A large submersible offshore recovery device and recovery method based on tower crane

Abstract

The present invention relates to a large-scale underwater vehicle offshore recovery device and recovery method based on a tower crane, wherein a tower lifting mechanism and a carrier support seat are both movably arranged on a test support ship, and the tower lifting mechanism moves in the horizontal direction, and the carrier support seat moves in the longitudinal direction. The tower lifting mechanism comprises a mobile base, a stand, a landing gear, a lifting cable, a hoisting cable and a docking locking device. The stand is arranged on the mobile base, and the landing gear can be lifted and lowered on one side of the stand. One end of the lifting cable is connected to a lifting cable winch, and the other end is connected to the landing gear after bypassing the upper end of the stand. A buffer seat is provided at the end of the landing gear, and a docking locking device is provided at the lower side of the buffer seat. One end of the lifting cable is connected to a lifting cable winch, and the other end is connected to the underwater vehicle after bypassing the upper end of the stand and passing through the buffer seat. A collision buffer mechanism is provided on the recovery side of the test support ship. The present invention integrates docking, lifting and safety protection, and can be applied to the offshore recovery of large underwater vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of marine robot recovery, in particular to a large-scale submersible marine recovery device and a recovery method based on a tower crane. Background Art

[0002] Since the mid-1990s, underwater robots have been increasingly used in marine scientific exploration and military fields. The operating capability of underwater robots is largely affected by the sea conditions, and the impact of sea conditions is mainly reflected in the deployment and recovery process. Therefore, developing a safe, reliable and fast deployment and recovery system is one of the important ways to improve the marine adaptability of underwater robots.

[0003] At present, the main deployment and recovery systems of underwater robots at sea include folding arm cranes and A-frame devices. Among them, the folding arm crane is the simplest submersible deployment system, which can be customized according to the structural characteristics of the submersible body, or the crane on the mother ship can be directly used as the boom. This deployment method has the advantages of simple structure, low cost, and less space on the mother ship. It is currently widely used in the deployment and recovery of various small and medium-sized submersibles. However, the folding arm crane deployment system has a single function and requires the cooperation of shipboard personnel to protect the submersible during operation. The A-frame deployment system is currently the most representative submersible deployment system, with relatively mature technology and widely used in the deployment and recovery of small and medium-sized submersibles. It is usually composed of an A-type gantry, a buffer docking protection device, a release and recovery device, a winch, a hydraulic system, an electronic control system, etc. The system has strong versatility and can not only deploy and recover submersibles, but also be used for other underwater operation equipment.

[0004] Compared with the traditional 100-kilogram and ton-class small and medium-sized underwater robots, in recent years many countries have included large (LDUUV) and extra-large (XLUUV) underwater robots in clear plans. For example, the 50-ton "Echo Cruiser" large unmanned submarine developed by Boeing in the United States has entered the final test stage with a maximum working depth of 3,300 meters. It can be seen that underwater robots are developing towards large-scale and deep-diving directions.

[0005] For the deployment and retraction of large underwater robots at sea (hundred-ton level), both of the above methods have certain defects. First, although the A-frame deployment and retraction system can also achieve deployment and retraction, its scale will also increase with the increase of the length of the submersible, resulting in a sharp increase in the displacement of the mother ship. The deployment and retraction of the submersible by folding arm crane is difficult to implement the safety protection of the submersible, and it is impossible to stop the swing manually. Therefore, it is very necessary to develop a deployment and retraction device that integrates lifting, docking, and safety protection for large submersibles. Summary of the invention

[0006] The purpose of the present invention is to provide a large-scale submersible offshore recovery device and recovery method based on a tower crane, which can realize vertical lifting of the submersible and safely land it on a carrier support seat during the recovery operation. It integrates docking, lifting and safety protection, and can be applied to the offshore recovery of large submersibles.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] A large-scale submersible offshore recovery device based on a tower crane is characterized in that it includes a tower lifting mechanism, a carrier support seat and a test support ship. The tower lifting mechanism and the carrier support seat can be movably arranged on the test support ship, and the tower lifting mechanism moves in the horizontal direction, and the carrier support seat moves in the longitudinal direction. The tower lifting mechanism includes a mobile base, a stand, a landing gear, a lifting cable, a lifting cable and a docking locking device. The stand is arranged on the mobile base, and the landing gear can be raised and lowered on one side of the stand. One end of the lifting cable is connected to a lifting cable winch arranged on the test support ship, and the other end is connected to the landing gear after bypassing the upper end of the stand. A buffer seat is provided at the end of the landing gear, and a docking locking device is provided on the lower side of the buffer seat. One end of the lifting cable is connected to a lifting cable winch arranged on the test support ship, and the other end is connected to the submersible after bypassing the upper end of the stand and passing through the buffer seat. A collision buffer mechanism is provided on the recovery side of the test support ship.

