Large-depth underwater target salvage device and salvage method

Abstract

The invention provides a large-depth underwater target salvaging device and salvaging method, the salvaging device comprises a carrier, a holding claw device, an adsorption mechanism, a jet device and a jet pump; the holding claw device is of an under-actuated structure and is used for clamping a target and providing supporting force from the lower portion and / or the lateral lower portion of the target. The adsorption mechanism adopts an under-actuated structure and is used for adsorbing a target and providing adsorption force from the upper part and / or the lateral upper part of the target; high-pressure water flow is generated at the output end of the jet device through the jetting pump, so that negative pressure is generated in the adsorption mechanism to achieve the adsorption function. Wherein in the process that the holding claw device clamps the target, whether clamping is completed or not is judged according to whether the pressure between the holding claw device and the target reaches a preset value or not; and the vacuum adsorption mechanism performs vacuum adsorption on the target surface after the holding claw device completes clamping. The carrier, the holding claw device and the adsorption mechanism are combined, large-depth underwater targets can be effectively and rapidly fished through driving of the carrier, and the weight capable of being fished is greatly increased.

Description

Technical Field

[0001] The present invention relates to the field of marine equipment, and in particular to a deep underwater target salvaging device and a salvaging method. Background Art

[0002] In underwater heavy object salvage operations, for heavy objects that sink to the bottom, such as airplanes and ships, the lifting force required to salvage such objects is large and the shapes are different. In view of this scenario, the existing salvage of such objects mostly involves manual participation in drilling holes on the surface of the object, inserting cables with expansion and fixation at the end, and then retrieving the cables to achieve the lifting and recovery of the object. Patent document CN115432144A also discloses a method for threading salvage wires based on mud suction operations. Through mud suction operations, a channel is penetrated at the bottom of the sunken ship. Since the salvage wire is threaded through this channel, the influence of seabed geology on drilling operations and threading wire operations is avoided.

[0003] The above method is time-consuming, has large differences in implementation for different targets, and is difficult to implement for targets deeper than 200m because it requires human participation. At the same time, existing unmanned underwater salvage solutions also face many challenges in lifting heavy objects. The difficulty in balancing lifting force and robustness is the main reason why existing mechanical claw salvage solutions cannot achieve underwater heavy object salvage. At present, there is no ideal non-destructive, deep-depth heavy object salvage solution. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a deep underwater target salvaging device and a salvaging method.

[0005] A deep underwater target salvaging device according to the present invention comprises: a carrier 1, a claw device 2 and an adsorption mechanism 3, an ejector 4 and a jet pump 5;

[0006] The claw device 2 and the adsorption mechanism 3 are connected to the carrier 1;

[0007] The gripper device 2 adopts an underactuated structure, and is used to clamp the target and provide support force from below and / or below the side of the target;

[0008] The adsorption mechanism 3 adopts an under-actuated structure, and is used to adsorb the target, providing adsorption force from above and / or above the side of the target;

[0009] The ejector 4 has a first input end, a second input port and an output port. The output end of the jet pump 5 is connected to the first input port of the ejector 4. The second input port of the ejector 4 is connected to the internal space of the adsorption mechanism 3 through a pipeline. The jet pump 5 generates a high-pressure water flow at the output end of the ejector 4, so that a negative pressure is generated in the adsorption mechanism 3 to realize the adsorption function.

[0010] Wherein, when the claw device 2 is clamping the target, whether the clamping is completed is determined based on whether the pressure between the claw device 2 and the target reaches a preset value;

[0011] The vacuum adsorption mechanism 3 performs vacuum adsorption on the target surface after the claw device 2 completes the clamping.

[0012] Further, the claw device 2 comprises: two or more claws, each of which comprises: a claw assembly and a driving assembly;

[0013] The claw assembly includes a plurality of claw plates hinged in sequence, the driving assembly is connected to the claw assembly, and the driving assembly includes a first connecting rod assembly for driving the claw assembly and a second connecting rod assembly for limiting the claw assembly.

[0014] Further, the claw assembly includes: a claw plate 1 201, a claw plate 202 and a claw plate 3 203, the ends of which are hinged in sequence;

[0015] The claw plate 201 is hinged to the base 204 , and the underwater salvage claw device is connected to the carrier through the base 204 .

