode and is used for measuring the running speed of the buried plow when in work;

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 flushing and excavating function for the buried plow;

a cable pressing system 8 installed at the rear of the coulter system 7 for pressing the cable 110 into the cable slot 78 of the coulter system 7;

the cable anti-jump system 9 is arranged above the frame 1 and is used for preventing the cable 110 from jumping out of the cable 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 all the oil cylinders of the whole buried plow;

the high-pressure water spraying system 11 is arranged at the upper part of the coulter system 7 through a bolt connection and is used for providing high-pressure water flushing for ditching of hard seabed soil, namely providing high-pressure water for the coulter system 7 in the process of excavating the seabed hard soil so as to flush the soil, thereby improving the excavating capacity of the buried plow;

the control system 12 is used for providing functions of electric control, signal detection, data transmission, seabed monitoring, alarming and the like for the buried plow;

specifically, the frame 1 can form a non-sealing steel structure by forming holes on the frame, when the buried plow is submerged into the sea floor, seawater can be poured into the frame 1 through the holes, 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 buried plow can work in a deeper water depth range.

Further, as shown in fig. 7, the rack 1 includes: a body, a movable bell mouth 14, a movable cable channel 35 and a fixed cable channel 25. Wherein, the body is provided with a hole, the movable bell mouth 14 and the movable cable channel 35 are detachably connected to the lower part of the body, the movable bell mouth 14 is positioned at the front side of the movable cable channel 35, the movable bell mouth 14 and the movable cable channel 35 are both formed by welding high-strength steel plates, the movable bell mouth 14 and the movable cable channel 35 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 the movable bell mouth 14 and the movable cable channel 35 are positioned at the rear side of the movable cable channel 35;

further, the body includes: the fixed horn 13 is formed by welding high-strength steel plates, the movable horn 14 and the movable cable channel 35 are detachably connected to the lower side of the fixed horn 13, the rear side of the fixed horn 13 is fixedly connected with a lifting rod oil cylinder mounting seat 36, the left side of the fixed horn 13 is fixedly connected with a frame left cross brace 15, the rear side of the frame left cross brace 15 is fixedly connected with a frame left longitudinal brace 21, the right side of the fixed horn 13 is fixedly connected with a frame right cross brace 34, the rear side of the frame right cross brace 34 is fixedly connected with a frame right longitudinal brace 28, the left front side of the frame left cross brace 15 is fixedly connected with a left shoe oil cylinder mounting seat 16 and a left leg oil cylinder mounting seat 17, the left end of the frame left cross brace 15 is fixedly connected with a left leg mounting seat 18, the left rear side of the frame left cross brace 15 is fixedly connected with a left balance wing oil cylinder mounting seat 19 and a left balance wing oil cylinder mounting seat 20, the rear side of the frame left cross brace 21 is fixedly connected with a left lifting rod mounting seat 22, a left blade system mounting seat 23 and a plough cylinder mounting seat 24, the right side of the frame right cross brace 34 is fixedly connected with a frame right shoe oil cylinder mounting seat 32 and a right balance wing cylinder mounting seat 30, and the right side of the frame left and the frame left cross brace 34 is fixedly connected with a left shoe oil cylinder mounting seat 32 and a right support seat 31. All parts in the body are formed by welding high-strength steel plates, and all parts can be connected in a welding mode.

At the beginning of construction, 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 in trouble shooting, the movable bell mouth 14 and the pin shaft on one side of the movable cable channel 35 are disassembled, so that the movable bell mouth 14 and the movable cable channel 35 rotate downwards along the fixed pin shaft on the other side, the cable 110 is taken out of the side surface of the buried plow integrally, and is placed on the deck of the mother ship, thereby avoiding the cable 110 from being pulled out from the whole buried plow, and facilitating the unloading of the cable 110.

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

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

the underwater camera 38 is electrically connected with the control system 12 and is arranged on the cable guide frame 37 for monitoring the actual situation when the cable 110 enters the buried plow;

the cradle head is electrically connected with the control system 12, and is connected with the underwater camera 38, and can drive the underwater camera 38 to rotate so as to carry out underwater shooting from different angles.

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

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

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

The number of torsion springs 42 is 2, the torsion springs 42 are arranged up and down, one end of the torsion spring 42 positioned 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 located at the lower end is connected to the cable guide frame 37, and the other end is connected to the rotation shaft 41.

