阅读说明：本技术 一种深水地锚和纵索的水下连接装置及方法 (Underwater connecting device and method for deepwater ground anchor and longitudinal cable ) 是由 钟全胜 潘江洋 陈晋琳 彭忠献 陈辉春 印符 戴向荣 胡彩石 于 2021-10-13 设计创作，主要内容包括：本发明公开了一种深水地锚和纵索的水下连接装置及方法,其包括在地锚的顶部安装索节,索节上设置轴线正交的轴孔和第一绳孔,且索节的上部横截面为长方形；第一绳孔内穿设牵引绳；纵索的底部连接水下卸扣,水下卸扣的扣体开口的两端分别安装限位板,两块限位板与扣体围合形成略大于索节的上部横截面尺寸的长方形腔体,且索节的厚度略小于扣体的内壁净距,索节的宽度大于扣体的内壁净距；水下卸扣的扣体底面安装导向罩,导向罩上设置用于穿设牵引绳的第二绳孔；当牵引绳牵引导向罩到达索节上方时,导向罩滑入索节,旋转水下卸扣可使索节的上部伸入长方形腔体,且索节的轴孔与水下卸扣的销轴对中,销轴穿过索节的轴孔即可将地锚与纵索可靠连接。(The invention discloses an underwater connecting device and method for a deepwater ground anchor and a longitudinal cable, which comprises the steps of installing a cable joint at the top of the ground anchor, arranging a shaft hole and a first cable hole with orthogonal axes on the cable joint, and enabling the cross section of the upper part of the cable joint to be rectangular; a traction rope is arranged in the first rope hole in a penetrating way; the bottom of the longitudinal cable is connected with an underwater shackle, two ends of an opening of a shackle body of the underwater shackle are respectively provided with a limiting plate, the two limiting plates and the shackle body are enclosed to form a rectangular cavity which is slightly larger than the size of the cross section of the upper part of the cable joint, the thickness of the cable joint is slightly smaller than the inner wall clear distance of the shackle body, and the width of the cable joint is larger than the inner wall clear distance of the shackle body; a guide cover is arranged on the bottom surface of the buckle body of the underwater shackle, and a second rope hole for penetrating a traction rope is formed in the guide cover; when the traction rope pulls the guide cover to reach the upper part of the cable joint, the guide cover slides into the cable joint, the underwater shackle is rotated to enable the upper part of the cable joint to extend into the rectangular cavity, the shaft hole of the cable joint is aligned with the pin shaft of the underwater shackle, and the pin shaft penetrates through the shaft hole of the cable joint to reliably connect the ground anchor with the longitudinal cable.)

1. An underwater connecting device of a deepwater ground anchor and a longitudinal cable comprises a ground anchor (7) arranged at the bottom of water and a longitudinal cable (9) with one end connected with a water surface buoyancy tank (10),

a socket (1) is vertically installed at the top of the ground anchor, a shaft hole (12) is formed in the upper portion of the socket, a first rope hole (11) is formed in the middle of the socket, the first rope hole and the shaft hole are respectively and horizontally arranged on the socket, the axis of the first rope hole is orthogonal to the axis of the shaft hole, the cross section of the upper portion of the socket is rectangular, the length of the long side of the rectangle is defined as the width of the socket, the length of the short side of the rectangle is defined as the thickness of the socket, and the shaft hole is formed in the plane where the long side of the rectangle is located;

a traction rope is arranged in the first rope hole in a penetrating way;

the underwater shackle is characterized in that the bottom of the longitudinal cable is connected with an underwater shackle (4), the underwater shackle comprises a pin shaft (45) and a shackle body (41), the bottom of the shackle body is open, limiting plates (3) are respectively mounted at two ends of the opening, the two limiting plates and the opening of the shackle body enclose to form a rectangular cavity slightly larger than the cross section of the upper part of the cable joint, the thickness of the cable joint is slightly smaller than the inner wall clear distance of the shackle body, the width of the cable joint is larger than the inner wall clear distance (L) of the shackle body, and the width of the cable joint is slightly smaller than the distance between the two limiting plates;