[0016] Further, the first connecting rod assembly includes: connecting rod one 205, connecting rod two 206, triangular plate 207, connecting rod three 208, the ends of which are hinged in sequence;

[0017] One end of the connecting rod 1 205 away from the connecting rod 206 is hinged at the hinge of the claw plate 1 201 and the base 204, the connecting rod 206 is hinged at the first corner of the triangular plate 207, one end of the connecting rod 3 208 is hinged at the second corner of the triangular plate 207, the other end of the connecting rod 3 208 is hinged on the claw plate 3 203, and the third corner of the triangular plate 207 is hinged at the hinge of the claw plate 1 201 and the claw plate 2 202;

[0018] The first connecting rod assembly further comprises a driving cylinder 200 , the driving cylinder 200 is connected to the carrier, and the output end of the driving cylinder 200 is hinged to the connecting rod 1 205 .

[0019] Further, the second connecting rod assembly includes: connecting rod four 209, connecting rod five 210, connecting rod six 211, connecting rod seven 212 and connecting rod eight 213;

[0020] The ends of the connecting rod 4 209, the connecting rod 5 210, and the connecting rod 6 211 are hinged in sequence. The end of the connecting rod 4 209 away from the connecting rod 5 210 is hinged at the hinge between the claw plate 1 201 and the base 204. The end of the connecting rod 6 211 away from the connecting rod 5 210 is hinged at the hinge between the claw plate 1 201 and the claw plate 2 202. A section of the connecting rod 7 212 is hinged at the middle of the connecting rod 6 211. The other end of the connecting rod 7 212 is hinged to one end of the connecting rod 8 213. The other end of the connecting rod 8 213 is hinged at the hinge between the claw plate 202 and the claw plate 3 203.

[0021] Among them, the connecting rod four 209 is elastically connected to the carrier through a spring one 214, and the connecting rod eight 213 is elastically connected to the claw plate three 203 through a spring two 215.

[0022] Furthermore, the ejector 4 includes: a nozzle 401, a suction pipe 402, a mixing pipe 403 and a diffusion pipe 404 connected in sequence;

[0023] One end of the nozzle 401 is the first input port, and the other end is located in the suction pipe 402 near the mixing pipe 403. The side wall of the suction pipe 402 has a radial extension pipeline, the end of the radial extension pipeline is the second input port, and the end of the diffusion pipe 404 is the output end.

[0024] Furthermore, the diameter of the mixing tube 403 is smaller than the diameters of the nozzle 401 and the suction tube 402 , and the diameter of the diffusion tube 404 gradually increases from the end connected to the mixing tube 403 toward the output port.

[0025] Furthermore, the adsorption mechanism 3 includes: a suction cup 301, a spring 302, a suction cup mounting plate 303, a torsion spring 304, a limit block 305 and a mounting base 306;

[0026] The suction cup 301 is movably connected to the suction cup mounting plate 303, the suction cup 301 and the suction cup mounting plate 303 are elastically connected via the spring 302, the suction cup mounting plate 303 is hinged to the mounting base 306, the limit block 305 is connected to the mounting base 306 to limit the rotation angle of the suction cup mounting plate 303 in two rotation directions, the torsion spring 304 is elastically connected between the suction cup mounting plate 303 and the mounting base 306 to apply a pre-compression force to the suction cup mounting plate 303.

[0027] Furthermore, the adsorption mechanism 3 also includes a ratchet mechanism 307;

[0028] The ratchet mechanism 307 includes: a ratchet 308, a pawl 309 and a lever 310;

[0029] The ratchet wheel 308 is connected to the rotating shaft of the suction cup mounting plate 303 and rotates synchronously with the suction cup mounting plate 303. The pawl 309 is rotatably connected to the mounting base 306. The lever 310 is connected to the pawl 309.

[0030] In a natural state, the end of the pawl 309 abuts against the ratchet teeth of the ratchet wheel 308, and the lever 310 is used to drive the end of the pawl 309 to move away from / close to the ratchet wheel 308;

[0031] An elastic element is connected between the pawl 309 and the mounting base 306 , and the pawl 309 has a distal end that abuts against the ratchet teeth of the ratchet wheel 308 through the elastic force of the elastic element.