During construction, the cable 110 penetrates through the middle of the two cable limiting rods 39, and in the working process of the buried plow, 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 torsion counter force of the torsion spring 42 no matter leftwards or rightwards, so that the swinging amplitude and speed of the cable 110 are slowed down, the limiting and stabilizing effects on the cable 110 are achieved, and the cable 110 is effectively protected. In addition, the cable guide frame 37 can adopt 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 the too small bending radius.

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

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

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

The speed measuring system mounting seat 69 is fixedly connected to the rear end part of the left balance wing 65;

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

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

the balance systems 5 are symmetrically arranged at the left side and the right side of the buried plow and play a role in balancing the buried plow. During the traveling process of the buried plow, the left balance wing 65 and the right balance wing 67 can support the buried plow, 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 buried plow can be prevented from being overturned 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 to the speed measuring system mount 69;

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

the tachometer wheel 70 is formed by welding steel plates and is connected with a tachometer shaft 71 in a key way;

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

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

Further, as shown in fig. 27 to 31, the coulter system 7 includes:

a coulter mount 74 made of high strength steel;

a coulter 75 made of a high strength steel plate, which is welded to the coulter mount 74;

a plow blade 77, made of high manganese wear resistant steel, removably connected to the plow blade 75 via a pin;

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

the cable passing groove 79 is 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 system mount 80 welded to the plow blade mount 74;

a high pressure water spray system connection flange 81 welded to the plow blade mounting bracket 74;

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

The cable cylinder mount 83 is welded to the plow blade mount 74.

The coulter system is a core part of the buried plow, when the buried plow moves forward under the dragging of the mother ship, the coulter 75 and the coulter head 77 perform mechanical excavating of the seabed soil, and meanwhile, high-pressure water sprayed by the high-pressure water spraying system 11 washes the seabed soil through the nozzle 76, so that the mechanical excavating effect is improved. And, the coulter system 7 also has a coulter attitude adjusting function. The relative position angle of the coulter system 7 and the frame 1 can be effectively adjusted by the extension and retraction of the coulter cylinder 82, so that the attitude of the plow body can be effectively adjusted.

Further, as shown in fig. 32 to 35, the cable system 8 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 rotationally connected with a cable pressing system mounting seat 80 in the coulter system 7 through a pin shaft and a sliding bearing, the rotational connection point is a rotational pivot of the cable pressing device 85, and one side of the rotational pivot, which is close to the cable pressing oil cylinder 84, is rotationally connected with an extending end of the cable pressing oil cylinder 84 through the pin shaft;

as shown in fig. 36, when the cable ram 84 is retracted, the cable press 85 is lifted away from the cable pit 78; when the cable ram 84 is extended, the cable press 85 is lowered into the cable trough 78 to press against the cable 110. The cable system 8 is designed so that the cable 110 can be effectively pressed into the cable slot 78 of the coulter system 7, so that the cable 110 can effectively enter the excavated trench bottom along the cable slot 78, and the effective burial depth of the cable 110 is realized.

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

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

the anti-jump compression bar 88 is rotationally connected with the anti-jump system mounting seat 86 through a pin shaft;

the anti-jump torsion spring 87 is in the form of a flat double-torsion spring, through which a pin shaft penetrates, and is respectively connected with the anti-jump system mounting seat 86 and the anti-jump compression bar 88 through the pin shaft penetrating through the flat double-torsion spring;

the anti-jump roller 89 is a steel welding structure and is rotationally connected with the anti-jump compression bar 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 can jack up the anti-jump roller 89 upwards to drive the anti-jump compression rod 88 to rotate around the axial direction, drive the anti-jump torsion spring 87 to twist, and 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 guiding system 2, the cable pressing system 8, the cable anti-jump 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 mounting seat 90 is connected with the hydraulic frame 91 through bolts, and the hydraulic frame 91 is connected with the first motor 92, the oil pump 93, the valve group 94, the filter, the oil tank and the like through bolts. When the hydraulic control device works, a power cable from an underwater umbilical cable provides power for the first motor 92, the first motor 92 drives the oil pump 93, and generated high-pressure oil is conveyed to each execution oil cylinder through corresponding pipelines to realize the expansion and contraction of the oil cylinders.