[0009] A connecting seat is provided at the front end of the landing gear, and the connecting seat is connected to the buffer seat at the lower side through a plurality of buffer hydraulic cylinders.

[0010] Two first lifting cable guide wheels are provided on the front side of the upper end of the vertical frame, and two second lifting cable guide wheels are provided on the rear side. After the two lifting cables are led out by the lifting cable winch, they respectively pass around the second lifting cable guide wheel and the first lifting cable guide wheel on the corresponding side in turn and are then fixedly connected to the landing gear. The lifting cable is arranged between the two lifting cables.

[0011] A first lifting cable guide wheel is provided on the front side of the upper end of the frame, and a second lifting cable guide wheel is provided on the rear side of the middle part of the frame. After the lifting cable is led out by the lifting cable winch, it passes around the second lifting cable guide wheel and the first lifting cable guide wheel in sequence, and is connected to the submersible after passing through the buffer seat.

[0012] A lifting slide rail is arranged on one side of the vertical frame, and a sliding block matched with the lifting slide rail is arranged on the rear side of the landing gear.

[0013] The test support ship is provided with a transverse track and a longitudinal track, the movable base moves along the corresponding transverse track, and the carrier support seat moves along the corresponding longitudinal track.

[0014] The collision buffer mechanism comprises a driving hydraulic cylinder, a telescopic scissor assembly and an airbag. The telescopic scissor assembly is driven to extend and retract by the driving hydraulic cylinder, and the airbag is arranged at the free end of the telescopic scissor assembly.

[0015] A recovery method of the large submersible offshore recovery device based on the tower crane comprises the following steps:

[0016] Step 1: The tower lifting mechanism moves to the recovery side of the test support ship, and the test support ship moves to the waiting recovery position;

[0017] Step 2: The lifting cable winch releases the lifting cable, which is towed by the workboat to the vicinity of the submersible, and the lifting cable is manually connected to the submersible;

[0018] Step 3: The collision buffer mechanism is activated;

[0019] Step 4: The lifting cable winch retracts the lifting cable and drags the submersible close to the side. During the recovery process, the submersible abuts against the collision buffer mechanism, and the collision buffer mechanism shrinks as the submersible is recovered.

[0020] Step 5: The lifting cable winch continues to retract the lifting cable, and quickly lifts the submersible out of the water and presses it to the lower side of the docking locking device to lock it;

[0021] Step 6: The hoisting cable winch is started to recover the hoisting cable, and the submersible is lifted vertically to a predetermined position through the landing gear. At the same time, the hoisting cable winch is synchronously recovered to keep the submersible pressed against the docking locking device;

[0022] Step 7: The carrier support seat moves longitudinally to both sides to reserve a lateral movement space for the tower lifting mechanism, and then the tower lifting mechanism moves horizontally backward to a predetermined position;

[0023] Step 8: The carrier support seat moves longitudinally toward the middle, and then the lifting cable and the hoisting cable are released simultaneously to place the submersible on the carrier support seat.

[0024] The advantages and positive effects of the present invention are:

[0025] 1. The tower lifting mechanism of the present invention utilizes a lifting cable to drag the submersible for recovery and docks and locks it with a docking locking device, and then utilizes the lifting cable to drive the landing gear to drive the submersible to rise and fall vertically. The tower lifting mechanism can move along a transverse track and can safely place the submersible on a carrier support seat that moves along a longitudinal track. The present invention integrates docking, lifting and safety protection, and can be applied to the offshore recovery of large submersibles.

[0026] 2. The tower lifting mechanism of the present invention is provided with a docking locking device on the lower side of the buffer seat, and the buffer seat can buffer the impact of the lateral and longitudinal shaking of the test support ship on the movement of the submersible carrier, thereby reducing the swing amplitude of the submersible and playing a protective role.

[0027] 3. The present invention provides a collision buffer mechanism on one side of the test support ship, which can buffer the collision impact between the submersible and the side of the ship hull to avoid collision damage to the submersible. In addition, the collision buffer mechanism will gradually shrink as the submersible is recovered, and will not affect the docking and lifting of the submersible.

[0028] 4. The layout of the present invention is reasonable and compact, and the operation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a general schematic diagram of the present invention,

[0030] Figure 2 for Figure 1 Schematic diagram of the tower lifting mechanism in the figure.

[0031] Figure 3 for Figure 1 Schematic diagram of the collision buffer mechanism in FIG.

