Emergency recovery method of underwater operation equipment for pool test

Abstract

The invention discloses an emergency recovery method for underwater operation equipment for a pool test. The tail end of a guide cable on the underwater operation equipment floats on the water surface of a test pool; the method comprises the steps that firstly, the floating structure advances near the tail end of a guide cable, a lifting cable is arranged on the floating structure, and a lifting bearing head is arranged at the tail end of the lifting cable; 2, connecting a guide cable with the hoisting bearing head, wherein the hoisting cable is in a loose state; thirdly, the hoisting bearing head sinks under the driving effect of gravity and the guiding effect of the guiding cable and is connected with a hoisting connecting structure on the underwater operation equipment; 4, applying pulling force to the hoisting connecting structure through the hoisting cable, and hoisting the underwater operation equipment to the water surface position; and 5, after the floating structure advances to the recovery area of the test pool, the hoisting equipment is adopted to recover the underwater operation equipment to the pool bank, so that emergency recovery of the underwater operation equipment under the condition of not draining water is realized, the recovery efficiency is improved, and water resources are saved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater operation equipment test equipment, in particular to an emergency recovery method for underwater operation equipment for water tank testing. Background Art

[0002] Underwater operation equipment usually undergoes tank testing before the product is finalized. The structure of the tank usually includes a test preparation workshop and open water areas of the tank. The preparation workshop is connected to the open water areas of the tank and is equipped with an overhead crane.

[0003] During the test in the water pool, the underwater working equipment is placed on the bottom of the water pool by the overhead crane in the test preparation workshop. The underwater working equipment uses its own power to drive out of the test preparation workshop and enter the open water area of ​​the water pool for testing. Some emergencies during the test may cause the underwater working equipment to lose power, and it cannot return to the preparation workshop by its own power, so the underwater working equipment cannot be recovered.

[0004] In the prior art, when underwater working equipment weighing tens of tons loses power during a water tank test, the water in the pool is drained, and then a crane is driven into the vicinity of the underwater working equipment to recover it. Although the equipment can be recovered, a lot of debugging time is lost and huge resources are wasted. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides an emergency recovery method for underwater working equipment for water tank testing, thereby realizing emergency recovery of underwater working equipment without draining water, improving recovery efficiency and saving water resources.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An emergency recovery method for underwater working equipment for a water tank test, wherein the underwater working equipment is provided with a lifting connection structure and a guide cable, the head end of the guide cable is connected to the lifting connection structure, the underwater working equipment is located at the bottom of the test water tank, and the tail end of the guide cable floats on the water surface of the test water tank;

[0008] The method comprises:

[0009] Step 1: The floating structure travels on the water surface of the test pool near the tail end of the guide cable, the floating structure is provided with a lifting cable, and the end of the lifting cable is provided with a lifting bearing head;

[0010] Step 2: Connect the guide cable to the lifting bearing head, and the lifting cable is in a relaxed state;

[0011] Step 3: The lifting bearing head sinks to the lifting connection structure under the driving effect of gravity and the guiding effect of the guide cable, and is connected to the lifting connection structure;

[0012] Step 4: Apply tension to the lifting connection structure through the lifting cable to lift the underwater working equipment to the water surface;

[0013] Step 5: After the floating structure moves to the recovery area of ​​the test pool, the underwater operation equipment is recovered to the pool bank using lifting equipment.

[0014] As a further improvement of the above technical solution:

[0015] The lifting connection structure comprises: a socket located on the main body structure of the underwater working equipment, the upper end of the socket passes through the upper surface of the underwater working equipment; a plurality of sliding holes passing through the socket are arranged on the main body structure at the periphery of the socket, and an elastic member is installed at the bottom of the sliding hole; a load-bearing slider is slidably installed in the sliding hole, one end of the load-bearing slider faces the upper surface of the underwater working equipment, and the other end of the load-bearing slider is connected to the bottom of the sliding hole through the elastic member; the lower end of the lifting bearing head is an axial limit block;

[0016] In step three, the connection process between the lifting bearing head and the lifting connecting structure is that the lifting bearing head is inserted into the socket, the axial limit block impacts the end of the load-bearing slider in the socket, so that the elastic part is compressed, and the load-bearing slider slides in the sliding hole. When the axial limit block passes over the end of the load-bearing slider, the end of the load-bearing slider is reset and located above the axial limit block, thereby limiting the axial limit block.

