A deployment and recovery mechanism, device and a deployment and recovery method for deep-sea operation equipment

Abstract

The present application provides a deployment and recovery mechanism, device and deployment and recovery method for deep-sea operation equipment. The mechanism includes a deployment and recovery component, including a cylinder connecting sleeve, a vertical cylinder and a guide cylinder. The lower part of the vertical cylinder body is fixed to the upper part of the cylinder connecting sleeve body. The cylinder connecting sleeve body is provided with a guide cylinder. The upper part of the guide cylinder is fixedly connected to the cylinder shaft of the vertical cylinder, and the cylinder shaft of the vertical cylinder is slidably connected to its body; a hanging and unhooking delivery component includes an unhooking pin shaft, which is used to extend to connect the equipment docking head and the guide cylinder pin shaft, or to retract to separate the equipment docking head from the guide cylinder. The device includes a mechanism, an ROV body, a deployment and recovery platform, and a camera lighting device. The present application can ensure the position accuracy and bottom stability of the equipment when it is deployed near the bottom. Multiple monitoring equipment can be deployed and recovered in situ at the same time in one operation, saving working ship time, improving work efficiency, and providing monitoring data with high temporal and spatial resolution.

Description

Technical Field

[0001] The present application relates to the technical field of deployment and recovery devices for deep-sea monitoring equipment, and in particular to a deployment and recovery mechanism, device and a deployment and recovery method for deep-sea operating equipment. Background Art

[0002] The deep sea contains treasures that are far from being recognized and developed on the earth. The development and utilization of deep-sea resources faces the challenge of environmental impact. In order to better master green, environmentally friendly, intelligent and efficient deep-sea development technologies and deeply evaluate the impact of seabed resource and mineral resource development on the environment, it is necessary to deploy environmental monitoring stations on the seabed for long-term continuous monitoring and obtain monitoring data with high temporal and spatial resolution.

[0003] The existing conventional deployment method of directly dropping equipment from the ship's deck on the sea surface is affected by many factors, such as irregular ocean currents and the hydrodynamic characteristics of the equipment's shape. When the monitoring station drops directly from the water surface to the 6,000m deep seabed, it is impossible to ensure that the monitoring equipment lands accurately on the seabed to meet the requirements for effective monitoring. When the monitoring equipment is recovered, it is usually floated up by throwing it with a counterweight, and then searched and salvaged after it floats to the surface. This method simultaneously launches and recovers multiple environmental monitoring equipment, which takes up a lot of operating ship time and personnel, is inefficient, costly, and has the risk of loss.

[0004] Therefore, developing an efficient and precise device that can deploy and recover multiple environmental monitoring equipment in situ at a designated seabed location in a single underwater operation has become a technical problem that needs to be urgently solved in this field. Summary of the invention

[0005] In order to at least partially solve the above-mentioned problems, the present invention provides a deployment and recovery mechanism, a device and a deployment and recovery method for deep-sea operation equipment.

[0006] In a first aspect of the present application, a deployment and recovery mechanism is provided, comprising:

[0007] The deployment and recovery assembly includes a cylinder connecting sleeve, a vertical cylinder, and a guide cylinder. The lower part of the vertical cylinder body is fixed to the upper part of the cylinder connecting sleeve body. The cylinder connecting sleeve body is provided with a guide cylinder. The upper part of the guide cylinder is fixedly connected to the cylinder shaft of the vertical cylinder. The cylinder shaft of the vertical cylinder is slidably connected to its body.

[0008] The hanging and unhooking delivery assembly includes an unhooking pin shaft, which is used to extend to connect the equipment docking joint and the guide cylinder pin shaft, or to retract to separate the equipment docking joint from the guide cylinder.

[0009] Optionally, the deployment and recovery assembly further includes a guide cover, the upper portion of which is fixedly connected to the lower portion of the guide cylinder, and the guide cover is trumpet-shaped and gradually expands from the top to the bottom.

[0010] Optionally, the upper portion of the guide cylinder is fixedly connected to the cylinder shaft of the vertical cylinder via a joint connecting rod; and the lower portion of the equipment docking joint is fixedly connected to a seabed operating device.

[0011] Optionally, a single-ear joint head is provided on the upper portion of the guide cylinder and is integrated with it, a single-ear joint head is fixed to the bottom of the cylinder shaft of the vertical cylinder, and the upper and lower connecting heads of the joint connecting rod are respectively fixedly connected to the single-ear joint head of the guide cylinder and the single-ear joint head of the cylinder shaft; the axes of the two single-ear joint heads are vertically arranged; the upper and lower connecting heads of the joint connecting rod each include two groups of double-ear connecting rings with opposite transverse and longitudinal directions, and each group of double-ear connecting rings is respectively plugged into the corresponding single-ear joint head and fixed by a pin shaft.

[0012] Optionally, the hanging and unhooking delivery assembly also includes an unhooking cylinder, which is vertically arranged with the vertical cylinder. The cylinder shaft of the unhooking cylinder is fixed to the unhooking pin shaft to drive the unhooking pin shaft to extend and retract laterally in the guide cylinder, passing through or out of the connecting hole of the equipment docking joint.

