ROV-based deep-sea salvage gripper device and method of use thereof

Abstract

The application discloses a deep-sea salvage clamp device based on ROV and a use method thereof, and relates to a special clamp device for deep-sea salvage, which comprises a main frame, an elastic hook unit and a rigid telescopic hook unit, wherein the elastic hook unit is provided with a plurality of arc-shaped hooks arranged along one side of the main frame, and the arc-shaped hooks have elastic movement space in the direction perpendicular to the salvaged object; the rigid telescopic hook unit is provided with a plurality of telescopic pipe hooks arranged along the other side of the main frame, and the telescopic pipe hooks have adjustable displacement in the direction perpendicular to the salvaged object. The application combines the existing deep-sea salvage operation experience and the powerful expansion capability of the ROV to complete the design of the deep-sea salvage clamp device with large depth, practicability and simple system, and solves the problem of the lack of the deep-sea ROV salvage clamp.

Description

Technical Field

[0001] This invention relates to a special clamping device for deep-sea salvage, specifically a deep-sea salvage clamping device based on ROV and its method of use. Background Technology

[0002] Over the past 50 years, humanity has successfully searched for, located, and salvaged high-value targets such as aircraft black boxes, missiles, aerospace engines, submarines, and ancient shipwrecks. Deep-sea salvage technology has also gradually matured and entered the market. Among them, ROVs, with their powerful carrying capacity and real-time, efficient operation capabilities, have become an essential tool for underwater salvage operations.

[0003] With the increasing number of deep-sea salvage operations, various types of salvage tools are required, such as hydraulic shears and salvage hooks. However, deep-sea salvage operations sometimes cannot bind or hook large underwater block targets or semi-buried objects. At the same time, drilling is also difficult, and equipment such as TV grab buckets cannot accurately grasp deep-sea targets. How to clamp, salvage, and recover such targets is a topic worthy of research. However, deep-sea salvage clamps are rarely developed. Combining existing deep-sea salvage operation experience with the powerful expansion capabilities of ROVs, the development of more practical and simple deep-sea salvage clamp devices has become an urgent problem to be solved. Summary of the Invention

[0004] To address the current technical bottlenecks in deep-sea salvage, such as the inability to secure large, blocky, or semi-buried objects with hooks, this invention proposes a deep-sea salvage clamping device based on ROV and its usage method.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0006] A deep-sea salvage clamp device based on ROV, comprising:

[0007] Main framework;

[0008] The elastic hook unit has a plurality of arc-shaped hooks arranged along one side of the main frame, and the arc-shaped hooks have elastic movement space in the direction perpendicular to the object being clamped;

[0009] A rigid telescopic hook unit has a plurality of telescopic tube hooks arranged along the opposite side of the main frame, the telescopic tube hooks having adjustable displacement in a direction perpendicular to the object being clamped.

[0010] As described above, the ROV-based deep-sea salvage clamp device further includes a main frame consisting of two main frames, a bottom support square steel, and a top support square steel. The main frame also has a central support steel parallel to the bottom support square steel and the top support square steel inside.

[0011] As described above, the ROV-based deep-sea salvage clamp device further includes a base plate connected to the lower side of the central support square steel of the main frame. The vertical section of the arc-shaped hook is a double-strand seamless steel pipe. The free end of the double-strand seamless steel pipe passes through the base plate and the central support steel of the main frame in sequence. A spring is sleeved on the double-strand seamless steel pipe, and the two ends of the spring abut against the base plate and the bottom support square steel of the main frame, respectively.

[0012] As described above, the ROV-based deep-sea salvage clamping device further includes a rigid telescopic hook unit that also includes a top extension square steel and a hydraulic cylinder. The top extension square steel is parallel to the top support square steel of the main frame and is movably connected to the main frame through a frame telescopic rod. The telescopic hook is fixedly connected to the top extension square steel, and the hydraulic cylinder drives the top extension square steel to move in a direction perpendicular to the salvaged object being clamped.

[0013] As described above, the ROV-based deep-sea salvage clamp device further includes a rigid telescopic hook unit, which also includes a square telescopic tube. Several square telescopic tubes are connected between the bottom support square steel and the top support square steel of the main frame. The vertical section of the telescopic tube hook is a hook telescopic rod. The head end of the hook telescopic rod is provided with a square sealing plate, and the end end of the hook telescopic rod is provided with an internal connecting shaft. The hook telescopic rod is movably connected inside the square telescopic tube.

[0014] A method for using a ROV-based deep-sea salvage clamping device, which utilizes the clamping device described above, includes the following steps:

[0015] The deck inspection of the clamping device mainly includes visual inspection, hydraulic pipeline and hydraulic pump seal inspection, and double-strand steel pipe hook weld inspection.