[0032] According to a method for salvaging a deep underwater target provided by the present invention, the deep underwater target salvaging device is used to perform the following steps:

[0033] S1. Determine the size and shape of the target;

[0034] S2, open the claw device to adapt to the size and shape of the target;

[0035] S3, making the grasping device in an open state, and approaching the target with the carrier;

[0036] S4, adjusting the holding and grasping device to a suitable position through the carrier, and driving the holding and grasping device to close;

[0037] S5. When the pressure sensor on the first claw plate senses a sudden change in pressure and the angle stops changing, it is determined that the first claw plate has contacted the target; the propulsion speed of the drive cylinder is reduced until the pressure sensor on the second claw plate senses a sudden change in pressure and the angle stops changing, it is determined that the second claw plate has contacted the target; the propulsion speed of the drive cylinder is reduced until the angle of the third claw plate stops changing, it is determined that the third claw plate has contacted the target;

[0038] S6, placing the adsorption mechanism on the target and starting the spray pump for adsorption;

[0039] S7. The carrier is lifted by an umbilical cable or a sling to recover the target.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention combines a carrier, a gripping device and an adsorption mechanism. Driven by the carrier, it can effectively and quickly salvage deep underwater targets and greatly increase the weight that can be salvaged. The structural design of the gripping device can adapt to targets of different dimensions, provide lifting force from below and below the side of the target, and detect the gripping pressure through a pressure sensor to prevent damage to the target. The adsorption mechanism adopts the working principle of underwater jet suction to achieve rapid and effective adsorption, further improve the adsorption force, and prevent the target from slipping. It can be applied to the salvage of deep and heavy underwater targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0043] Figure 1 This is a schematic diagram of the structure of a deep-water target salvage device;

[0044] Figure 2 It is a schematic diagram of the overall structure of the claw device;

[0045] Figure 3 is a side view of a single claw;

[0046] Figure 4 is a three-dimensional diagram of a single claw;

[0047] Figure 5 It is a three-dimensional image of a single claw from another angle;

[0048] Figure 6 This is a schematic diagram of the design parameters of the claw device;

[0049] Figure 7 , Figure 8 and Fig.17 Schematic diagram of three holding and grasping methods;

[0050] Fig. 9 It is a structural schematic diagram of the adaptive underwater adsorption device;

[0051] Fig.10 is a schematic diagram of the structure of the ejector;

[0052] Fig.11 It is a structural schematic diagram of the adsorption mechanism;

[0053] Fig.12 It is a structural schematic diagram of the ratchet mechanism in the adsorption mechanism;

[0054] Fig.13 This is a schematic diagram of the suction cup layout;

[0055] Fig.14 It is a claw work flow chart of a deep-water target salvage method;

[0056] Fig.15 It is a schematic diagram of the clawing process of the deep-water target salvage method;

[0057] Fig.16 It is a schematic diagram of the adsorption process of the deep-water target salvage method;

[0058] In the figure:

[0059] 1-carrier; 2-claw device; 201-claw plate 1; 202-claw plate 2; 203-claw plate 3; 204-base; 205-connecting rod 1; 206-connecting rod 2; 207-triangular plate; 208-connecting rod 3; 209-connecting rod 4; 210-connecting rod 5; 211-connecting rod 6; 212-connecting rod 7; 213-connecting rod 8; 3-adsorption mechanism; 301-suction cup; 302-spring; 3 03-suction cup mounting plate; 304-torsion spring; 305-limiting block; 306-mounting base; 307-ratchet mechanism; 308-ratchet; 309-pawl; 310-lever; 4-ejector; 401-nozzle; 402-suction pipe; 403-mixing pipe; 404-diffuser; 5-jet pump; 6-target; 701-X-axis moving slide rail; 702-Y-axis moving slide rail; 703-rotating table. DETAILED DESCRIPTION

[0060] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0061] like Figure 1 As shown, the present invention provides a deep underwater target salvaging device, comprising: a carrier 1, a claw device 2 and an adsorption mechanism 3, an ejector 4 and a jet pump 5, wherein the ejector 4 and the jet pump 5 can refer to Figure 2 and Fig. 9 The claw device 2 and the adsorption mechanism 3 are connected to the carrier 1, and the carrier may be an underwater vehicle, such as a remotely controlled underwater vehicle (ROV) and an autonomous underwater vehicle (AUV), etc., and the present invention does not limit this.

[0062] Among them, the claw device 2 adopts an under-actuated structure, which is used to clamp the target and provide support force from below and / or below the side of the target; the adsorption mechanism 3 adopts an under-actuated structure, which is used to adsorb the target and provide adsorption force from above and / or above the side of the target.