[0013] Optionally, the deployment and recovery assembly further includes a recovery locking assembly, which includes a sleeve and a locking pin in its cavity, a locking nut, and a locking spring, and two ends of the locking spring are respectively abutted against the end of the locking nut and the locking pin;

[0014] A limiting groove is arranged on the equipment docking head; and the locking pin of the recovery locking assembly is detachably engaged with the limiting groove.

[0015] Optionally, the limiting groove is an annular groove opened on the side wall of the equipment docking joint, and the limiting groove is coaxially arranged with the equipment docking joint; a pair of the recovery locking assemblies are symmetrically arranged on the side of the guide cylinder to engage with or separate from the limiting groove.

[0016] Optionally, an annular supplementary limiting groove is provided on the guide cylinder, and the recovery locking assembly is arranged on one side of the oil cylinder connecting sleeve to be engaged with or separated from the supplementary limiting groove.

[0017] Optionally, a displacement component is further included, and the displacement component includes a displacement cylinder, and the shaft end of the displacement cylinder is connected to the outer wall of the cylinder connecting sleeve through a displacement connecting block.

[0018] The second aspect of the present application provides a deployment and recovery device, including the deployment and recovery mechanism, and also includes an ROV body, a frame-type deployment and recovery platform, and a camera and lighting device; the deployment and recovery platform is installed at the lower part of the ROV body, and the deployment and recovery mechanism and the camera and lighting device are installed on the deployment and recovery platform, wherein the unhooking cylinder and the shifting cylinder are fixed on the frame of the deployment and recovery platform, the cylinder connecting sleeve is movably arranged on the frame of the deployment and recovery platform through a slider, and the camera and lighting device is movably fixed on the frame of the deployment and recovery platform through a clamping fixing frame and a slider.

[0019] Optionally, the ROV body comprises:

[0020] The ROV buoyancy unit is arranged above the deployment and recovery platform;

[0021] Deepwater thruster, used to achieve local underwater movement of the ROV body;

[0022] Deepwater positioning device, used to obtain real-time seabed positioning information and perform underwater positioning;

[0023] The deepwater power supply system provides offshore power supply to the ROV body through deepwater armored cables;

[0024] The deepwater communication system provides offshore communications for the ROV body through deepwater armored cables.

[0025] The third aspect of the present application provides a method for deploying and recovering deep-sea operation equipment, wherein:

[0026] The deployment process includes the following steps:

[0027] 1) On land or on the deck of a ship, extend the unhooking pin shaft and penetrate into the equipment docking joint, so that the equipment docking joint and the guide cylinder pin shaft are connected and the equipment is hung in the guide cylinder;

[0028] 2) The ship-borne crane is connected to the ROV body through an armored cable. The crane lifts the ROV body into the water. The ROV body is in a negative buoyancy state in the water and descends to the deep seabed along the armored cable;

[0029] 3) The control system of the ship issues action instructions to the deep-water thruster of the ROV body through the armored cable, controls the ROV body to sit on the bottom, maintain a stable posture, and observe the seabed conditions through the camera and lighting device;

[0030] 4) The ship's control system activates the hydraulic mechanism of the deployment and recovery device, causing the unhooking cylinder to contract and drive the unhooking pin shaft to detach from the guide cylinder, and the equipment is released from the guide cylinder and sits on the bottom;

[0031] 5) After releasing the equipment, the ROV body is in positive buoyancy, and the control system issues an action instruction to the deepwater thruster, controls the ROV body to slowly leave the bottom, and releases the next equipment;

[0032] The recycling process includes the following steps:

[0033] 1) When recovering the equipment, the position of the equipment docking joint is observed through the camera and lighting device, and the control system controls the deep-water thruster to slowly descend the ROV body from above the equipment. During the descent, the deep-water thruster is used to adjust the position of the guide cover relative to the equipment docking joint;

[0034] 2) When the guide cover is located on the upper part of the equipment docking head, the vertical oil cylinder pushes the guide cylinder to drive the guide cover down;

[0035] 3) When the guide cover descends to contact the equipment joint, the shift cylinder is started to adjust the position of the entire recovery mechanism so that the equipment joint enters the guide cover;

[0036] 4) The vertical oil cylinder continues to push the guide cylinder down, and when the locking pin of the recovery locking assembly drops to the limiting groove of the equipment joint, it automatically snaps into the limiting groove under the action of the locking spring, thereby locking the equipment joint; then the vertical oil cylinder retracts to drive the guide cover and the equipment to retract;

[0037] 5) After the vertical cylinder is retracted into place, the deepwater thruster provides vertical force, and the ROV body leaves the seabed to recover the next device;

[0038] 6) After the ROV body completes the underwater operation, it is recovered to the surface by the deck crane.

[0039] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0040] The present application provides a deployment and recovery mechanism, which realizes the up and down movement of the guide cylinder by driving the cylinder shaft to slide with its cylinder body through a vertical cylinder; by setting a hanging and unhooking delivery component, the unhooking pin is used to extend to connect the equipment docking joint with the guide cylinder pin, or to retract to separate the equipment docking joint from the guide cylinder, so as to realize the deployment and recovery of the equipment docking joint and the operating equipment. The movement of the ROV body underwater and the deployment and recovery device work in coordination, which ensures the stability of the equipment when deployed near the bottom, and the efficiency of recovering the docking equipment.