[0017] The structure of the sliding hole includes a guide hole section and an avoidance hole section connecting the guide hole section with the insertion hole, and a limiting step is formed at the connection between the guide hole section and the avoidance hole section;

[0018] The structure of the load-bearing sliding block includes a sliding section and a load-bearing section connected to the sliding section. The sliding section is connected to the guide hole section through the elastic member. The sliding section and the guide hole section are slidably matched. The sliding section is limited by the limiting step so that the elastic member is in a compressed state. When the sliding section contacts the limiting step, the load-bearing section is located in the socket.

[0019] The guide cable is inserted into the jack, a mounting structure is provided at the end of the jack, the mounting structure is used to connect the head end of the guide cable, and a guide hole penetrating the lifting bearing head is provided in the middle of the lifting bearing head;

[0020] In step three, when the lifting bearing head sinks, the guide cable is located in the guide hole, and the lifting bearing head slides along the guide cable.

[0021] The lifting bearing head comprises a neck lock portion, the axial limit block is located at the lower end of the neck lock portion, and the upper end of the neck lock portion is provided with a radial limit block;

[0022] In step four, when a pulling force is applied to the lifting connection structure through the lifting cable, the axial limit block contacts with a plurality of load-bearing sliders, and the radial limit block contacts with the socket.

[0023] A first conical surface is provided at the lower end of the axial limit block. When the axial limit block impacts the end of the load-bearing slider, the first conical surface acts on the arc surface of the end of the load-bearing slider to drive the load-bearing slider to move, thereby converting the displacement of the axial limit block along the axis direction of the socket into the displacement of the load-bearing slider along the axis direction of the sliding hole.

[0024] A driving cone surface is provided on the radial limit block located on one side of the neck lock portion.

[0025] The jack is a through hole, a baffle is detachably mounted on the end of the jack, and the mounting structure is arranged on the baffle.

[0026] When the lifting connection structure is not subjected to external force, the distance between the end of the load-bearing sliding block and the mounting structure is H1, the distance between the driving cone surface and the first cone surface is H2, and H2 is greater than or equal to H1.

[0027] It also includes step six, after the baffle is removed, the lifting load-bearing head is pulled to make the driving cone surface act on the end of the load-bearing slider, drive the load-bearing slider to move, and convert the displacement of the lifting load-bearing head along the axis direction of the socket into the displacement of the load-bearing slider along the axis direction of the sliding hole, until the radial limit block passes over the load-bearing slider, and the lifting load-bearing head is disconnected from the lifting connection structure.

[0028] A guide cone is provided on the upper surface of the underwater working equipment, and the center of the guide cone is connected to the insertion hole.

[0029] The structure of the floating structure comprises two floating structures, the two floating structures are connected by a steel structure, a winch is fixedly installed on the steel structure between the two floating structures, and the hoisting cable is wound around the winch of the winch;

[0030] In step 2, the winch is rotated to put the lifting cable in a relaxed state. In step 4, the lifting cable is gradually wound around the winch by rotating the winch in the opposite direction, thereby applying tension to the lifting connection structure.

[0031] A plurality of buoys are fixed on the upper part of the guide cable, and the plurality of buoys are arranged along the length direction of the guide cable. When the underwater operation equipment is located at the bottom of the test pool, the buoys are located above the water surface.

[0032] The beneficial effects of the present invention are as follows:

[0033] The invention has a compact and reasonable structure and is easy to operate. A guide cable with a tail end that can float on the water surface is arranged on the underwater working equipment as a position mark of the underwater working equipment, and at the same time, it is convenient to connect the guide cable and the lifting bearing head on the water. After the lifting bearing head is connected to the lifting connection structure by gravity drive, a floating structure is used as a lifting operation point on the water surface of the test area to lift the underwater working equipment to the water surface position, and then the floating structure carries the underwater working equipment to the recovery area, so that when the underwater working equipment loses power during the test, there is no need to drain the water in the test water pool, and the underwater working equipment can be recovered above the water surface, thereby improving the recovery efficiency and saving water resources.

[0034] At the same time, the present invention also has the following advantages:

[0035] (1) The lifting load-bearing head is plugged into the socket of the lifting connection structure, and a load-bearing slider inclined toward the entrance of the socket is slidably installed on the side of the socket. The movement and resetting of the load-bearing slider are achieved through the impact of the lifting load-bearing head and the elastic movement of the elastic member. Multiple load-bearing sliders are in an eight-shaped shape to limit the lifting load-bearing head that passes over the load-bearing slider. The connection method of the lifting connection structure is simple and easy to operate. In addition, the sliding hole of the slidably installed load-bearing slider also indirectly plays a role of load-bearing limit through the load-bearing slider, thereby ensuring the rigidity of the lifting connection structure.