[0016] Perform functional tests on the clamping device and connect it to the bottom frame of the ROV. Start the ROV pump station, open the hydraulic valve box and first control the hydraulic cylinder to make reciprocating motion to test the function of the clamp. Then connect the clamp to the bottom frame of the ROV using anti-slip screws to form a rigid connection. Finally, add a buoyancy block to the ROV so that the ROV body and the clamp are under slight negative buoyancy.

[0017] The ROV carries the clamping device to the designated work point for underwater salvage operations. The hydraulic valve box is opened to adjust the hydraulic cylinder to push the clamp open. Taking advantage of the ROV's flexible movement, it dives vertically on the salvage object so that the clamp covers the target to be salvaged.

[0018] Open the hydraulic valve box to retract the hydraulic cylinder, control the clamp to shrink and clamp the object to be retrieved, and jog the valve box to control the cylinder until the cylinder can no longer move.

[0019] Observe the condition of the clamp and the salvaged object. If the clamp is firmly clamped, use the armored cable to lift and retrieve the ROV to the surface. If the object is not firmly clamped, you need to try several times until the object is fully clamped.

[0020] The clamp is used to retrieve the deck surface. The hydraulic valve box is opened to extend the clamp, allowing the salvaged object to be released from the clamp, thus completing the deep-sea salvage operation.

[0021] Compared with the prior art, the advantages of this invention are as follows: This invention integrates an elastic hook unit, a rigid telescopic hook unit, a hydraulic cylinder, and a main frame into a compact deep-sea salvage clamp device suitable for ROVs. It meets the needs of ROV deep-sea salvage of aircraft wreckage, large block objects, and other objects that are difficult to hook or drill. Through the hydraulic oil compensation cylinder, it ensures its ability to operate in water depths of up to 4,500 meters. At the same time, this device is simple to operate, highly reliable underwater, flexible and stable in operation, and can quickly and effectively complete the salvage of seabed objects as it descends with the ROV. It is of great significance for completing salvage tasks of large block objects or semi-buried objects. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of the clamping device according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the extended state structure of the clamping device according to an embodiment of the present invention;

[0025] Figure 3 This is a three-dimensional structural diagram of the clamping device according to an embodiment of the present invention.

[0026] 1. Double-strand seamless steel pipe; 2. Spring base plate; 3. Spring; 4. Arc-shaped hook; 5. Square steel frame; 6. Top extending square steel; 7. Hydraulic cylinder; 8. Bottom supporting square steel; 9. Top supporting square steel; 10. Square telescopic pipe; 11. Telescopic pipe hook; 12. Hook telescopic rod; 13. Inner pipe connecting shaft; 14. Square sealing plate; 15. Frame telescopic rod; 16. Hydraulic cylinder piston rod; 17. Middle supporting square steel. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] Example:

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, in the embodiments of this invention are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0031] In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] See Figures 1 to 3 A deep-sea salvage clamping device based on ROV includes a main frame, an elastic hook unit, and a rigid telescopic hook unit. The elastic hook unit has several arc-shaped hooks 4 arranged along one side of the main frame, each arc-shaped hook 4 having elastic movement space perpendicular to the direction of the object being clamped. Specifically, the elastic movement space means that when the arc-shaped hooks 4 on this side of the main frame clamp the object, the elastic hook unit can provide flexible elasticity to the entire salvage hook, preventing deformation of the hook during clamping. The rigid telescopic hook unit has several telescopic tube hooks 11 arranged along the opposite side of the main frame, each telescopic tube hook 11 having adjustable displacement perpendicular to the direction of the object being clamped. Specifically, the adjustable displacement means that the telescopic tube hooks 11 on the opposite side of the main frame can extend and retract according to the size of the object being clamped, adjusting the clamping force to complete the clamping and salvage of the seabed object.

[0034] As an optional implementation, in some embodiments, the main frame is formed by the main frames on both sides, the bottom supporting square steel 8 and the top supporting square steel 9, and the main frame also has a middle supporting steel parallel to the bottom supporting square steel 8 and the top supporting square steel 9.

[0035] As described above, the ROV-based deep-sea salvage clamp device further includes a base plate connected to the lower side of the central support square steel of the main frame. The vertical section of the arc-shaped hook 4 is a double-strand seamless steel pipe 1. The free end of the double-strand seamless steel pipe 1 passes through the base plate and the central support steel of the main frame in sequence. A spring 3 is sleeved on the double-strand seamless steel pipe 1. The two ends of the spring 3 abut against the base plate and the bottom support square steel 8 of the main frame, respectively.