[0032] Figure 4 The process diagram of recovering a submersible according to the present invention is shown in FIG. Figure 1 ,

[0033] Figure 5 The process diagram of recovering a submersible according to the present invention is shown in FIG. Figure 2 ,

[0034] Figure 6 The process diagram of recovering a submersible according to the present invention is shown in FIG. Figure 3 ,

[0035] Figure 7 The process diagram of recovering a submersible according to the present invention is shown in FIG. Figure 4 ,

[0036] Figure 8 The process diagram of recovering a submersible according to the present invention is shown in FIG. Figure 5 ,

[0037] Fig. 9 The process diagram of recovering a submersible according to the present invention is shown in FIG. Figure 6 .

[0038] Among them, 1 is a tower lifting mechanism, 101 is a mobile base, 102 is a stand, 103 is a lifting slide rail, 104 is a landing gear, 105 is a lifting cable, 106 is a first lifting cable guide wheel, 107 is a first lifting cable guide wheel, 108 is a lifting cable, 109 is a buffer seat, 110 is a docking locking device, 111 is a connecting seat, 112 is a buffer hydraulic cylinder, 113 is a second lifting cable guide wheel, 114 is a second lifting cable guide wheel, 2 is a test support ship, 3 is a submersible, 4 is a collision buffer mechanism, 401 is a driving hydraulic cylinder, 402 is a telescopic scissors assembly, 403 is an airbag, 5 is a transverse track, 6 is a carrier support seat, and 7 is a longitudinal track. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] like Figures 1 to 9 As shown, the present invention comprises a tower lifting mechanism 1, a carrier support seat 6 and a test support vessel 2. The tower lifting mechanism 1 and the carrier support seat 6 are both movably arranged on the test support vessel 2, and the tower lifting mechanism 1 moves in the transverse direction, and the carrier support seat 6 moves in the longitudinal direction, as shown in FIG. Figure 2 As shown, the tower lifting mechanism 1 includes a mobile base 101, a frame 102, a landing gear 104, a lifting cable 105, a hoisting cable 108 and a docking locking device 110, wherein the frame 102 is vertically arranged on the mobile base 101, and the landing gear 104 is liftably arranged on one side of the frame 102, one end of the lifting cable 105 is connected to a lifting cable winch arranged on the test support ship 2, and the other end is connected to the landing gear 104 after bypassing the upper end of the frame 102, and the landing gear 104 is driven to rise and fall by the lifting cable 105, a buffer seat 109 is provided at the end of the landing gear 104, and a docking locking device 110 is provided on the lower side of the buffer seat 109, one end of the lifting cable 108 is connected to the lifting cable winch arranged on the test support ship 2, and the other end is connected to the submersible 3 after bypassing the upper end of the frame 102 and passing through the buffer seat 109. The docking locking device 110 on the lower side of the buffer seat 109 is a well-known technology in the art and is a commercially available product.

[0041] like Figure 2 As shown, a connecting seat 111 is provided at the front end of the landing gear 104, and the connecting seat 111 is connected to the buffer seat 109 on the lower side through a plurality of buffer hydraulic cylinders 112. The present invention buffers the impact of the lateral and longitudinal shaking of the test protection ship 2 on the movement of the submersible 3 carrier through the damping effect of the buffer hydraulic cylinder 112, thereby reducing the swing amplitude of the submersible 3 and playing a protective role.

[0042] like Figure 2As shown, two first hoisting cable guide wheels 106 are provided on the front side of the upper end of the vertical frame 102, and two second hoisting cable guide wheels 113 are provided on the rear side. After the two hoisting cables 105 are led out by the ship-borne hoisting cable winch, they respectively pass around the second hoisting cable guide wheel 113 and the first hoisting cable guide wheel 106 on the corresponding side and are fixedly connected to the landing gear 104.

[0043] like Figure 2 As shown, a first lifting cable guide wheel 107 is provided on the front side of the upper end of the frame 102, and a second lifting cable guide wheel 114 is provided on the rear side of the middle part of the frame 102. The lifting cable 108 is led out by the lifting cable winch and then passes around the second lifting cable guide wheel 114 and the first lifting cable guide wheel 107 in sequence, and is connected to the submersible 3 after passing through the connecting seat 111 and the buffer seat 109. The lifting cable 108 is arranged between the two lifting cables 105.

[0044] like Figure 2 As shown, the landing gear 104 is slidably connected to the vertical frame 102 , a lifting rail 103 is provided on one side of the vertical frame 102 , and a slider matched with the lifting rail 103 is provided on the rear side of the landing gear 104 .