[0041] By setting up multiple deployment and recovery mechanisms, multiple monitoring devices can be deployed and recovered at the same time in one underwater operation process, saving work time and improving work efficiency. The deployment and recovery device can deploy multiple environmental monitoring devices at fixed points near the bottom and recover them in situ, providing monitoring data with high temporal and spatial resolution. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 This is the overall operation diagram of this application;

[0044] Figure 2 The overall schematic diagram of the recovery device deployed for this application;

[0045] Figure 3 A schematic diagram of the recovery platform deployed for this application;

[0046] Figure 4 A schematic diagram of the recovery structure is laid out for this application;

[0047] Figure 5a This is a schematic cross-sectional view of the central axis of the deployment and recovery structure for this application;

[0048] Figure 5b Another schematic cross-sectional view of the central axis of the recovery structure deployed for this application;

[0049] Figure 6 This is a schematic diagram of the structure of the joint connecting rod of this application.

[0050] serial number:

[0051] 1ROV buoyancy unit;

[0052] 2 thrusters;

[0053] 3 Deepwater power supply system;

[0054] 4 deploying recovery platform; 4-1 horizontal beam; 4-2 long longitudinal beam; 4-3 short longitudinal beam; 4-4 connecting plate; 4-5 screw rod; 4-6 horizontal beam connecting plate; 4-7 hanging bracket;

[0055] 5 deploying and recovering mechanism; 5-1 vertical cylinder; 5-2 guide cover; 5-3 unhooking cylinder; 5-4 shifting cylinder; 5-5 cylinder connecting sleeve; 5-6 cylinder fixing plate; 5-7 unhooking pin; 5-8 shifting connecting block; 5-9 guide cylinder; 5-10 locking pin; 5-11 locking nut; 5-12 locking spring; 5-13 equipment joint; 5-14 equipment; 5-15 joint connecting rod;

[0056] 6 Deepwater communication system;

[0057] 7 Deepwater positioning device;

[0058] 8. Camera lighting equipment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0060] The present application proposes a mechanism, device and method for the near-bottom fixed-point deployment and in-situ recovery of deep-sea monitoring equipment. The deep-sea deployment and recovery device is configured with multiple sets of deployment and recovery mechanisms 5 according to demand, and multiple devices 5-14 are suspended at the same time. The deployment and recovery device is integrated into the deep-water ROV operation system as a whole, and cooperates with the ROV to perform the deployment and recovery tasks of the monitoring equipment at the designated position on the seabed, so as to solve the technical problems of the prior art that the deployment position accuracy cannot meet the monitoring requirements, the operation efficiency is low and the recovery method is complicated. The overall operation mode is as follows: Figure 1 As shown, the ship-borne crane is connected to the ROV body through an armored cable, and the equipment 5-14 is deployed at the operating position through the deployment and recovery device or mechanism of the present application. Among them, the equipment 5-14 is a device for seabed monitoring or other seabed operations.

[0061] This application provides a deployment and recovery mechanism, see Figure 4 , Figure 5a , Figure 5b ,include,

[0062] The deployment and recovery assembly includes a cylinder connecting sleeve 5-5, a vertical cylinder 5-1, and a guide cylinder 5-9. The lower part of the cylinder body of the vertical cylinder 5-1 is fixed to the upper part of the cylinder body of the cylinder connecting sleeve 5-5. A guide cylinder 5-9 is arranged in the cylinder body of the cylinder connecting sleeve 5-5. The upper part of the guide cylinder 5-9 is fixedly connected to the cylinder shaft of the vertical cylinder 5-1. The cylinder shaft of the vertical cylinder 5-1 is slidably connected to its cylinder body.

[0063] The hanging and unhooking delivery assembly includes an unhooking pin 5-7, which is used to extend to connect the device docking joint 5-13 and the guide cylinder 5-9 pin, or to retract to disengage the device docking joint 5-13 from the guide cylinder 5-9.

[0064] In some embodiments of the present application, the deployment and recovery assembly also includes a guide cover 5-2, the upper portion of the guide cover 5-2 is fixedly connected to the lower portion of the guide cylinder 5-9, and the guide cover 5-2 is trumpet-shaped and gradually expands from top to bottom.

[0065] In some embodiments of the present application, the upper portion of the guide cylinder 5-9 is fixedly connected to the cylinder shaft of the vertical cylinder 5-1 via a joint connecting rod; the lower portion of the equipment docking joint 5-13 is fixedly connected to the seabed operating equipment 5-14.

[0066] In some embodiments of the present application, the interface of the device 5-14 is a threaded interface, which is threadedly connected to the device docking joint 5-13. The interface thread size can be changed according to the size and weight of the device, and different devices 5-14 can adopt a standard unified recycling method.