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

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

the water pump 98 is connected with the water system supporting frame 95 through bolts;

a second motor 99 connected to the water pump 98 for driving the water pump 98 to operate;

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

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

the high-pressure pipeline 111 is arranged inside the coulter 75 along the extending 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 in sealing arrangement, a plurality of water spraying ports are formed in the high-pressure pipeline 111, water spraying pipelines 112 are connected to the water spraying ports, openings are further formed in the two side walls of the coulter 75, nozzles 76 are arranged in the openings, the water spraying pipelines 112 are connected with the nozzles 76 through flanges, the nozzles 76 are used for spraying high-pressure water, cutting edges are arranged on the two sides of the coulter 75, and the nozzles 76 are sequentially arranged along the extending direction of the cutting edges.

The high pressure water injection system 11 is mounted on the coulter system 7 and is capable of providing high pressure water flushing for hard seafloor soil trenching, improving trenching efficiency and enabling the coulter system 7 to have an efficient excavating function. The coulter excavating function is realized by two modes of mechanical excavating and high-pressure water spraying scouring. When the buried plow moves forward under the dragging of the working mother ship, the coulter 75 and the coulter head 77 perform mechanical excavating of the seabed soil, and 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, so that the excavating capacity of the buried plow is greatly improved, and the device can adapt to soil excavating of various different 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, seawater is filtered from the water inlet pipeline 97 and then is conveyed to the nozzle 76 of the coulter system 7 from the water outlet pipeline 100 through the pipeline, and high-pressure scouring of the seabed soil is achieved.

The invention integrates the underwater parts of the hydraulic system 10, the high-pressure water spraying system 11 and the control system 12 on the buried plow body, thereby realizing the deep water use of the buried plow. Because the high-pressure hydraulic pipe specially led out from the ship generally reaches 250bar pressure and the high-pressure water pipe generally reaches 16bar pressure to the seabed with the water depth exceeding 500m, the high-pressure hydraulic pipe has high cost, the technical reliability is difficult to ensure, for example, the hydraulic hose and the water pipe are easy to break under the action of underwater environment, the pipe joint leaks, and the like, so that 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 buried plow body, and the power and the control can be provided for the hydraulic system 10 and the high-pressure water spraying system 11 through the first motor 92, the second motor 99 and the underwater part of the control system only by leading out the underwater umbilical cable with electric power and electric signals from the ship body, so that the hydraulic system 10 and the high-pressure water spraying system 11 are not required to be led out from a ship to the underwater buried plow, thereby saving the cost, improving the reliability of the hydraulic system 10 and the high-pressure water spraying system 11, and enabling the buried plow to be suitable for shallow sea construction and more suitable for deep sea construction 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, are designed to be high-pressure-resistant and good in sealing performance, so that the buried plow is ensured to be suitable for deep water. The oil pump 93 and the water pump 98 may be series products of Kawasaki corporation of Japan, or products of foreign brand Parker corporation; the first motor 92 and the second motor 99 may be products provided by domestic Tianjin Pond electro-mechanical company; hydraulic accessories such as valves, filters, fittings, etc., may be used as provided by the company american parker, rosomud, 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.

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

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

A second inclination sensor: is arranged on the left transverse support 15 or the right transverse support 34 of the frame and is used for measuring the transverse inclination angle of the buried plow, namely the included angle between the upper surface of the left transverse support 15 or the right transverse support 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 alarms.

A first angle sensor: is mounted on the cable guide frame 37 for measuring the angle of the cable 110 entering the buried plow, i.e., the angle of the cable 110 with respect to the horizontal plane when the cable 110 enters the cable guide frame 37.

A second angle sensor: is arranged on a pin shaft penetrating into the left mounting seat 23 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 frame left longitudinal support 21 or the frame right longitudinal support 28 and the upper plane of the coulter mounting frame 74.

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

Second sound: is mounted on the plow blade mount 74 for measuring the depth of the trench, i.e., the depth of burial of the cable 110.

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

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 alarms.

A third pressure sensor: is mounted on the left and right balance wings 65 and 67 for detecting whether the buried plow is landed.

