A research method for grabbing deep-sea sunken object salvage

Abstract

The present invention provides a research method for grasping deep-sea sunken object salvage, which relates to the technical field of sunken object salvage, and includes the following steps: S1: obtaining the buoyancy and structural strength parameters of the sunken object in multiple time stages during the use of hydraulic claws, analyzing the stress and deformation conditions of the sunken object structure in multiple time periods, and determining the improved specifications of the hydraulic claws and slings; S2: establishing a simplified mechanical model of the process of lifting the floating sunken object out of the water under the dynamic positioning state of a double barge based on the load characteristics of multiple stages during the salvage process, obtaining the hydrodynamic relationship between the sunken object, the hydraulic claws and the salvage barge under different working conditions, and evaluating the safety of the overall salvage process; the present invention conducts research on the stress of the hydraulic claws and the sunken object structure, obtains and analyzes the buoyancy and structural strength parameters of the sunken object in multiple time stages, determines the size and strength requirements of the hydraulic claws, and at the same time analyzes the lifting force to determine the sling requirements, which is conducive to improving the specifications of the hydraulic claws and slings.

Description

Technical Field

[0001] The present invention relates to the technical field of sunken object salvage, and in particular to a research method for grappling and salvaging deep-sea sunken objects. Background Art

[0002] Currently, traditional overall salvage technology requires a lot of preliminary preparation, such as threading steel wires through the bottom of the sunken ship, supporting bottom steel beams, strengthening some weak hull structures, and using buoyancy devices to establish internal / external buoyancy for sunken ships and objects. This makes it impossible to quickly salvage sunken ships and objects that require emergency salvage. We need to make breakthroughs in rapid overall salvage in the open sea and effective deep-sea rescue, reach world-class standards as soon as possible, build an advanced marine salvage equipment system, and achieve our goal of reaching the open sea and the deep blue.

[0003] The salvage solution for ships sunk at a depth of 250m in the sea is to install a multi-grabbing system inside a deep-sea salvage barge, use a large-tonnage lifting system to lower hydraulic claws underwater to clamp the submarine and then lift it into the barge. The barge then transports it to a floating dock, which floats out of the water to complete the salvage. However, there is still the problem of claws breaking and submarines breaking. Therefore, the present invention proposes a research method for grasping deep-sea sunken object salvage to solve the problems existing in the prior art. Summary of the Invention

[0004] In response to the above problems, the present invention proposes a research method for grasping deep-sea sunken object salvage. This method combines the improvement of hydraulic claws and slings, the linkage of hydraulic synchronous lifting systems, and multi-faceted real-time monitoring, which is conducive to improving the stability of shipwreck salvage.

[0005] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a research method for grabbing deep-sea sunken object salvage, comprising the following steps:

[0006] S1: Obtain the buoyancy and structural strength parameters of the sunken object at multiple time stages during actual salvage, analyze the stress and deformation of the sunken object structure at multiple time stages, and determine the improved specifications of the hydraulic grippers and slings;

[0007] S2: Based on the load characteristics at multiple stages of the salvage process, a simplified mechanical model of the process of lifting floating objects out of the water under the dynamic positioning of a double barge was established. The hydrodynamic relationship between the sunken objects, hydraulic grippers, and salvage barges under different working conditions was obtained to evaluate the safety of the entire salvage process.

[0008] S3: Collect geological information of surrounding sea areas and prepare a research report on geological conditions of the target working sea area;

[0009] S4: Combining S2 and S3, use 3D modeling software to design the hydraulic gripper mechanical structure and perform mechanical and simulation simulations;

[0010] S5: In the simulation model, the hydraulic synchronous lifting system is connected to the hydraulic claw to control its underwater position. The buffer system of the hydraulic synchronous lifting system is simulated to maintain the stability of the hydraulic claw's lifting force underwater.

