Salvage device with wide salvage range for ship and salvage method of salvage device

Abstract

The invention provides a salvage device with a wide salvage range for a ship and a salvage method of the salvage device. The ship salvage device comprises a lifting device, a grabbing assembly and an inflation and deflation device, the grabbing assembly is provided with an air bag, a connecting frame and a plurality of clamping jaws arranged on the periphery of the connecting frame, and the upper end of each clamping jaw is rotatably installed on the connecting frame around the horizontal axis. The airbag is connected to the connecting frame; and the inflating and deflating device is configured to inflate or deflate the air bag. Due to the fact that the air bag and the inflation and deflation device are arranged, after the grabbing assembly is located in water, the air bag can be inflated, the grabbing assembly is made to suspend in the water and move along with water flow, underwater survey is conducted, and when an object needs to be fished, the grabbing assembly can be stopped, and the fished object is fished. Due to the fact that the air bag can drive the grabbing assembly to move in a large range, the fishing device can have a large fishing range, and the lower the failure rate is, the higher the fishing efficiency is.

Description

Technical Field

[0001] The present invention relates to the technical field of ship salvage devices, and particularly to a salvage device with a wide salvage range for ships and a salvage method thereof. Background Art

[0002] The ship salvage device is mainly responsible for salvaging objects sunk in water. The ship salvage device usually includes a cable, a winding device, and a salvage claw. The salvage claw is usually installed at the lower end of the cable, and the winding device winds the cable to make the salvage claw lift and lower. The salvage claw is usually driven by an electric device to open and close the salvage claw to clamp an object. During the salvage process of a ship, the salvage device usually salvages at one position. When the object to be salvaged is at other positions, if the distance is relatively close, the position of the winding device can be moved. If the distance is relatively far, the position of the ship needs to be moved, and it is rather troublesome to move the ship. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a salvage device with a wide salvage range for ships and a salvage method thereof that can overcome or at least partially solve the above problems, which can achieve a wide range of salvage with basically no movement of the ship or a reduced movement of the ship's position, improve the convenience of salvage, and improve the salvage efficiency without moving or with less movement of the ship.

[0004] Specifically, the present invention provides a salvage device with a wide salvage range for ships, which includes:

[0005] A lifting device;

[0006] A grasping assembly, the grasping assembly having an airbag, a connecting frame, and a plurality of claws arranged around the connecting frame. The upper end of each claw is rotatably mounted on the connecting frame around a horizontal axis; the airbag is connected to the connecting frame;

[0007] A connecting head, the connecting head is connected to the lifting device to lift and lower under the drive of the lifting device, and the connecting head is movably mounted on the connecting frame up and down; and the connecting head is configured to open the plurality of claws when descending relative to the connecting frame and contract the plurality of claws when ascending relative to the connecting frame;

[0008] A limiting device, arranged on the connecting frame, configured to limit the maximum position of the connecting head descending relative to the connecting frame;

[0009] An air charging and discharging device, connected to the airbag through an air pipe, configured to charge or discharge air into the airbag to change the buoyancy provided by the airbag, thereby preventing the connecting frame from descending, and / or driving the connecting head and the grasping assembly to move in water.

[0010] Optionally, a transmission device is provided between the connector and each of the jaws, and the transmission device is configured to convert the downward movement of the connector into the outward opening movement of the jaws and convert the upward movement of the connector into the inward contraction movement of the jaws.

[0011] Optionally, a camera device and a distance detection device are provided at the lower end of the connecting frame;

[0012] The camera device is configured to capture images of the lower side and the circumferential side of the connecting frame;

[0013] The distance detection device is configured to detect the distance between an object on the lower side of the connecting frame and / or an object on the circumferential side of the connecting frame and the connecting frame.

[0014] Optionally, the connecting frame includes:

[0015] A top plate, on which a perforation is provided, and the lifting device has a cable that passes through the perforation;

[0016] A plurality of first connecting arms, which are vertically arranged, and the upper ends of the first connecting arms are connected to the edge of the top plate;

[0017] A jaw seat, which is provided with a moving cavity with an upward opening and is arranged on the lower side of the top plate; the connector is arranged in the moving cavity, and the top plate is configured to prevent the grasping assembly from completely separating from the connector downward; the jaw seat is fixedly connected to the plurality of first connecting arms; the limiting device is the bottom wall of the moving cavity; the upper ends of the jaws are rotatably mounted on the outer wall of the jaw seat through horizontally arranged rotating shafts; the transmission device is arranged between the rotating shaft and the connector.

[0018] Optionally, the airbag is fixedly connected to the top plate;

[0019] There are a plurality of airbags, which are evenly distributed along the circumferential edge of the top plate, and each airbag is connected to the air charging and discharging device through a trachea so that the air volumes in every two airbags are equal or unequal.

