Large-weight underwater precise laying operation device and method

Abstract

The invention discloses a heavy-weight underwater precise laying operation device and method, and relates to the technical field of underwater laying, the heavy-weight underwater precise laying operation device comprises a release frame body, an acoustic releaser and a release mechanism, a lifting shackle is hinged to the upper end of the release frame body, one end of the acoustic releaser is hinged to the upper portion of the release frame body, the other end of the acoustic releaser is hinged to the release mechanism, and the lifting shackle is hinged to the lower portion of the release frame body; the releasing mechanism is connected to the lower end of the releasing frame; the acoustic releaser controls the releasing mechanism to be separated from the lifting rope ring on the releasing mechanism so as to perform seabed releasing on the laying equipment connected to the lifting rope ring; an ultra-short baseline transducer is arranged at the upper part of the release frame body; according to the invention, the underwater precise positioning of the laying equipment and the laying of a heavy-weight device can be realized, and the underwater lighting lamp is also arranged, so that the underwater robot can be assisted to find, and the equipment salvage is realized; and meanwhile, the releasing mechanism is arranged, underwater rapid laying of the laying equipment is achieved in combination with the acoustic releaser, and the underwater laying efficiency of the laying equipment is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of underwater deployment technology, and in particular to a heavy-weight underwater precision deployment operation device and method. Background Art

[0002] When the equipment is deployed at sea, it is necessary to release it remotely from the mother ship so that it can be unhooked. The existing release devices mainly include mechanical release devices and acoustic releasers. When the mother ship is working, the mechanical releaser is pulled by the deck deployment personnel to release the deployment equipment. After the release, the equipment will descend from the sea surface to the seabed. The acoustic releaser remotely releases the equipment underwater on the mother ship through the deck release unit. Under the requirements of heavy-weight underwater precision deployment, the mechanical release device on the deck cannot meet the requirements of offshore operations, and the underwater acoustic device cannot meet the requirements of heavy-weight underwater deployment. The present invention is used to solve the needs of underwater remote precision deployment of heavy weights.

[0003] The existing underwater release devices mainly include: acoustic release and mechanical release

[0004] The acoustic releaser is the most widely used device among existing deep-sea releasers. It uses acoustics to achieve remote release of the releaser on the seabed. Existing acoustic releasers generally only have an underwater release capacity of 5 tons. When the release weight is greater than 5 tons, it is expensive. At the same time, the acoustic releaser cannot achieve precise underwater positioning function and can only perform slant distance measurement.

[0005] Mechanical releasers are generally used to release objects through hydraulic motors or motor drive mechanisms. Such releasers are generally installed on underwater robots. The opening and closing of the mechanism is achieved through the underwater robot's program or the received operation commands, and finally the release is achieved. Such mechanical releasers can release heavy devices, but do not have the ability to accurately position objects underwater.

[0006] Existing technical solutions can only achieve remote release, but cannot achieve precise deployment of the device while achieving underwater positioning. Summary of the invention

[0007] The purpose of the present invention is to address the deficiencies in the above-mentioned technologies and to propose a heavy-weight underwater precision deployment operation device and method, aiming to solve the above-mentioned problems.

[0008] The present invention provides a heavy-weight underwater precision deployment operation device, comprising a release frame, an acoustic releaser and a release mechanism, wherein a lifting buckle is hinged at the upper end of the release frame, one end of the acoustic releaser is hinged to the upper part of the release frame, and the other end of the acoustic releaser is hinged to the release mechanism, and the release mechanism is connected to the lower end of the release frame; the acoustic releaser controls the release mechanism to disengage from the lifting rope ring thereon, so as to perform seabed release of the deployment equipment connected to the lifting rope ring.

