Deep-sea target salvage device and salvage method

Abstract

This invention provides a deep-sea target retrieval device and method. The retrieval device includes: a carrier, a gripper device and an adsorption mechanism, an ejector and a jet pump. The gripper device employs an underactuated structure to hold the target and provide support from below and / or below the side of the target. The adsorption mechanism also employs an underactuated structure to adsorb the target and provide adsorption force from above and / or above the side of the target. A high-pressure water flow is generated at the output end of the jet pump, thereby creating negative pressure within the adsorption mechanism to achieve the adsorption function. During the gripping process, the gripper device determines whether the gripping is complete based on whether the pressure between the gripper device and the target reaches a preset value. The vacuum adsorption mechanism performs vacuum adsorption on the target surface after the gripper device completes the gripping. By combining the carrier, gripper device, and adsorption mechanism, and driven by the carrier, deep-sea targets can be effectively and quickly retrieved, significantly increasing the retrieval weight.

Description

Technical Field

[0001] This invention relates to the field of marine equipment, specifically to a deep-sea target salvage device and salvage method. Background Technology

[0002] In underwater salvage operations, for heavy objects sunken on the seabed, such as aircraft and ships, the required lifting force is significant and the objects vary in shape. For this scenario, existing salvage methods often involve manual drilling of the object's surface, insertion of a cable with an expanded end for fixation, and then retrieval of the cable to lift and recover the target. Patent document CN115432144A also discloses a method for threading salvage wires based on sludge suction. This method involves creating a channel at the bottom of the sunken ship through sludge suction, and threading the salvage wires through this channel avoids the influence of seabed geology on the drilling and wire threading operations.

[0003] The aforementioned methods are time-consuming, vary greatly in implementation depending on the target, and are difficult to implement for targets deeper than 200m due to the need for human intervention. Furthermore, existing unmanned underwater salvage solutions face numerous challenges in lifting heavy objects; the difficulty in balancing lifting force and robustness is the main reason why existing robotic claw salvage solutions cannot achieve underwater heavy object salvage. Currently, there is no ideal, non-destructive, deep-sea heavy object salvage solution. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a deep-sea target salvage device and salvage method.

[0005] A deep-sea target salvage device according to the present invention includes: a carrier 1, a gripper device 2 and an adsorption mechanism 3, a jet ejector 4 and a jet pump 5;

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

[0007] The gripper device 2 adopts an underactuated structure for gripping the target and providing support from below and / or the lower side of the target.

[0008] The adsorption mechanism 3 adopts an underactuated structure for adsorbing the target, providing adsorption force from above and / or from the side above the target;

[0009] The jet 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 jet ejector 4. The second input port of the jet 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 jet ejector 4, thereby generating a negative pressure in the adsorption mechanism 3 to achieve the adsorption function.

[0010] During the process of clamping the target, the gripper device 2 determines whether the clamping is completed based on whether the pressure between the gripper device 2 and the target reaches a preset value.

[0011] The vacuum adsorption mechanism 3 performs vacuum adsorption on the target surface after the gripper device 2 has completed clamping.

[0012] Furthermore, the gripper device 2 includes two or more gripper portions, each gripper portion including a gripper assembly and a drive assembly;

[0013] The claw assembly includes a plurality of gripping plates that are hinged sequentially. The drive assembly is connected to the claw assembly and includes a first link assembly for driving the claw assembly and a second link assembly for limiting the claw assembly.

[0014] Furthermore, the claw assembly includes: a first claw plate 201, a second claw plate 202, and a third claw plate 203, which are hinged at their ends in sequence.

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

[0016] Furthermore, the first linkage assembly includes the following components that are hinged at their ends in sequence: linkage 1 205, linkage 206, triangular plate 207, and linkage 3 208;

[0017] The end of the first connecting rod 205 away from the second connecting rod 206 is hinged to the hinge between the first gripper plate 201 and the base 204. The second connecting rod 206 is hinged to the first corner of the triangular plate 207. One end of the third connecting rod 208 is hinged to the second corner of the triangular plate 207. The other end of the third connecting rod 208 is hinged to the third gripper plate 203. The third triangular part of the triangular plate 207 is hinged to the hinge between the first gripper plate 201 and the second gripper plate 202.

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

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

[0020] 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 to the hinge between the first gripper plate 201 and the base 204. The end of connecting rod 6 211 away from connecting rod 5 210 is hinged to the hinge between the first gripper plate 201 and the second gripper plate 202. One section of connecting rod 7 212 is hinged to 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. The other end of connecting rod 8 213 is hinged to the hinge between the second gripper plate 202 and the third gripper plate 203.