a guide cover (2) used for guiding the cable joint is arranged on the bottom surface of the buckle body of the underwater shackle, and a second rope hole (23) convenient for being connected with the traction rope is formed in the guide cover;

one end of the traction rope penetrates through the second rope hole and then is connected with the longitudinal rope, and the other end of the traction rope extends out of the water surface for connection operation;

when the haulage rope pulls the guide housing reachs the rope knot top, release the haulage rope, behind the guide housing slided in the upper portion of rope knot, underwater robot (5) rotation adjustment the underwater shackle makes the upper portion of rope knot stretch into the rectangle cavity realizes the shaft hole of rope knot with the round pin axle centering of underwater shackle, underwater robot passes the round pin axle of underwater shackle the shaft hole of rope knot and with the underwater shackle with the rope knot closure.

2. The underwater connecting device of the deep water ground anchor and the longitudinal cable as claimed in claim 1, wherein the guiding cover comprises a bellmouth pipe (21) and an annular connecting plate (22), the upper end of the annular connecting plate is connected with the buckle body of the underwater shackle, the lower end of the annular connecting plate is connected with the small end of the bellmouth pipe, and the bellmouth pipe is provided with the second cable hole (23).

3. The underwater connecting device of the deep water ground anchor and the longitudinal cable according to claim 1, wherein the top (13) of the cable joint is arranged to be a circular arc surface or a hemispherical surface, and an inner seat surface (413) matched with the top of the cable joint is arranged in the buckle body.

4. The underwater connecting device of the deepwater ground anchor and the longitudinal cable as claimed in claim 1, wherein a first locking hole (411) and a second locking hole (412) are oppositely arranged at two sides of an opening of the underwater shackle, a sleeve (43) is arranged at the outer side surface of the first locking hole, the pin shaft (45) is arranged in the sleeve in a clearance fit manner, one end of the pin shaft extends out of the sleeve, the other end of the pin shaft is matched with the inner diameters of the first locking hole and the second locking hole, and the sleeve, the pin shaft, the first locking hole and the second locking hole are coaxially arranged;

the middle part of the pin shaft is provided with a first groove (453), the sleeve is vertically provided with a guide seat (48), a locking pin (42) and a spring (49) are arranged in the guide seat, the spring is sleeved on the locking pin, one end of the locking pin extends out of the guide seat, and the other end of the locking pin penetrates through the sleeve and extends into the first groove of the pin shaft under the action of the spring.

5. The underwater connecting device of the deep water anchor and the longitudinal cable as claimed in claim 4, wherein a counter weight (47) is installed on the outer side surface of the second locking hole.

6. The underwater connecting device of deep water anchor and longitudinal cable as claimed in claim 5, wherein the inner portion of the weight block (47) near the buckle body is provided with a second groove (471) matched with the end of the pin shaft.

7. The underwater connecting device of the deep water anchor and the longitudinal cable as claimed in claim 6, wherein the second groove is provided with a drainage hole (472) communicated with the outside.

8. The underwater connection device of the deep water anchor and the longitudinal cable as claimed in claim 5, wherein an end cap (44) is installed at the outer end of the sleeve, a threaded hole is formed in the center of the end cap, a threaded section (452) is formed on the pin shaft, and the threaded hole is in threaded connection with the threaded section.

9. An underwater connecting method of a deepwater ground anchor and a longitudinal cable, which is characterized in that the underwater connecting device of the deepwater ground anchor and the longitudinal cable as claimed in any one of claims 1 to 8 is utilized, and the concrete steps are as follows:

s1: when the ground anchor (7) of the reservoir bottom (8) is constructed, the middle part of the hauling rope (6) penetrates through the first rope hole (11) of the rope knot (1), and is fixedly installed with the ground anchor together with the rope knot at the reservoir bottom, the rope knot is exposed and vertical to a riverbed, and two ends of the hauling rope are temporarily fixed on the water surface buoyancy tank (10);

