Modularized ROV (remote operated vehicle) switching and hoisting device for manned submersible launching and recovery system

Abstract

The modular ROV switching lifting device comprises a lifting frame, a retracting winch, a butt joint assembly, a supporting frame, a hydraulic system and an electric control system, the upper portion of the lifting frame is connected with an original lifting system of a mother ship, the lower portion of the lifting frame is connected with the retracting winch through a bolt, and two side plates of the lifting frame are connected with the butt joint assembly through two guide rods; the lug plates on the supporting frame side plates are used for being connected with an ROV guide connector body, fixed to a guide connector and connected with a deck to be fixed to the deck. An electric control assembly in the electric control system and a hydraulic assembly in the hydraulic system are both placed on a side plate of the winding and unwinding winch; the winding and unwinding winch is controlled by a console and a remote controller, and the winding and unwinding winch is connected with an ROV lifting point through a winch cable to complete the laying and winding operation of the ROV; through the modularized ROV switching lifting device, quick reloading can be completed in a short time, and quick switching from a manned submersible launching and recovery system to an ROV launching and recovery system is achieved.

Description

Technical Field

[0001] The invention relates to a manned submersible deployment and recovery system, in particular to a modular ROV transfer and lifting device for a manned submersible deployment and recovery system. Background Art

[0002] With the increasing development of the ocean, submersible mother ships need to be able to carry out the deployment and recovery of various submersibles, including manned / unmanned submersibles, submarine rescue boats, diving bells, unmanned ships, etc. Since the functions, interfaces and operation requirements of these instruments and equipment are different, dedicated deployment equipment is usually used for deployment and recovery operations. However, due to the limited deck space of the mother ship supporting the submersible, crew operation and maintenance support, etc., it is very difficult and impossible to equip multiple deployment and recovery systems. In order to meet the needs of the deployment and recovery operations of various submersibles, various domestic and foreign institutions or companies have conducted research one after another.

[0003] At present, a gantry lifting system is used in construction, as described in the published patents CN109334874, CN109229283, CN109229284, etc., which uses a special gantry or other lifting device, and then cooperates with the winch in the cabin or the winch on the deck to perform the lifting operation. This type of equipment occupies a large deck space and requires a complete set of hydraulic and electronic control equipment. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a ROV lifting extension module designed for the original deployment and recovery system on the hull. After installing the module, the original deployment and recovery system of the mother ship can be expanded from a single manned submersible deployment and recovery system to an ROV deployment and recovery system, thereby completing underwater operations supporting ROVs, which is of great significance for improving the efficiency of my country's deep-sea scientific research operations and or marine engineering construction capabilities.

[0005] To achieve the above purpose, the technical solution of the present invention is: a modular ROV transfer hoisting device for manned submersible deployment and recovery system, including a hanger, a retracting winch, a docking assembly, a support frame, a hydraulic system, and an electric control system. The upper part of the hanger is connected to the original hoisting system of the mother ship, and the lower part is connected to the retracting winch by bolts. The two side plates of the hanger are connected to the docking assembly through two guide rods; the ear plate on the side plate of the support frame is used to connect with the ROV guide joint body and the guide joint and to connect and fix it on the deck. The electric control components in the electric control system and the hydraulic components in the hydraulic system are both placed on the side plates of the retracting winch; the retracting winch is controlled by a console and a remote control, and the retracting winch is connected to the ROV lifting point through the winch cable to complete the deployment and recovery operation of the ROV; through the modular ROV transfer hoisting device, rapid replacement can be completed in a short time, and rapid conversion from the manned submersible deployment and recovery system to the ROV deployment and recovery system can be achieved.

[0006] Furthermore, the hanger is composed of a guide frame, a lifting pin shaft assembly, a hook pin shaft, a transverse guide rod, a mushroom head, and a quick-changing mechanism. The main lifting pin shaft is used to complete the docking with the original deployment and recovery system; the hook pin shaft is used to complete the rigid connection with the original deployment and recovery system; the mushroom head is used to complete the alignment of the ROV adapter device and the original deployment and recovery system; the quick replacement of the main lifting pin shaft is achieved through the quick replacement mechanism, thereby completing the quick replacement of the ROV lifting device and the original deployment and recovery system.