[0036] (2) The lifting bearing head is set as a three-section structure, which realizes the upper and lower limit of the lifting bearing head, and ensures that the connection structure between the lifting bearing head and the lifting connection structure is stable during the lifting process.

[0037] (3) The axial limit block not only stabilizes the connection structure during the lifting process, but also, with the cooperation of the detachable baffle, opens the bottom of the socket, allowing the axial limit block to drive the load-bearing slider to open, thereby releasing the connection between the lifting load-bearing head and the lifting connection structure. In the overall connection structure between the lifting cable and the underwater working equipment, there are only two sliding load-bearing sliders, and the others are rigid fixed structures, which ensures the bearing capacity and connection effect of the connection structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic structural diagram of the floating structure of the present invention.

[0039] Figure 2 It is a structural schematic diagram of the underwater operation equipment of the present invention.

[0040] Figure 3 This is a process state diagram of the emergency recovery method of the present invention (I).

[0041] Figure 4 This is the process state diagram (II) of the emergency recovery method of the present invention.

[0042] Figure 5 It is a connection schematic diagram of the lifting load-bearing head and the lifting connection structure of the present invention.

[0043] Figure 6 It is a structural schematic diagram of the lifting connection structure of the present invention.

[0044] Figure 7 It is a structural schematic diagram of the lifting bearing head of the present invention.

[0045] Figure 8 It is a schematic diagram of the connection process of the lifting load-bearing head and the lifting connection structure of the present invention.

[0046] Fig. 9 It is a schematic diagram of the disconnection process of the lifting bearing head and the lifting connection structure of the present invention.

[0047] in:

[0048] 1. Floating structure; 11. Floating structure; 12. Steel structure; 13. Cable outlet; 14. Winch;

[0049] 2. Lifting cable;

[0050] 3. Guide cable; 31. Mounting structure; 32. Baffle; 33. Float;

[0051] 4. Auxiliary block; 41. Guide cone surface;

[0052] 5. Lifting connection structure; 51. Socket; 52. Load-bearing slider; 521. Sliding section; 522. Load-bearing section; 523. Partial cone surface; 524. Arc surface; 525. Plane; 53. Elastic member; 54. Sliding hole; 541. Avoidance hole section; 542. Limiting step; 543. Guide hole section;

[0053] 6. Underwater operation equipment; 61. Main structure;

[0054] 7. Lifting bearing head; 71. Axial limit block; 711. First cone surface; 712. Second cone surface; 72. Neck lock; 73. Radial limit block; 731. Driving cone surface; 74. Guide hole. DETAILED DESCRIPTION

[0055] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0056] Embodiment 1:

[0057] like Figure 1-Figure 8As shown, in the emergency recovery method of underwater working equipment for a water tank test of this embodiment, a lifting connection structure 5 and a guide cable 3 are provided on the underwater working equipment 6, the head end of the guide cable 3 is connected to the lifting connection structure 5, the underwater working equipment 6 is located at the bottom of the test water tank, and the tail end of the guide cable 3 floats on the water surface of the test water tank;

[0058] Methods include:

[0059] Step 1: The floating structure 1 travels on the water surface of the test pool near the tail end of the guide cable 3. The floating structure 1 is provided with a lifting cable 2, and a lifting bearing head 7 is provided at the end of the lifting cable 2;

[0060] Step 2: Connect the guide cable 3 to the lifting bearing head 7, and the lifting cable 2 is in a relaxed state;

[0061] Step 3: The lifting bearing head 7 sinks to the lifting connection structure 5 under the driving effect of gravity and the guiding effect of the guide cable 3, and is connected to the lifting connection structure 5;

[0062] Step 4: Apply tension to the lifting connection structure 5 through the lifting cable 2 to lift the underwater working equipment 6 to the water surface;

[0063] Step 5: After the floating structure 1 moves to the recovery area of ​​the test pool, the underwater operation equipment 6 is recovered to the pool bank using a lifting device.

[0064] The underwater working equipment 6 refers to equipment such as seabed mining equipment that can move underwater by its own power and needs to be tested to verify its performance.