s2: when the ground anchor (7) is connected with the longitudinal cable (9), the underwater shackle (4) is connected with the longitudinal cable (9) on the water surface, a pin shaft of the underwater shackle is withdrawn, one end (61) of the traction rope penetrates through a second rope hole (23) of the guide cover (2) and then is connected with the lower end of the longitudinal cable (9), the other end (62) of the traction rope is pulled upwards at a proper speed, the longitudinal cable (9) is released downwards at a corresponding speed, after the traction rope is pulled for a certain length, the underwater shackle is pulled to be close to a cable joint (1), and the traction rope with a certain length is released to be in a loose state;

s3: operating the guide cover (2) through an underwater robot (5), moving the guide cover to the upper part of the cable joint, and slowly lowering the guide cover to insert the cable joint into a bell mouth pipe (21) of the guide cover;

s4: the underwater robot rotates the underwater shackle to adjust the position of the underwater shackle, when a rectangular cavity of the underwater shackle is aligned with the upper part of the cable joint, the underwater shackle is located on the cable joint under the action of self weight, an inner seat surface (45) of the underwater shackle is contacted with the top (13) of the cable joint, the periphery and the top surface of the upper part of the cable joint are restrained and positioned by the inner wall of a shackle body (41) of the underwater shackle and a limiting plate (3), and a pin shaft (42) of the underwater shackle is centered with a shaft hole (12) of the cable joint;

s5: and rotating a handle (46) of the underwater shackle to penetrate the pin shaft (42), and automatically popping a locking pin (43) of the underwater shackle to clamp a first groove (421) on the pin shaft after the underwater shackle penetrates the shaft in place, so that the reliable connection of the ground anchor and the longitudinal cable is completed.

Technical Field

The invention relates to the connection of a deepwater ground anchor and a longitudinal cable in a cable net structure, in particular to an underwater connection device and method of the deepwater ground anchor and the longitudinal cable.

Background

The large reservoir has the phenomenon of water temperature stratification, if the elevation of a water intake of a power station is low, low-temperature water is discharged by a unit during power generation in spring and summer, and a series of serious ecological problems are caused at the downstream, such as the problems that downstream fish reproduction is influenced, partial water living beings are extinct and the like. Aiming at the phenomenon, a water-resisting curtain wall can be arranged on the front edge of the whole river section of the water intake of the power station, low-temperature water at the middle lower part of the reservoir is blocked by the water-resisting curtain wall, and normal water temperature water on the surface layer of the reservoir passes through the top of the water-resisting curtain wall, so that the water temperature of the power station discharged downwards is improved, and the adverse effect of the low-temperature water on the downstream ecology is reduced. The load borne by the waterproof curtain wall is huge, the load needs to be transmitted to the water surface buoyancy tank and the bottom ground anchor through the cable net structure, and the guarantee that the ground anchor is reliably connected with the longitudinal cable of the cable net structure is one of the keys of successful projects.

The connection between the ground anchor and the longitudinal cable in the cable net structure can be completed through diver operation in general underwater ground anchor engineering, but for a high dam and a large reservoir, the maximum water depth reaches 200m, the underwater ground anchor engineering belongs to deep water ground anchor engineering, the maximum safe depth of conventional air diving is only 60m, and the connection work of the deep water ground anchor cannot be completed. The saturated diving operation scheme in ocean engineering can complete the work, but the cost is expensive, the special equipment is huge, the inland transportation is difficult, and the scheme belongs to high-risk operation. In order to control project cost and reduce construction risks, an underwater Robot (ROV) can be used for completing connection work, but the underwater robot is far less flexible than a diver in work, two mechanical hands of the underwater robot move clumsy, and the existing connection scheme cannot be completed by the underwater robot. Therefore, a brand new underwater connection technical scheme and a brand new underwater connection device are needed to be provided for completing the connection between the deepwater ground anchor and the longitudinal cable by adopting the underwater robot.

Disclosure of Invention

The invention aims to solve the technical problem that the existing underwater robot cannot complete the connection between the deepwater ground anchor and the longitudinal cable, and provides a device and a method for completing the underwater connection between the deepwater ground anchor and the longitudinal cable in deepwater by utilizing simple operations of pushing, pulling, rotating and the like of an underwater Robot (ROV).