[0009] Preferably, the release mechanism includes a first actuator, a second actuator, a third actuator and a transmission connection assembly. The first actuator, the second actuator and the third actuator are respectively rotatably connected to the lower part of the release frame through axle pins. The end of the first actuator is hinged to the end of the acoustic releaser through a release rope ring. The first actuator is transmission-connected to the second actuator through the transmission connection assembly. The third actuator buckles the lifting rope ring into the release frame by rotation. The acoustic releaser controls the first actuator to drive the second actuator to rotate, so as to abut and lock the third actuator that is rotated and buckled into the release frame. The transmission connection assembly includes a first ring gear and a second ring gear with a notch. The first ring gear is fixedly connected to the outer ring of the end of the first actuator, and the second ring gear is fixedly connected to the outer ring of the end of the second actuator. The first ring gear and the second ring gear are meshed for transmission.

[0010] Preferably, the two end extensions of the shaft pin of the third actuator are sleeved with torsion springs, one end of which is connected to the middle plate of the release frame, and the other end of which is connected to the shaft pin of the third actuator. The shaft pin end of the third actuator is connected to a rotating handle.

[0011] Preferably, it also includes an ultra-short baseline electrical tank and an ultra-short baseline transducer, the ultra-short baseline electrical tank is installed on the release frame through the electrical tank mounting seat, and the ultra-short baseline transducer is installed on the upper part of the release frame. It also includes a battery box and a lighting lamp, the battery box is arranged on the release frame, and the lighting lamp is arranged on the mounting rod at the lower part of the release frame. The lifting shackle is connected to the release frame through the lifting connection block. Recovery lifting rings are arranged on both sides of the lower end of the release frame.

[0012] A method for high-weight underwater precision deployment operation, using the high-weight underwater precision deployment operation device, comprises the following steps:

[0013] S1: Connect the geological cable hook on the geological cable on the mother ship with the lifting shackle;

[0014] S2: Connecting the third actuator in the release frame to the lifting cable of the deployment equipment;

[0015] S3: Rotate the first actuator to drive the second actuator to rotate through the engagement of the first ring gear and the second ring gear, thereby limiting the position of the third actuator, and then connect the release rope ring on the first actuator to the end of the acoustic releaser, and control the acoustic releaser to complete the locking.

[0016] S4: Lift the release frame and deployment equipment through the geological cable and swing them out of the deck through the mother ship;

[0017] S5: The release frame and deployment equipment are lowered to the seabed through the geological cable, and real-time underwater positioning is performed through the ultra-short baseline transducer during the deployment process;

[0018] S6: When the release frame and the deployment equipment are lowered to the seabed, the seabed deployment position is confirmed by the underwater robot and the lighting. When the position has a certain deviation, the underwater robot confirms the deviation distance and direction, and controls the operation mother ship to move the corresponding deviation distance and direction;

[0019] S7: When the release frame is at the required position this time, the acoustic releaser is controlled by the mother ship deck unit to complete the release of the release rope ring. At this time, the first actuator rotates downward around the pin shaft under the action of gravity. The meshing action of the first ring gear and the second ring gear drives the second actuator to rotate around the pin shaft, so that the second actuator rotates to cancel the mechanical limit of the third actuator. The second actuator rotates under the action of gravity, and the lifting rope ring slides out of the third actuator to complete the release of the deployment equipment.

[0020] Compared with the prior art, it has the following beneficial effects:

[0021] The present invention can realize accurate positioning of deployment equipment underwater and the deployment of heavy-weight devices. It also has underwater lighting to assist underwater robots in searching, thereby realizing equipment salvage. At the same time, by setting a release mechanism and combining it with an acoustic releaser, rapid underwater deployment of the deployment equipment can be achieved, effectively improving the underwater deployment efficiency of the deployment equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a schematic diagram of a heavy-weight underwater precision deployment operation device of the present invention;

[0024] Figure 2 It is an internal device of a heavy-weight underwater precision deployment operation device of the present invention;

[0025] Figure 3 A top view of a heavy-weight underwater precision deployment operation device of the present invention;

[0026] Figure 4 is a schematic diagram of the release mechanism of the present invention;

[0027] Figure 5 It is a schematic diagram of a heavy-weight underwater precision deployment operation device of the present invention;

[0028] Figure 6 for Figure 5 A is an enlarged schematic diagram;

[0029] Figure 7 This is a schematic diagram of underwater deployment of the deployment equipment of the present invention;

[0030] Figure 8 It is a schematic diagram of underwater recovery of the deployment equipment of the present invention.