[0067] In a specific embodiment of the present application, the upper portion of the guide cylinder 5-9 is provided with a single-ear joint head integral therewith, the bottom of the cylinder shaft of the vertical oil cylinder 5-1 is fixed with a single-ear joint head, and the upper and lower connecting heads of the joint connecting rod are respectively fixedly connected to the single-ear joint head of the guide cylinder 5-9 and the single-ear joint head of the cylinder shaft. Furthermore, the axes of the two single-ear joint heads are vertically arranged, which can limit the rotational torque in the vertical direction to each other, and the connection reliability is stronger. Further, see Figure 6 The upper and lower connecting heads of the joint connecting rod each include two sets of double-ear connecting rings with opposite transverse and longitudinal directions, and each set of double-ear connecting rings is plugged into the corresponding single-ear joint head and fixed by a pin. The single-ear joint head of the present application is located between the two ears of the double-ear connecting ring, and the force is more balanced compared to the form of fixing a single ear with a single ear bolt.

[0068] In some embodiments of the present application, the hanging and unhooking delivery assembly also includes an unhooking cylinder 5-3, which is vertically arranged with the vertical cylinder 5-1, and the unhooking cylinder 5-3 is connected with the cylinder fixing plate 5-6 by a pin shaft, and the cylinder fixing plate 5-6 is fixed to the side wall of the longitudinal beam by bolts, and the cylinder shaft of the unhooking cylinder 5-3 is fixed with the unhooking pin shaft 5-7 to drive the unhooking pin shaft 5-7 to extend and retract laterally in the guide cylinder 5-9, and pass through or out of the connecting hole of the equipment docking joint 5-13.

[0069] In some embodiments of the present application, the deployment and recovery assembly further includes a recovery locking assembly, which includes a locking pin 5-10, a locking nut 5-11, and a locking spring 5-12 in a sleeve and a cavity thereof, and the two ends of the locking spring are respectively abutted against the end of the locking nut 5-11 and the locking pin 5-10;

[0070] A limiting groove is arranged on the equipment docking joint 5-13; and the locking pin shaft 5-10 of the recovery locking assembly can be detachably engaged with the limiting groove.

[0071] In some embodiments of the present application, the limiting groove is an annular groove opened on the side wall of the device docking joint 5-13, and the limiting groove is coaxially arranged with the device docking joint 5-13; a pair of the recovery locking components are symmetrically arranged on the side of the guide cylinder 5-9 to engage or separate with the limiting groove. Two forces in opposite directions are applied to the device docking joint 5-13 to prevent it from falling.

[0072] In some embodiments of the present application, an annular supplementary limiting groove is provided on the guide cylinder 5-9, and the recovery locking assembly is provided on one side of the oil cylinder connecting sleeve 5-5 to engage or separate with the supplementary limiting groove. Applying a supplementary force to the guide cylinder 5-9 can limit its displacement in the horizontal direction, and the recovery process is more stable.

[0073] In some embodiments of the present application, a shift assembly is also included, the shift assembly includes a shift cylinder 5-4, the shaft end of the shift cylinder 5-4 is connected to the outer wall of the cylinder connecting sleeve 5-5 through a shift connecting block 5-8, the shift cylinder 5-4 is connected to the cylinder fixing plate 5-6 through a pin, and the cylinder fixing plate 5-6 is fixed to the side wall of the longitudinal beam through bolts. The cylinder connecting sleeve 5-5 is movably arranged on the frame of the deployment and recovery platform 4 through a slider, and the shift cylinder shaft is extended and retracted to drive the cylinder connecting sleeve 5-5 as a whole to move along the longitudinal beam of the deployment and recovery platform 4 frame.

[0074] Another embodiment of the present application provides a deployment and recovery device, see Figure 2 , including a deployment and recovery mechanism 5, and also including an ROV body, a frame-type deployment and recovery platform 4, and a camera and lighting device 8; the deployment and recovery platform 4 is installed at the lower part of the ROV body, and the deployment and recovery mechanism 5 and the camera and lighting device 8 are installed on the deployment and recovery platform 4, wherein the unhooking cylinder 5-3 and the shifting cylinder 5-4 are fixed on the frame of the deployment and recovery platform 4, and the cylinder connecting sleeve 5-5 is movably arranged on the frame of the deployment and recovery platform 4 through a slider, and the camera and lighting device 8 is movably fixed on the frame of the deployment and recovery platform 4 through a clamping fixing frame and a slider.

[0075] The structural diagram of the frame-type deployment and recovery platform 4 is as follows Figure 3As shown. In some embodiments, the framework of the deployment and recovery platform 4 includes a crossbeam 4-1, a long longitudinal beam 4-2, a short longitudinal beam 4-3, a connecting plate 4-4, a crossbeam connecting plate 4-6 and a hanging frame 4-7, and the whole is a frame structure. The hanging frame 4-7 is connected to the internal beam of the ROV body to fix the deployment and recovery platform 4 under the ROV body. The crossbeam 4-1 and the longitudinal beam (including the long longitudinal beam 4-2 and the short longitudinal beam 4-3) of the deployment and recovery platform 4 are made of aluminum alloy profiles. The crossbeam 4-1 is connected and fastened to the longitudinal beam through the crossbeam connecting plate 4-6, which are perpendicular to each other. The screw rod 4-5 fixes the crossbeam 4-1 and the longitudinal beam by clamping with the crossbeam connecting plate 4-6. By adjusting the tightness of the bolt, the position of the crossbeam 4-1 on the longitudinal beam can be flexibly moved. Further, the upper part of each group of screw rods 4-5 is connected by a connecting plate 4-4 to enhance stability. The cross beam 4-1 and the longitudinal beam are made of heavy aluminum alloy profiles, and the matching profile angle aluminum and sliders can flexibly and conveniently reserve expansion interfaces for other structures. The deployment and recovery platform 4 has a simple structure, is easy to disassemble, and has flexible connection interfaces with other equipment.