[0011] S6: Build a simulation model of the salvage barge, deploy a hydraulic synchronous lifting system equipped with a redundant pressure-displacement system on both sides of the barge deck, and simulate and prepare a salvage process plan;

[0012] S7: Monitor each simulation device in real time, develop surface and underwater multi-body relative, absolute position and relative attitude measurement solutions based on DGPS and inertial measurement units, and perform data processing and analysis;

[0013] S8: Based on the characteristics of the hydraulic synchronous lifting system, deploy and network a multi-point sling force monitoring system to conduct comprehensive data analysis and real-time display research;

[0014] S9: Based on the overall process, carry out system integration and information comprehensive display planning, and build integrated monitoring software.

[0015] Further improvements are as follows: in said S1, the multiple time stages include three time stages of capture, lifting and water discharge. The stress and deformation of the sinking structure in the three time stages are analyzed by finite element software to determine the size and strength of the hydraulic claws. At the same time, the lifting force in the three time stages is analyzed, and the sling requirements are determined in combination with the material properties of the sling.

[0016] A further improvement is that in S2, the multiple stages in the salvage process include three time stages: lifting off the ground, lifting, and emerging from the water. The typical danger calculation state is determined according to the load characteristics of the three time stages.

[0017] Further improvements are as follows: in the S4, a hydraulic transmission method is adopted, a sling is connected to the top, and the mechanical structure of the hydraulic claw is designed using 3D modeling software and mechanical and simulation simulations are performed based on geological data and the size, shape and structural strength requirements of the hydraulic claw.

[0018] A further improvement is that in the S5, based on the hydraulic synchronous lifting technology and combined with the design requirements of the hydraulic claws, the hydraulic synchronous lifting system is connected to the hydraulic claws, and the hydraulic claws are lowered and lifted by the hydraulic synchronous lifting system to control their underwater position.

[0019] A further improvement is that in S6, professional hydrodynamics and finite element software are used to simplify the simulation of the DP operating conditions of the salvage barge, the structural strength of the ship deck, the hydraulic synchronous lifting system and the lifted object, and a salvage process plan is compiled.

[0020] Further improvements are as follows: In S7, each simulation device is monitored in real time, including key information such as the posture of the sunken object and the surface salvage barge, the posture of the hydraulic claw, the force on the sling, and the position of the surface salvage barge. Based on DGPS and an inertial measurement unit (INS), a solution for measuring the relative, absolute position, and relative attitude of multiple bodies on the surface and underwater is developed, automatic data validity verification and real-time automatic processing and analysis are performed, and multi-body attitude and position information is provided.

[0021] A further improvement is that in the S9, the planning of system integration and comprehensive information display has the characteristics of clear logic and easy on-site operation.

[0022] The beneficial effects of the present invention are:

[0023] 1. The present invention studies the stress on the hydraulic claws and the sinking structure, obtains and analyzes the buoyancy and structural strength parameters of the sinking object at multiple time stages, determines the size and strength requirements of the hydraulic claws, and simultaneously analyzes the lifting force to determine the sling requirements, which is conducive to improving the specifications of the hydraulic claws and slings.

[0024] 2. The present invention is based on hydraulic synchronous lifting technology and combines improvements to the hydraulic claws. The hydraulic synchronous lifting system controls the underwater position of the hydraulic claws and cooperates with the buffer system of the hydraulic synchronous lifting system to help maintain the stability of the lifting force of the hydraulic claws underwater.

[0025] 3. The present invention conducts all-round monitoring of key information of underwater salvage operations, develops measurement schemes, and deploys and networks a multi-point sling force monitoring system, which is conducive to data integration monitoring and comprehensive analysis, and improves the stability of the overall salvage process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of the present invention;

[0027] Figure 2 This is a schematic diagram of the actual salvage operation;

[0028] Figure 3 This is a schematic diagram of the hydraulic claw clamping of the present invention. DETAILED DESCRIPTION

[0029] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the examples. The examples are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention. Example 1

[0030] according to Figure 1 As shown, this embodiment proposes a research method for grabbing deep-sea sunken object salvage, including the following steps:

[0031] S1: Obtain the buoyancy and structural strength parameters of the sunken object at multiple time stages during actual salvage, analyze the stress and deformation of the sunken object structure at multiple time stages, and determine the improved specifications of the hydraulic grippers and slings;

[0032] The present invention studies the stress on the hydraulic gripper and the sinking structure, obtains the buoyancy and structural strength parameters of the sinking object at multiple time stages, analyzes the stress and deformation of the sinking structure at multiple time stages, determines the size and strength requirements of the hydraulic gripper, and simultaneously analyzes the lifting force. In combination with the material properties of the sling, the sling requirements are determined. This is conducive to studying the stress problems of existing capture devices breaking and sinking objects breaking, and improving the specifications of the hydraulic gripper and sling.