In order to solve the technical problems, the invention adopts the technical scheme that: an underwater connecting device of a deepwater ground anchor and a longitudinal cable comprises the ground anchor arranged at the bottom of water and the longitudinal cable with one end connected with a water surface buoyancy tank, wherein:

a cable joint is vertically arranged at the top of the ground anchor, a shaft hole is formed in the upper portion of the cable joint, a first rope hole is formed in the middle of the cable joint, the first rope hole and the shaft hole are respectively and horizontally arranged on the cable joint, the axis of the first rope hole is orthogonal to the axis of the shaft hole, the cross section of the upper portion of the cable joint is rectangular, the length of the long side of the rectangle is defined as the width of the cable joint, the length of the short side of the rectangle is defined as the thickness of the cable joint, and the shaft hole is formed in the surface where the long side of the rectangle is located;

a traction rope is arranged in the first rope hole in a penetrating way;

the underwater shackle is connected to the bottom of the longitudinal cable and comprises a pin shaft and a buckle body, the bottom of the buckle body is open, limiting plates are mounted at two ends of the opening respectively, a rectangular cavity slightly larger than the size of the cross section of the upper portion of the cable joint is formed by the two limiting plates and the opening of the buckle body in an enclosing mode, the thickness of the cable joint is slightly smaller than the clear distance of the inner wall of the buckle body, the width of the cable joint is larger than the clear distance of the inner wall of the buckle body, and meanwhile the width of the cable joint is slightly smaller than the distance between the two limiting plates;

a guide cover used for guiding the cable joint is arranged on the bottom surface of the buckle body of the underwater shackle, and a second rope hole convenient for being connected with the traction rope is formed in the guide cover;

one end of the traction rope penetrates through the second rope hole and then is connected with the longitudinal rope, and the other end of the traction rope extends out of the water surface for connecting the longitudinal rope with the ground anchor;

when the haulage rope pulls the guide housing reachs the rope knot top, release the haulage rope, the guide housing slips into behind the upper portion of rope knot, the rotatory adjustment of underwater robot the underwater shackle makes the upper portion of rope knot stretches into the rectangle cavity realizes the shaft hole of rope knot with the round pin axle centering of underwater shackle, the underwater robot passes the round pin axle of underwater shackle the shaft hole of rope knot just can with the underwater shackle with the rope knot closure, realize the ground anchor and indulge being connected of cable promptly.

As described above, the underwater connection of the deepwater ground anchor and the longitudinal cable can be completed by simple operations of pushing and pulling the pin shaft, rotating the underwater shackle and the guide cover by the underwater robot, the deepwater operation of divers is avoided, and the underwater connection device has the advantages of low cost, high efficiency, good safety and the like.

Preferably, the guide housing includes bellmouth pipe and annular connecting plate, the upper end of annular connecting plate with the knot body of breaking out under water is connected, the lower extreme of annular connecting plate with the tip of bellmouth pipe is connected, set up on the bellmouth pipe the second rope hole.

In order to facilitate the guide cover to slide into the upper part of the cable joint and to rotate and adjust the underwater shackle, the top of the cable joint is provided with an arc surface or a hemisphere surface.

In order to realize the vertical limit when the cable joint shaft hole is aligned with the underwater shackle pin shaft, an inner seat surface matched with the top of the cable joint is arranged in the buckle body.

Preferably, a first lock hole and a second lock hole are oppositely arranged on two sides of an opening of the underwater shackle, a sleeve is arranged on the outer side face of the first lock hole, the pin shaft is arranged in the sleeve in a clearance fit mode, one end of the pin shaft extends out of the sleeve, the other end of the pin shaft is matched with the inner diameters of the first lock hole and the second lock hole, and the sleeve, the pin shaft, the first lock hole and the second lock hole are coaxially arranged;

the middle part of round pin axle sets up first recess, vertical installation guide holder on the sleeve, installation stop pin and spring in the guide holder, the spring housing is established on the lock pin, just one end of stop pin stretches out the guide holder, the other end passes the sleeve and stretches into under the spring action the first recess of round pin axle.