[0007] Furthermore, the hanger and the mushroom head are used in conjunction with the original lifting system; the lifting pin shaft assembly is used to connect with the main lifting cable of the original lifting system, and the lifting pin shaft assembly is provided with a quick replacement mechanism to control the rigid connection between the hook pin shaft and the original lifting system.

[0008] Furthermore, the quick-changing mechanism is composed of an end cap, a sliding sleeve, a guide tube, a connecting rod, a strut, and a connecting pin. The strut is rigidly connected to the hanger, and the connecting rod is hingedly connected to the strut. The connection state of the connecting pin can be quickly converted by controlling the movement of the connecting rod.

[0009] Furthermore, the retractable winch is used to lift the ROV, and is composed of a frame, a drum, a planetary reducer, a hydraulic motor, and a cable. The drum is used to wind the cable and ensure that the cable is arranged neatly and orderly. The hydraulic motor provides working power to realize the forward and reverse rotation of the drum. The planetary reducer is used to keep the winch stationary when it bears the supporting load and the rated load, and the frame supports the entire action mechanism.

[0010] Furthermore, the docking assembly is used for docking buffer when the ROV is retracted and deployed, and the anti-sway function of the ROV during the hoisting and lowering process is realized through the friction force generated by surface contact. The docking assembly is composed of a bracket, a buffer spring assembly, and a buffer ring. The transverse guide rod is equipped with a hydraulic cylinder. The position of the docking assembly is adjusted by the extension and retraction of the hydraulic cylinder to ensure that the cable output direction of the retracting and deploying winch is located in the center of the docking assembly, thereby achieving an anti-sway effect.

[0011] Furthermore, during the operation, after the docking assembly is docked with the ROV, the retracting winch continues to slowly lift the ROV until it is completely pressed against the buffer ring. At this time, the vertical axis compresses the buffer spring along the cable retracting direction of the retracting winch, and the overall height of the docking assembly is shortened.

[0012] Furthermore, the support frame is welded from hollow square steel and is used to support the ROV guide joint body for storage on the deck. The ear plates on the side plates of the support frame are used to connect and fix the ROV guide joint body and the deck.

[0013] Furthermore, the hydraulic component uses the hydraulic system of the original deployment and recovery system, opens joints on the original hydraulic pipelines to lead out the hoses and uses quick-change joints to connect them to the motor and cylinder; the electronic control component also uses the original ship's electrical system, adds a junction box and input and output modules, and arranges switching buttons on the console or remote control, and uses a remote control button box for remote control operation.

[0014] Furthermore, the movement of the modular ROV transfer hoisting device is completed by the hydraulic cylinder of the retracting and deploying winch and the docking assembly. The retracting and deploying winch is driven by a motor, and the motor is controlled by a hydraulic valve to realize the retracting and deploying and stepless speed regulation functions; the hydraulic cylinder is controlled by a hydraulic valve, and the hydraulic valve is energized to realize the extension and retraction of the hydraulic cylinder; at the same time, the hydraulic cylinder is equipped with a hydraulic valve to ensure that the hydraulic cylinder will not slip when in working condition.

[0015] The beneficial effects brought by the technical solution of the present invention are as follows:

[0016] 1) The modular ROV transfer and lifting device can be used to quickly change equipment in a short time, realizing the rapid conversion from the manned submersible deployment and recovery system to the ROV deployment and recovery system;

[0017] 2) The modular ROV transfer and lifting device is small in weight and volume, and can be placed on the deck as needed when not in use without occupying deck space;

[0018] 3) After docking with the original system, a buffer mechanism is set up for each degree of freedom of movement to complete the safe deployment and recovery of the ROV;