[0033] S2: Based on the load characteristics at multiple stages of the salvage process, a simplified mechanical model of the process of lifting floating objects out of the water under the dynamic positioning of a double barge was established. The hydrodynamic relationship between the sunken objects, hydraulic grippers, and salvage barges under different working conditions was obtained to evaluate the safety of the entire salvage process.

[0034] S3: Collect geological information of surrounding sea areas and prepare a research report on geological conditions of the target working sea area;

[0035] S4: Combining S2 and S3, use 3D modeling software to design the hydraulic gripper mechanical structure and perform mechanical and simulation simulations;

[0036] S5: In the simulation model, the hydraulic synchronous lifting system is connected to the hydraulic claw to control its underwater position. The buffer system of the hydraulic synchronous lifting system is simulated to maintain the stability of the hydraulic claw's lifting force underwater.

[0037] The present invention is based on hydraulic synchronous lifting technology and combines improvements to hydraulic claws. The hydraulic synchronous lifting system lowers and raises the hydraulic claws to control their underwater position. The buffer system of the hydraulic synchronous lifting system is used to help maintain the stability of the hydraulic claws' underwater lifting force.

[0038] S6: Build a simulation model of the salvage barge, deploy a hydraulic synchronous lifting system equipped with a redundant pressure-displacement system on both sides of the barge deck, and simulate and prepare a salvage process plan;

[0039] S7: Monitor each simulation device in real time, develop surface and underwater multi-body relative, absolute position and relative attitude measurement solutions based on DGPS and inertial measurement units, and perform data processing and analysis;

[0040] S8: Based on the characteristics of the hydraulic synchronous lifting system, deploy and network a multi-point sling force monitoring system to conduct comprehensive data analysis and real-time display research;

[0041] S9: Based on the overall process, system integration and information comprehensive display planning are carried out, and integrated monitoring software is constructed. This invention monitors key information such as the posture of the sunken object and the surface salvage barge, the posture of the hydraulic claws, the force applied to the slings, and the position of the surface salvage barge in real time. It develops a solution for measuring the relative, absolute position, and relative posture of multiple bodies on the surface and underwater, and deploys and networks a multi-point sling force monitoring system. This facilitates data integration monitoring and comprehensive analysis, improving the stability of the overall salvage process. Example 2

[0042] according to Figure 1 、 2 As shown in FIG. 3 , this embodiment proposes a research method for grabbing deep-sea sunken object salvage, including the following steps:

[0043] In the salvage barge, a sling is connected to a hydraulic gripper, which is lowered into the water through the moon pool to lift the sunken objects into the salvage barge and transport them to the floating dock. The floating dock is then floated out of the water to complete the salvage.

[0044] The interaction between the distribution of hydraulic grippers and the structure of the sinker was explored, focusing on the size, structural strength, gripper force, and structural stress of the hydraulic grippers. The buoyancy and structural strength parameters of the sinker during the three time stages of capture, lifting, and release were obtained. The stress and deformation of the sinker structure during the three time stages were analyzed using finite element software to determine the size and strength requirements of the grippers. The lifting force during the three time stages was also analyzed. The sling material properties were combined to determine the sling requirements and evaluate the structural safety during the lifting process.

[0045] Based on the load characteristics of each stage of the salvage process, such as lifting, lifting, and emerging from the water, typical dangerous calculation states are determined. A simplified mechanical model of the process of lifting floating and sinking objects out of the water under the dynamic positioning of a double barge is established. The hydrodynamic relationship between the sunken object, the hydraulic gripper, and the salvage barge under different working conditions is studied to evaluate the safety of the entire salvage process.