[0063] like Figure 2As shown, the claw device 2 includes: two or more claws, each claw is similar to a finger, and two or more claws are required to cooperate with each other to grasp the target 6. The grasping method can be as follows: Figure 7 The left-right symmetric method shown can also be Figure 8 The left-right staggered method shown can also be Fig.17 The longitudinal distribution shown is gripped around the target. The X-axis movable slide rail 701 and the Y-axis movable slide rail 702 realize the moving function by driving the lead screw through an underwater servo motor or motor. By carrying the X-axis movable slide rail 701 and the Y-axis movable slide rail 702, the gripping mechanism 1 can move the target point arbitrarily within a certain range of the plane. The X-axis movable slide rail 701 and the Y-axis movable slide rail 702 are installed on a rotating table 703. The rotating table 703 realizes the rotation function by driving the gear to rotate through a motor or a motor. By carrying the rotating table 703, the gripping mechanism 1 can realize the angle adjustment function within a certain range of the plane, thereby realizing the position and angle adjustment function of the gripping mechanism. By carrying multiple gripping mechanisms with mobile platforms, the optimal gripping of underwater columnar targets or spherical targets can be achieved by configuring different gripping angles and positions, greatly improving the salvage efficiency of the gripping mechanism. The user can adjust the posture of each gripping mechanism according to the operation requirements. For columnar targets, the gripping mechanisms can be combined into a symmetrical form or a cross form according to the requirements to grab the target. For spherical targets, the angle of the gripping mechanism and the displacement of the XY axis can be rotated, and the gripping claws can be combined into a triangle arrangement to grab the spherical target, which is flexible in configuration and improves the efficiency of underwater salvage and grabbing. The following description takes two claws as an example, but the present invention is not limited to this.

[0064] Each claw includes: a claw assembly and a driving assembly, and the driving assembly is used to drive the claw assembly to bend and straighten. The claw assembly includes a plurality of claw plates hinged in sequence, and three claw plates are used as an example for explanation in this embodiment. The driving assembly is connected to the claw assembly, and the driving assembly includes a first connecting rod assembly for driving the claw assembly and a second connecting rod assembly for limiting the claw assembly.

[0065] like Figure 3 As shown, the claw assembly includes claw plate 1 201, claw plate 202 and claw plate 3 203, which are hinged at the ends in sequence, and all have the freedom of rotation around the axis. The other end of claw plate 1 201 is hinged to base 204, and the claw device can be connected to the carrier 1 through base 204 and bolts. The claw assembly can be configured with different numbers and combinations of claw plates according to the size and shape of the grasped target 6 to effectively grasp the target 6. In addition, pressure sensors can be set on the surfaces of claw plate 1 201, claw plate 202 and claw plate 3 203 that contact the target 6 to detect the pressure when grasping the target to avoid damaging the target.

[0066] like Figure 4 As shown, in order to improve the gripping efficiency and anti-skid effect of the claw assembly, the surfaces of the claw plate 1 201, the claw plate 202 and the claw plate 3 203 in contact with the target are connected with anti-skid panels or suction cups, and the structure shown in the figure is a suction cup. On this basis, the underwater salvage claw device also includes: an ejector 4 and a jet pump 5, the output end of the jet pump 5 is connected to the first input port of the ejector 4, and the second input port of the ejector 4 is connected to the internal space of the suction cup through a pipeline, and a high-pressure water flow is generated at the output end of the ejector 4 by the jet pump 5, so that a negative pressure is generated in the suction cup to realize the adsorption function.

[0067] The first connecting rod assembly includes: connecting rod 1 205, connecting rod 2 206, triangular plate 207, and connecting rod 3 208, the ends of which are hinged in sequence. One end of connecting rod 1 205 away from connecting rod 2 206 is hinged at the hinge of claw plate 1 201 and base 204, connecting rod 2 206 is hinged at the first corner of triangular plate 207, one end of connecting rod 3 208 is hinged at the second corner of triangular plate 207, the other end of connecting rod 3 208 is hinged on claw plate 3 203, and the third corner of triangular plate 207 is hinged at the hinge of claw plate 1 201 and claw plate 2 202. The first connecting rod assembly also includes a drive cylinder 200, which can be an oil cylinder. The drive cylinder 200 is connected to the carrier 1, and the output end of the drive cylinder 200 is hinged on connecting rod 1 205.

[0068] The claw assembly drives the connecting rod 1 205, the connecting rod 206, the triangular plate 207 and the connecting rod 3 208 through the driving cylinder 200, thereby driving the claw plate 1 201, the claw plate 202 and the claw plate 3 203 to perform the actions of grasping and releasing under the action of the thrust.

