Marine node automated hookup and release apparatus, node launch and recovery vessel, and marine node hookup and release method

Abstract

This invention discloses an automatic attachment / unattachment device for marine nodes, a node deployment / retrieval vessel, and a method for attaching / unattaching marine nodes. The automated attachment / unattachment device includes: a conveyor belt, a rigging device, a rigging device pickup, a traveling carriage, and a controller. The traveling carriage is equipped with a mechanical clamp. The rigging device comprises a rigging section and a connecting section; the rigging section clamps the main cable, and the connecting section connects to the marine node. The conveyor belt transports the rigging device and the marine node to the location of the rigging device pickup. The rigging device pickup picks up the rigging device when it reaches the pickup location and transfers it to the mechanical clamp. The traveling carriage clamps and opens the rigging section of the rigging device using the mechanical clamp, and under the control of the controller, moves along the main cable's forward direction until it matches the speed of the main cable, then presses the main cable into the opened rigging section and releases the rigging device. This invention achieves electromechanical automation, enabling the attachment / unattachment of nodes with variable spacing, and is applicable to a wide range of marine nodes.

Description

Technical Field

[0001] This invention relates to the field of marine seismic exploration technology, and in particular to an automatic attachment and detachment device for marine nodes, a node deployment and retrieval vessel, and a method for attachment and detachment of marine nodes. Background Technology

[0002] Marine node acquisition technology has become one of the mainstream technologies in marine seismic exploration. During the marine node acquisition process, nodes need to be laid and retrieved. Therefore, the marine node deployment and retrieval system is the main equipment in the construction operation.

[0003] During the current deployment and retrieval of marine nodes, it is necessary to frequently detach and attach marine nodes from the main cable. The existing marine node detachment and attachment devices mainly adopt the method of manual detachment and attachment at fixed intervals. The manual detachment and attachment method has the disadvantages of low efficiency and high manpower consumption. The fixed interval method is usually customized for a certain model, which also makes its applicable scope relatively narrow. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide an automatic attachment and detachment device for marine nodes, a node deployment and retrieval vessel, and a method for attachment and detachment of marine nodes that overcomes or at least partially solves the above problems.

[0005] In a first aspect, embodiments of the present invention provide an automated attachment and detachment device for marine nodes, comprising: a conveyor belt, a rigging device, a rigging device pickup, a trolley, and a controller; wherein the trolley is equipped with a mechanical clamp;

[0006] The cable clamp includes a cable clamping part and a connecting part, the cable clamping part being used to clamp the main cable, and the connecting part being used to connect to the marine node;

[0007] The conveyor belt is used to transport the rigging and the marine node connected to the rigging to the location of the rigging retriever.

[0008] The rigging picker is used to pick up the rigging and the marine node connected to the rigging when the rigging and the marine node are moved to the location of the rigging picker, and to transfer it to the mechanical clamp.

[0009] The traveling carriage is used to clamp and open the cable gripping part of the cable gripper by a mechanical clamp, and under the control of the controller, it moves along the forward direction of the main cable until it matches the speed of the main cable, then presses the main cable into the opened cable gripping part and releases the cable gripper.

[0010] The trolley is also used to return to its initial position in the opposite direction of the main cable movement after the release of the cable grip, under the control of the controller.

[0011] The cable gripping end of the cable gripper is a clamping mechanism, which includes a left clamping plate and a right clamping plate, a spring and a spring shaft. The spring is sleeved on the spring shaft and abuts against the left clamping plate and the right clamping plate so that when an external force is applied to the left clamping plate and the right clamping plate, an opening for clamping the main cable is formed between the left clamping plate and the right clamping plate, and when the external force is released, the left clamping plate and the right clamping plate clamp the main cable.

[0012] The connecting part is connected to the spring shaft of the clamping mechanism.

[0013] The aforementioned automated marine node attaching and detaching device also includes: a node sorting device;

[0014] The node sorting device is mounted across the conveyor belt and is used to separate the rigging device and the marine node connected to it along the direction of movement of the conveyor belt as the rigging device and the marine node pass by, with the marine node located in front of the rigging device.

[0015] The rigging device is connected to the marine node via a cable;

[0016] The cable gripper pickup is an L-shaped plate, which includes a flip plate and a pickup plate connected to the end of the flip plate. The flip plate and the pickup plate have gaps for the cable to pass through. The flip plate can be flipped to a first state parallel to the conveyor belt and a second state perpendicular to the conveyor belt. After the marine node connected to the cable gripper passes through the flip plate in the first state, the flip plate flips to the second state. After the pickup plate picks up the cable gripper on the conveyor belt, the flip plate flips back to the first state, causing the cable gripper to leave the conveyor belt.