[0076] In some embodiments of the present application, the ROV body includes,

[0077] The ROV buoyancy part 1 is arranged above the deployment and recovery platform 4;

[0078] Deepwater thruster 2, used to realize the movement of the ROV body in a local range underwater;

[0079] A deep-water positioning device 7, used to obtain real-time seabed positioning information and perform underwater positioning;

[0080] Deepwater power supply system 3, providing offshore power supply to the ROV body through deepwater armored cables;

[0081] The deepwater communication system 6 provides offshore communication for the ROV body via a deepwater armored cable.

[0082] Armored cables include armored electrical cables, armored optical cables and other armored cables that need to be laid.

[0083] In some embodiments of the present application, the deepwater thruster 2 includes a forward thruster, a side shift thruster, and a vertical thruster, which provide thrust in the horizontal forward direction, thrust in the horizontal side shift direction, and thrust in the vertical direction, so that the ROV body can move in a local range underwater; the deepwater positioning device 7 includes an acoustic communication positioning beacon, which can perform underwater positioning; and the deepwater power supply system 3 and the deepwater communication system 6 of the deployment and recovery device are provided with offshore power supply and communication through the deepwater ROV armored electrical and optical cables.

[0084] The camera and lighting device 8 includes a deep-water lighting lamp, a high-definition camera, and a clamp-mounted fixing frame. The deep-water camera and lighting device 8 is used to observe the seabed conditions. The camera and the clamp-mounted fixing frame are installed on the crossbeam 4-1 and the longitudinal beam (long longitudinal beam 4-2, short longitudinal beam 4-3) of the deployment and recovery platform 4 through the aluminum alloy profile slider extension interface. The position of the deep-water lighting lamp and the high-definition camera is adjusted by moving the slider. The equipment 5-14 adopts near-bottom visual deployment and recovery when it is deployed and recovered near the bottom.

[0085] The deepwater positioning device 7 can accurately obtain real-time positioning information of the seabed and accurately deploy and recover seabed equipment according to the requirements of the deployed equipment position.

[0086] The present application also provides a method for deploying and recovering deep-sea operating equipment near the bottom.

[0087] The deployment process includes the following steps:

[0088] 1) On land or on the deck of a ship, extend the unhooking pin 5-7 and penetrate into the equipment docking joint 5-13, so that the equipment docking joint 5-13 and the guide cylinder 5-9 are pin-connected and the equipment 5-14 is hung in the guide cylinder 5-9;

[0089] 2) The ship-borne crane is connected to the ROV body through an armored cable. The crane lifts the ROV body into the water. The ROV body is in a negative buoyancy state in the water and descends to the deep seabed along the armored cable;

[0090] 3) The control system of the ship issues action instructions to the deep-water thruster 2 of the ROV body through the armored cable, controls the ROV body to sit on the bottom, maintain a stable posture, and observe the seabed conditions through the camera lighting device 8;

[0091] 4) The control system of the ship starts the hydraulic mechanism of the deployment and recovery device, so that the unhooking cylinder 5-3 contracts and drives the unhooking pin shaft 5-7 to disengage from the guide cylinder 5-9, and the equipment 5-14 is released from the guide cylinder 5-9 and sits on the bottom;

[0092] 5) After releasing the equipment 5-14, the ROV body is in positive buoyancy, and the control system issues an action instruction to the deepwater thruster 2, controls the ROV body to slowly leave the bottom, and releases the next equipment 5-14;

[0093] The recycling process includes the following steps:

[0094] 1) When recovering the equipment, the position of the equipment docking joint 5-13 is observed through the camera lighting device 8, and the control system controls the deep-water thruster 2 to slowly descend the ROV body from above the equipment 5-14. During the descent, the deep-water thruster 2 is used to adjust the position of the guide cover 5-2 relative to the equipment docking joint 5-13;

[0095] 2) When the guide cover 5-2 is located above the equipment joint 5-13, the vertical oil cylinder 5-1 pushes the guide cylinder 5-9 to drive the guide cover 5-2 downward;

[0096] 3) When the guide cover 5-2 descends and contacts the equipment docking joint 5-13, the shift cylinder 5-4 is started to adjust the position of the entire recovery mechanism so that the equipment docking joint 5-13 enters the guide cover 5-2;

[0097] 4) The vertical oil cylinder 5-1 continues to push the guide cylinder 5-9 downward, and when the locking pin 5-10 of the recovery locking assembly descends to the limiting groove of the equipment docking joint 5-13, it automatically snaps into the limiting groove under the action of the locking spring 5-12, thereby locking the equipment docking joint 5-13; then the vertical oil cylinder 5-1 retracts to drive the guide cover 5-2 and the equipment 5-14 to be retracted;

[0098] 5) After the vertical cylinder 5-1 is retracted into place, the deepwater thruster 2 provides vertical force, and the ROV body leaves the seabed to recover the next device 5-14.