[0065] By setting a guide cable 3 whose tail end can float on the water surface on the underwater working equipment 6 as a position mark of the underwater working equipment 6, it is convenient to connect the guide cable 3 and the lifting bearing head 7 on the water. After the lifting bearing head 7 is connected to the lifting connection structure 5 by gravity drive, the floating structure 1 is used as a lifting operation point on the water surface of the test area to lift the underwater working equipment 6 to the water surface position, and then the floating structure 1 carries the underwater working equipment 6 to the recovery area. When the underwater working equipment 6 loses power during the test, there is no need to drain the water in the test pool, and the underwater working equipment 6 can be recovered above the water surface, thereby improving the recovery efficiency and saving water resources.

[0066] Embodiment 2:

[0067] Based on the first embodiment, in the emergency recovery method of underwater operation equipment for the pool test of this embodiment:

[0068] like Figure 5-Figure 7As shown, the lifting connection structure 5 includes: a socket 51 located on the main body structure 61 of the underwater working equipment 6, the upper end of the socket 51 passes through the upper surface of the underwater working equipment 6; a plurality of sliding holes 54 passing through the socket 51 are arranged on the main body structure 61 at the periphery of the socket 51, and an elastic member 53 is installed at the bottom of the sliding hole 54; a load-bearing slider 52 is slidably installed in the sliding hole 54, one end of the load-bearing slider 52 faces the upper surface of the underwater working equipment 6, and the other end of the load-bearing slider 52 is connected to the bottom of the sliding hole 54 through the elastic member 53; the lower end of the lifting bearing head 7 is an axial limit block 71;

[0069] In step three, the connection process of the lifting bearing head 7 and the lifting connecting structure 5 is that the lifting bearing head 7 is inserted into the socket 51, and the axial limit block 71 impacts the end of the load-bearing slider 52 located in the socket 51, so that the elastic member 53 is compressed, and the load-bearing slider 52 slides in the sliding hole 54. When the axial limit block 71 passes over the end of the load-bearing slider 52, the end of the load-bearing slider 52 is reset and located above the axial limit block 71, limiting the axial limit block 71.

[0070] Specifically, the elastic member 53 is a spring, and the number of the load-bearing sliders 52 is multiple, at least two. When the number of the load-bearing sliders 52 is two, such as Figure 5 , Figure 6 The number of the sliding holes 54 shown is two, and they are symmetrical about the axis of the insertion hole 51. When the number of the load-bearing sliding blocks 52 is greater than or equal to three, they are evenly distributed in a ring array with the axis of the insertion hole 51 as the center.

[0071] One end of the load-bearing slider 52 faces the upper surface of the underwater working equipment 6, which refers to the end of the load-bearing slider 52 impacted by the axial limit block 71. The axis of the sliding hole 54 intersects with the axis of the socket 51 and is inclined to the axis of the socket 51. The sliding hole 54 passes through the side wall of the socket 51.

[0072] The sliding hole 54 serves as a sliding track for the load-bearing slider 52 . Meanwhile, when the lifting load-bearing head 7 is connected to the lifting connection structure 5 , the sliding hole 54 , the load-bearing slider 52 and the lifting load-bearing head 7 interact with each other to achieve self-locking.

[0073] The lifting load-bearing head 7 is plugged into the socket 51 of the lifting connection structure 5, and a load-bearing slider 52 inclined toward the entrance of the socket 51 is slidably installed on the side of the socket 51. The movement and resetting of the load-bearing slider 52 are realized through the impact of the lifting load-bearing head 7 and the elastic movement of the elastic member 53. Multiple load-bearing sliders 52 are in an eight-shaped shape to limit the lifting load-bearing head 7 that passes over the load-bearing slider 52. The connection method of the lifting connection structure 5 is simple and easy to operate. In addition, the sliding hole 54 of the slidably installed load-bearing slider 52 also indirectly plays a role of load-bearing limit through the load-bearing slider 52, thereby ensuring the rigidity of the lifting connection structure 5.

[0074] like Figure 7 As shown, the structure of the sliding hole 54 includes a guide hole section 543 and an avoidance hole section 541 connecting the guide hole section 543 with the insertion hole 51, and a limiting step 542 is formed at the connection between the guide hole section 543 and the avoidance hole section 541;

[0075] The structure of the load-bearing slider 52 includes a sliding section 521 and a load-bearing section 522 connected to the sliding section 521. The sliding section 521 is connected to the guide hole section 543 through the elastic member 53. The sliding section 521 and the guide hole section 543 are slidably matched. The sliding section 521 is limited by the limiting step 542, so that the elastic member 53 is in a compressed state. When the sliding section 521 contacts the limiting step 542, the load-bearing section 522 is located in the socket 51.