[0017] The pickup plate has a bevel at a preset angle at its front end.

[0018] The trolley also includes: a sliding mechanism that can slide along a preset track, a left side plate and a right side plate, and at least one liftable main cable pressure roller; the mechanical clamp includes a left clamping plate and a right clamping plate;

[0019] The left and right side plates are respectively connected to the sliding mechanism;

[0020] The left clamp of the mechanical clamp is fixedly connected to the left side plate, and the right clamp of the mechanical clamp is fixedly connected to the right side plate, and is respectively located on the left and right sides of the traveling carriage.

[0021] At least one liftable main cable pressure roller is disposed above the left side plate and the right side plate. Pressure roller guide grooves are respectively provided on the left side plate and the right side plate so that the shaft of the main cable pressure roller can fall into the pressure roller guide groove and descend along the pressure roller guide groove, thereby driving the main cable pressure roller to press the main cable passing under the main cable pressure roller into the cable gripper.

[0022] The traveling vehicle is also equipped with a through-beam sensor and a cylinder. The through-beam sensor is mounted on the mechanical clamp and is used to detect whether the cable gripper is located between the left clamp and the right clamp.

[0023] The cylinder is used to push the left and right clamps closer to open the cable gripping part of the cable gripper, and after the main cable pressure roller presses the main cable into the cable gripper, it pushes the left and right clamps apart to release the cable gripper.

[0024] The trolley is also used to move under the control of the controller until it matches the linear speed of the main cable; and to clamp the cable gripper with the mechanical clamp to open the cable gripper's gripping part and separate the cable gripping part from the main cable.

[0025] Secondly, embodiments of the present invention provide a marine node deployment and retrieval vessel, including: an automated marine node detachment and reattachment device and a main cable deployment and retrieval device as described above;

[0026] The main cable deployment and retrieval device is used to deploy and retrieval the main cable, and the marine node automated attachment and detachment device is used to attach or detach marine nodes from the main cable.

[0027] Thirdly, embodiments of the present invention provide a method for automatically attaching marine nodes using the aforementioned automated marine node attach / detachment device, comprising:

[0028] The rigging and the marine node connected to the rigging are transported by conveyor belt to the location of the rigging pickup.

[0029] The cable gripper is picked up by the cable gripper pickup and transferred to the mechanical clamp;

[0030] The mechanical clamp of the control carriage grips and opens the cable grip section of the cable holder, and moves along the forward direction of the main cable until it matches the speed of the main cable. Then, the main cable is pressed into the opened cable grip section, and the cable holder is released.

[0031] Thirdly, embodiments of the present invention provide a method for automatically detaching marine nodes using the aforementioned automated detachment / reattachment device, comprising:

[0032] Control the travel carriage to move until it matches the linear speed of the main cable; use the mechanical clamp of the travel carriage to hold the cable gripper to open the cable gripper's gripping part and separate the cable gripping part from the main cable.

[0033] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0034] The automatic attachment and detachment device, attachment and detachment vessel, and attachment and detachment method for marine nodes provided in this invention realize the attachment and detachment process of marine nodes on the main cable through the control of the controller. The entire attachment and detachment process is electromechanically automated, improving production efficiency. Furthermore, after receiving instructions from the navigation system, the controller can attach nodes according to the set spacing, realizing the attachment and detachment of nodes with variable spacing. The design of the rigging device can achieve compatibility with different types of marine nodes, and can attach and detach various marine nodes, making it widely applicable.

[0035] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0036] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 This is an overall schematic diagram of the automated detachment and reattachment device for marine nodes in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram showing the state of the cable gripper entering the mechanical clamps in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the state in which the gripping part of the cable gripper in an embodiment of the present invention opens the left and right clamping plates under the clamping force of the mechanical clamp, and the main cable is pressed into the cable gripper by the main cable pressure wheel.