[0046] Based on previously accumulated data and the geological conditions of the surrounding sea areas that can be checked in the regulations, a geological conditions research report for the target working sea area was compiled to provide parameter basis for the design of hydraulic grippers;

[0047] The hydraulic gripper uses hydraulic transmission and is connected to a sling at the top. Based on geological data and the size, shape, and structural strength requirements of the hydraulic gripper, 3D modeling software was used to design the hydraulic gripper's mechanical structure and conduct mechanical and simulation simulations. Through scheme design, theoretical analysis, and indoor model testing, modular verification and improvement were carried out to understand the structural characteristics and usage of the hydraulic gripper and design a hydraulic gripper that meets functional requirements.

[0048] Based on hydraulic synchronous lifting technology and the design of hydraulic claws, the hydraulic synchronous lifting system is connected to the hydraulic claws. The hydraulic claws are lowered and raised by the hydraulic synchronous lifting system to control their underwater position. The buffer system of the hydraulic synchronous lifting system can maintain the stability of the hydraulic claws' lifting force underwater. Combined with computational simulation, the theoretical and design models are improved, and process parameters are optimized. A joint salvage process is compiled, with detailed operation procedures and key nodes, clear precautions, and an estimated operation time. This improves the salvage process of the hydraulic claws.

[0049] A single salvage barge has a lifting capacity of 12,000 tons. It is a large, self-propelled semi-submersible barge that uses electric propulsion and a DP2 dynamic positioning system. It has a maximum design speed of 14 knots and a cruising range of 15,000 nautical miles, meeting global large-scale cargo transportation needs. The barge is 169 meters long, 39.8 meters wide, and nearly 60 meters high. The main deck has a maximum cargo area of ​​5,300 square meters. The single-side lifting capacity is 12,000 tons, and the combined bilateral salvage lifting capacity is 24,000 tons. Hydraulic synchronous lifting systems are deployed on both sides of the salvage barge deck, equipped with a redundant pressure-displacement system to ensure safer and more reliable diving and surfacing processes. Professional hydrodynamics and finite element software were used to perform simplified simulation analysis of the salvage barge's DP operating conditions, the ship's deck structural strength, the hydraulic synchronous lifting system, and the objects being lifted, to develop a salvage process plan.

[0050] Utilizing a variety of measuring sensors, real-time monitoring is performed on key information such as the posture of sunken objects and surface salvage barges, the posture of the capture device, the force on the slings, and the position of surface ships. Based on DGPS and inertial measurement units (INS), a solution for measuring the relative, absolute position, and relative posture of multiple bodies on the surface and underwater is developed to achieve automatic verification of data validity and real-time automatic processing and analysis, and provide multi-body posture and position information. In combination with the characteristics of the hydraulic synchronous lifting system, a multi-point cable force monitoring system is designed that is easy to deploy and network on the field, and data comprehensive analysis and real-time display research are conducted. Finally, based on the overall salvage plan, a system integration solution with clear logic and easy on-site operation is designed, as well as an information comprehensive display solution and related integrated monitoring software.

[0051] The present invention studies the stress on the hydraulic claws and the sinking structure, obtains the buoyancy and structural strength parameters of the sinking object at multiple time stages, analyzes the stress and deformation of the sinking structure at multiple time stages, determines the size and strength requirements of the hydraulic claws, and simultaneously analyzes the lifting force, and determines the sling requirements in combination with the material properties of the sling, which is conducive to studying the stress problems of the existing technology such as the breakage of the capture device and the fracture of the sinking object, and improving the specifications of the hydraulic claws and slings; and the present invention combines the geological data with the size, shape and structural strength requirements of the hydraulic claws to conduct mechanical and simulation simulations, which is conducive to the comprehensive design of hydraulic claws that meet the functional requirements from multiple aspects; The present invention is based on the hydraulic synchronous lifting technology and combines the improvement of the hydraulic claws. The hydraulic synchronous lifting system is used to lower and lift the hydraulic claws to control their underwater position. The buffer system of the hydraulic synchronous lifting system is used to help maintain the stability of the lifting force of the hydraulic claws underwater. In addition, the present invention monitors the key information of the sunken objects and the posture of the surface salvage barge, the posture of the hydraulic claws, the force of the slings, and the position of the surface salvage barge in real time, develops a relative, absolute position and relative posture measurement scheme for multiple bodies on the surface and underwater, and deploys and networks a multi-measurement point sling force monitoring system, which is conducive to data integration monitoring and comprehensive analysis, and improves the stability of the overall salvage process.