[0069] like Figure 5As shown, the claw assembly is also configured with a second connecting rod assembly to stabilize the grasping process of the claw assembly to prevent the grasping state of the claw from becoming unstable. The second connecting rod assembly includes: connecting rod 4 209, connecting rod 5 210, connecting rod 6 211, connecting rod 7 212 and connecting rod 8 213. The ends of connecting rod 4 209, connecting rod 5 210 and connecting rod 6 211 are hinged in sequence, the end of connecting rod 4 209 away from connecting rod 5 210 is hinged at the hinge between the claw plate 1 201 and the base 204, the end of connecting rod 6 211 away from connecting rod 5 210 is hinged at the hinge between the claw plate 1 201 and the claw plate 2 202, a section of connecting rod 7 212 is hinged at the middle of connecting rod 6 211, the other end of connecting rod 7 212 is hinged to one end of connecting rod 8 213, and the other end of connecting rod 8 213 is hinged at the hinge between the claw plate 2 202 and the claw plate 3 203. The connecting rod 5 210 is parallel to the claw plate 1 201, the connecting rod 4 209 is parallel to the connecting rod 6 211, the connecting rod 6 211 is parallel to the connecting rod 8 213, and the connecting rod 7 212 is parallel to the claw plate 2 202. Among them, the connecting rod 4 209 is elastically connected to the carrier through the spring 1 214, and the connecting rod 8 213 is elastically connected to the claw plate 3 203 through the spring 2 215. The shape of the second connecting rod assembly as a whole is adjusted by the spring 1 214 and the spring 2 215, thereby stabilizing the stability of the gripping state of the claw assembly.

[0070] According to the shape and size of the target 6, the size of each connecting rod and triangular plate in the first connecting rod assembly and the size of each claw plate in the claw assembly can be adjusted to adjust the claw angle. In order to detect the claw angle, a first angle sensor is connected to the hinge of the claw plate 1 201 and the base 204, a second angle sensor is connected to the hinge of the claw plate 1 201 and the claw plate 2 202, and a third angle sensor is connected to the hinge of the claw plate 2 202 and the claw plate 3 203.

[0071] like Figure 6 As shown, the detailed design parameters of the connecting rod and the claw plate are as follows:

[0072] Under the condition that the above parameters are known, mechanical analysis shows that the vertical forces f1, f2, and f3 of the claw plate 1 201, the claw plate 202, and the claw plate 3 203 are respectively:

[0073]

[0074] Where:

[0075] U=k1k2h3+k2k3l2-h2k3l2cosθ2+h2h3l2cosθ2cosθ3-h2h3k2cos(θ2+θ3) (4)

[0076] T a is the torque of the hydraulic cylinder, h i For L i-1 Extension cord with bi-1 The length of the line segment before the intersection can be calculated based on f1, f2, and f3. 竖直 、F 水平 , as an important basis for grasping status:

[0077] F 竖直 =f1×sinσ1+f2×sinσ2+f3×sinσ3

[0078] F 水平 =f1×cosσ1+f2×cosσ2+f3×cosσ3.

[0079] The claw device of the present invention adopts an under-actuated mode, which is similar to the movement of human fingers and is driven by a driving cylinder to complete the joint movement used by the claw device, so that various targets with different shapes and sizes can be salvaged.

[0080] Underwater, the posture of each claw can be adjusted to configure a claw device arrangement group suitable for grabbing the salvage target, which solves the problem that a grab mechanism group arrangement may not be able to grab or fit the target object sufficiently. According to the shape and posture of the underwater target, the grabbing angle of each claw device and the combined grabbing arrangement of multiple claw devices are adjusted in time, so that the underwater target can be reliably salvaged.

[0081] The claw device of the present invention adopts spring limiting and passive fitting to implement elastic protection for the mechanism, thereby increasing the operating life and reducing the precision required for the operation. Salvage can be carried out without too many or overly precise sensors, thus reducing the complexity of the operation.

[0082] like Fig. 9 As shown, the adsorption mechanism 3 , the ejector 4 and the jet pump 5 of the deep-water target salvaging device are all installed on the carrier 1 .

[0083] The ejector 4 has a first input end, a second input port and an output port. The output end of the jet pump 5 is connected to the first input port of the ejector 4. The second input port of the ejector 4 is connected to the internal space of the adsorption mechanism 3 through a pipeline. The jet pump 5 generates a high-pressure water flow at the output end of the ejector 4, and generates a negative pressure in the adsorption mechanism 3 to realize the adsorption function. Specifically, the structure of the ejector 4 is as follows: Fig.10 As shown, it includes: a nozzle 401, a suction pipe 402, a mixing pipe 403 and a diffusion pipe 404 connected in sequence on an axis. One end of the nozzle 401 is a first input port, and the other end is located in the suction pipe 402 near the mixing pipe 403. The side wall of the suction pipe 402 has a radially extending pipeline, the end of the radially extending pipeline is a second input port, and the end of the diffusion pipe 404 is an output end.