[0076] The limiting step 542 is provided to limit the ultimate displacement of the load-bearing slider 52 , thereby ensuring the bearing capacity and ensuring the stability of the relative position of the load-bearing slider 52 when the lifting connection structure 5 is not subjected to external forces.

[0077] like Figure 5 , Figure 8 As shown, the guide cable 3 is inserted into the insertion hole 51, and a mounting structure 31 is provided at the end of the insertion hole 51. The mounting structure 31 is used to connect the head end of the guide cable 3, and a guide hole 74 penetrating the lifting bearing head 7 is provided in the middle of the lifting bearing head 7;

[0078] In step 3, during the sinking process of the lifting bearing head 7, the guide cable 3 is located in the guide hole 74, and the lifting bearing head 7 slides along the guide cable 3. At the same time, in step 2, the guide cable 3 is passed through the guide hole 74, and the guide cable 3 is slidably connected to the lifting bearing head 7; the guide hole 74 is circular, and its diameter is larger than that of the guide cable 3, and the mounting structure 31 is also a downward limit structure of the lifting bearing head 7.

[0079] like Figure 7 , Figure 8 As shown, the lifting bearing head 7 includes a neck lock portion 72, an axial limit block 71 is located at the lower end of the neck lock portion 72, and a radial limit block 73 is provided at the upper end of the neck lock portion 72;

[0080] In step four, when tension is applied to the lifting connection structure 5 through the lifting cable 2, the axial limit block 71 contacts the multiple load-bearing sliders 52, and the radial limit block 73 contacts the socket 51, thereby limiting the radial position of the lifting bearing head 7 in the socket 51.

[0081] The lifting load-bearing head 7 is set as a three-section structure, so as to realize the upper and lower limit of the lifting load-bearing head 7, and ensure that the connection structure between the lifting load-bearing head 7 and the lifting connection structure 5 is stable during the lifting process.

[0082] like Figure 7 , Figure 8As shown, a first conical surface 711 is provided at the lower end of the axial limit block 71. When the axial limit block 71 impacts the end of the load-bearing slider 52, the first conical surface 711 acts on the arc surface 524 at the end of the load-bearing slider 52 to drive the load-bearing slider 52 to move, thereby converting the displacement of the axial limit block 71 along the axial direction of the socket 51 into the displacement of the load-bearing slider 52 along the axial direction of the sliding hole 54.

[0083] A second conical surface 712 is provided on the axial limit block 71 on one side of the neck lock portion 72. After the second conical surface 712 contacts the end of the load-bearing slider 52, the load-bearing slider 52 limits the lifting load-bearing head 7.

[0084] Furthermore, the contact surface between the load-bearing slider 52 and the second conical surface 712 is a partial conical surface 523 that is fan-shaped as a whole. When the load-bearing slider 52 contacts the second conical surface 712 of the axial limit block 71, the partial conical surface 523 fits with the second conical surface 712 to ensure a good load-bearing effect.

[0085] Specifically, the local conical surface 523 is located on the load-bearing section 522 , and the upper end of the load-bearing section 522 also includes a plane 525 located outside the arc surface 524 .

[0086] When tension is applied to the lifting connection structure 5 through the lifting cable 2, when the axial limit block 71 contacts multiple load-bearing sliders 52, the contact position between the end of the load-bearing slider 52 and the neck lock portion 72 is a local annular surface, which further ensures that the lifting bearing head 7 does not shake during the lifting process. The local annular surface and the plane 525 are respectively located on both sides of the arc surface 524.

[0087] like Figure 7-Figure 9 As shown, a driving cone surface 731 is provided on the radial limit block 73 located on one side of the neck lock portion 72.

[0088] The plug hole 51 is a through hole, and a baffle 32 is detachably mounted on the end of the plug hole 51. The mounting structure 31 is disposed on the baffle 32.

[0089] When the lifting connection structure 5 is not subjected to external force, the distance between the end of the load-bearing slider 52 and the mounting structure 31 is H1, and the distance between the driving cone surface 731 and the first cone surface 711 is H2, and H2 is greater than or equal to H1.