[0099] 6) After the ROV body completes the underwater operation, it is recovered to the surface by the deck crane.

[0100] The following provides a specific embodiment of a deployment and recovery mechanism, and its schematic diagram is as follows: Figure 4 shown.

[0101] The deployment and recovery mechanism 5 includes a hanging and unhooking delivery component, a deployment and recovery component, and a displacement component.

[0102] The hanging and unhooking delivery assembly includes an unhooking cylinder 5-3 and an unhooking pin 5-7. The unhooking cylinder 5-3 is fixed in the crossbeam 4-1 through a cylinder fixing plate 5-6. The shaft of the unhooking cylinder 5-3 is connected to the unhooking pin 5-7. By setting the hanging and unhooking delivery assembly, multiple unhooking pins 5-7 can hang multiple equipment 5-14 for environmental monitoring or other operations. The unhooking cylinder 5-3 pulls the pin 5-7 to unhook the equipment joint 5-13 from the deployment and recovery platform 4, so as to achieve near-bottom delivery at a designated position on the seabed;

[0103] The deployment and recovery components include a guide cover 5-2, a cylinder connection sleeve 5-5, a vertical cylinder 5-1, and a guide cylinder 5-9. The vertical cylinder 5-1 is fixed on the cylinder connection sleeve 5-5, and the cylinder connection sleeve 5-5 is fixed on the crossbeam 4-1. The guide cover 5-2 is in the shape of a bell mouth and is installed on the guide cylinder 5-9. The guide cylinder 5-9 is connected to the cylinder shaft of the vertical cylinder 5-1 through a joint connecting rod. The cylinder shaft of the vertical cylinder 5-1 extends to drive the guide cover 5-2 to descend, and the guide cover 5-2 is connected to the equipment docking joint 5-13 for in-situ recovery. The guide cover 5-2 is in the shape of a funnel, which increases the counterweight, expands the docking range with the equipment 5-14 during docking, and increases the docking stability.

[0104] The shift assembly includes a shift cylinder 5-4, and the cylinder shaft end and the cylinder connecting sleeve 5-5 are installed together through a shift connecting block 5-8. When the equipment 5-14 is docked and recovered, the docking shift cylinder 5-4 contracts and pulls or extends to push the entire recovery mechanism to move, and the auxiliary guide cover 5-2 is aligned with the equipment docking joint 5-13.

[0105] The two vertical central axis sections of the deployment recovery structure are as follows Figure 5a , Figure 5b As shown:

[0106] See also Figure 5a When deployed, each set of recovery locking components are disengaged from the limiting groove of the equipment docking joint 5-13. The locking pins 5-10 of a pair of symmetrical recovery locking components (not shown in the figure) are against the outside of the guide cylinder 5-9, disengaged from the limiting groove of the equipment docking joint 5-13, and have no restriction on the up and down movement of the equipment docking joint 5-13. The unhooking cylinder 5-3 is retracted, and the unhooking pin 5-7 is pulled out of the limiting hole of the equipment docking joint 5-13. The equipment docking joint 5-13 and the connecting device 5-14 slide downward under the action of gravity, so that the equipment docking joint 5-13 is unhooked from the guide cylinder 5-9, and the deployment near the bottom is realized at the designated position on the seabed.

[0107] See also Figure 5b , there is a recovery locking assembly composed of a locking nut 5-11, a locking pin 5-10 and a locking spring 5-12 on each side of the guide cylinder 5-9. When recovering, the equipment joint 5-13 slides into the guide cylinder 5-9 according to the track of the guide cover 5-2, and pushes the locking pin 5-10 to the side, and the locking spring 5-12 is compressed. When the equipment joint 5-13 moves up to a certain position, the locking pin 5-10 is clamped into the limiting groove under the action of elastic force, and the equipment joint 5-13 is locked. A recovery locking assembly is set on each side of the guide cylinder 5-9 to ensure that the locking pin 5-10 is symmetrically clamped into the limiting groove of the equipment joint 5-13.

[0108] A supplementary limiting groove is set on the upper part of the guide cylinder 5-9, and a supplementary recovery locking assembly is set, including a locking nut 5-11, a locking pin shaft 5-10 and a locking spring 5-12, which are perpendicular to the connecting line of the two recovery locking assemblies symmetrically arranged on the left and right sides of the guide cylinder 5-9. When recovering, the locking pin shaft 5-10 of the supplementary recovery locking assembly is inserted into the supplementary limiting groove of the guide cylinder 5-9 to lock and limit the guide cylinder 5-9.