[0084] The diameter of the mixing tube 403 is smaller than that of the nozzle 401 and the suction tube 402, and is a long and thin tube. The diameter of the diffusion tube 404 gradually increases from the end connected to the mixing tube 403 to the output port. The high-pressure fluid generated by the jet pump 5 enters the mixing tube 403 through the nozzle 401, and in this process, the medium in the suction tube 402 is carried into the mixing tube 403 and then ejected from the diffusion tube 404, thereby generating negative pressure in the adsorption mechanism 3 connected to the suction tube 402 to complete the adsorption.

[0085] like Fig.11 As shown, the adsorption mechanism 3 includes: a suction cup 301 , a spring 302 , a suction cup mounting plate 303 , a torsion spring 304 , a limit block 305 and a mounting base 306 .

[0086] The suction cup 301 is movably connected to the suction cup mounting plate 303, and a spring 302 is elastically connected between the two, so that the suction cup 301 has an up and down stroke adjustment function under the action of the spring 302, so that the suction cup 301 has a buffer function when contacting the target 6. The suction cup mounting plate 303 is hinged to the mounting base 306, and the limit block 305 is connected to the mounting base 306 to limit the rotation angle of the suction cup mounting plate 303 in two rotation directions. The torsion spring 304 is elastically connected between the suction cup mounting plate 303 and the mounting base 306 to apply a pre-compression force to the suction cup mounting plate 303.

[0087] When the adsorption mechanism 3 moves downward and contacts the target 6, the suction cup 301 rotates upward under the support of the surface of the target 6 until it contacts the target 6. Fig.11 At this time, if the carrier 1 is lifted, the suction cup 301 will rotate downward under the influence of the gravity of the target 6 until it contacts the target 6. Figure 3 When the limit block 305 in the lower middle part is lifted up, the suction cup 301 has completed the adsorption action. If it rotates again at this time, it may cause the adsorption to fail and separate from the target 6. In order to avoid this situation, the present invention further provides a ratchet mechanism 307 on the adsorption mechanism 3.

[0088] like Fig.12As shown, the ratchet mechanism 307 includes: a ratchet 308, a pawl 309 and a lever 310. The ratchet 308 is connected to the rotating shaft of the suction cup mounting plate 303 and rotates synchronously with the suction cup mounting plate 303. The pawl 309 is rotatably connected to the mounting base 306, and the lever 310 is connected to the pawl 309. In a natural state, the end of the pawl 309 abuts against the ratchet teeth of the ratchet 308, and the lever 310 is used to drive the end of the pawl 309 away from / close to the ratchet 308. Among them, an elastic element is connected between the pawl 309 and the mounting base 306, and the end of the pawl 309 abuts against the ratchet teeth of the ratchet 308 through the elastic force of the elastic element. Through the unidirectional rotation function of the ratchet mechanism 307, the suction cup 301 is mechanically locked during the lifting process after the suction is completed, and will no longer rotate due to the influence of the gravity of the target 6, thereby eliminating the problem of instability of the suction cup 301. When the one-way rotation function needs to be released, the lever 310 is driven to move the pawl 309 away from the ratchet 308, and then the suction cup 301 is reset under the action of the torsion spring 304, and the lever 310 is reset to contact the ratchet 308 under the elastic force of the elastic element.

[0089] In the present invention, the adsorption mechanism 3 can be configured with different numbers and combinations of adsorption devices according to different salvage targets to achieve the best target salvage efficiency. Common configuration methods include matrix composition methods such as Fig.13 Several left-right symmetrical arrangements are shown, including a matrix layout and a center + surrounding dispersed layout.

[0090] like Figure 7 and Figure 8 As shown, the deep underwater target salvaging device may further include a rotating telescopic mechanism, and the claw device 2 is connected to the rotating telescopic mechanism, which is used to drive the claw device 2 to rotate and move. The rotating telescopic mechanism includes: an X-axis moving slide rail 701, a Y-axis moving slide rail 702, and a rotating table 703, which are respectively used to drive the claw device 2 to move in the X-axis, move in the Y-axis, and rotate.

[0091] The present invention solves the problem of rapid and effective vacuum adsorption of the suction cup underwater by adopting the structure of the ejector, so that the adsorption mechanism can generate vacuum inside the suction cup under the working principle of jet suction, so that it has better underwater target adsorption function and working efficiency.

[0092] The present invention adopts the structure of the adsorption mechanism to solve the problem that the suction cup can adaptively adjust the posture according to the different forms of the adsorption target 5 underwater, thereby achieving the function of the suction cup having good adaptive adsorption target.