[0031] In the figure, 1-release frame; 2-acoustic releaser; 3-releasing mechanism; 4-lifting shackle; 5-lifting rope ring; 6-ultra-short baseline transducer; 7-ultra-short baseline electrical tank; 8-battery box; 9-lighting lamp; 10-operating mother ship; 11-laying equipment; 12-geological cable; 13-geological cable hook; 14-underwater robot; 15-recovery lifting ring; 16-recovery cable; 21-release rope ring; 22-acoustic releaser pin; 31-first actuator; 32-second actuator; 33-third actuator; 34-transmission connection assembly; 341-first ring gear; 342-second ring gear; 35-torsion spring; 36-turn handle; 37-first shaft pin; 38-second shaft pin; 39-third shaft pin; 41-lifting connection block; 42-lifting shaft pin; 71-electrical tank mounting seat; 91-mounting rod; 151-recovery lifting ring shaft pin. DETAILED DESCRIPTION

[0032] In order to make it easier to understand the structure of the present invention and the functional features and advantages that can be achieved, the preferred embodiments of the present invention are described in detail with reference to the drawings as follows:

[0033] Example:

[0034] like Figures 1 to 6 As shown, the present invention provides a heavy-weight underwater precision deployment operation device, including a release frame 1, an acoustic releaser 2 and a release mechanism 3, the upper end of the release frame 1 is hinged with a lifting buckle 4, one end of the acoustic releaser 2 is hinged to the upper part of the release frame 1 through the acoustic releaser pin 22, and the other end of the acoustic releaser 2 is hinged to the release mechanism 3, and the release mechanism 3 is connected to the lower part of the release frame 1; the acoustic releaser 2 controls the release mechanism 3 to disengage from the lifting rope ring 5 thereon, so as to perform seabed release of the deployment equipment 11 connected to the lifting rope ring 5.

[0035] See also Figure 2The release mechanism 3 of the present invention includes a first actuator 31, a second actuator 32, a third actuator 33 and a transmission connection assembly 34. The first actuator 31, the second actuator 32 and the third actuator 33 are respectively rotatably connected to the lower part of the release frame 1 through an axle pin, and the end of the first actuator 31 is hinged to the end of the acoustic releaser 2 through the release rope ring 21; the first actuator 31 is transmission-connected to the second actuator 32 through the transmission connection assembly 34; the third actuator 33 buckles the lifting rope ring 5 into the release frame 1 by rotating, and the acoustic releaser 2 controls the first actuator 31 to drive the second actuator 32 to rotate, so as to abut and lock the third actuator 33 that is rotated and buckled into the release frame 1.

[0036] See also Figure 2 The transmission connection assembly 34 of the present invention includes a first ring gear 341 and a second ring gear 342 with a notch. The first ring gear 341 is fixedly connected to the outer ring of the end of the first actuator 31, and the second ring gear 342 is fixedly connected to the outer ring of the end of the second actuator 32. The first ring gear 341 and the second ring gear 342 are meshed for transmission.

[0037] The first actuator 31, the second actuator 32 and the third actuator 33 of the present invention are rotatably connected to the release frame 1 by the first pin, the second pin and the third pin respectively. The ends of the first actuator 31 and the second actuator 32 are meshed with gears. When the first actuator 31 rotates, the second actuator 32 rotates at the same time under the gear meshing movement. After the second actuator 32 rotates, the limit of the third actuator 33 is cancelled, so that the third actuator rotates, thereby realizing the unhooking and release of the deployment equipment 11.