[0109] It can be understood that holes are provided on the sides of the cylinder connecting sleeve 5-5 and the guide cylinder 5-9, and the ends of the locking pin shaft 5-10 of the symmetrical recovery locking assembly can pass through the holes of the cylinder connecting sleeve 5-5 and the guide cylinder 5-9 to be clamped with the equipment docking joint 5-13, and the ends of the locking pin shaft 5-10 of the supplementary recovery locking assembly can pass through the supplementary limiting grooves of the cylinder connecting sleeve 5-5 and the guide cylinder 5-9 to be clamped.

[0110] When the equipment 5-14 is recovered, the position of the entire recovery mechanism is adjusted by adjusting the displacement cylinder 5-4 in real time according to the docking distance observed by the video and lighting device 8, which can speed up the movement of the equipment docking joint 5-13 into the recovery range of the guide cover 5-2.

[0111] The following provides a specific embodiment of a deployment and recovery method based on the above device, comprising the following steps:

[0112] 1) On the deck, the deployment and recovery platform 4 is installed inside the ROV body, and the equipment 5-14 deployed on the seabed is hung on the hanging and unhooking delivery assembly;

[0113] 2) The ship-borne crane is connected to the ROV body through an armored cable. The crane lifts the ROV body into the water, and the ROV is in negative buoyancy in the water;

[0114] 3) The ROV body descends to the deep seabed along the armored cable;

[0115] 4) The surface control system sends motion instructions to the ROV deepwater thruster 2 through the armored cable and the optical fiber cable, controls the ROV body to sit on the bottom, maintain a stable posture, and observe the seabed conditions through the camera lighting device 8;

[0116] 5) The surface control system starts the hydraulic mechanism of the deployment and recovery device, the hanging and unhooking delivery components start to move, the unhooking pin 5-7 is pulled, and the equipment 5-14 is released and sits on the bottom;

[0117] 6) After releasing the equipment 5-14, the ROV body is in positive buoyancy, and the deepwater thruster 2 controls the ROV body to slowly leave the bottom to release the next equipment 5-14;

[0118] 7) When recovering the equipment 5-14, the position of the equipment docking joint 5-13 is observed through the camera lighting device 8, and the ROV body slowly descends from above the equipment 5-14. During the descent process, the position of the guide cover 5-2 relative to the equipment docking joint 5-13 is controlled by the side shift and the main thruster;

[0119] 8) When the guide cover 5-2 is located on the upper part of the equipment joint 5-13, the vertical cylinder 5-1 pushes the guide cover 5-2 down.

[0120] 9) When the guide cover 5-2 descends to contact the equipment docking joint 5-13, the shift cylinder 5-4 can be started to move the entire recovery mechanism left and right, so that the equipment docking joint 5-13 can smoothly enter the guide cover 5-2;

[0121] 10) The equipment joint 5-13 is inserted into the locking spring 5-12 and the locking pin 5-10 of the cylinder connecting sleeve 5-5 through the limiting groove, and then the vertical cylinder 5-1 drives the guide cover 5-2 and the equipment 5-14 to be retracted;

[0122] 11) After the vertical cylinder 5-1 is retracted into place, the guide cover 5-2 with the device 5-14 is clamped in the cylinder connecting sleeve 5-5, the vertical thruster provides vertical force, and the ROV body leaves the seabed to recover the next device 5-14.

[0123] 12) After the ROV body completes the underwater operation, it is recovered to the surface by the deck crane.

[0124] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A deployment and recovery mechanism, characterized in that: include, The deployment and recovery assembly includes a cylinder connection sleeve, a vertical cylinder, and a guide cylinder. The lower part of the vertical cylinder body is fixed to the upper part of the cylinder connection sleeve body. The cylinder connection sleeve body is provided with a guide cylinder. The upper part of the guide cylinder is fixedly connected to the cylinder shaft of the vertical cylinder. The cylinder shaft of the vertical cylinder is slidably connected to its body. The hanging and unhooking delivery assembly includes an unhooking pin shaft, which is used to extend to connect the equipment docking joint with the guide cylinder pin shaft, or to retract to separate the equipment docking joint from the guide cylinder. The deployment and recovery assembly also includes a recovery locking assembly, which includes a sleeve and a locking pin in its cavity, a locking nut, and a locking spring, and the two ends of the locking spring are respectively abutted against the end of the locking nut and the locking pin; A limiting groove is provided on the equipment docking head; the locking pin of the recovery locking assembly can be detachably engaged with the limiting groove; The limiting groove is an annular groove opened on the side wall of the equipment joint, and the limiting groove is coaxially arranged with the equipment joint; a pair of the recovery locking components are symmetrically arranged on the side of the guide cylinder to engage or separate with the limiting groove; An annular supplementary limiting groove is provided on the guide cylinder, and the recovery locking assembly is arranged on one side of the oil cylinder connecting sleeve to be engaged with or separated from the supplementary limiting groove.

2. A deployment and recovery mechanism as claimed in claim 1, characterized in that: The deployment and recovery assembly also includes a guide cover, the upper part of which is fixedly connected to the lower part of the guide cylinder, and the guide cover is trumpet-shaped and gradually expands from the top to the bottom.