The force sensor is arranged at the contact position of the frame 1 and the Y-shaped steel wire rope 109 for dragging the embedded plow and is used for detecting the tension of the Y-shaped steel wire rope 109;

compass: the device is arranged at the upper end of a fixed horn mouth 13 of the frame 1 and is used for detecting the azimuth angle of the buried plow.

A temperature sensor; is installed in a tank of the hydraulic system 10 for detecting the temperature of the hydraulic oil. 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 ℃.

Further, the embedded plow is also provided with illumination equipment for illuminating the work monitoring of the embedded plow.

Further, as shown in fig. 43, the control system 12 includes: a master control station 105, an underwater umbilical 104, and an underwater portion. Wherein, the master control platform 105 is installed on the mother ship 106 for the operators to perform all operations and monitoring; the underwater part is arranged on the frame 1 through bolts; the underwater umbilical 104 connects the master console 105 and the underwater portion as a signal and power transmission medium.

Specifically, the underwater portion includes: the control system comprises a control system mounting seat 101 fixed on the frame 1 and a watertight electric cabinet 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 cabinet 103. The power supply distribution module is used for stabilizing the 380V power supply transmitted by the underwater umbilical 104 on the working mother ship 106, outputting the voltage required by each sensor and supplying the voltage to each sensor of the buried plow; the sensor module is used for converting the electric signals transmitted by the sensors into standard analog or digital signals and outputting the standard analog or digital signals; the data acquisition and processing module is configured to receive various analog or digital signals output from the sensor module and convert the received signals to optical fiber signals for transmission to the central control console 105 via the umbilical 104.

When the control system 12 is in operation, the master control board 105 on the mother ship 106 issues an operating command to activate the first motor 92 in the hydraulic system 10 to provide a source of power for each hydraulic ram. During the working process of the buried plow, 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 plow are fed back to a general control desk 105 on a ship through a sensor module, a data acquisition and processing module and an underwater umbilical cable 104 of the watertight electric cabinet 103, an operator correspondingly performs various operations according to various signal data displays and monitoring displays, and then distributes power and signal cables to electric equipment and sensors, detection, monitoring and alarm equipment through the underwater umbilical cable 104 and the watertight electric cabinet 103. Ensuring that the work of the buried plow is smoothly carried out. The control system 12 effectively monitors various parameters, so that the high-efficiency adjusting capability of the control system 12 on the posture of the buried plow is ensured, and the buried plow can adapt to various complex working conditions during working.

When the cable is required to be laid by using the buried plow, the buried plow is lowered to the sea floor by a towing winch 107 mounted on the working mother ship 106 through an A-shaped hanging frame 108, ditching and burying are carried out under the towing of the working mother ship 106, and after the cable is buried, the buried plow is lifted to the deck surface of the working mother ship 106 by the towing winch 107 through the A-shaped hanging frame 108.

the preparation stage: as shown in fig. 1, the cable 110 to be buried is threaded from the cable guide system 2 into the burying plow, sequentially passes through the cable guide frame 37, the fixed bell mouth 13, the movable bell mouth 14, the movable cable duct 35, the fixed cable duct 25, the cable passing groove 79 and the cable groove 78, and finally is threaded out from the cable groove 78. During the cable threading process, the cable ram 84 is retracted, lifting the cable presser 85, as shown in fig. 36, to pass the cable 110 through the cable slot 78.

And (3) a lowering stage: the Y-shaped steel wire rope 109 is connected with the buried plow through an A-shaped hanging frame 108 at the stern by a towing winch 107 on the working mother ship 106. As the towing winch 107 on the mother ship 106 rotates, the buried plow is gradually lifted up to the surface and slowly lowered into the water, as shown in fig. 5. In the process of lowering the buried plow into water, the towing winch 107 lowers the Y-shaped steel wire rope 109, and meanwhile the cable 110 is synchronously and slowly laid under the action of the cable laying mechanism, and the underwater umbilical 104 is synchronously and slowly laid under the action of the umbilical winch. At this time, the cable holder 85 keeps the cable in the cable slot 78 all the time under the action of the extension of the cable cylinder 84.

And (3) 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 ship position is adjusted forward to ensure that the submersible cable remains in a reasonably catenary state. A first angle sensor on the cable guide frame 37 measures the angle at which the cable 110 enters the buried plow; third pressure sensors embedded in the left and right balance wings 65 and 67, second inclination sensors mounted on the left or right frame cross braces 15 and 34, and first inclination sensors mounted on the left or right frame cross braces 21 and 28, respectively, each emit a signal, and an alarm is given when the first or second inclination sensors exceed a prescribed value.