[0041] Figure 4 This is a schematic diagram showing the state of the cable clamping device clamping the main cable after the mechanical clamp is released in an embodiment of the present invention. Detailed Implementation

[0042] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0043] This invention provides an automated detachment and reattachment device for marine nodes, referring to... Figures 1-4As shown, it includes: a conveyor belt 108, a cable gripper 101, a cable gripper pickup 104, a traveling carriage that can move along the direction of movement of the main cable 107, and a controller (not shown in the figure); wherein, the traveling carriage is equipped with a mechanical clamp 105; wherein:

[0044] The cable gripper 101 includes a cable gripping part 1011 and a connecting part (not shown in the figure). The cable gripping part 1011 is used to clamp the main cable 107, and the connecting part is used to connect the marine node 103.

[0045] Conveyor belt 108 is used to transport rigging 101 and marine node 103 connected to rigging to the location of rigging retriever 104.

[0046] The rigging pick-up device 104 is used to pick up the rigging 101 and transfer it into the mechanical clamp 105 when the rigging 101 and the marine node 103 connected to the rigging 101 move to the location of the rigging pick-up device 104.

[0047] The trolley 109 is used to clamp and open the cable gripping part 1011 of the cable gripper via the mechanical clamp 105, and under the control of the controller, it moves along the forward direction of the main cable 107 until it matches the speed of the main cable 107, then presses the main cable 107 into the opened cable gripping part 1011 and releases the cable gripper 101.

[0048] After releasing the rigging 101, the rigging 101, together with the marine node 103, is attached to the main cable 107 and enters the seabed along with the main cable 107.

[0049] Since the marine nodes 103 need to be mounted on the main cable 107 at preset intervals, after each marine node 103 is mounted, the aforementioned trolley 109, under the control of the controller, also needs to return to its initial position in the opposite direction of the main cable 107 after releasing the gripper 101, so that the next marine node 103 can be mounted.

[0050] The gripping part 1011 of the cable gripper is a clamping mechanism capable of gripping the main cable 107. The clamping mechanism includes: a left clamping plate and a right clamping plate, a spring and a spring shaft. The spring is sleeved on the spring shaft and abuts against the left clamping plate and the right clamping plate so that when an external force is applied to the left clamping plate and the right clamping plate, an opening for clamping the main cable 107 is formed between the left clamping plate and the right clamping plate, and when the external force is released, the left clamping plate and the right clamping plate clamp the main cable 107 (i.e., "grips the main cable").

[0051] One structure of the cable-holding part 1011 is as follows Figures 1-4 As shown, a structure similar to clothespins can be adopted, which makes the structure simple and easy to open and tighten.

[0052] The connecting part of the rigging 101 is connected to the spring shaft of the clamping mechanism. One possible implementation is that the connecting part is a connecting ring, sleeved on the spring shaft, and the marine node 103 is fastened to the connecting part by a cable 102. Of course, the specific structure of the connecting part is not limited in the embodiments of the present invention, and various structures that can connect the marine node 103 to the rigging are possible.

[0053] Reference Figure 1 As shown, in order to ensure that the rigging picker 104 can accurately pick up the rigging 101 on the conveyor belt 108, it is necessary to ensure that the marine node 103 is in front of the rigging 101 in the direction of movement of the conveyor belt 108. However, the initial state of the rigging 101 and the marine node 103 connected to the rigging 101 on the conveyor belt 108 may not be the state in which the marine node 103 is in front of the rigging 101, for example, it may be a stacked state. In this case, a device is needed to separate the two. Based on this, the above-mentioned automated rigging device for the marine node 103 may also include: a node sorting device 111; wherein:

[0054] The node sorting device 111 is mounted across the conveyor belt 108 and is used to separate the rigging 101 and the marine node 103 connected to the rigging 101 along the direction of movement of the conveyor belt 108 when the rigging 101 and the marine node 103 connected to the rigging 101 pass by, with the marine node 103 located in front of the rigging 101.

[0055] Furthermore, referring to Figures 1-4 As shown, the rigging device 101 is connected to the marine node 103 via cable 102;

[0056] The rigging pick-up device 104 is an L-shaped plate, which includes a flip plate 1041 and a pick-up plate 1042 connected to the end of the flip plate 1041. The flip plate 1041 and the pick-up plate 1042 have gaps for the cable 102 to pass through. The flip plate 1041 can be flipped to a first state parallel to the conveyor belt 108 and a second state perpendicular to the conveyor belt 108. After the marine node 103 connected to the rigging 101 passes through the flip plate 1041 in the first state, the flip plate 1041 flips to the second state. After the pick-up plate 1042 picks up the rigging 101 on the conveyor belt 108, the flip plate 1041 flips back to the first state, causing the rigging 101 to leave the conveyor belt 108.