Therefore, the underwater shackle not only can insert the pin shaft into the first locking hole and the second locking hole by pushing or rotating the pin shaft through an underwater Robot (ROV) to connect the underwater shackle with the cable joint, but also can automatically eject the locking pin and extend into the first groove of the pin shaft by utilizing the elastic force of the spring after the pin shaft of the underwater shackle is inserted in place by vertically installing the guide seat on the sleeve and installing the locking pin and the spring in the guide seat. The locking pin is pulled up and the spring is compressed to enable the locking pin to exit from the first groove, the locking of the pin shaft is released, the pin shaft can exit by pulling or reversely rotating the pin shaft, and the underwater shackle is disassembled. Therefore, the invention can finish the installation, self-locking and disassembly of the shackle in deep water by utilizing simple operations of pushing, pulling, rotating and the like of an underwater Robot (ROV), and can realize the self-locking or the disassembly of the shackle no matter the pin shaft is positioned in a horizontal state or a vertical state.

In order to keep the pin shaft horizontal under water, the outer side surface of the second lock hole is provided with a balancing weight.

In order to ensure the matching length of the pin shaft and the second lock hole, a second groove matched with the end part of the pin shaft is arranged in the counterweight block close to one side of the buckle body, so that the end part of the pin shaft can extend into the second groove.

In order to facilitate the drainage of water in the second lock hole in the locking process, the second groove is provided with a drain hole communicated with the outside.

In order to facilitate the control of the locking pin, the locking pin comprises a pull ring and a pin body, the pull ring is arranged outside the guide seat, one end of the pin body is connected with the pull ring, and the other end of the pin body penetrates through the sleeve.

In order to conveniently control the pin shaft, a handle is arranged at the outer end of the pin shaft.

Preferably, an end cover is installed at the outer end of the sleeve, a threaded hole is formed in the middle of the end cover, a threaded section is formed in the pin shaft, and the threaded hole is in threaded connection with the threaded section, so that the axial movement of the pin shaft is more stable.

Preferably, the pin shaft comprises a polished rod section, a threaded section and an optical axis section which are sequentially arranged from outside to inside, the end part of the polished rod section is connected with the handle, and the optical axis section is provided with an annular first groove.

Based on the same invention concept, the invention also provides an underwater connecting method of the deepwater ground anchor and the longitudinal cable, which utilizes the underwater connecting device of the deepwater ground anchor and the longitudinal cable and comprises the following specific steps:

s1: when the ground anchor at the bottom of the reservoir is constructed, the middle part of the traction rope penetrates through the first rope hole of the rope knot, the traction rope and the ground anchor are installed and fixed at the bottom of the reservoir along with the rope knot, the rope knot is exposed and vertical to a river bed, and two ends of the traction rope are temporarily fixed on the water surface buoyancy tank;

s2: when the ground anchor is connected with the longitudinal cable, the underwater shackle and the longitudinal cable are connected on the water surface, the pin shaft of the underwater shackle is withdrawn, one end of the traction rope passes through the second rope hole of the guide cover and then is connected to the lower end of the longitudinal cable, the other end of the traction rope is pulled upwards at a proper speed, the longitudinal cable is released downwards at a corresponding speed, and after the traction rope is pulled for a certain length, the underwater shackle is pulled to be close to a cable joint, and then the traction rope with a certain length is released, so that the traction rope is in a loose state;

s3: operating the guide cover by the underwater robot, moving the guide cover to the upper part of the cable joint, and slowly lowering the guide cover to enable the cable joint to be inserted into the bell mouth pipe of the guide cover;

s4: the underwater robot rotates the underwater shackle to adjust the position of the underwater shackle, when a rectangular cavity of the underwater shackle is aligned with the upper part of the cable joint, the underwater shackle is located on the cable joint under the action of self weight, the inner seat surface of the underwater shackle is contacted with the top of the cable joint, the periphery and the top surface of the upper part of the cable joint are restrained and positioned by the inner wall of a shackle body of the underwater shackle and a limiting plate, and a pin shaft of the underwater shackle is centered with a shaft hole of the cable joint;

s5: and rotating a handle of the underwater shackle to penetrate the pin shaft, and automatically popping a locking pin of the underwater shackle out to clamp a first groove on the pin shaft after the underwater shackle penetrates the shaft in place, so that the reliable connection of the ground anchor and the longitudinal cable is completed.