After the buried plow is in place on the seabed, the cable laying mechanism of the working mother ship 106 pays out the cable and maintains a certain tension, the lengths of the Y-shaped steel wire rope 109 and the underwater umbilical 104 are adjusted, the distance between the buried plow 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 optimum and reasonable values are determined according to the actual conditions in the field, and are not particularly limited herein.

Excavating: after the positions of the buried plow and the working mother ship 106 are properly adjusted according to the water depth, the working mother ship 106 pulls the buried plow to advance along a route, wherein the route refers to a well-determined buried cable path before the buried cable construction, at the moment, the second sound detection ditching depth, the force sensor detects the pulling force of the Y-shaped steel wire rope 109, and the speed sensor 73 detects the advancing speed of the buried plow; the underwater camera 38 and the lighting device mounted on the cable guide 37 can monitor the situation in front of and behind the buried plow.

When the mother ship 106 drags the buried plow forward, the buried plow digs a trench while burying the cable 110 along the routing direction by the navigation system under the traction force of the mother ship 106. At the same time, the high pressure water flow provided by the high pressure water spray system 11 flushes the seabed soil through the nozzles 76 installed at both sides of the coulter 75. After the cable 110 enters the buried plow from the navigation system 2, the cable sequentially passes through the fixed bell mouth 13, the movable bell mouth 14, the movable cable passage 35, the fixed cable passage 25, the cable passing groove 79 and the cable groove 78, and is buried in the dug plow under the action of the cable pressing device 85, as shown in fig. 6. During the trenching and burying process of the buried plow, it is ensured that the advancing speed of the buried plow is consistent with the tensioner payout speed on the work mother vessel 106.

Recovery stage: when the cable 110 is buried to a predetermined destination, the mother ship 106 stops moving and slowly retreats, while the cable 110, the Y-wire 109 and the underwater umbilical 104 are retracted at a speed at which the mother ship 106 retreats, and when the mother ship 106 reaches the buried plow position and stops moving, the towing winch 107 located on the mother ship 106 gradually lifts the buried plow onto the deck of the mother ship 106 by the Y-wire 109 through the a-type hoist 108.

In certain embodiments, the burial plow of the present invention further comprises:

the traction steering system 3 is arranged in the middle of the frame 1 and is connected with the frame 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 buried plow to advance under the dragging of the working mother ship and providing the functions of hoisting and steering for the buried plow;

the digging depth adjusting systems 4 are symmetrically arranged on two sides of the front part of the frame 1 and are used for adjusting the digging depth and adjusting the pitching angle of the contact part between the front part of the embedded plow 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 through a pin shaft and a slide bearing;

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

Rotationally coupled to the left side of the steering bracket 48;

a right lifting 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 to the right lifting rod mounting seat 27;

the left lifting rod 52 is symmetrically arranged with the right lifting rod 54, one end of the left lifting rod 52 is rotationally 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 lifting rod 52 is rotationally connected with the left lifting rod mounting seat 22;

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

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

the number of the traction rollers 44 is two, the two traction rollers 44 are symmetrically arranged left and right, and are respectively connected with the ends of two cross shafts 45 through bolts and pin shafts;

the right connecting rod 56, two ends of which are respectively connected with the right steering arm 47 and the middle connecting rod 55 in a rotating way through a pin shaft and a sliding bearing;

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

a steering cylinder 51, the fixed end of which is rotatably connected with a left lifting rod 52 through a pin shaft, and the extending end of which is rotatably connected with a left steering arm 49 through a pin shaft;

the fixed end of the lifting rod oil cylinder 53 is rotationally connected with the lifting rod oil cylinder mounting seat 36 through a pin shaft, and the extending end is rotationally connected with the left lifting rod 52;

the right steering arm 47, the steering bracket 48, the left steering arm 49, the left link 50, the left lifting rod 52, the right lifting rod 54, the middle link 55, and the right link 56 are all welded by high-strength steel plates.