[0090] It also includes step six, after the baffle 32 is removed, the lifting load-bearing head 7 is pulled to make the driving cone surface 731 act on the end of the load-bearing slider 52, drive the load-bearing slider 52 to move, and convert the displacement of the lifting load-bearing head 7 along the axial direction of the socket 51 into the displacement of the load-bearing slider 52 along the axial direction of the sliding hole 54, until the radial limit block 73 passes over the load-bearing slider 52, and the lifting load-bearing head 7 is disconnected from the lifting connection structure 5.

[0091] Specifically, the distance between the end arc surface 524 of the load-bearing slider 52 and the mounting structure 31 is H1; tension can be applied to the lifting bearing head 7 through the guide cable 3; after the lifting bearing head 7 is removed from the lifting cable 2, and the guide cable 3 and the mounting structure 31 are removed, the lifting bearing head 7 can be removed, and then the guide cable 3 and the baffle 32 can be reinstalled at the position of the socket 51.

[0092] The axial limit block 71 not only stabilizes the connection structure during the lifting process, but also, with the cooperation of the detachable baffle 32, opens the bottom of the socket 51, so that the axial limit block 71 drives the load-bearing slider 52 to open, thereby releasing the connection between the lifting load-bearing head 7 and the lifting connection structure 5, and realizing the connection structure between the overall lifting cable 2 and the underwater working equipment 6. There are only two sliding load-bearing sliders 52, and the others are rigid fixed structures, which ensures the bearing capacity and connection effect of the connection structure.

[0093] like Figure 5 , Figure 6 As shown, the upper surface of the underwater working equipment 6 is provided with a guide cone 41 , and the center of the guide cone 41 is connected to the insertion hole 51 .

[0094] The guide cone 41 plays an auxiliary role in guiding the lifting bearing head 7 to enter the socket 51. Specifically, the auxiliary block 4 is installed on the upper surface of the underwater working equipment 6, the guide cone 41 is set on the auxiliary block 4, and the socket 51 passes through the auxiliary block 4.

[0095] like Figure 1 , Figure 3 , Figure 4 As shown, the structure of the floating structure 1 includes two floating structures 11, and the two floating structures 11 are connected by a steel structure 12. A winch 14 is fixedly installed on the steel structure 12 between the two floating structures 11, and a lifting cable 2 is wound around the winch of the winch 14;

[0096] In step 2, the winch is rotated to make the lifting cable 2 in a relaxed state. In step 4, the lifting cable 2 is gradually wound around the winch by rotating the winch in the opposite direction, thereby applying tension to the lifting connection structure 5.

[0097] In order to keep the floating structure 1 stable during the process of lifting the underwater working equipment 6 , a cable outlet 13 is provided on the floating structure 1 , and the cable outlet 13 is located at the horizontal center of gravity of the floating structure 1 .

[0098] Furthermore, the lifting connection structure 5 is arranged at the horizontal center of gravity of the underwater working equipment 6 , and the distance L between the two floating structures 11 is greater than the width of the underwater working equipment 6 .

[0099] like Figure 2As shown, a plurality of buoys 33 are fixed on the upper part of the guide cable 3, and the plurality of buoys 33 are arranged along the length direction of the guide cable 3. When the underwater working equipment 6 is located at the bottom of the test pool, the buoys 33 are located above the water surface.

[0100] A plurality of buoys 33 are arranged on the guide cable 3 to ensure that the guide cable 3 can follow the underwater working equipment 6 and float on the water surface, minimize the influence of the guide cable 3 on the movement of the underwater working equipment 6, and indicate the position of the lifting connection structure 5 on the underwater working equipment 6.

[0101] During the test of the underwater working equipment 6 in the water tank test, if the underwater working equipment 6 loses power in the test area, the emergency recovery process of the underwater working equipment 6 is as follows:

[0102] Step 1: Move the floating structure 1 to the vicinity of the underwater operation equipment 6;

[0103] Step 2: Pull out the part of the guide cable 3 floating on the water surface from the water, remove the floats 33 one by one, put the guide cable 3 into the guide hole 74 of the lifting bearing head 7, pull the guide cable 3 into a straight state, and turn the winch to make the lifting cable 2 in a relaxed state;

[0104] The lifting bearing head 7 is lowered, and the lifting bearing head 7 slides along the guide cable 3 to the lifting connection structure 5 under the action of gravity pulling the lifting cable 2; the lifting bearing head 7 is inserted into the socket 51 and the axial limit block 71 impacts the load-bearing slider 52, the elastic member 53 is further compressed, and the load-bearing sliders 52 move away from each other. After the axial limit block 71 continues to slide below the load-bearing slider 52, the opening and closing load-bearing slider 52 is reset under the elastic force of the elastic member 53, and the axial limit block 71 is axially limited. At the same time, the radial limit block 73 at the upper end contacts the socket 51, limiting the radial position of the lifting bearing head 7 in the socket 51, and the axial limit block 71 stops after touching the mounting structure 31;