[0021] Among them, the fourth connecting rod 209 is elastically connected to the carrier through the first spring 214, and the eighth connecting rod 213 is elastically connected to the third gripper plate 203 through the second spring 215.

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

[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 radially extending pipe, the end of which is the second input port, and the end of the diffuser pipe 404 is the output port.

[0024] Furthermore, the diameter of the mixing tube 403 is smaller than the diameter of the nozzle 401 and the suction tube 402, and the diameter of the diffuser 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 limiting 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 by the spring 302. The suction cup mounting plate 303 is hinged to the mounting base 306. The limiting block 305 is connected to the mounting base 306 to limit the rotation angle of the suction cup mounting plate 303 in two rotational 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 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.

[0030] In its natural state, the end of the pawl 309 abuts against the ratchet tooth of the ratchet 308, and the lever 310 is used to drive the end of the pawl 309 away from / towards under force.

[0031] 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 tooth of the ratchet 308 by the elastic force of the elastic element.

[0032] According to the present invention, a method for salvaging deep-sea targets is provided, using the aforementioned deep-sea target salvage device, and performing the following steps:

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

[0034] S2. Open the gripper mechanism to adapt to the size and shape of the target;

[0035] S3, This causes the gripping device to open and move closer to the target along with the carrier;

[0036] S4. Adjust the gripping device to a suitable position using the carrier, and drive the gripping device to close.

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

[0038] S6. Attach the adsorption mechanism to the target and start the jet pump to perform adsorption;

[0039] S7. The target is recovered by lifting the carrier using an umbilical cable or sling.

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

[0041] This invention combines a carrier, a gripper device, and an adsorption mechanism. Driven by the carrier, it can effectively and quickly retrieve targets at great depths, significantly increasing the weight that can be retrieved. The gripper device's structural design can adapt to targets of different shapes and sizes, providing lifting force from below and below the target. Pressure sensors detect the gripping pressure to prevent damage to the target. The adsorption mechanism uses an underwater jet suction principle to achieve rapid and effective adsorption, further improving the adsorption force and preventing target slippage. It is suitable for retrieving heavy targets at great depths. Attached Figure Description

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

[0043] Figure 1 A schematic diagram of a deep-sea target salvage device;

[0044] Figure 2 This is a schematic diagram of the overall structure of the gripper device;

[0045] Figure 3 A side view of a single claw.

[0046] Figure 4 A three-dimensional view of a single claw.

[0047] Figure 5 A three-dimensional view of a single claw from another angle;

[0048] Figure 6 A schematic diagram showing the design parameters for the gripper device;

[0049] Figure 7 , Figure 8 and Figure 17 This diagram illustrates three different gripping methods.

[0050] Figure 9 This is a schematic diagram of the adaptive underwater adsorption device.

[0051] Figure 10 This is a schematic diagram of the jet ejector structure;

[0052] Figure 11 This is a schematic diagram of the adsorption mechanism;

[0053] Figure 12 This is a schematic diagram of the ratchet mechanism in the adsorption mechanism;

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

[0055] Figure 14 This is a flowchart of the grabber process for a deep-sea target salvage method.

[0056] Figure 15 This is a schematic diagram of the gripping process in a deep-sea target salvage method.

[0057] Figure 16 This is a schematic diagram of the adsorption process in a deep-sea target salvage method.

[0058] In the picture:

[0059] 1-Carrier; 2-Claw device; 201-Claw plate one; 202-Claw plate two; 203-Claw plate three; 204-Base; 205-Link one; 206-Link two; 207-Triangular plate; 208-Link three; 209-Link four; 210-Link five; 211-Link six; 212-Link seven; 213-Link eight; 3-Adsorption mechanism; 301-Suction cup; 302-Spring; 3 03-Suction cup mounting plate; 304-Torsion spring; 305-Limit 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 Implementation

[0060] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

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

[0062] The gripper 2 employs an underactuated structure to hold the target and provides support from below and / or below the side of the target; the adsorption mechanism 3 employs an underactuated structure to adsorb the target and provides adsorption force from above and / or above the side of the target.