The invention has the structural characteristics that: the cable joint is positioned at the top of the ground anchor, and the longitudinal cable is connected with the cable joint through the underwater shackle; the guide cover is fixed on the underwater shackle, so that the guide and positioning functions of the underwater shackle during shaft penetrating connection can be realized; the traction rope passes through the first rope hole of the rope knot, and the primary positioning of the connecting device can be realized. The rope knot is fixed at the top of the ground anchor through pressing or threads, the first rope hole is formed in the middle of the rope knot, the two ends of the first rope hole are symmetrically provided with horn-shaped openings, the cylindrical shaft hole is formed in the upper portion of the rope knot, and the first rope hole is orthogonal to the axis of the shaft hole. The underwater shackle has a self-locking and anti-loosening function and is suitable for the operation of an underwater robot manipulator.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of the underwater connecting device of the deepwater anchor and the longitudinal cable of the invention;

FIG. 2 is a three-dimensional axial view of the underwater connection between the deepwater ground anchor and the longitudinal cable of the underwater connection device of the invention, wherein A is a state that the guide cover is dragged and lowered, B is a state that the guide cover is close to the positioning, and C is a state that the connection between the longitudinal cable and the ground anchor is completed;

FIG. 3 is a front view of the socket of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a cross-sectional view B-B of FIG. 3;

FIG. 6 is a three-dimensional axial view of the underwater shackle, limiting plate, guide housing connection structure of the present invention;

FIG. 7 is a cross-sectional view of the subsea shackle of the present invention prior to threading;

FIG. 8 is a cross-sectional view of the subsea shackle of the present invention after being threaded through a shaft;

FIG. 9 is a three-dimensional block diagram of the subsea shackle of the present invention;

FIG. 10 is an enlarged view at A of FIG. 8;

FIG. 11 is a three-dimensional isometric view of the guide housing;

fig. 12 is a three-dimensional isometric view of the stop plate.

In the figure: 1-rope knot; 2-a guide cover; 3-a limiting plate; 4, underwater shackle removal; 5-an underwater robot; 6-a traction rope; 7-a ground anchor; 8-reservoir bottom; 9-longitudinal cable; 10-a buoyancy tank;

11-a first rope hole; 12-shaft hole; 13-top surface;

41-buckle body; 42-a locking pin; 43-a sleeve; 44-end cap; 45-pin shaft; 46-a handle; 47-a counterweight block; 48-a guide seat; 49-a spring; 411-first keyhole; 412-a second keyhole; 413-inner seating surface; 421-a pull ring; 422-pin body; 451-polished rod section; 452-a threaded section; 453-first groove; 454-optical axis segment; 471-second groove; 472-drainage holes.

Detailed Description

The invention is further described below with reference to specific preferred embodiments, without thereby limiting the scope of protection of the invention.

For convenience of description, the relative positional relationship of the components, such as: the descriptions of the upper, lower, left, right, etc. are described with reference to the layout directions of the drawings in the specification, and do not limit the structure of the present patent.

As shown in fig. 1-6, one embodiment of the underwater connecting device for the deepwater ground anchor and the longitudinal cable of the invention comprises a cable joint 1, a guide cover 2, a limit plate 3, an underwater shackle 4 and a hauling cable 6. The cable joint 1 is vertically installed and fixed on the top of a ground anchor 7 at the bottom 8 of the reservoir through threads. The top 13 of the rope knot 1 is set to be a circular arc surface or a hemispherical surface, the upper part is provided with a cylindrical shaft hole 12, the middle part is provided with a first rope hole 11 with two ends being horn-shaped openings, the first rope hole 11 and the shaft hole 12 are respectively horizontally arranged on the rope knot 1, and the axis of the first rope hole 11 is orthogonal to the axis of the shaft hole 12. The cross section of the upper part of the cable joint 1 is rectangular, the length of the long side of the rectangle is defined as the width of the cable joint 1, and the length of the short side of the rectangle is defined as the thickness of the cable joint 1. The shaft hole 12 is opened on the surface of the long side of the rectangle.