[0036] As an optional implementation, in some embodiments, the rigid telescopic hook unit further includes a top extension square steel 6 and a hydraulic cylinder 7. The top extension square steel 6 is parallel to the top support square steel 9 of the main frame and is movably connected to the main frame through a frame telescopic rod 15. The telescopic hook 11 is fixedly connected to the top extension square steel 6, and the hydraulic cylinder 7 drives the top extension square steel 6 to move in a direction perpendicular to the direction of the object being clamped.

[0037] As an optional implementation, in some embodiments, the rigid telescopic hook unit further includes a square telescopic tube 10, a plurality of the square telescopic tubes 10 being connected between the bottom supporting square steel 8 and the top supporting square steel 9 of the main frame, the vertical section of the telescopic tube hook 11 being a hook telescopic rod 12, the first end of the hook telescopic rod 12 being provided with a square sealing plate 14, the end of the hook telescopic rod 12 being provided with an internal connecting shaft 13, and the hook telescopic rod 12 being movably connected inside the square telescopic tube 10.

[0038] In one embodiment, the present invention mainly consists of four core components: an elastic hook unit, a rigid telescopic hook unit, a hydraulic cylinder 7, and a main frame. The main frame is connected to the ROV base body. The elastic hook and the rigid telescopic hook form the core gripping mechanism of the device. The hydraulic cylinder 7 completes the telescopic function of the clamp. The four components work together to form a clamping device suitable for ROV deep-sea salvage. Specifically, the double-strand seamless steel pipe 1, the spring base plate 2, the spring 3, and the arc-shaped hook 4 form the elastic hook unit, which is integrated with the main frame and provides flexible elasticity for the entire salvage hook, preventing the hook from deforming during salvage clamping. The top extending square steel 6, square telescopic pipe 10, telescopic pipe hook 11, hook telescopic rod 12, inner connecting shaft 13, and square sealing plate 1 The rigid telescopic hook unit consists of four components: the top extending square steel 6, the four hook telescopic rods 12, and the two frame telescopic rods 15, which are welded together. The top extending square steel 6 is moved by the telescopic rods 16 driven by the hydraulic cylinder 7, thus enabling the rigid telescopic hook unit to extend and retract, and to clamp and retrieve objects from the seabed. The square steel frame 5, the bottom supporting square steel 8, the top supporting square steel 9, and the middle supporting square steel 17 constitute the main frame of the clamp, which mainly connects the elastic hook unit, the rigid telescopic hook unit, the hydraulic cylinder 7, and the ROV frame body, making the clamp and the ROV a single unit. The hydraulic cylinder 7 is driven by the continuous hydraulic power source provided by the ROV hydraulic valve box to extend and retract the hydraulic cylinder piston rod 16, thereby driving the movement of the rigid hook and completing the extension and retraction function of the clamp.

[0039] Based on the same inventive concept, embodiments of the present invention also provide a method for using a deep-sea salvage clamping device based on an ROV, which utilizes the clamping device described above and includes the following steps:

[0040] Step 1: Conduct a deck inspection of the clamping device, which mainly includes visual inspection, hydraulic pipeline and hydraulic pump seal inspection, and double-strand steel pipe hook weld inspection.

[0041] Step 2: Perform functional tests on the clamping device and connect the ROV bottom frame. Start the ROV pump station, open the hydraulic valve box, first control the hydraulic cylinder to reciprocate to test the clamping function, then connect the clamp to the ROV bottom frame using anti-slip screws to form a rigid connection, and finally add a buoyancy block to the ROV so that the ROV body and the clamp are under slight negative buoyancy.

[0042] Step 3: Use an ROV to carry the clamping device to the designated work point for underwater salvage operations. Open the hydraulic valve box to adjust the hydraulic cylinder to push the clamp open. Utilize the ROV's flexible movement characteristics to vertically dive over the object to be salvaged so that the clamp covers the target to be salvaged.

[0043] Step 4: Open the hydraulic valve box to retract the hydraulic cylinder, control the clamp to shrink and clamp the object to be retrieved, and jog the valve box to control the cylinder until the cylinder can no longer move.

[0044] Step 5: Observe the status of the clamp and the salvaged object. If the clamp is firmly clamped, use the armored cable to lift and retrieve the ROV to the surface. If the object is not firmly clamped, you need to try several times until the object is fully clamped.

[0045] Step 6: Retrieve the deck surface using the clamps, open the hydraulic valve box to extend the clamps, and detach the salvaged object from the clamps to complete the deep-sea salvage operation.