[0105] Step 4, drive the winch 14 to pull up the lifting cable 2. After the axial limit block 71 is tightly fitted with the load-bearing slider 52, the lifting cable 2 applies tension to the load-bearing slider 52. The sliding hole 54, the load-bearing slider 52 and the axial limit block 71 are tightly fitted in sequence to form a self-locking structure. Continue to pull up the lifting cable 2 to lift the underwater working equipment 6 to the water surface.

[0106] Step 5: Drive the floating structure 1 to the recovery area of ​​the test pool. The recovery area of ​​the test pool is located in the test preparation room. Use the overhead crane in the test preparation room to lift the floating structure 1 together with the underwater working equipment 6 to the bank of the test preparation room to complete the emergency recovery of the underwater working equipment 6.

[0107] Step six, after the underwater working equipment 6 is recovered to the pool bank, the baffle 32 is disassembled, and the lifting load-bearing head 7 is pulled to make the driving cone surface 731 act on the end of the load-bearing slider 52, drive the load-bearing slider 52 to move, and convert the displacement of the lifting load-bearing head 7 along the axial direction of the socket 51 into the displacement of the load-bearing slider 52 along the axial direction of the sliding hole 54, until the radial limit block 73 passes over the load-bearing slider 52, and the lifting load-bearing head 7 is disconnected from the lifting connection structure 5.

[0108] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. An emergency recovery method for underwater operation equipment for tank testing, characterized in that: The underwater working equipment (6) is provided with a lifting connection structure (5) and a guide cable (3), the head end of the guide cable (3) is connected to the lifting connection structure (5), the underwater working equipment (6) is located at the bottom of the test pool, and the tail end of the guide cable (3) floats on the water surface of the test pool; The method comprises: Step 1: The floating structure (1) travels on the water surface of the test pool near the tail end of the guide cable (3), the floating structure (1) is provided with a lifting cable (2), and the end of the lifting cable (2) is provided with a lifting bearing head (7); Step 2: Connect the guide cable (3) to the lifting bearing head (7), and the lifting cable (2) is in a relaxed state; Step 3: The lifting load-bearing head (7) sinks to the lifting connection structure (5) under the driving effect of gravity and the guiding effect of the guide cable (3), and is connected to the lifting connection structure (5); Step 4: Apply tension to the lifting connection structure (5) through the lifting cable (2) to lift the underwater working equipment (6) to the water surface; Step 5: After the floating structure (1) moves to the recovery area of ​​the test pool, the underwater operation equipment (6) is recovered to the pool bank using a lifting device.

2. The method for emergency recovery of underwater operation equipment for tank testing according to claim 1, characterized in that: The lifting connection structure (5) comprises: a socket (51) located on the main body structure (61) of the underwater working equipment (6), the upper end of the socket (51) passing through the upper surface of the underwater working equipment (6); a plurality of sliding holes (54) passing through the socket (51) are arranged on the main body structure (61) at the periphery of the socket (51), and an elastic member (53) is installed at the bottom of the sliding hole (54); a load-bearing slider (52) is slidably installed in the sliding hole (54), one end of the load-bearing slider (52) faces the upper surface of the underwater working equipment (6), and the other end of the load-bearing slider (52) is connected to the bottom of the sliding hole (54) through the elastic member (53); the lower end of the lifting bearing head (7) is an axial limit block (71); In step three, the connection process between the lifting load-bearing head (7) and the lifting connection structure (5) is as follows: the lifting load-bearing head (7) is inserted into the socket (51), and the axial limit block (71) impacts the end of the load-bearing slider (52) located in the socket (51), so that the elastic member (53) is compressed, and the load-bearing slider (52) slides in the sliding hole (54). When the axial limit block (71) passes over the end of the load-bearing slider (52), the end of the load-bearing slider (52) is reset and located above the axial limit block (71), thereby limiting the axial limit block (71).