[0063] like Figure 2As shown, the gripper device 2 includes two or more claws, each claw resembling a finger. Two or more claws are required to cooperate in gripping the target 6. The gripping method can be as follows: Figure 7 The left-right symmetry shown can also be Figure 8 The left-right staggered pattern shown can also be Figure 17 The gripper mechanism is arranged longitudinally around the target. The X-axis and Y-axis sliding rails 701 and 702 are moved by underwater servo motors or motor-driven lead screws. By using the X-axis and Y-axis sliding rails 701 and 702, the gripper mechanism 1 can move arbitrarily to any target point within a certain range on a plane. The X-axis and Y-axis sliding rails 701 and 702 are mounted on a rotating platform 703, which rotates via a motor or motor-driven gears. Using the rotating platform 703, the gripper mechanism 1 can be angled within a certain range on a plane, thus adjusting its position and angle. By using multiple gripping mechanisms with moving platforms, different gripper angles and positions can be configured to achieve optimal gripping of underwater cylindrical or spherical targets, greatly improving the retrieval efficiency of the gripper mechanism. Users can adjust the posture of each gripper mechanism according to operational needs. For cylindrical targets, the gripper mechanisms can be combined into symmetrical or intersecting configurations to grip the target. For spherical targets, the rotating gripping mechanism can be adjusted in angle and XY axis displacement to arrange the claws in a triangular configuration for grasping the spherical target. This flexible configuration improves underwater salvage efficiency. The following description uses two claws as an example, but the invention is not limited to this.

[0064] Each claw includes a claw assembly and a drive assembly, the drive assembly being used to drive the claw assembly to bend and straighten. The claw assembly includes multiple sequentially hinged gripping plates; in this embodiment, three gripping plates are used as an example. The drive assembly is connected to the claw assembly and includes a first link assembly for driving the claw assembly and a second link assembly for limiting the claw assembly.

[0065] like Figure 3 As shown, the claw assembly includes three gripping plates, 201, 202, and 203, which are hinged at their ends in sequence, each possessing a degree of freedom of rotation about an axis. The other end of gripping plate 201 is hinged to a base 204, and the gripping device can be connected to the carrier 1 via the base 204 and bolts. The claw assembly can be configured with different numbers and combinations of gripping plates according to the size and shape of the target 6 to effectively grip it. Furthermore, pressure sensors can be installed on the surfaces of gripping plates 201, 202, and 203 that contact the target 6 to detect the pressure applied during gripping and prevent damage to the target.

[0066] like Figure 4 As shown, to improve the gripping efficiency and anti-slip effect of the claw assembly, anti-slip panels or suction cups are connected to the surfaces of claw plate 1 (201), claw plate 2 (202), and claw plate 3 (203) that contact the target. The structure shown in the figure is a suction cup. Based on this, 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. The jet pump 5 generates a high-pressure water flow at the output end of the ejector 4, thereby creating a negative pressure inside the suction cup to achieve the adsorption function.

[0067] The first linkage assembly includes the following components, hinged sequentially at their ends: linkage 1 205, linkage 206, triangular plate 207, and linkage 3 208. The end of linkage 1 205 furthest from linkage 2 206 is hinged to the hinge between gripper plate 1 201 and base 204. Linkage 2 206 is hinged to the first corner of triangular plate 207. One end of linkage 3 208 is hinged to the second corner of triangular plate 207, and the other end is hinged to gripper plate 3 203. The third triangular portion of triangular plate 207 is hinged to the hinge between gripper plate 1 201 and gripper plate 202. The first linkage assembly also includes a drive cylinder 200, which may be a hydraulic cylinder. The drive cylinder 200 is connected to the carrier 1, and its output end is hinged to linkage 1 205.

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

[0069] like Figure 5As shown, the claw assembly is further configured with a second linkage assembly to stabilize the gripping process and prevent instability in the gripping state. The second linkage assembly includes: linkage four 209, linkage five 210, linkage six 211, linkage seven 212, and linkage eight 213. The ends of linkage four 209, linkage five 210, and linkage six 211 are hinged sequentially. The end of linkage four 209 furthest from linkage five 210 is hinged at the hinge between gripper plate one 201 and base 204. The end of linkage six 211 furthest from linkage five 210 is hinged at the hinge between gripper plate one 201 and gripper plate two 202. One section of linkage seven 212 is hinged to the middle of linkage six 211. The other end of linkage seven 212 is hinged to one end of linkage eight 213. The other end of linkage eight 213 is hinged at the hinge between gripper plate two 202 and gripper plate three 203. Link 5 210 is parallel to gripper plate 1 201, link 4 209 is parallel to link 6 211, link 6 211 is parallel to link 8 213, and link 7 212 is parallel to gripper plate 2 202. Link 4 209 is elastically connected to the carrier via spring 1 214, and link 8 213 is elastically connected to gripper plate 3 203 via spring 2 215. The overall shape of the second link assembly is adjusted by springs 1 214 and 2 215, thereby stabilizing the gripping stability of the gripper assembly.