[0057] The flip plate 1041 and the pickup plate 1042 are at a certain angle. For easier pickup, the included angle between the two is preferably greater than or equal to 90°.

[0058] The flip plate 1041 and the pickup plate 1042 can be integrally formed or they can be two separate plates connected together (e.g., welded). This embodiment of the invention does not limit this.

[0059] Reference Figure 1 As shown, the pickup plate 1042 has a gap in the middle so that after the rigging 101 is picked up, the cable 102 between the rigging 101 and the marine node 103 can pass through the gap, so that under the gravity of the marine node 103, the rigging 101 is in a state with the rigging part 1011 facing upwards, so that it can be held by the mechanical clamp 105.

[0060] Preferably, in order to make it easier to pick up the lanyard 101, the front end of the pickup plate 1042 is also provided with a bevel at a preset angle.

[0061] Reference Figures 1-4 The tour bus 109 also includes: a sliding mechanism that can slide along a preset track, a left side plate and a right side plate, and at least one liftable main cable pressure roller; due to the symmetrical arrangement of the left side plate and the right side plate, in Figures 1-4 The right side panel is shown in the middle.

[0062] The sliding mechanism is used to slide along the slide rail, for example, by using a pulley. This embodiment of the invention does not limit this method.

[0063] The mechanical clamp 105 includes a left clamping piece and a right clamping piece; due to the symmetrical arrangement of the left and right clamping pieces, in Figures 1-4 The image shows only the right clip.

[0064] Both the left and right clamps are L-shaped, and the vertical part has a groove that matches the width of the cable gripping part 1011, which facilitates positioning and more firmly clamps the cable gripping part 1011.

[0065] The left and right side plates are respectively connected to sliding mechanisms;

[0066] The left clamping piece of the mechanical clamp 105 is fixedly connected to the left side plate, and the right clamping piece of the mechanical clamp 105 is fixedly connected to the right side plate, and are respectively located on the left and right sides of the traveling carriage 109.

[0067] At least one liftable main cable pressure roller 106 is disposed above the left side plate and the right side plate. Pressure roller guide grooves 110 are respectively provided on the left side plate and the right side plate so that the shaft of the main cable pressure roller 106 can fall into the pressure roller guide groove 110 and descend along the pressure roller guide groove 110, thereby driving the main cable pressure roller 106 to press the main cable 107 passing under the main cable pressure roller 106 into the cable gripper 101.

[0068] Reference Figures 1-4As shown, the function of the main cable pressure roller 106 is to press down on the main cable 107, allowing it to smoothly enter the openings formed by the left and right clamps of the cable gripper 101. The direction of movement of the main cable 107 is perpendicular to the direction in which the main cable pressure roller 106 is set. Furthermore, in order to facilitate the main cable pressure roller 106 applying a downward force to the main cable 107, and to ensure that the main cable 107 can maintain a relatively fixed position to accurately press into the cable gripper 101 below, the main cable pressure roller 106 has an hourglass-like shape that is thinner in the middle and thicker at both ends.

[0069] Figure 1 The image shows the state in which the cable gripper 104 picks up the cable gripper 101 and moves it toward the mechanical clamp 105. Figure 2 The image shows the state where the cable gripping part 1011 of the cable gripper is engaged between the mechanical clamps 105. Figure 3 The image shows the cable gripping section 1011 of the cable gripper. Under the clamping force of the mechanical clamp 105, the left and right clamps open, the main cable pressure roller 106 descends, and the main cable 107 is pressed into the cable gripping section 1011 of the cable gripper by the main cable pressure roller 106. Figure 4 The image shows the state where the cable gripper clamps the main cable 107 after the mechanical clamp 105 is released.

[0070] Specifically, the traveling trolley 109 is also equipped with a through-beam sensor and a cylinder. The through-beam sensor is located on the mechanical clamp 105 and is used to detect whether the cable gripper 101 is located between the left clamp and the right clamp.

[0071] The cylinder is used to push the left and right clamps closer to open the rigging part 1011 of the rigging device; after the main cable pressure roller 106 presses the main cable 107 into the rigging device 101, the left and right clamps are pushed apart to release the rigging device 101, allowing the rigging device 101, together with the connected marine node 103, to follow the main cable 107 into the seabed.