3. A deployment and recovery mechanism as claimed in claim 1, characterized in that: The upper part of the guide cylinder is fixedly connected to the cylinder shaft of the vertical cylinder through a joint connecting rod; the lower part of the equipment docking joint is fixedly connected to the seabed operating equipment.

4. A deployment and recovery mechanism as claimed in claim 3, characterized in that: The upper part of the guide cylinder is provided with a single-ear joint head integrated with it, and the bottom of the cylinder shaft of the vertical oil cylinder is fixed with a single-ear joint head. The upper and lower connecting heads of the joint connecting rod are respectively fixedly connected to the single-ear joint head of the guide cylinder and the single-ear joint head of the cylinder shaft; the axes of the two single-ear joint heads are vertically arranged; the upper and lower connecting heads of the joint connecting rod each include two groups of double-ear connecting rings with opposite transverse and longitudinal directions, and each group of double-ear connecting rings is respectively plugged into the corresponding single-ear joint head and fixed by a pin shaft.

5. A deployment and recovery mechanism as claimed in claim 1, characterized in that: The hanging and unhooking delivery assembly also includes an unhooking cylinder, which is vertically arranged with the vertical cylinder. The cylinder shaft of the unhooking cylinder is fixed with the unhooking pin shaft to drive the unhooking pin shaft to extend and retract laterally in the guide cylinder, and pass through or out of the connecting hole of the equipment docking joint.

6. A deployment and recovery mechanism as claimed in claim 1, characterized in that: It also includes a displacement component, which includes a displacement cylinder, and the shaft end of the displacement cylinder is connected to the outer wall of the cylinder connecting sleeve through a displacement connecting block.

7. A deployment and recovery device, comprising the deployment and recovery mechanism according to any one of claims 1 to 6, characterized in that: It also includes an ROV body, a frame-type deployment and recovery platform, and a camera and lighting device; the deployment and recovery platform is installed at the lower part of the ROV body, and the deployment and recovery mechanism and the camera and lighting device are installed on the deployment and recovery platform, wherein the unhooking cylinder and the shifting cylinder are fixed on the frame of the deployment and recovery platform, the cylinder connecting sleeve is movably arranged on the frame of the deployment and recovery platform through a slider, and the camera and lighting device is movably fixed on the frame of the deployment and recovery platform through a clamping fixing frame and a slider.

8. A deployment and recovery device as claimed in claim 7, characterized in that: The ROV body includes: The ROV buoyancy unit is arranged above the deployment and recovery platform; Deepwater thruster, used to achieve local underwater movement of the ROV body; Deepwater positioning device, used to obtain real-time seabed positioning information and perform underwater positioning; The deepwater power supply system provides offshore power supply to the ROV body through deepwater armored cables; The deepwater communication system provides offshore communications for the ROV body through deepwater armored cables.

9. A method for deploying and recovering deep-sea operation equipment, characterized in that: This is achieved by the deployment and recovery device described in claim 7 or 8. The deployment process includes the following steps: 1) On land or on the deck of a ship, extend the unhooking pin shaft and penetrate into the equipment docking joint, so that the equipment docking joint and the guide cylinder pin shaft are connected and the equipment is hung in the guide cylinder; 2) The ship-borne crane is connected to the ROV body through an armored cable. The crane lifts the ROV body into the water. The ROV body is in a negative buoyancy state in the water and descends to the deep seabed along the armored cable; 3) The control system of the ship issues action instructions to the deep-water thruster of the ROV body through the armored cable, controls the ROV body to sit on the bottom, maintain a stable posture, and observe the seabed conditions through the camera and lighting device; 4) The ship's control system activates the hydraulic mechanism of the deployment and recovery device, causing the unhooking cylinder to contract and drive the unhooking pin shaft to detach from the guide cylinder, and the equipment is released from the guide cylinder and sits on the bottom; 5) After releasing the equipment, the ROV body is in positive buoyancy, and the control system issues an action instruction to the deepwater thruster, controls the ROV body to slowly leave the bottom, and releases the next equipment; The recycling process includes the following steps: 1) When recovering the equipment, the position of the equipment docking joint is observed through the camera and lighting device, and the control system controls the deep-water thruster to slowly descend the ROV body from above the equipment. During the descent, the deep-water thruster is used to adjust the position of the guide cover relative to the equipment docking joint; 2) When the guide cover is located on the upper part of the equipment docking head, the vertical oil cylinder pushes the guide cylinder to drive the guide cover down; 3) When the guide cover descends to contact the equipment joint, the shift cylinder is started to adjust the position of the entire recovery mechanism so that the equipment joint enters the guide cover; 4) The vertical oil cylinder continues to push the guide cylinder down, and when the locking pin of the recovery locking assembly drops to the limiting groove of the equipment joint, it automatically snaps into the limiting groove under the action of the locking spring, thereby locking the equipment joint; then the vertical oil cylinder retracts to drive the guide cover and the equipment to retract; 5) After the vertical cylinder is retracted into place, the deepwater thruster provides vertical force, and the ROV body leaves the seabed to recover the next device; 6) After the ROV body completes the underwater operation, it is recovered to the surface by the deck crane.

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