[0093] The present invention adopts the structure of the ratchet mechanism, which solves the problem that the suction cup moves downward under gravity and becomes unstable during the process of adsorbing the target and lifting it up, thereby achieving the function of the suction cup being able to stably and reliably adsorb the target.

[0094] like Fig.14 As shown, the present invention also provides a method for salvaging a deep underwater target, using the deep underwater target salvaging device to perform the following steps:

[0095] S1. Determine the size and shape of the target through detection systems such as sonar. The detection system can be installed on the carrier 1 or on a command ship located on the water surface.

[0096] S2. Open the claw device to adapt to the size and shape of the target according to the size and shape of the detected target.

[0097] S3, making the grasping device in an open state, and approaching the target with the carrier.

[0098] S4, such as Fig.15 As shown, the carrier adjusts the grasping device to a suitable position and drives the grasping device to close.

[0099] S5. When the pressure sensor on the first gripping plate senses a sudden change in pressure and the angle stops changing, it is determined that the first gripping plate has contacted the target. The propulsion speed of the drive cylinder is lowered until the pressure sensor on the second gripping plate senses a sudden change in pressure and the angle stops changing, it is determined that the second gripping plate has contacted the target. The propulsion speed of the drive cylinder is lowered until the angle of the third gripping plate stops changing, it is determined that the third gripping plate has contacted the target.

[0100] S6, such as Fig.16 As shown, the adsorption mechanism is driven downward, at which time part of the suction cups located in the center of the adsorption mechanism will adhere to the target, and the jet pump is started. Under the action of suction, the remaining unattached suction cups will adhere to the target and generate negative pressure in the suction cups for adsorption.

[0101] S7. The carrier is lifted by an umbilical cable or a sling to recover the target.

[0102] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0103] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A deep underwater target salvaging device, characterized in that: include: A carrier (1), a claw device (2), an adsorption mechanism (3), an ejector (4), and a jet pump (5); The claw device (2) and the adsorption mechanism (3) are connected to the carrier (1); The claw device (2) adopts an underactuated structure, and is used to clamp the target and provide support force from below and / or below the side of the target; The adsorption mechanism (3) adopts an underactuated structure, and is used to adsorb the target, providing adsorption force from above and / or above the side of the target; The ejector (4) has a first input end, a second input port and an output port, the output end of the jet pump (5) is connected to the first input port of the ejector (4), the second input port of the ejector (4) is connected to the internal space of the adsorption mechanism (3) through a pipeline, and the jet pump (5) generates a high-pressure water flow at the output end of the ejector (4), thereby generating a negative pressure in the adsorption mechanism (3) to realize the adsorption function; Wherein, during the process of clamping the target, the clamping device (2) determines whether the clamping is completed according to whether the pressure between the clamping device (2) and the target reaches a preset value; The vacuum adsorption mechanism (3) performs vacuum adsorption on the target surface after the claw device (2) completes the clamping.

2. The deep-water target salvaging device according to claim 1, characterized in that: The claw device (2) comprises: two or more claws, each of which comprises: a claw assembly and a drive assembly; The claw assembly includes a plurality of claw plates hinged in sequence, the driving assembly is connected to the claw assembly, and the driving assembly includes a first connecting rod assembly for driving the claw assembly and a second connecting rod assembly for limiting the claw assembly.

3. The deep-water target salvaging device according to claim 2, characterized in that: The claw assembly comprises a claw plate 1 (201), a claw plate 2 (202) and a claw plate 3 (203) whose ends are hinged in sequence; The first claw plate (201) is hinged to the base (204), and the underwater salvage claw device is connected to the carrier via the base (204).

4. The deep underwater target salvaging device according to claim 3 is characterized in that: The first connecting rod assembly includes: a connecting rod 1 (205), a connecting rod 2 (206), a triangular plate (207), and a connecting rod 3 (208) whose ends are hinged in sequence; One end of the connecting rod 1 (205) away from the connecting rod 2 (206) is hinged at the hinge between the claw plate 1 (201) and the base (204), the connecting rod 2 (206) is hinged at the first corner of the triangular plate (207), one end of the connecting rod 3 (208) is hinged at the second corner of the triangular plate (207), the other end of the connecting rod 3 (208) is hinged on the claw plate 3 (203), and the third corner of the triangular plate (207) is hinged at the hinge between the claw plate 1 (201) and the claw plate 2 (202); Wherein, the first connecting rod assembly further comprises a driving cylinder (200), the driving cylinder (200) is connected to the carrier, and the output end of the driving cylinder (200) is hinged on the connecting rod 1 (205).