[0070] Based on the shape and size of target 6, the size of each link and triangular plate in the first linkage assembly and the size of each gripper plate in the gripper assembly can be adjusted, thereby adjusting the gripper angle. To detect the gripper angle, a first angle sensor is connected to the hinge between gripper plate 1 201 and base 204, a second angle sensor is connected to the hinge between gripper plate 1 201 and gripper plate 202, and a third angle sensor is connected to the hinge between gripper plate 202 and gripper plate 3 203.

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

[0072] Given the above parameters, mechanical analysis reveals that the vertical forces f1, f2, and f3 on gripper plate 1 (201), gripper plate 2 (202), and gripper plate 3 (203) are as follows:

[0073]

[0074] In the formula:

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

[0076] T a h is the torque of the hydraulic cylinder. i For L i-1 extension line and bi-1 The lengths of the line segments before they intersect can be used to calculate F based on f1, f2, and f3. 竖直 F 水平 As an important indicator of the grasping state:

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

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

[0079] The gripper device of the present invention adopts an underactuated method, similar to the movement of human fingers. It is driven by a drive cylinder to complete the joint movement of the gripper device, which can retrieve various targets of different shapes and sizes.

[0080] Underwater, by adjusting the posture of each gripper, a suitable gripper arrangement can be configured to grab the target. This solves the problem that a single gripping mechanism may not be able to grab or fit the target properly. By adjusting the gripping angle of each gripper and the combination of multiple gripper arrangements according to the shape and posture of the underwater target, the underwater target can be reliably retrieved.

[0081] The gripper device of the present invention adopts spring limiting and passive contact to provide elastic protection for the mechanism, improve the service life, and reduce the required accuracy of the operation. It can carry out retrieval without too many or too precise sensors, thus reducing the complexity of operation.

[0082] like Figure 9 As shown, the deep-sea target retrieval device includes an adsorption mechanism 3, an ejector 4, and a jet pump 5, all of which are mounted on the carrier 1.

[0083] The jet 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 jet ejector 4. The second input port of the jet 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 jet ejector 4, creating a negative pressure within the adsorption mechanism 3 to achieve the adsorption function. Specifically, the structure of the jet ejector 4 is as follows: Figure 10 As shown, the device includes, in sequence, a nozzle 401, an intake pipe 402, a mixing pipe 403, and a diffuser pipe 404 connected along an axis. One end of the nozzle 401 is a first inlet, and the other end is located in the intake pipe 402 near the mixing pipe 403. The side wall of the intake pipe 402 has a radially extending conduit, the end of which is a second inlet, and the end of the diffuser pipe 404 is an output end.

[0084] The mixing tube 403 has a smaller diameter than the nozzle 401 and the suction tube 402, and is a long, thin tube. The diameter of the diffuser tube 404 gradually increases from the end connected to the mixing tube 403 towards the outlet. The high-pressure fluid generated by the jet pump 5 enters the mixing tube 403 through the nozzle 401. During this process, it carries the medium from the suction tube 402 into the mixing tube 403 and is then ejected from the diffuser tube 404, thereby generating a negative pressure in the adsorption mechanism 3 connected to the suction tube 402, thus completing the adsorption.

[0085] like Figure 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 limiting 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 elastically connects the two, allowing the suction cup 301 to have an adjustable vertical travel function under the action of the spring 302, thus providing a buffering function when the suction cup 301 contacts the target 6. The suction cup mounting plate 303 is hinged to the mounting base 306, and a limiting block 305 is connected to the mounting base 306 to limit the rotation angle of the suction cup mounting plate 303 in two rotational directions. A torsion spring 304 is elastically connected between the suction cup mounting plate 303 and the mounting base 306, applying 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 will rotate upward under the support of the surface of the target 6 until it contacts the target 6. Figure 11 The upper limit block 305. 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. Figure 3 When the lower limit block 305 is lifted, the suction cup 301 has already completed the adsorption action. If rotation occurs at this time, the adsorption may fail and the object 6 may be separated. In order to avoid this situation, the present invention also provides a ratchet mechanism 307 on the adsorption mechanism 3.