The bottom of the longitudinal cable 9 is connected with the underwater shackle 4 through a common shackle. As shown in fig. 7-10, the underwater shackle 4 mainly comprises a shackle body 41, a locking pin 42, a sleeve 43, an end cover 44, a pin 45, a handle 46, a weight 47, a guide seat 48, a spring 49, and the like. The structure is characterized in that: the buckle body 41 is of a Y-shaped structure, the opening end of the buckle body 41 is oppositely provided with a first locking hole 411 and a second locking hole 412, and the opening of the buckle body 41 is internally provided with an inner seat 413 matched with the top of the cord section 1. The outer side surface of the first lock hole 411 is connected with a right end flange of the sleeve 43 through a screw. The pin shaft 45 is installed in the sleeve 43, the first locking hole 411 and the second locking hole 412 in a clearance fit mode, and the sleeve 43, the pin shaft 45, the first locking hole 411 and the second locking hole 412 are arranged coaxially. The pin 45 comprises a polished rod section 451, a threaded section 452 and an optical axis section 454 which are arranged in sequence from outside to inside. The polished rod section 451 is arranged outside the sleeve 43, the end part of the polished rod section 451 is in threaded connection with the handle 46, and the handle 46 and the polished rod section 451 form a handle for facilitating the rotation operation of the underwater robot. The left end flange of the sleeve 43 is connected with the end cover 44 through a bolt, a threaded hole is formed in the center of the end cover 44, and the threaded hole is in threaded connection with the threaded section 452. The outer diameter of the optical axis section 454 matches the inner diameter of the first locking hole 411 and the second locking hole 412. The optical axis section 454 is provided with a first groove 453 in a ring shape. A guide seat 48 is vertically arranged on the wall of the sleeve 43 close to the shackle, and a round hole is formed in the top end plate of the guide seat 48. A locking pin 42 and a spring 49 are installed in the guide seat 48, the spring 49 is sleeved on the locking pin 42, one end of the locking pin 42 extends out of the guide seat 48, and the other end of the locking pin 42 passes through the sleeve 43 and extends into the first groove 453 of the pin shaft 45 under the action of the spring 48. The locking pin 42 comprises a pull ring 421 and a pin body 422, the pull ring 421 is disposed outside the guide holder 48, one end of the pin body 422 is connected to the pull ring 421, and the other end passes through the sleeve 43. The through-sleeve end of the pin body 422 is a hemispherical boss to facilitate insertion into the first recess 453. The flange at the end of the weight block 47 is connected to the outer side of the second lock hole 412 on the buckle body 41 by screws, a second groove 471 is formed inside the side of the weight block 47 close to the buckle body, and a drainage hole 472 is formed in the second groove 471 to communicate with the outside.

When the underwater shackle 4 is assembled, the spring 49 is sleeved on the pin body 422, and then the threaded section of the locking pin 42 extends out of the top round hole of the guide seat 48 to be connected with the pull ring 421. After the assembly is completed, the locking pin 42 can move along the axial direction of the pin body 422 in the guide seat 48, the pull ring 421 is pulled, the spring 49 is compressed, the pull ring 421 is loosened, and the spring 49 ejects the boss of the pin body 422 to the central line of the sleeve 43.

Guide housing 2 is fixed in the bottom of underwater shackle 4, and as shown in fig. 11, guide housing 2 includes bellmouth pipe 21 and annular connecting plate 22, the upper end of annular connecting plate 22 with underwater shackle 4's knot body 41 is connected, the lower extreme of annular connecting plate 22 with bellmouth pipe 21's tip is connected, set up second rope hole 23 on the bellmouth pipe 21. As shown in fig. 6 and 12, the two limit plates 3 are fixed to both ends of the opening of the underwater shackle 4. The two limit plates 3 and the inner wall of the buckle body 41 form a rectangular cavity slightly larger than the size of the cross section of the upper part of the cable joint 1, the thickness of the cable joint 1 is slightly smaller than the clear distance L between the inner walls of the buckle body 41, the width of the cable joint 1 is larger than the clear distance L between the inner walls of the buckle body 41, and meanwhile, the width of the cable joint 1 is slightly smaller than the distance between the two limit plates 3, so that the shaft hole 12 of the cable joint 1 is conveniently aligned with the pin shaft 45 of the underwater shackle 4, and the rotation of the underwater shackle 4 around the vertical axis of the underwater shackle 4 is limited.