The traction steering system 3 integrates three functions of traction, steering and hoisting. When the buried plow works, the traction steering system 3 can simultaneously complete traction and steering functions; when the buried plow is required to be lowered to or pulled out from the seabed, the traction steering system 3 can also realize the lifting function of the buried plow, a sling and a lifting appliance do not need to be specially prepared, a steel wire rope does not need to be replaced, and the same steel wire rope can realize the functions of traction, steering and lifting through the posture adjustment of the traction steering system 3.

Specifically, when the traction steering system 3 needs to achieve the lifting function, as shown in fig. 16, the lifting rod oil cylinder 53 extends to push the left lifting rod 52 to rotate around the shaft by 90 degrees, 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 on two sides of the traction steering system 3, and at this time, the whole embedded plow is lifted 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 lifting rod oil cylinder 53 is retracted, the left lifting rod 52 is pulled to rotate 90 degrees around the opposite axial direction, so that the traction steering system 3 is in a horizontal position, at the moment, the working mother ship can pull the buried plow to move forwards 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 pin shafts to form an OACD quadrilateral behavior 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 to each other by a pin to form an OA ' C ' D ' quadrilateral as shown in fig. 17, and the two parallelogram mechanisms can prevent motion self-locking and motion distortion when the steering mechanism steers under traction force. Specifically, when the buried plow is straight, the two sides of the Y-shaped wire rope 109 are stressed in the same magnitude under the horizontal action of the horizontal towing force T. When the buried plow is required to turn right, the left steering cylinder 51 is retracted, at the moment, A, A 'and O are fixed, B, F, C rotates anticlockwise around A, and B' and C 'rotate anticlockwise around 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 is changed, the stress on the right side is reduced, and the stress on the left side is increased, so that a steering moment is generated, and the buried plow is steered to the right. Conversely, when the left steering cylinder 51 is extended, the above points are rotated clockwise correspondingly, and the buried plow is rotated leftward.

When the traction steering system 3 is arranged in the buried plow, the force sensor can also be arranged on the cross shaft 45 of the traction steering system 3 and used for measuring the traction force of the Y-shaped steel wire rope 109 in the digging process of the buried plow. When the traction steering system 3 is arranged in the buried plow, the sensing system further comprises a third angle sensor, and the third angle sensor is arranged on the 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 the included angle between the tangential direction of the Y-shaped steel wire rope 109 and the horizontal direction of the traction roller 44 after the Y-shaped steel wire rope 109 is connected with the traction roller 44. When the traction angle of the Y-shaped steel wire rope 109 is larger than a third preset angle, the alarm device alarms. Specifically, the third preset angle is 15 °.

The working method of the traction steering system 3 is as follows:

when the buried plow is lowered, the lifting rod cylinder 53 mounted between the frame 1 and the left lifting rod 52 slowly extends, slowly lifting the left lifting rod 52 to the vertical position together with the traction steering system 3. The Y-shaped steel wire rope 109 is connected with the two traction rollers 44 on the left side and the right side of the buried plow through an A-shaped hanging frame 108 at the stern by a traction winch 107 on the working mother ship 106. Subsequently, the towing winch 107 on the mother ship 106 is turned, gradually lifting the buried plow to the sea surface and slowly lowering it into the water.

After the buried plow is lowered onto the seabed, the lifting rod oil cylinder 53 is retracted, the traction steering system 3 is restored to the horizontal position, the cable laying mechanism of the working mother ship 106 is used for paying out cables and maintaining certain tension, the lengths of the Y-shaped steel wire rope 109 and the underwater umbilical 104 are adjusted, the distance between the buried plow 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 detection is carried out by a third angle sensor arranged on the traction steering system 3, and the alarm is given out of the specified value.

When the cable 110 is buried to a predetermined destination, the mother ship 106 stops moving and slowly retreats, and when the mother ship 106 reaches the position of the buried plow and stops moving, the lifting lever cylinder 53 of the buried plow is extended, so that the traction steering system 3 is located at the vertical position. The towing winch 107 on the mother ship 106 gradually lifts the buried plow onto the deck of the mother ship 106 by the Y-wire rope 109 through the A-shaped lifting frame 108.

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

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

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

The 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 the extending end is rotationally connected with the left-leg 58 through a pin shaft and a sliding bearing;

the left shoe cylinder 59 has a fixed end rotatably connected to the left shoe cylinder mount 16 via a pin and a slide bearing, and a protruding end rotatably connected to the left shoe 57 via a pin and a slide 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 shoe 64 rotatably connected to the bottom of the right leg 61;

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

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

the left shoe 57, the left leg 58, the right leg 61, and the right shoe 64 are each welded from a high-strength steel plate.