[0045] like Figure 1 As shown, the test support vessel 2 is provided with a transverse track 5 and a longitudinal track 7, wherein the lower side of the mobile base 101 is provided with wheels for moving along the transverse track 5, and the lower side of the carrier support seat 6 is provided with wheels for moving along the longitudinal track 7.

[0046] In this embodiment, the movable base 101 and the carrier support base 6 are both movable trolley structures, and a servo motor is provided inside the movable trolley to drive any pair of wheels of the movable trolley to rotate, thereby achieving movement.

[0047] In this embodiment, the test support vessel 2 is provided with two sets of transverse rails 5 corresponding to the two tower lifting mechanisms 1, and another set of longitudinal rails 7, on which a plurality of carrier support seats 6 are provided, and each carrier support seat 6 can move independently.

[0048] like Figure 1 As shown, the recovery side of the test support ship 2 is provided with a collision buffer mechanism 4, such as Figure 3 As shown, the collision buffer mechanism 4 includes a driving hydraulic cylinder 401, a telescopic scissors assembly 402 and an airbag 403. The telescopic scissors assembly 402 is driven to extend and retract by the driving hydraulic cylinder 401. The airbag 403 is arranged at the free end of the telescopic scissors assembly 402. During the recovery process of the submersible 3, the telescopic scissors assembly 402 is extended, and the airbag 402 at the end thereof can be used to buffer the impact caused by an accidental collision between the submersible and the side of the ship.

[0049] like Figure 1As shown, the submersible 3 includes two front and rear lifting points. When recovering, the lifting cables 108 on the two tower lifting mechanisms 1 are respectively connected to the corresponding lifting points.

[0050] The working principle of the present invention is:

[0051] like Figures 4 to 9 As shown, the workflow of the present invention is described below using the recovery of a submersible as an example.

[0052] Step 1: The tower lifting mechanism 1 moves along the corresponding transverse track 5 to the recovery side of the test support ship 2, and is ready for recovery. The test support ship 2 is dynamically positioned to a distance of 100 to 200 meters from the submersible 3, and faces the current on the side to ensure that the current on the recovery side is as stable as possible;

[0053] Step 2: The lifting cable winch releases the lifting cable 108, the lifting cable 108 is connected to the workboat, and the workboat pulls the head end of the lifting cable 108 to the vicinity of the submersible 3, and manually connects the lifting cable 108 to the lifting point on the submersible 3;

[0054] Step 3: The collision buffer mechanism 4 is activated, and the telescopic scissor assembly 402 drives the airbag 403 to extend;

[0055] Step 4: The lifting cable winch recovers the lifting cable 108 and drags the submersible 3 close to the side. During the recovery process, the submersible 3 and the airbag 403 of the collision buffer mechanism 4 are against each other. The airbag 403 of the collision buffer mechanism 4 can buffer the collision impact between the submersible 3 and the side of the hull to avoid collision damage to the submersible, and the telescopic scissor assembly 402 of the collision buffer mechanism 4 will gradually shrink as the submersible is recovered;

[0056] Step 5: The lifting cable winch continues to recycle the lifting cable 108, and quickly lifts the submersible 3 out of the water and presses it to the lower side of the docking locking device 110 to achieve locking and fixing. At this time, the buffer seat 109 plays a role in reducing the swing amplitude of the submersible 3;

[0057] Step 6: The hoisting cable winch starts to recover the hoisting cable 105 and drives the landing gear 104 to rise. The landing gear 104 then drives the submersible 3 to be vertically lifted to a predetermined position. During this process, the hoisting cable winch synchronously recovers the hoisting cable 108 to ensure that the submersible 3 is always pressed against the docking locking device 110;

[0058] Step 7: The carrier support seat 6 moves to both sides along the longitudinal track 7 to reserve a lateral movement space for the tower lifting mechanism 1, and then the two tower lifting mechanisms 1 move backward along the corresponding lateral track 5 to the predetermined position on the deck of the test support ship 3 to ensure that the submersible 3 can fall onto the carrier support seat 6 after being lowered;

[0059] Step eight: The carrier support seat 6 on the longitudinal track 7 moves toward the middle, and then the lifting cable 105 and the hoisting cable 108 are released at the same time to slowly place the submersible 3 on the carrier support seat 6 and tie it up. At this time, the submersible 3 can be transported to the designated area for maintenance, repair, data uploading and other operations.