[0019] 4) Only 1 to 2 personnel are required to operate, and all replacement joints are designed as quick replacement mechanisms for easy operation, without the need for additional special tooling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a general schematic diagram of the ROV deployment and recovery adapter;

[0021] Figure 2 It is a schematic diagram of the structure of the ROV deployment and recovery adapter;

[0022] Figure 3 It is a schematic diagram of the quick-change mechanism. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] like Figures 1 to 3As shown, a modular ROV transfer hoisting device for manned submersible deployment and recovery system of the present invention is mainly composed of a hanger 1, a retracting winch 2, a docking assembly 3, a support frame 4, a hydraulic system 5, and an electronic control system 6. Its upper part is connected to the original hoisting system of the mother ship, and the lower part is bolted to the retracting winch. The retracting winch 2 is connected to the bottom of the hanger 1 by bolts, and the two side plates are connected to the docking assembly 3 by two guide rods. The retracting winch 2 is connected to the ROV lifting point through the winch cable to complete the deployment and recovery operation of the ROV. The electronic control components in the electronic control system 6 and the hydraulic components in the hydraulic system 5 are placed on the side panels of the retracting winch 2. The retracting winch 2 can be controlled by a console and a remote control. The ear plate on the side panel of the support frame 4 is used to connect to the ROV guide joint body and fix the guide joint and to connect to the deck and fix it on the deck.

[0025] The hanger 1 is mainly composed of a guide frame 1.1, a lifting pin shaft assembly 1.2, a hook pin shaft 1.3, a lateral guide rod 1.4, a mushroom head 1.5, and a quick-change mechanism 1.6. The retractable winch 2 is used to lift the ROV, and is mainly composed of a frame 2.1, a drum 2.2, a planetary reducer 2.3, a hydraulic motor 2.4, a cable 2.5, etc. The docking assembly 3 is mainly used for docking buffering when the ROV is retracted and released, and is mainly composed of a bracket 3.1, a buffer spring assembly 3.2, and a buffer ring 3.3. The support frame 4 is mainly used to fix the ROV guide joint on the deck when it is stored. The hydraulic assembly mainly borrows the hydraulic system on the original deployment and recovery system, opens a joint on the original hydraulic pipeline to lead out the hose, and uses a quick-change joint to connect with the motor and the cylinder. The electric control assembly also borrows the electrical system of the original ship, adds a junction box and an input and output module, and arranges a switch button on the console or remote control, and uses a remote control button box for remote control operation.

[0026] The action of the ROV hoisting device is mainly completed by the lifting winch and the traverse cylinder. The lifting winch is driven by a motor, and the motor is controlled by a hydraulic valve to achieve the functions of retraction and stepless speed regulation. The traverse cylinder is controlled by a hydraulic valve, which can realize the extension and retraction of the cylinder when the hydraulic valve is energized; at the same time, the extension cylinder is equipped with a hydraulic valve to ensure that the cylinder will not slip in the working state.

[0027] The main body of the hanger 1 is the main load-bearing component, which is connected to the original deployment and recovery system through the main suspension pin shaft 1.2 and rigidly connected to the original deployment and recovery system through the hook pin shaft 1.3. The mushroom head 1.5 can be used to align the ROV adapter with the original deployment and recovery system; the quick replacement mechanism 1.6 can realize the quick replacement of the main suspension pin shaft, thereby completing the quick replacement of the ROV lifting device with the original deployment and recovery system.

[0028] The quick-changing mechanism 1.6 is composed of an end cap 1.6.1, a sliding sleeve 1.6.2, a guide tube 1.6.3, a connecting rod 1.6.4, a strut 1.6.5, and a connecting pin 1.6.6. The strut 1.6.5 is rigidly connected to the hanger 1, and the connecting rod 1.6.4 is hingedly connected to the strut 1.6.5. The connection state of the connecting pin 1.6.6 can be quickly changed by controlling the movement of the connecting rod 1.6.4.