5. The deep underwater target salvaging device according to claim 3 is characterized in that: The second connecting rod assembly includes: connecting rod four (209), connecting rod five (210), connecting rod six (211), connecting rod seven (212) and connecting rod eight (213); The ends of the connecting rod four (209), the connecting rod five (210), and the connecting rod six (211) are hinged in sequence. The end of the connecting rod four (209) away from the connecting rod five (210) is hinged at the hinge between the claw plate one (201) and the base (204). The end of the connecting rod six (211) away from the connecting rod five (210) is hinged at the hinge between the claw plate one (201) and the claw plate two (202). A section of the connecting rod seven (212) is hinged at the middle of the connecting rod six (211). The other end of the connecting rod seven (212) is hinged to one end of the connecting rod eight (213). The other end of the connecting rod eight (213) is hinged at the hinge between the claw plate two (202) and the claw plate three (203). Wherein, the connecting rod four (209) is elastically connected to the carrier via a spring one (214), and the connecting rod eight (213) is elastically connected to the claw plate three (203) via a spring two (215).

6. The deep-water target salvaging device according to claim 1, characterized in that: The ejector (4) comprises: a nozzle (401), a suction pipe (402), a mixing pipe (403) and a diffusion pipe (404) which are connected in sequence; One end of the nozzle (401) is the first input port, and the other end is located in the suction pipe (402) close to the mixing pipe (403). The side wall of the suction pipe (402) has a radially extending pipeline, the end of the radially extending pipeline is the second input port, and the end of the diffusion pipe (404) is the output end.

7. The deep-water target salvaging device according to claim 6, characterized in that: The diameter of the mixing tube (403) is smaller than the diameters of the nozzle (401) and the suction tube (402), and the diameter of the diffusion tube (404) gradually increases from the end connected to the mixing tube (403) toward the output port.

8. The deep-water target salvaging device according to claim 1, characterized in that: The adsorption mechanism (3) comprises: a suction cup (301), a spring (302), a suction cup mounting plate (303), a torsion spring (304), a limit block (305) and a mounting base (306); The suction cup (301) is movably connected to the suction cup mounting plate (303); the suction cup (301) and the suction cup mounting plate (303) are elastically connected via the spring (302); the suction cup mounting plate (303) is hinged to the mounting base (306); the limit block (305) is connected to the mounting base (306) to limit the rotation angle of the suction cup mounting plate (303) in two rotation directions; the torsion spring (304) is elastically connected between the suction cup mounting plate (303) and the mounting base (306) to apply a pre-compression force to the suction cup mounting plate (303).

9. The deep-water target salvaging device according to claim 8, characterized in that: The adsorption mechanism (3) further comprises a ratchet mechanism (307); The ratchet mechanism (307) comprises: a ratchet (308), a pawl (309) and a lever (310); The ratchet wheel (308) is connected to the rotating shaft of the suction cup mounting plate (303) and rotates synchronously with the suction cup mounting plate (303); the pawl (309) is rotatably connected to the mounting base (306); and the lever (310) is connected to the pawl (309); In a natural state, the end of the pawl (309) abuts against the ratchet teeth of the ratchet wheel (308), and the shifting rod (310) is used to receive force to drive the end of the pawl (309) to move away from or closer to the ratchet wheel; An elastic element is connected between the pawl (309) and the mounting base (306), and the pawl (309) has a rear end that abuts against the ratchet teeth of the ratchet wheel (308) through the elastic force of the elastic element.

10. A method for salvaging a deep underwater target, characterized in that: The deep-water target salvaging device according to any one of claims 1 to 9 is used to perform the following steps: S1. Determine the size and shape of the target; S2, open the claw device to adapt to the size and shape of the target; S3, making the grasping device in an open state, and approaching the target with the carrier; S4, adjusting the holding and grasping device to a suitable position through the carrier, and driving the holding and grasping device to close; S5. When the pressure sensor on the first claw plate senses a sudden change in pressure and the angle stops changing, it is determined that the first claw plate has contacted the target; the propulsion speed of the drive cylinder is reduced until the pressure sensor on the second claw plate senses a sudden change in pressure and the angle stops changing, it is determined that the second claw plate has contacted the target; the propulsion speed of the drive cylinder is reduced until the angle of the third claw plate stops changing, it is determined that the third claw plate has contacted the target; S6, placing the adsorption mechanism on the target and starting the spray pump for adsorption; S7. The target is recovered by lifting the carrier via an umbilical cable or a sling.

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