The excavation depth adjusting system 4 has an excavation depth continuous adjusting function and a slipper attitude pitching adjusting function. The depth of the ditches of the buried plow can be continuously adjusted by the extension and retraction of the left supporting leg oil cylinder 60 and the right supporting leg oil cylinder 62; by the expansion and contraction of the left shoe cylinder 59 and the right shoe cylinder 63, the shoe pitch adjustment can be realized, so that the buried plow can effectively adapt to the complex topography of the seabed.

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

When the depth adjusting system 4 needs to realize the function of adjusting the pitch of the posture of the sliding shoe, the left sliding shoe 57 can realize various postures of sliding shoe, such as horizontal posture, pitching posture and pitching posture, under the telescopic action of the left sliding shoe cylinder 59, as shown in fig. 20a, 20b and 20 c. The embedded plow can be well adapted to the complex topography of the sea bottom by adjusting the pitch angle of the skid shoe and the mutual position relation of the supporting legs, the balance wings, the coulter system 7 and the frame 1.

When the digging depth adjusting system 4 is arranged in the buried plow, the balance system 5 can also assist in adjusting the digging depth of the buried plow, and the digging depth is 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 balance wing cylinder 66 is retracted, the left balance wing 65 is lifted; when the left balance wing cylinder 66 is extended, the left balance wing 65 is lowered. And when a depth adjustment system 4 is provided in the buried plow, a third pressure sensor may be mounted on left shoe 57 and right shoe 64 for detecting whether the buried plow is grounded.

The mode of the digging depth adjusting system 4 and the balance system 5 for adjusting the digging depth of the buried plow is as follows:

in the digging stage of the buried plow, when the digging depth needs to be increased, the left leg oil cylinder 60, the right leg 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 sliding shoe 57, the right sliding shoe 64, the left balance wing 65 and the right balance wing 67 are lifted, and under the action of the dead weight of the buried plow, the coulter 75 cuts into the seabed at a certain angle. As the left shoe 57, right shoe 64, left balance wing 65, right balance wing 67 rise, the plow blade 75 deepens in depth, as shown in fig. 45. When the buried plow is adjusted to the desired trenching depth, the left leg ram 60, the right leg ram 62, the left trim ram 66, and the right trim ram 68 cease to operate.

In the recovery stage of the buried plow, the left and right balance wing cylinders 66, 68, 60 and 62 of the buried plow slowly extend, the buried plow gradually rises under the action of the seabed supporting force until the coulter system 7 is fully raised to the seabed surface, as shown in fig. 44, and then the Y-wire 109 gradually lifts the buried plow onto the deck surface of the mother ship 106.

Because each functional structure uses the hydro-cylinder to carry out position adjustment to carry out the control of gesture through all kinds of sensors, degree of depth detection device, camera etc. under water, thereby can adjust the buried plow gesture according to submarine topography, effectively adapt to 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 further detailed description of the invention with reference to specific embodiments, and it is not intended to limit the practice of the invention to those descriptions. Various changes in form and detail may be made therein by those skilled in the art, including a few simple inferences or alternatives, without departing from the spirit and scope of the present invention.

Claims

1. A buried plow for laying a submarine cable, comprising:

a frame;

the coulter system is arranged at the rear side of the frame and is used for excavating submarine soil; the coulter system comprises a coulter mounting frame, a coulter and a cable groove, wherein the coulter is connected with the coulter mounting frame, and the cable groove is arranged on the coulter;

the control system is used for controlling the buried plow to run;

the cable pressing system is arranged at the rear side of the coulter system and is used for pressing the cable into the cable groove; the cable pressing system comprises a cable pressing oil cylinder and a cable pressing device, one end of the cable pressing oil cylinder is rotationally connected with the coulter mounting frame, the cable pressing device is arranged in the cable groove, the cable pressing device is rotationally connected with the coulter mounting frame, the rotational connection point is a rotational pivot of the cable pressing device, and one side, close to the cable pressing oil cylinder, of the rotational pivot is rotationally connected with the other end of the cable pressing oil cylinder.