[0088] like Figure 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 its 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 / towards the ratchet teeth. An elastic element connects the pawl 309 to the mounting base 306, and the elastic force of the elastic element causes the end of the pawl 309 to abut against the ratchet teeth of the ratchet 308. Through the unidirectional rotation function of the ratchet mechanism 307, the suction cup 301 is mechanically locked during the lifting process after suction is completed, preventing it from rotating due to the gravity of the target 6 and eliminating the problem of instability of the suction cup 301. When it is necessary to release the one-way rotation function, the pawl 309 is moved away from the ratchet 308 by driving the lever 310. Then the suction cup 301 will be reset under the action of the torsion spring 304, and the lever 310 will also be reset and contact the ratchet 308 under the elastic force of the elastic element.

[0089] In this invention, the adsorption mechanism 3 can be configured with different numbers and combinations of adsorption devices according to different retrieval targets to achieve optimal target retrieval efficiency. Commonly used configuration methods include matrix-style arrangements, such as... Figure 13 The diagram shows several symmetrical arrangements, including matrix layouts and a central-surrounded layout.

[0090] like Figure 7 and Figure 8 As shown, the deep-sea target retrieval device may also include a rotary telescopic mechanism, with the gripper 2 connected to the rotary telescopic mechanism for driving the gripper 2 to rotate and move. The rotary telescopic mechanism includes: an X-axis moving slide rail 701, a Y-axis moving slide rail 702, and a rotating platform 703, which are used to drive the gripper 2 to move along the X-axis, move along the Y-axis, and rotate, respectively.

[0091] This invention solves the problem of rapid and effective vacuum adsorption of suction cups underwater by adopting the structure of a jet pump. This allows the adsorption mechanism to create a vacuum inside the suction cup under the working principle of jet suction, thus enabling it to have better underwater target adsorption function and working efficiency.

[0092] This invention, by employing an adsorption mechanism, solves the problem of the suction cup adapting its position and posture underwater according to different adsorption target shapes, thus achieving the suction cup's excellent adaptive adsorption function.

[0093] This invention employs a ratchet mechanism, which solves the problem of the suction cup moving downwards and becoming unstable under gravity during the process of adsorbing and lifting the target. This invention achieves the function of the suction cup being able to stably and reliably adsorb the target.

[0094] like Figure 14 As shown, the present invention also provides a method for salvaging deep-sea targets, using the aforementioned deep-sea target salvage device, and performing the following steps:

[0095] S1. Determine the size and shape of the target using sonar or other detection systems. The detection system can be installed on carrier 1 or on the hull of a command vessel located on the water surface.

[0096] S2. Based on the size and shape of the detected target, open the gripper device to adapt to the size and shape of the target.

[0097] S3, which puts the gripping device in the open state and moves it closer to the target as the carrier approaches.

[0098] S4, such as Figure 15 As shown, the gripping device is adjusted to a suitable position by the carrier, and then driven to close.

[0099] S5. When the pressure sensor on the first gripper plate detects a sudden change in pressure and the angle stops changing, it is determined that the first gripper plate has contacted the target. The driving cylinder speed is reduced until the pressure sensor on the second gripper plate detects a sudden change in pressure and the angle stops changing, indicating that the second gripper plate has contacted the target. The driving cylinder speed is reduced until the angle of the third gripper plate stops changing, indicating that the third gripper plate has contacted the target.

[0100] S6, such as Figure 16 As shown, the adsorption mechanism is driven to press down. At this time, some of the suction cups located in the center of the adsorption mechanism will adhere to the target. The jet pump is started, and under the suction action, the remaining suction cups that are not adhered will adhere to the target and generate negative pressure in the suction cups for adsorption.

[0101] S7. The target is recovered by lifting the carrier using an umbilical cable or sling.

[0102] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0103] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A deep-sea target salvage device, characterized in that, include: Carrier (1), gripper device (2) and adsorption mechanism (3), jet injector (4) and jet pump (5); The gripper device (2) and the adsorption mechanism (3) are connected to the carrier (1); The gripper device (2) adopts an underactuated structure for gripping the target and providing support from below and / or the lower side of the target; The adsorption mechanism (3) adopts an underactuated structure for adsorbing the target and provides adsorption force from above and / or from the side above the target; The jet 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 jet ejector (4). The second input port of the jet 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 jet ejector (4), thereby generating a negative pressure in the adsorption mechanism (3) to achieve the adsorption function. In the process of clamping the target, the gripper device (2) determines whether the clamping is completed based on whether the pressure between the gripper device (2) and the target reaches a preset value. The adsorption mechanism (3) performs vacuum adsorption on the target surface after the gripper device (2) has completed clamping; The adsorption mechanism (3) includes: a suction cup (301), a spring (302), a suction cup mounting plate (303), a torsion spring (304), a limiting 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 by the spring (302). The suction cup mounting plate (303) is hinged to the mounting base (306). The limiting 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). The adsorption mechanism (3) also includes a ratchet mechanism (307); 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 its natural state, the end of the pawl (309) abuts against the ratchet tooth of the ratchet (308), and the lever (310) is used to drive the end of the pawl (309) away from / towards by force. 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 tooth of the ratchet wheel (308) by the elastic force of the elastic element.