Claims

1. A large submersible offshore recovery device based on a tower crane, characterized by: The invention comprises a tower lifting mechanism (1), a carrier support seat (6) and a test support ship (2). The tower lifting mechanism (1) and the carrier support seat (6) are both movably arranged on the test support ship (2), and the tower lifting mechanism (1) moves in the transverse direction, and the carrier support seat (6) moves in the longitudinal direction. The tower lifting mechanism (1) comprises a movable base (101), a stand (102), a landing gear (104), a lifting cable (105), a lifting cable (108) and a docking locking device (110). The stand (102) is arranged on the movable base (101), and the landing gear (104) is movably arranged on the stand. On one side of the test support ship (102), one end of the lifting cable (105) is connected to the lifting cable winch provided on the test support ship (2), and the other end is connected to the landing gear (104) after passing through the upper end of the frame (102). A buffer seat (109) is provided at the end of the landing gear (104), and a docking locking device (110) is provided on the lower side of the buffer seat (109). One end of the lifting cable (108) is connected to the lifting cable winch provided on the test support ship (2), and the other end is connected to the submersible (3) after passing through the upper end of the frame (102) and passing through the buffer seat (109). A collision buffer mechanism (4) is provided on the recovery side of the test support ship (2); The upper end of the stand (102) is provided with two first hoisting cable guide wheels (106) on the front side and two second hoisting cable guide wheels (113) on the rear side. After being led out by the hoisting cable winch, the two hoisting cables (105) respectively pass through the second hoisting cable guide wheels (113) and the first hoisting cable guide wheels (106) on the corresponding sides and are then fixedly connected to the landing gear (104). The hoisting cable (108) is arranged between the two hoisting cables (105). A first hoisting cable guide wheel (107) is provided on the front side of the upper end of the stand (102), and a second hoisting cable guide wheel (114) is provided on the rear side of the middle part of the stand (102). After the hoisting cable (108) is led out from the hoisting cable winch, it passes through the second hoisting cable guide wheel (114) and the first hoisting cable guide wheel (107) in sequence, passes through the buffer seat (109), and is connected to the submersible (3); A lifting slide rail (103) is provided on one side of the vertical frame (102), and a sliding block cooperating with the lifting slide rail (103) is provided on the rear side of the landing gear (104).

2. The large-scale submersible offshore recovery device based on a tower crane according to claim 1 is characterized in that: A connecting seat (111) is provided at the front end of the landing gear (104), and the connecting seat (111) is connected to a buffer seat (109) at the lower side via a plurality of buffer hydraulic cylinders (112).

3. The large-scale submersible offshore recovery device based on a tower crane according to claim 1 is characterized in that: The test support vessel (2) is provided with a transverse track (5) and a longitudinal track (7); the mobile base (101) moves along the corresponding transverse track (5); and the carrier support seat (6) moves along the corresponding longitudinal track (7).

4. The large-scale submersible offshore recovery device based on a tower crane according to claim 1 is characterized in that: The collision buffer mechanism (4) comprises a driving hydraulic cylinder (401), a telescopic scissor-fork assembly (402) and an airbag (403); the telescopic scissor-fork assembly (402) is driven to extend and retract by the driving hydraulic cylinder (401); and the airbag (403) is arranged at the free end of the telescopic scissor-fork assembly (402).

5. A method for recovering a large submersible offshore recovery device based on a tower crane according to claim 1, characterized in that: The steps include: Step 1: the tower lifting mechanism (1) moves to the recovery side of the test support ship (2), and the test support ship (2) moves to a waiting recovery position; Step 2: The lifting cable winch releases the lifting cable (108), the lifting cable (108) is towed by the workboat to the vicinity of the submersible (3), and the lifting cable (108) is manually connected to the submersible (3); Step 3: The collision buffer mechanism (4) is activated; Step 4: The lifting cable winch retracts the lifting cable (108) and drags the submersible (3) close to the side. During the recovery process, the submersible (3) abuts against the collision buffer mechanism (4), and the collision buffer mechanism (4) contracts as the submersible (3) is recovered; Step 5: The lifting cable winch continues to retract the lifting cable (108), and quickly lifts the submersible (3) out of the water and presses it to the lower side of the docking locking device (110) to lock and secure it; Step 6: The hoisting cable winch is started to recover the hoisting cable (105), and the submersible (3) is driven to be vertically lifted to a predetermined position through the landing gear (104). At the same time, the hoisting cable winch is synchronously recovered to recover the hoisting cable (108) so that the submersible (3) is always pressed against the docking locking device (110); Step 7: The carrier support seat (6) moves longitudinally to both sides to reserve a space for the tower lifting mechanism (1) to move laterally, and then the tower lifting mechanism (1) moves laterally backward to a predetermined position; Step 8: The carrier support seat (6) is moved longitudinally toward the middle, and then the lifting cable (105) and the hoisting cable (108) are released simultaneously to place the submersible (3) on the carrier support seat (6).

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