[0038] See also Figure 2 The third actuator 33 of the present invention has torsion springs 35 sleeved on the two ends of the extension of the shaft pin. One end of the torsion spring 35 is connected to the middle plate of the release frame 1, and the other end of the torsion spring 35 is connected to the shaft pin of the third actuator 33, that is, the other end of the torsion spring 35 is connected to the third shaft pin 39. The shaft pin end of the third actuator 33 is connected with a turning handle 36, so that the third shaft pin 39 can be manually rotated by the turning handle 36 to drive the third actuator 33 to open and hook with the lifting rope ring 5; when the turning handle 36 is released, the third shaft pin 39 drives the third actuator 33 to rotate under the action of the torsion spring 35 to buckle the lifting rope ring 5 into the release frame 1 to achieve locking; further, the third shaft pin 39 can be fixedly connected to the third actuator 33 so that the third actuator 33 rotates with the third shaft pin 39, and at the same time, the third shaft pin 39 is rotationally connected with the plate on the release frame 1, and both ends of the third shaft pin 39 are sleeved with torsion springs 35.

[0039] See also Figure 2The present invention also includes an ultra-short baseline electrical tank 7 and an ultra-short baseline transducer 6. The ultra-short baseline electrical tank 7 is installed on the release frame 1 through an electrical tank mounting seat 71, and the ultra-short baseline transducer 6 is installed on the upper part of the release frame 1.

[0040] See also Figure 2 The present invention also includes a battery box 8 and a lighting lamp 9. The battery box 8 is arranged on the release frame 1, and the lighting lamp 9 is arranged on a mounting rod 91 at the lower part of the release frame 1; there are two lighting lamps 9, and the two lighting lamps 9 are respectively arranged on both sides of the release frame 1.

[0041] See also Figure 2 The lifting shackle 4 of the present invention is connected to the release frame 1 through the lifting connection block 41, and the lifting shackle 4 is a double-ring structure. Specifically, the lifting connection block 41 is connected to the release frame 1 through the lifting shaft pin 42. Further, the lower ends of the release frame 1 are provided with recovery rings 15 on both sides through the recovery ring shaft pins 151, so that the deployment equipment 11 can be recovered through the recovery rings 15.

[0042] Specifically, the acoustic releaser 2 of the present invention is installed on the release frame 1, and is used to receive the release signal of the underwater equipment to realize the rotation of the first actuator 31. A small-weight underwater acoustic releaser 2 in the field is usually used.

[0043] The ultra-short baseline transducer 6 is installed on the release frame 1 to achieve underwater acoustic positioning, and can send the underwater position to the operating mother ship 10 in real time to achieve accurate underwater positioning.

[0044] The battery is installed on the release frame 1 and is used to provide energy supply for equipment such as the lighting lamp 9 and the ultra-short baseline transducer 6.

[0045] The lighting lamp 9 is installed on the release frame 1 to provide lighting for underwater deployment, so as to facilitate the underwater robot 14 to find the position of the release frame 1 on the seabed.

[0046] The underwater robot 14 is used for confirming the underwater position and performing underwater operations, and may be an unmanned robot or a manned submersible.

[0047] The geological cable 12 and the winch are located on the offshore operation mother ship 10 , and can directly lift the deployment equipment 11 to the seabed through the geological cable 12 .

[0048] See also Figure 7 and Figure 8 The present invention also discloses a method for high-weight underwater precision deployment operation, using the high-weight underwater precision deployment operation device, comprising the following steps:

[0049] S1: Connect the geological cable hook 13 on the geological cable 12 on the mother ship 10 to the lifting shackle 4;

[0050] S2: Connecting the third actuator 33 in the release frame 1 to the lifting cable of the deployment device 11;

[0051] S3: Rotate the first actuator 31 to drive the second actuator 32 to rotate through the engagement of the first ring gear 341 and the second ring gear 342, thereby limiting the third actuator 33, and then connect the release rope ring 21 on the first actuator 31 to the end of the acoustic releaser 2, and control the acoustic releaser 2 to complete the locking.