[0072] In one embodiment, the aforementioned trolley 109 is also used to move under the control of the controller until it matches the linear speed of the main cable 107; and to clamp the cable gripper 101 with the mechanical clamp 105 to open the cable gripper's gripping part 1011 and separate the cable gripping part 1011 from the main cable 107.

[0073] When attaching the marine node 103, the main cable 107 is pressed into the gripping part 1011 of the cable gripper when the linear speeds of the travel carriage 109 and the main cable 107 are the same, ensuring the stability of the cable attachment on the cable gripper 101. Similarly, when detaching the marine node 103, the main cable 107 is released from the cable gripper 101 when the linear speeds of the travel carriage 109 and the main cable 107 are the same, again ensuring the stability of the detachment of the main cable 107.

[0074] Furthermore, the controller controls the start of the cruise car and gradually accelerates it to a speed consistent with the main cable for installation. After installation, it returns to its initial position. Therefore, the start and stop times of the cruise car and its speed ensure the spacing between the marine nodes on the main cable. Changes in the spacing setting can be achieved through the controller's control of the cruise car.

[0075] In this embodiment of the invention, during the detachment and detachment process, the picking up and opening of the cable grip, the reciprocating start of the traveling carriage, and the hanging and detachment of the main cable can all be achieved by the controller receiving data from various sensors and running the set program. This invention does not limit the type of sensor used.

[0076] The following is a specific example illustrating the marine node attachment / unattachment process of the above-mentioned automated marine node attachment / unattachment device provided in the embodiments of the present invention:

[0077] 1) Marine node mounting process:

[0078] The node deployment and retrieval vessel carrying the device lowers the anchor connected to one end of the main cable 107 into the seabed. After the anchor sinks into the seabed, it generates holding force and fixes one end of the main cable 107 to the seabed.

[0079] The node deployment and retrieval vessel travels forward along the set route, thereby pulling the main cable 107 into the water at a stable linear speed. The central processing unit (i.e., the controller) instructs the conveyor belt 108 to transport the marine nodes, cable 102, and rigging device 101 to the direction of the rigging device pickup 104 at a fixed linear speed according to the set marine node spacing. A through-beam sensor mounted on conveyor belt 108 detects the passage of the marine node and transmits this information to the central processing unit (CPU). The CPU then sends a timely command to the power cylinder of the rigging retrieval unit 104. Driven by the power cylinder of the retrieval unit 101, the retrieval unit 101 rotates and descends along the axis to the conveyor belt 108. The marine node, pulled by the drive belt 108, pulls the rigging 101 into the rigging retrieval unit 104. The rigging retrieval unit 104, pulled by the power cylinder, lifts the rigging 101 and sends it into the mechanical clamp 105 located on the starting position carriage 109. A through-beam sensor mounted on the mechanical clamp 105 detects that the rigging 101 is in place and transmits this information to the CPU. The CPU then sends a command to the cylinder of the mechanical clamp 105, which extends to clamp the rigging 101 and release it. Speed ​​and distance sensors installed on the main cable 107 detect the linear velocity of the main cable 107 and its length passing through the sensors, and transmit this data to the central controller. Upon receiving this data, the central processor sends commands to the servo motors of the traveling block 109, causing the traveling block 109 to start at a specific time and synchronize with the linear velocity of the main cable at a predetermined speed. The timing of the traveling block 109's start ensures the spacing between the marine nodes and the main cable 107, and the synchronization with the linear velocity of the main cable 107 ensures the stability of the rigging device 101 when it is attached to the main cable 107.

[0080] The trolley 109, clamping the cable gripper 101, drives the marine node to complete the start, synchronization, and stop according to the set program. Upon receiving the start command, the trolley 109 begins to move along the direction of the main cable. After traveling a certain distance, it synchronizes with the linear velocity of the main cable 107. At this point, the main cable pressure roller 106, which can move vertically with the trolley 109, presses the main cable 107 into the cable gripper 101. The mechanical clamp 105 releases the cable gripper 101, which then grips the main cable 107, and the trolley 109 stops according to the set program. Pulled by the main cable 107, the cable gripper 101, which grips the main cable 107, synchronizes with the linear velocity of the main cable 107. The main cable 107, cable gripper 101, cable 102, and marine node move backward from the ship, detaching from the trolley 109 and sliding into the water from the stern, thus releasing the marine node. The cruise vehicle 109 returned to its starting position according to the set program, thus completing a complete marine node installation process. By continuously repeating this process, the seabed laying process of marine nodes required by the marine seismic survey line can be completed.