One end 61 of the hauling rope 6 passes through the first rope hole 11 and the second rope hole 23 and then is connected with a common shackle at the bottom of the longitudinal rope 9, and the other end 62 of the hauling rope 6 is connected with the water surface buoyancy tank 10.

When the ground anchor 7 is connected with the longitudinal cable 9 underwater, the concrete steps are as follows:

s1: when the ground anchor 7 of the reservoir bottom 8 is constructed, the middle part of the traction rope 6 penetrates through the first rope hole 11 of the rope knot 1, and is fixedly arranged at the reservoir bottom 8 together with the rope knot 1 and the ground anchor 7, the rope knot 1 is exposed and vertical to a river bed, and two ends of the traction rope 6 are temporarily fixed on the water surface buoyancy tank 10;

s2: when the ground anchor 7 is connected with the longitudinal cable 9, firstly, the underwater shackle 4 is connected with the longitudinal cable 9 on the water surface, the pin shaft 45 of the underwater shackle 4 is withdrawn, and one end 61 of the traction rope 6 passes through the second rope hole 23 of the guide cover 2 and then is connected with the lower end of the longitudinal cable 9. Further, pulling up the other end 62 of the hauling cable 6 at a proper speed, simultaneously releasing the longitudinal cable 9 downwards at a corresponding speed, when the hauling cable 6 is pulled for a certain length, the underwater shackle 4 is pulled to be close to the cable section 1, and then releasing the hauling cable 6 for a certain length, so that the hauling cable 6 is in a loose state;

s3: the guide cover 2 is operated by the underwater robot 5 to move to the upper part of the cable joint 1, and then the guide cover 2 is slowly lowered to enable the cable joint 1 to be inserted into the bell mouth pipe 21 of the guide cover 2;

s4: the underwater robot 5 rotates the underwater shackle 4 to adjust the position of the underwater shackle 4, when the rectangular cavity of the underwater shackle 4 is aligned with the upper part of the cable joint 1, the underwater shackle 4 is located on the cable joint 1 under the action of self weight, the inner seat surface 413 of the underwater shackle 4 is contacted with the top 13 of the cable joint 1, the periphery and the top surface of the upper part of the cable joint 1 are restrained and positioned by the inner wall of the shackle body 41 of the underwater shackle and the limiting plate 3, and the pin shaft 42 of the underwater shackle 4 is centered with the shaft hole 12 of the cable joint;

s5: the handle 46 of the underwater shackle is rotated, the pin shaft 45 axially moves through thread transmission, after the pin shaft 45 contacts the second groove 471 of the counter weight block 47, the shaft penetrating of the underwater shackle 4 is completed, at the moment, the pin body 422 of the locking pin 42 automatically pops up, the head of the pin body 422 is clamped with the first groove 453 of the pin shaft 45, the axial movement of the pin shaft 45 is limited, the pin shaft 45 is prevented from withdrawing, the self-locking and anti-loosening of the pin shaft 45 are realized, and the reliable connection of the ground anchor 7 and the longitudinal cable 9 is completed.

After the traction work of the underwater shackle 4 is finished, the traction rope 6 can be cut off or not according to the field condition.

When the underwater shackle 4 is disassembled, the underwater robot 5 is used for pulling up the pull ring 421 of the locking pin 42, the head of the pin body 422 is separated from the first groove 453 of the pin shaft 45, the locking of the pin shaft 45 can be released, and the underwater robot 5 reversely rotates the handle 46 to complete the withdrawing of the pin shaft 45, so that the disassembling is completed.

The above description is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modify equivalent embodiments using the technical content disclosed above without departing from the technical solution of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.