[0052] S4: Lift the release frame 1 and the deployment equipment 11 through the geological cable 12 and swing them out of the deck through the mother ship 10;

[0053] S5: The release frame 1 and the deployment equipment 11 are suspended to the seabed through the geological cable 12, and real-time underwater positioning is performed by the ultra-short baseline transducer 6 during the deployment process;

[0054] S6: When the release frame 1 and the deployment equipment 11 are suspended and placed on the seabed, the seabed deployment position is confirmed by the underwater robot 14 and the lighting lamp 9. When the position has a certain deviation, the underwater robot 14 confirms the deviation distance and direction, and controls the operation mother ship 10 to move the corresponding deviation distance and direction;

[0055] S7: When the release frame 1 is at the required position this time, the acoustic releaser 2 is controlled by the mother ship deck unit to complete the release of the release rope ring 21. At this time, the first actuator 31 rotates downward around the pin shaft under the action of gravity. The meshing action of the first ring gear 341 and the second ring gear 342 drives the second actuator 32 to rotate around the pin shaft, so that the second actuator 32 rotates to cancel the mechanical limit of the third actuator 33. The second actuator 32 rotates under the action of gravity, and the lifting rope ring 5 slides out of the third actuator 33 to complete the release of the deployment equipment 11; the deployment of the deployment equipment 11 is completed, and the release frame 1 and the underwater robot 14 are recovered.

[0056] The underwater recovery process of this device is as follows:

[0057] The first step is to connect the geological cable 12 on the mother ship 10 to the lifting shackle 4, and then install the recovery cable 16 to the recovery ring 15;

[0058] The second step is to turn on the underwater positioning and lighting lamp 9 of the ultra-short baseline transducer 6, and lower the release frame 1 to the seabed through the geological cable 12;

[0059] The third step is to discover and determine the distance and direction between the release frame 1 and the salvaged equipment through the underwater robot 14, and control the mother ship 10 to move;

[0060] Step 4: Use the underwater robot 14 to hang the deployment equipment 11 on the recovery cable 16 below the release frame 1;

[0061] In the fifth step, the release frame 1 and the deployment equipment 11 are lifted onto the deck of the mother ship 10 via the geological cable 12 .

[0062] The sixth step is to recover the underwater robot 14 and complete the seabed recovery operation.

[0063] The above are only preferred embodiments of the present invention, and do not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above technical content without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention belong to the protection scope of the present technical solution.

Claims

1. A heavy-weight underwater precision deployment device, characterized in that: The invention comprises a release frame (1), an acoustic releaser (2) and a release mechanism (3); the upper end of the release frame (1) is hinged with a lifting buckle (4); one end of the acoustic releaser (2) is hinged with the upper part of the release frame (1); the other end of the acoustic releaser (2) is hinged with the release mechanism (3); the release mechanism (3) is connected to the lower end of the release frame (1); the acoustic releaser (2) controls the release mechanism (3) to be separated from the lifting rope ring (5) thereon, so as to perform seabed release of the deployment equipment (11) connected to the lifting rope ring (5); an ultra-short baseline transducer (6) is arranged on the upper part of the release frame (1).

2. The heavy-weight underwater precision deployment operation device according to claim 1 is characterized in that: The release mechanism (3) comprises a first actuator (31), a second actuator (32), a third actuator (33) and a transmission connection assembly (34); the first actuator (31), the second actuator (32) and the third actuator (33) are respectively rotatably connected to the lower part of the release frame (1) through an axle pin; the end of the first actuator (31) is hinged to the end of the acoustic releaser (2) through a release rope ring (21); the first actuator (31) is transmission-connected to the second actuator (32) through the transmission connection assembly (34); the third actuator (33) buckles the lifting rope ring (5) into the release frame (1) by rotating, and the acoustic releaser (2) controls the first actuator (31) to drive the second actuator (32) to rotate, so as to abut and lock the third actuator (33) buckled into the release frame (1).