[0029] The docking assembly 3 is in contact with the ROV interface during operation, and the friction generated by the surface contact realizes the anti-sway function during the ROV hoisting process. A hydraulic cylinder is installed on the transverse guide rod 1.4, and the position of the docking assembly 3 can be adjusted by the extension and contraction of the hydraulic cylinder, thereby ensuring that the cable output direction of the retractable winch is located in the center of the docking assembly 3, so as to achieve a better anti-sway effect.

[0030] The support frame 4 is used for storing the device body on the deck to ensure its safe transportation as a disassembled component during the voyage.

[0031] The hanger 1 includes a guide frame 1.1, a lifting pin assembly 1.2, an auxiliary pin 1.3, a lateral guide rod 1.4, a mushroom head 1.5, and a quick-change mechanism 1.6. The hanger and the mushroom head 1.5 are used to dock with the original hoisting system; the lifting pin assembly 1.2 is used to connect with the main hoisting cable of the original hoisting system. In order to facilitate the lifting action of the lifting pin assembly, a quick-change mechanism 1.6 is provided to control the rigid connection between the hook pin 1.3 and the original hoisting system; the bottom of the hanger 1 is connected to the retractable winch 2 by bolts, and the two side plates are connected to the docking assembly 3 by two guide rods.

[0032] The retractable winch 2 is used to lift the ROV from the deck into the water and to recover the ROV from the water surface to the deck. It is mainly composed of a frame 2.1, a drum 2.2, a planetary reducer 2.3, a hydraulic motor 2.4, a cable 2.5, etc. The drum 2.2 is mainly used to wind the cable and ensure that the cable is arranged neatly and orderly. The hydraulic motor 2.4 provides working power to realize the forward and reverse rotation of the drum. The planetary reducer 2.3 ensures that the winch is stationary when it bears the support load and the rated load. The frame 2.1 supports the entire action mechanism. The electric control components and hydraulic components are placed on the side panels of the retractable winch. The retractable winch can be controlled by a console and a remote controller.

[0033] The docking assembly 3 is used to dock with the ROV to prevent the ROV from shaking during the hoisting and recovery process. The docking assembly 3 is mainly composed of a bracket 3.1, a buffer spring 3.2, and a buffer ring 3.3. During the operation, after the docking assembly 3 is docked with the ROV, the retracting winch 2 continues to slowly lift the ROV until it is completely pressed against the buffer ring 3.3. At this time, the vertical axis compresses the buffer spring 3.2 along the cable retracting direction of the retracting winch 2, and the overall height of the docking assembly 3 is shortened.

[0034] The support frame 4 is welded by hollow square steel and is used to support the ROV guide joint body for storage on the deck. The ear plates on the side plates of the support frame 4 are used to connect with the ROV guide joint body and fix with the guide joint and connect with the deck and fix on the deck.

[0035] Key technical points of the present invention:

[0036] (1) The docking mechanisms used in the modular ROV transfer and lifting device replacement are designed to be quickly replaced, requiring only a small number of personnel to complete the replacement work in a short period of time;

[0037] (2) Limit the size and weight of the lifting device to facilitate storage in a stowed state;

[0038] (3) The docking assembly realizes the centering and buffering functions of the ROV during the retraction and deployment process.

Claims

1. A modular ROV transfer and lifting device for manned submersible deployment and recovery system, characterized by: It includes a hanger, a retractable winch, a docking assembly, a support frame, a hydraulic system, and an electric control system. The upper part of the hanger is connected to the original hoisting system of the mother ship, and the lower part is connected to the retractable winch by bolts. The two side plates of the hanger are connected to the docking assembly through two guide rods; the ear plates on the side plates of the support frame are used to connect and fix the ROV guide joint body and the guide joint and to connect and fix to the deck. The electric control components in the electric control system and the hydraulic components in the hydraulic system are placed on the side plates of the retractable winch; the retractable winch is controlled by the console and the remote control. The retractable winch is connected to the ROV lifting point through the winch cable to complete the ROV deployment and recovery operation; the modular ROV transfer hoisting device can complete rapid replacement in a short time, realizing the rapid conversion from the manned submersible deployment and recovery system to the ROV deployment and recovery system.

2. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 1 is characterized in that: The hanger is composed of a guide frame, a lifting pin shaft assembly, a hook pin shaft, a transverse guide rod, a mushroom head, and a quick-changing mechanism. The main lifting pin shaft is used to complete the docking with the original deployment and recovery system; the hook pin shaft is used to complete the rigid connection with the original deployment and recovery system; the mushroom head is used to complete the alignment of the ROV adapter and the original deployment and recovery system; the quick-changing mechanism is used to achieve the quick replacement of the main lifting pin shaft, thereby completing the quick replacement of the ROV lifting device and the original deployment and recovery system.

3. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 2 is characterized in that: The hanger and mushroom head are used in conjunction with the original lifting system; the lifting pin shaft assembly is used to connect with the main lifting cable of the original lifting system, and the lifting pin shaft assembly is provided with a quick replacement mechanism to control the rigid connection between the hook pin shaft and the original lifting system.

4. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 2 is characterized in that: The quick-changing mechanism is composed of an end cap, a sliding sleeve, a guide tube, a connecting rod, a strut, and a connecting pin. The strut is rigidly connected to the hanger, and the connecting rod is hingedly connected to the strut. The connection state of the connecting pin can be quickly converted by controlling the movement of the connecting rod.

5. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 1, characterized in that: The retractable winch is used to lift the ROV. It consists of a frame, a drum, a planetary reducer, a hydraulic motor, and a cable. The drum is used to wind the cable and ensure that the cable is arranged neatly and orderly. The hydraulic motor provides working power to realize the forward and reverse rotation of the drum. The planetary reducer is used to keep the winch stationary when it bears the supporting load and rated load, and the frame supports the entire action mechanism.

6. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 1, characterized in that: The docking assembly is used for docking buffer when the ROV is retracted and deployed. The friction force generated by surface contact realizes the anti-sway function during the ROV lifting and lowering process. The docking assembly consists of a bracket, a buffer spring assembly, and a buffer ring. The hydraulic cylinder is installed on the transverse guide rod. The position of the docking assembly is adjusted by the extension and retraction of the hydraulic cylinder to ensure that the cable output direction of the retracting and deploying winch is located in the center of the docking assembly to achieve the anti-sway effect.

7. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 6 is characterized in that: During the operation, after the docking assembly is docked with the ROV, the retractable winch continues to slowly lift the ROV until it is completely pressed against the buffer ring. At this time, the vertical axis compresses the buffer spring along the cable retracting direction of the retractable winch, and the overall height of the docking assembly is shortened.

8. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 1 is characterized in that: The support frame is welded from hollow square steel and is used to support the ROV guide joint body for storage on the deck. The ear plates on the side plates of the support frame are used to connect with the ROV guide joint body and fix the guide joint and connect with the deck and fix it on the deck.

9. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 1, characterized in that: The hydraulic components use the hydraulic system of the original deployment and recovery system. Joints are opened on the original hydraulic pipelines to lead out the hoses and use quick-change joints to connect them to the motor and cylinder. The electronic control components also use the electrical system of the original ship, adding junction boxes and input and output modules, and arranging switching buttons on the console or remote control, and using a remote control button box for remote control operation.

10. The modular ROV transfer and lifting device for manned submersible deployment and recovery system according to claim 1, characterized in that: The action of the modular ROV transfer hoisting device is completed by the hydraulic cylinder of the retractable winch and the docking assembly. The retractable winch is driven by a motor, and the motor is controlled by a hydraulic valve to realize the retractable and stepless speed regulation functions; the hydraulic cylinder is controlled by a hydraulic valve, and the hydraulic valve is energized to realize the extension and retraction of the hydraulic cylinder; at the same time, the hydraulic cylinder is equipped with a hydraulic valve to ensure that the hydraulic cylinder will not slip in the working state.

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