2. The deep-sea target salvage device according to claim 1, characterized in that, The gripper device (2) includes: two or more gripper parts, each gripper part including: a gripper part assembly and a drive assembly; The claw assembly includes a plurality of gripping plates that are hinged sequentially. The drive assembly is connected to the claw assembly and includes a first link assembly for driving the claw assembly and a second link assembly for limiting the claw assembly.

3. The deep-sea target salvage device according to claim 2, characterized in that, The claw assembly includes three claw plates that are hinged at their ends in sequence: claw plate one (201), claw plate two (202), and claw plate three (203). The gripper plate (201) is hinged to the base (204), and the gripper device is connected to the carrier through the base (204).

4. The deep-sea target salvage device according to claim 3, characterized in that, The first linkage assembly includes the following components that are hinged at their ends in sequence: Link 1 (205), Link 2 (206), Triangle Plate (207), and Link 3 (208). The end of the first connecting rod (205) away from the second connecting rod (206) is hinged to the hinge between the first gripper plate (201) and the base (204). The second connecting rod (206) is hinged to the first corner of the triangular plate (207). One end of the third connecting rod (208) is hinged to the second corner of the triangular plate (207). The other end of the third connecting rod (208) is hinged to the third gripper plate (203). The third triangular part of the triangular plate (207) is hinged to the hinge between the first gripper plate (201) and the second gripper plate (202). The first connecting rod assembly further includes a drive cylinder (200), which is connected to the carrier, and the output end of the drive cylinder (200) is hinged to the first connecting rod (205).

5. The deep-sea target salvage device according to claim 3, characterized in that, The second link assembly includes: link four (209), link five (210), link six (211), link seven (212) and link eight (213). The ends of the fourth (209), the fifth (210), and the sixth (211) are hinged in sequence. The end of the fourth (209) away from the fifth (210) is hinged to the hinge between the first (201) of the gripper plate and the base (204). The end of the sixth (211) away from the fifth (210) is hinged to the hinge between the first (201) of the gripper plate and the second (202) of the gripper plate. One end of the seventh (212) is hinged to the middle of the sixth (211). The other end of the seventh (212) is hinged to one end of the eighth (213). The other end of the eighth (213) is hinged to the hinge between the second (202) of the gripper plate and the third (203) of the gripper plate. Among them, the fourth link (209) is elastically connected to the carrier through the first spring (214), and the eighth link (213) is elastically connected to the third gripper plate (203) through the second spring (215).

6. The deep-sea target salvage device according to claim 1, characterized in that, The jet ejector (4) includes, in sequence: a nozzle (401), a suction pipe (402), a mixing pipe (403), and a diffuser (404). One end of the nozzle (401) is the first input port, and the other end is located in the suction tube (402) near the mixing tube (403). The side wall of the suction tube (402) has a radially extending pipe, the end of which is the second input port, and the end of the diffuser tube (404) is the output port.

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

8. A method for salvaging deep-sea targets, characterized in that, Using the deep-sea target salvage device according to any one of claims 1-7, the following steps are performed: S1. Determine the size and shape of the target; S2. Open the gripper mechanism to adapt to the size and shape of the target; S3, This causes the gripping device to open and move closer to the target along with the carrier; S4. Adjust the gripping device to a suitable position using the carrier, and drive the gripping device to close. S5. When the pressure sensor on the first gripper plate detects a sudden change in pressure and the angle stops changing, it is determined that the first gripper plate has contacted the target; the driving cylinder speed is reduced until the pressure sensor on the second gripper plate detects a sudden change in pressure and the angle stops changing, it is determined that the second gripper plate has contacted the target; the driving cylinder speed is reduced until the angle of the third gripper plate stops changing, it is determined that the third gripper plate has contacted the target. S6. Attach the adsorption mechanism to the target and start the jet pump to perform adsorption; S7. The target is recovered by lifting the carrier using an umbilical cable or sling.

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