3. The heavy-weight underwater precision deployment operation device according to claim 2 is characterized in that: The transmission connection assembly (34) comprises a first ring gear (341) and a second ring gear (342) provided with a notch, wherein the first ring gear (341) is fixedly connected to the outer ring of the end of the first actuator (31), and the second ring gear (342) is fixedly connected to the outer ring of the end of the second actuator (32), and the first ring gear (341) and the second ring gear (342) are meshed for transmission.

4. The heavy-weight underwater precision deployment operation device according to claim 3 is characterized in that: Torsion springs (35) are sleeved on the extended portions at both ends of the shaft pin of the third actuator (33), one end of the torsion spring (35) is connected to the middle plate of the release frame (1), and the other end of the torsion spring (35) is connected to the shaft pin of the third actuator (33).

5. The heavy-weight underwater precision deployment operation device according to claim 4 is characterized in that: The end of the shaft pin of the third actuator (33) is connected to a rotating handle (36).

6. The heavy-weight underwater precision deployment operation device according to claim 5 is characterized in that: It also includes an ultra-short baseline electrical tank (7), which is mounted on the release frame (1) via an electrical tank mounting seat (71).

7. The heavy-weight underwater precision deployment operation device according to claim 6 is characterized in that: It also comprises a battery box (8) and a lighting lamp (9), wherein the battery box (8) is arranged on the release frame (1), and the lighting lamp (9) is arranged on a mounting rod (91) at the lower part of the release frame (1).

8. The heavy-weight underwater precision deployment operation device according to claim 7 is characterized in that: The lifting shackle (4) is connected to the release frame (1) via a lifting connection block (41).

9. The heavy-weight underwater precision deployment operation device according to claim 1 is characterized in that: Recovery rings (15) are provided on both sides of the lower end of the release frame (1).

10. A method for high-weight underwater precision deployment operation, using the high-weight underwater precision deployment operation device according to claim 8, comprising the following steps: S1: Connecting the geological cable hook (13) on the geological cable (12) on the mother ship (10) to the lifting shackle (4); S2: connecting the third actuator (33) in the release frame (1) to the lifting cable of the deployment equipment (11); S3: Rotate the first actuator (31) to drive the second actuator (32) to rotate through the meshing of the first ring gear (341) and the second ring gear (342), thereby limiting the position of the third actuator (33), and then connect the release rope ring (21) on the first actuator (31) to the end of the acoustic releaser (2), and control the acoustic releaser (2) to complete the locking. S4: hoisting the release frame (1) and the deployment equipment (11) through the geological cable (12) and placing them out of the deck through the mother ship (10); S5: The release frame (1) and the deployment equipment (11) are suspended and lowered to the seabed via the geological cable (12), and real-time underwater positioning is performed on them via the ultra-short baseline transducer (6) during the deployment process; S6: When the release frame (1) and the deployment equipment (11) are lowered to the seabed, the seabed deployment position is confirmed by the underwater robot (14) and the lighting lamp (9). When the position has a certain deviation, the underwater robot (14) confirms the deviation distance and direction, and controls the operation mother ship (10) to move the corresponding deviation distance and direction; S7: When the release frame (1) is at the required position this time, the acoustic releaser (2) is controlled by the mother ship deck unit to complete the release of the release rope ring (21). At this time, the first actuator (31) rotates downward around the pin shaft under the action of gravity. Due to the meshing action of the first ring gear (341) and the second ring gear (342), the second actuator (32) is driven to rotate around the pin shaft, so that the second actuator (32) rotates to cancel the mechanical limit of the third actuator (33). The second actuator (32) rotates under the action of gravity, and the lifting rope ring (5) slides out of the third actuator (33), completing the release of the deployment equipment (11).

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