2. A buried plow according to claim 1, wherein said frame is of non-sealing steel construction.

3. A buried plow according to claim 2, wherein said frame comprises:

a body;

4. A buried plow according to claim 1, wherein said plow blade system further comprises:

and 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 frame.

5. A buried plow according to claim 4, wherein said plow blade head is made of high manganese wear resistant steel.

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

the water system support frame is arranged on the coulter mounting frame;

The water pump is arranged on the water system support frame;

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

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

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

the high-pressure pipeline is arranged in 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 spray nozzles are arranged on the two side walls of the coulter, and the water spraying pipeline is connected with the spray nozzles.

7. A buried plow according to claim 6, wherein said plow blade is provided on both sides with cutting edges, and each of said nozzles is disposed in sequence along the direction in which said cutting edges extend.

8. A buried plow according to claim 4, further comprising a cable anti-bouncing system disposed above said frame for preventing said cable from bouncing out of said cable trough under its own resilience or external force.

9. A burial plow as defined in claim 8, wherein said cable anti-trip system comprises:

The anti-jump system mounting seat is arranged on the rack;

the anti-jump torsion spring is a flat double-torsion spring, a pin shaft penetrates through the spring, and the anti-jump torsion spring is respectively connected with the anti-jump system mounting seat and the anti-jump compression bar through the pin shaft;

10. A buried plow according to claim 1, wherein said frame is further provided on both sides with a balancing system for enhancing the balance of said buried plow, said balancing system comprising:

11. A burial plow as claimed in claim 10, further comprising a cable guide system provided in front of the frame for guiding cables into the burial plow.

12. A burial plow as defined in claim 11, wherein said cable guide system comprises:

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

the fixed shaft is arranged on the cable guiding frame;

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

13. A buried plow according to claim 10, further comprising a speed measurement system mounted to one side of the balancing system for measuring the speed of travel of the buried plow when in operation.

14. A burial plow as claimed in claim 13, 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;

15. A buried plow according to claim 1, further comprising a hydraulic system mounted to said frame for providing hydraulic kinetic energy to said coulter cylinder and said cable cylinder.

16. A buried plow according to claim 11, wherein said buried plow further comprises: the alarm device and the sensing system are electrically connected with the control system.

17. A buried plow according to claim 16, further comprising a hydraulic system mounted to said frame for providing hydraulic kinetic energy to a ram in said buried plow, said sensing system comprising:

the first inclination angle sensor is arranged on the frame and used for measuring the longitudinal inclination angle of the buried plow, and the alarm device alarms when the longitudinal inclination angle is larger than or equal to a first preset angle;

the second inclination sensor is arranged on the frame and is used for measuring the transverse inclination of the buried plow, and when the transverse inclination is larger than or equal to a second preset angle, the alarm device alarms;

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

the second sound is installed on the coulter system and is used for measuring the ditching depth of the coulter system;

the third pressure sensor is arranged on the balance system and is used for detecting whether the buried plow is landed or not;

the force sensor is arranged at the contact part of the frame and the Y-shaped steel wire rope for pulling the embedded plow to travel and is used for detecting the tension of the Y-shaped steel wire rope;

18. A buried plow according to claim 17, wherein said first predetermined angle and said second predetermined angle are both ± 10 °, said first predetermined pressure is 250bar, said second predetermined pressure is 16bar, and said predetermined temperature is 60 ℃.

19. A buried plow according to claim 17, wherein said buried plow further comprises:

the underwater camera is arranged on the cable guiding system and is electrically connected with the control system and used for monitoring the actual situation when the cable enters the buried plow;

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

20. A burial plow as claimed in claim 17, wherein the control system comprises:

The underwater part is arranged on the frame;

21. A buried plow according to claim 20, wherein said underwater portion comprises a watertight electric cabinet secured to said frame, said watertight electric cabinet having disposed therein:

the power supply distribution module is used for stabilizing the voltage of the power supply transmitted by the underwater umbilical cable on the master control desk 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 is used for receiving the electric signal output by the sensing system and converting the electric signal into an analog signal or a digital signal for output;

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.

22. A method of operating a buried plow according to any one of claims 1 to 21, characterised in that the method comprises the steps of:

A preparation stage, wherein the cable is penetrated into the buried plow and is penetrated out of the coulter system;