[0081] 2) Node removal process:

[0082] During the process of detaching the marine node, the starting position of the trolley 109 is the stern-end point in the direction of the ship's stern. The node deployment and retrieval vessel travels along the direction of the main cable 107 located on the seabed. Under the pull of the hydraulic winch placed on the ship, the main cable 107 is pulled into the hydraulic winch at a certain stable speed. A set of through-beam sensors detects that the node has been loaded onto the ship from the stern along with the main cable. After receiving the information, the central controller issues an instruction to start the trolley 109 in a timely manner. When the linear speed of the trolley 109 is synchronized with that of the main cable 107, the mechanical clamp 105 clamps the cable gripper 101, and the main cable 107 springs upward away from the cable gripper 101, thereby realizing the separation of the main cable 107 from the cable gripper 101, the cable 102, and the node. After the trolley 109 stops moving forward, it automatically moves backward to the starting position, completing a complete node detachment process.

[0083] Based on the same inventive concept, embodiments of the present invention also provide a method for launching and retrieving marine nodes, a method for automatically attaching marine nodes using the aforementioned automated marine node attachment and detachment device, and a method for automatically detaching marine nodes using the same automated marine node attachment and detachment device. Since the principles by which these devices and methods solve problems are similar to those of the aforementioned automated marine node attachment and detachment device, the implementation of these devices and methods can refer to the implementation of the aforementioned automated marine node attachment and detachment device, and the repeated parts will not be described again.

[0084] This invention provides a marine node deployment and retrieval vessel, comprising: an automated marine node attachment / detachment device and a main cable deployment / retrieval device as described above; wherein:

[0085] The main cable deployment and retrieval device is used to deploy and retrieval the main cable, and the marine node automated attachment and detachment device is used to attach or detach marine nodes from the main cable.

[0086] This invention also provides a method for automatically attaching marine nodes using the aforementioned automated marine node attachment device, the method comprising the following steps:

[0087] The rigging and the marine node connected to the rigging are transported by conveyor belt to the location of the rigging pickup.

[0088] The cable gripper is picked up by the cable gripper pickup and transferred to the mechanical clamp;

[0089] The mechanical clamp of the control carriage grips and opens the cable grip section of the cable holder, and moves along the forward direction of the main cable until it matches the speed of the main cable. Then, the main cable is pressed into the opened cable grip section, and the cable holder is released.

[0090] This invention also provides a method for automatically detaching marine nodes using the aforementioned automated detachment / reattachment device, comprising:

[0091] Control the travel carriage to move until it matches the linear speed of the main cable; use the mechanical clamp of the travel carriage to hold the cable gripper to open the cable gripper's gripping part and separate the cable gripping part from the main cable.

[0092] The automatic attachment and detachment device, attachment and detachment vessel, and attachment and detachment method for marine nodes provided in this invention realize the attachment and detachment process of marine nodes on the main cable through the control of the controller. The entire attachment and detachment process is electromechanically automated, improving production efficiency. Furthermore, after receiving instructions from the navigation system, the controller can attach nodes according to the set spacing, realizing the attachment and detachment of nodes with variable spacing. The design of the rigging device can achieve compatibility with different types of marine nodes, and can attach and detach various marine nodes, making it widely applicable.

[0093] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automated detachment and reattachment device for marine nodes, characterized in that, include: The system includes a conveyor belt, a cable gripper, a cable gripper pickup, a traveling carriage, and a controller; wherein the traveling carriage is equipped with a mechanical clamp. The cable clamp includes a cable clamping part and a connecting part, the cable clamping part being used to clamp the main cable, and the connecting part being used to connect to the marine node; The conveyor belt is used to transport the rigging and the marine node connected to the rigging to the location of the rigging pickup; the marine node is located in front of the rigging. The rigging picker is used to pick up the rigging when it moves to the position of the rigging picker and transfer it to the mechanical clamp; the rigging is connected to the marine node via a cable; the rigging picker is an L-shaped plate, the L-shaped plate includes a flip plate and a pick-up plate connected to the end of the flip plate, and the flip plate and the pick-up plate have gaps for the cable to pass through; the flip plate can flip to a first state parallel to the conveyor belt and a second state perpendicular to the conveyor belt, so that after the marine node connected to the rigging passes through the flip plate in the first state, the flip plate flips to the second state, after the pick-up plate picks up the rigging on the conveyor belt, the flip plate flips back to the first state, driving the rigging away from the conveyor belt; The traveling carriage is used to clamp and open the cable gripping part of the cable gripper by a mechanical clamp, and under the control of the controller, it moves along the forward direction of the main cable until it matches the speed of the main cable, then presses the main cable into the opened cable gripping part and releases the cable gripper.