[0052] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A research method for grabbing deep-sea sunken object salvage, characterized in that: The following steps are involved: S1: Obtain the buoyancy and structural strength parameters of the sunken object at multiple time stages during actual salvage, analyze the stress and deformation of the sunken object structure at multiple time stages, and determine the improved specifications of the hydraulic grippers and slings; S2: Based on the load characteristics at multiple stages of the salvage process, a simplified mechanical model of the process of lifting floating objects out of the water under the dynamic positioning of a double barge was established. The hydrodynamic relationship between the sunken objects, hydraulic grippers, and salvage barges under different working conditions was obtained to evaluate the safety of the entire salvage process. S3: Collect geological information of surrounding sea areas and prepare a research report on geological conditions of the target working sea area; S4: Combining S2 and S3, use 3D modeling software to design the hydraulic gripper mechanical structure and perform mechanical and simulation simulations; S5: In the simulation model, the hydraulic synchronous lifting system is connected to the hydraulic claw to control its underwater position. The buffer system of the hydraulic synchronous lifting system is simulated to maintain the stability of the hydraulic claw's lifting force underwater. S6: Build a simulation model of the salvage barge, deploy a hydraulic synchronous lifting system equipped with a redundant pressure-displacement system on both sides of the barge deck, and simulate and prepare a salvage process plan; S7: Monitor each simulation device in real time, develop surface and underwater multi-body relative, absolute position and relative attitude measurement solutions based on DGPS and inertial measurement units, and perform data processing and analysis; S8: Based on the characteristics of the hydraulic synchronous lifting system, deploy and network a multi-point sling force monitoring system to conduct comprehensive data analysis and real-time display research; S9: Based on the overall process, carry out system integration and information comprehensive display planning, and build integrated monitoring software.

2. The method for salvaging sunken objects in the deep sea according to claim 1, characterized in that: In said S1, the multiple time stages include three time stages of capture, lifting and out of water. The stress and deformation of the sinking structure in the three time stages are analyzed by finite element software to determine the size and strength of the hydraulic claws. At the same time, the lifting force in the three time stages is analyzed, and the sling requirements are determined in combination with the material properties of the sling.

3. The method for salvaging sunken objects in the deep sea according to claim 2, characterized in that: In S2, the multiple stages in the salvage process include three time stages: lifting off the ground, lifting, and emerging from the water. According to the load characteristics of the three time stages, the typical danger calculation state is determined.

4. The method for salvaging sunken objects in the deep sea according to claim 3, characterized in that: In the S4, a hydraulic transmission method is adopted, a sling is connected to the top, and the mechanical structure of the hydraulic claw is designed using 3D modeling software and mechanical and simulation simulations are performed based on geological data and the size, shape and structural strength requirements of the hydraulic claw.

5. The method for salvaging deep-sea sunken objects according to claim 4, characterized in that: In the above S5, based on the hydraulic synchronous lifting technology and combined with the design requirements of the hydraulic claws, the hydraulic synchronous lifting system is connected to the hydraulic claws, and the hydraulic claws are lowered and lifted by the hydraulic synchronous lifting system to control their underwater position.

6. The method for salvaging sunken objects in the deep sea according to claim 5, characterized in that: In the above-mentioned S6, professional hydrodynamics and finite element software are used to simplify the simulation of the DP operating conditions of the salvage barge, the structural strength of the ship deck, the hydraulic synchronous lifting system and the lifted object, and a salvage process plan is compiled.

7. The method for salvaging deep-sea sunken objects according to claim 6, characterized in that: In S7, each simulation device is monitored in real time, including key information such as the posture of the sunken object and the surface salvage barge, the posture of the hydraulic claw, the force on the sling, and the position of the surface salvage barge. Based on DGPS and an inertial measurement unit, a solution for measuring the relative, absolute position, and relative attitude of multiple bodies on the surface and underwater is developed. Automatic data validity verification and real-time automatic processing and analysis are performed, and multi-body attitude and position information is provided.

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