[0046] This invention addresses the technical bottlenecks in the current deep-sea salvage process for large blocky or semi-buried objects. It breaks through the limitations of the simplified and applicable design of deep-sea ROV salvage clamps, combines existing deep-sea salvage operation experience with the powerful expansion capabilities of ROVs, and completes the design of a practical and simple deep-sea salvage clamp device, thus solving the problem of the lack of deep-sea ROV salvage clamps.

[0047] Furthermore, this invention integrates a flexible hook unit, a rigid telescopic hook unit, a hydraulic cylinder, and a main frame into a compact deep-sea salvage device suitable for ROVs. This device meets the needs of ROVs for directly salvaging aircraft wreckage, large block-shaped objects that are difficult to hook or drill, and ensures operational capability at depths of up to 4500 meters through a hydraulic oil compensation cylinder. Simultaneously, this device features simple operation, high underwater reliability, flexible and stable operation, and the ability to quickly and effectively salvage seabed objects as the ROV descends. It is of great significance for completing salvage tasks involving large block-shaped or semi-buried objects.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] The above embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made based on the essence of the content of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A deep-sea salvage clamping device based on ROV, characterized in that, include: Main framework; The elastic hook unit has several arc-shaped hooks arranged along one side of the main frame. The arc-shaped hooks have elastic movement space in the direction perpendicular to the object being clamped. The elastic hook unit also includes a base plate connected to the lower side of the middle support square steel of the main frame. The vertical section of the arc-shaped hook is a double-strand seamless steel pipe. The free end of the double-strand seamless steel pipe passes through the base plate and the middle support steel of the main frame in sequence. A spring is sleeved on the double-strand seamless steel pipe. The two ends of the spring abut against the base plate and the bottom support square steel of the main frame, respectively. A rigid telescopic hook unit has several telescopic tube hooks arranged along the opposite side of the main frame. The telescopic tube hooks have adjustable displacement in a direction perpendicular to the object being clamped. The rigid telescopic hook unit also includes a square telescopic tube. Several square telescopic tubes are connected between the bottom support square steel and the top support square steel of the main frame. The vertical section of the telescopic tube hook is a hook telescopic rod. The end of the hook telescopic rod is provided with an internal connecting shaft. The hook telescopic rod is movably connected inside the square telescopic tube.

2. The ROV-based deep-sea salvage clamp device according to claim 1, characterized in that, The main frame is formed by the main frames on both sides, the bottom supporting square steel and the top supporting square steel. The main frame also has a middle supporting steel parallel to the bottom supporting square steel and the top supporting square steel inside.

3. The ROV-based deep-sea salvage clamp device according to claim 1, characterized in that, The telescopic hook is fixedly connected to the top extending square steel.

4. The ROV-based deep-sea salvage clamp device according to claim 3, characterized in that, The rigid telescopic hook unit also includes a square telescopic tube. Several square telescopic tubes are connected between the bottom support square steel and the top support square steel of the main frame. The vertical section of the telescopic tube hook is a hook telescopic rod. The first end of the hook telescopic rod is provided with a square sealing plate. The end of the hook telescopic rod is provided with an internal connecting shaft. The hook telescopic rod is movably connected inside the square telescopic tube.

5. A method for using a deep-sea salvage clamp device based on ROV, characterized in that, Using the clamping device as described in any one of claims 1 to 4, the process includes the following steps: The clamping device is inspected on deck, including visual inspection, hydraulic lines, hydraulic pump seal inspection, and double-strand steel pipe hook weld inspection. Perform functional tests on the clamping device and connect it to the bottom frame of the ROV. Start the ROV pump station, open the hydraulic valve box and first control the hydraulic cylinder to make reciprocating motion to test the function of the clamp. Then connect the clamp to the bottom frame of the ROV using anti-slip screws to form a rigid connection. Finally, add a buoyancy block to the ROV so that the ROV body and the clamp are under slight negative buoyancy. The ROV carries the clamping device to the designated work point for underwater salvage operations. The hydraulic valve box is opened to allow the hydraulic cylinder to push the clamp open. Taking advantage of the ROV's flexible movement, the ROV dives vertically onto the object to be salvaged so that the clamp covers the target to be salvaged. Open the hydraulic valve box to retract the hydraulic cylinder, control the clamp to shrink and clamp the object to be retrieved, and jog the valve box to control the cylinder until the cylinder can no longer move. Observe the condition of the clamp and the salvaged object. If the clamp is firmly clamped, use the armored cable to lift and retrieve the ROV to the surface. If the object is not firmly clamped, you need to try several times until the object is fully clamped. The clamp is used to retrieve the deck surface. The hydraulic valve box is opened to extend the clamp, allowing the salvaged object to be released from the clamp, thus completing the deep-sea salvage operation.

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