3. The method for emergency recovery of underwater operation equipment for tank testing according to claim 2, characterized in that: The structure of the sliding hole (54) comprises a guide hole section (543) and an avoidance hole section (541) connecting the guide hole section (543) with the insertion hole (51), and a limiting step (542) is formed at the connection between the guide hole section (543) and the avoidance hole section (541); The structure of the load-bearing sliding block (52) comprises a sliding section (521) and a load-bearing section (522) connected to the sliding section (521); the sliding section (521) is connected to the guide hole section (543) via the elastic member (53); the sliding section (521) and the guide hole section (543) are slidably matched; the sliding section (521) is limited by the limiting step (542) so that the elastic member (53) is in a compressed state; when the sliding section (521) contacts the limiting step (542), the load-bearing section (522) is located in the insertion hole (51).

4. The method for emergency recovery of underwater operation equipment for tank testing according to claim 2, characterized in that: The guide cable (3) is inserted into the insertion hole (51), a mounting structure (31) is provided at the end of the insertion hole (51), the mounting structure (31) is used to connect the head end of the guide cable (3), and a guide hole (74) penetrating the lifting bearing head (7) is provided in the middle of the lifting bearing head (7); In step three, when the lifting bearing head (7) sinks, the guide cable (3) is located in the guide hole (74), and the lifting bearing head (7) slides along the guide cable (3).

5. The method for emergency recovery of underwater operation equipment for tank testing according to claim 4, characterized in that: The lifting bearing head (7) comprises a neck locking portion (72), the axial limit block (71) is located at the lower end of the neck locking portion (72), and the upper end of the neck locking portion (72) is provided with a radial limit block (73); In step four, when a pulling force is applied to the lifting connection structure (5) through the lifting cable (2), the axial limit block (71) contacts the multiple load-bearing sliders (52), and the radial limit block (73) contacts the socket (51).

6. The method for emergency recovery of underwater operation equipment for tank testing according to claim 5, characterized in that: A first conical surface (711) is provided at the lower end of the axial limit block (71). When the axial limit block (71) impacts the end of the load-bearing slider (52), the first conical surface (711) acts on the arc surface (524) at the end of the load-bearing slider (52) to drive the load-bearing slider (52) to move, thereby converting the displacement of the axial limit block (71) along the axial direction of the insertion hole (51) into the displacement of the load-bearing slider (52) along the axial direction of the sliding hole (54).

7. The method for emergency recovery of underwater operation equipment for tank testing according to claim 6, characterized in that: A driving cone surface (731) is provided on the radial limiting block (73) located on one side of the neck locking portion (72). The plug hole (51) is a through hole, a baffle (32) is detachably mounted on the end of the plug hole (51), and the mounting structure (31) is arranged on the baffle (32). When the lifting connection structure (5) is not subjected to external force, the distance between the end of the load-bearing sliding block (52) and the mounting structure (31) is H1, the distance between the driving conical surface (731) and the first conical surface (711) is H2, and H2 is greater than or equal to H1. It also includes step six, after the baffle (32) is removed, the lifting load-bearing head (7) is pulled to make the driving cone surface (731) act on the end of the load-bearing slider (52), drive the load-bearing slider (52) to move, and convert the displacement of the lifting load-bearing head (7) along the axial direction of the socket (51) into the displacement of the load-bearing slider (52) along the axial direction of the sliding hole (54), until the radial limit block (73) passes over the load-bearing slider (52), and the lifting load-bearing head (7) is disconnected from the lifting connection structure (5).

8. The method for emergency recovery of underwater operation equipment for tank testing according to claim 2, characterized in that: The upper surface of the underwater working equipment (6) is provided with a guide cone surface (41), and the center of the guide cone surface (41) is connected to the insertion hole (51).

9. The method for emergency recovery of underwater operation equipment for tank testing according to claim 1, characterized in that: The structure of the floating structure (1) comprises two floating structures (11), the two floating structures (11) are connected by a steel structure (12), a winch (14) is fixedly installed on the steel structure (12) between the two floating structures (11), and the hoisting cable (2) is wound around the winch of the winch (14); In step 2, the winch is rotated to put the lifting cable (2) in a relaxed state. In step 4, the winch is rotated in the opposite direction to gradually wind the lifting cable (2) around the winch, thereby applying tension to the lifting connection structure (5).

10. The method for emergency recovery of underwater operation equipment for tank testing according to claim 1, characterized in that: A plurality of buoys (33) are fixed on the upper part of the guide cable (3), and the plurality of buoys (33) are arranged along the length direction of the guide cable (3). When the underwater operation equipment (6) is located at the bottom of the test pool, the buoys (33) are located above the water surface.

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