2. The apparatus as claimed in claim 1, characterized in that, The trolley is also used to return to its initial position in the opposite direction of the main cable movement after the release of the cable grip, under the control of the controller.

3. The apparatus as described in claim 1, characterized in that, The cable gripping end of the cable gripper is a clamping mechanism, which includes a left clamping plate and a right clamping plate, a spring and a spring shaft. The spring is sleeved on the spring shaft and abuts against the left clamping plate and the right clamping plate so that when an external force is applied to the left clamping plate and the right clamping plate, an opening for clamping the main cable is formed between the left clamping plate and the right clamping plate, and when the external force is released, the left clamping plate and the right clamping plate clamp the main cable.

4. The apparatus as described in claim 3, characterized in that, The connecting part is connected to the spring shaft of the clamping mechanism.

5. The apparatus as claimed in claim 1, characterized in that, Also includes: Node sorting device; The node sorting device is mounted across the conveyor belt and is used to separate the rigging device and the marine node connected to it along the direction of movement of the conveyor belt as the rigging device and the marine node pass by, with the marine node located in front of the rigging device.

6. The apparatus as claimed in claim 1, characterized in that, The pickup plate has a bevel at a preset angle at its front end.

7. The apparatus as claimed in claim 1, characterized in that, The trolley also includes: a sliding mechanism that can slide along a preset track, a left side plate and a right side plate, and at least one liftable main cable pressure roller; the mechanical clamp includes a left clamping plate and a right clamping plate; The left and right side plates are respectively connected to the sliding mechanism; The left clamp of the mechanical clamp is fixedly connected to the left side plate, and the right clamp of the mechanical clamp is fixedly connected to the right side plate, and is respectively located on the left and right sides of the traveling carriage. At least one liftable main cable pressure roller is disposed above the left side plate and the right side plate. Pressure roller guide grooves are respectively provided on the left side plate and the right side plate so that the shaft of the main cable pressure roller can fall into the pressure roller guide groove and descend along the pressure roller guide groove, thereby driving the main cable pressure roller to press the main cable passing under the main cable pressure roller into the cable gripper.

8. The apparatus as claimed in claim 7, characterized in that, The traveling vehicle is also equipped with a through-beam sensor and a cylinder. The through-beam sensor is mounted on the mechanical clamp and is used to detect whether the cable gripper is located between the left clamp and the right clamp. The cylinder is used to push the left and right clamps closer to open the cable gripping part of the cable gripper, and after the main cable pressure roller presses the main cable into the cable gripper, it pushes the left and right clamps apart to release the cable gripper.

9. The apparatus according to any one of claims 1-8, characterized in that, The trolley is also used to move under the control of the controller until it matches the linear speed of the main cable; and to clamp the cable gripper with the mechanical clamp to open the cable gripper's gripping part and separate the cable gripping part from the main cable.

10. A marine node deployment and retrieval vessel, characterized in that, include: The automated marine node attachment / detachment device and main cable deployment / retraction device as described in any one of claims 1-9; The main cable deployment and retrieval device is used to deploy and retrieval the main cable, and the marine node automated attachment and detachment device is used to attach or detach marine nodes from the main cable.

11. A method for automatically attaching marine nodes using the automated attachment / detachment device for marine nodes as described in any one of claims 1-9, characterized in that, include: The rigging device and the marine node connected to the rigging device are transported to the location of the rigging device pickup via a conveyor belt. The cable gripper picks up the cable gripper and transfers it into the mechanical clamp. The mechanical clamp of the control carriage grips and opens the cable grip section of the cable holder, and moves along the forward direction of the main cable until it matches the speed of the main cable. Then, the main cable is pressed into the opened cable grip section, and the cable holder is released.

12. A method for automatically detaching marine nodes using the automated detachment / reattachment device for marine nodes as described in any one of claims 1-9, characterized in that, include: Control the movement of the traveling carriage until it matches the linear speed of the main cable; The mechanical clamp of the traveling carriage is used to hold the cable gripper to open the cable gripping part of the cable gripper and separate the cable gripping part from the main cable.

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