[0020] Optionally, a conduit is further connected to the upper side of the top plate, and the conduit is coaxial with the perforation to pass through the cable.

[0021] Optionally, the transmission device includes a second connecting arm, a gear and a rack; the second connecting arm is connected to the upper end of the connector and is located outside the jaw seat; the gear meshes with the rack; the gear is arranged on the rotating shaft, and the rack is arranged on the second connecting arm and is vertically arranged.

[0022] The present invention also provides a salvage method for any one of the above-mentioned salvage devices for ships with a wide salvage range, which includes:

[0023] Start the lifting device to make the grasping assembly and the connecting head enter the water at a preset depth;

[0024] Inflate the airbag through the air charging and discharging device, so that the connecting frame rises relative to the connecting head, and then the clamping claws open outwards, and then the grasping assembly and the connecting head are suspended in the water, and then the grasping assembly and the connecting head move with the water flow;

[0025] Deflate the airbag through the air charging and discharging device, so that the connecting frame and the connecting head at this time descend synchronously to wrap the object to be salvaged;

[0026] When the object to be salvaged is within a plurality of the clamping claws and after the deflation of the airbag is completed, make the lifting device rise until the object to be salvaged rises to a preset position.

[0027] Optionally, the salvage method further includes:

[0028] When making the grasping assembly and the connecting head move with the water flow, control the release length of the cable so that the grasping assembly and the connecting head stop in the water.

[0029] Optionally, before inflating the airbag through the air charging and discharging device, the salvage method further includes:

[0030] Obtain the direction of the water flow at the grasping assembly in the water;

[0031] Obtain the salvage range;

[0032] Determine the target position of the ship according to the direction of the water flow and the salvage range, and move the ship to the target position.

[0033] In the salvage device for ships with a wide salvage range and its salvage method of the present invention, due to the presence of the airbag and the air charging and discharging device, after the grasping assembly is in the water, the airbag can be inflated, so that the grasping assembly is suspended in the water and moves with the water flow to conduct a survey underwater. When there is an object to be salvaged, the grasping assembly can be stopped and the object to be salvaged can be salvaged. Since the airbag can drive the grasping assembly to move in a large range, the salvage device can have a large salvage range. At this time, there is no need to move the ship, which can significantly improve the salvage efficiency and reduce the influence of bad weather, that is, because there is no need to move the ship during salvage, so it can be salvaged even under bad weather conditions.

[0034] Furthermore, in the salvage device and its salvage method of the present invention, the airbag is used to make the connecting head and the connecting frame move relative to each other, that is, to make the claw open automatically to grab an object. And during the upward movement of the object, relying on the gravity of the object itself, the claw grabs tighter and tighter. The opening and contraction of the claw can be realized without relying on the motor drive, and there will be no motor failure. Therefore, the failure of the salvage device can be reduced. The lower the failure rate of the salvage device, the higher the salvage efficiency.

[0035] From the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more clear about the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings in an exemplary but not restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0037] Figure 1 is a schematic structural diagram of a salvage device according to an embodiment of the present invention;

[0038] Figure 2 is a partial structural schematic diagram of a salvage device according to an embodiment of the present invention; which shows the grasping assembly and the connecting head;

[0039] Figure 3 is Figure 2 a schematic front view of the structure shown in;

[0040] Figure 4 is Figure 3 a schematic cross-sectional view along the A-A plane in;

[0041] Figure 5 is another partial structural schematic diagram of a salvage device according to an embodiment of the present invention; which shows the grasping assembly and the connecting head, and a plurality of claws are in an open state;

[0042] Figure 6 is a structural schematic diagram of the grasping assembly in a salvage device according to an embodiment of the present invention;

[0043] Figure 7 is a structural schematic diagram of the connecting head in a salvage device according to an embodiment of the present invention;

[0044] Figure 8 is yet another partial structural schematic diagram of a salvage device according to an embodiment of the present invention; which shows the grasping assembly and the connecting head. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following refers toFigures 1 to 8 To describe a salvage device with a wide salvage range for ships and its salvage method according to the embodiments of the present invention. In the description of the embodiments of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features, that is, including one or more of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined. When a certain feature "includes or contains" a certain or certain features it covers, unless otherwise specifically described, this indicates that other features are not excluded and other features may be further included.

[0046] Unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. Those of ordinary skill in the art should be able to understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0047] In addition, in the description of the embodiments of the present invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. That is, in the description of the embodiments of the present invention, the first feature being "above", "over", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below", or "beneath" the second feature may be the first feature being directly below or obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0048] In the description of the embodiments of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0049] Figure 1It is a schematic structural diagram of a salvage device with a wide salvage range for ships according to an embodiment of the present invention. As Figure 1 shown, and with reference to Figures 2 to 7 , an embodiment of the present invention provides a salvage device with a wide salvage range for ships, which includes a lifting device, a grasping assembly, a connecting head, a limiting device, and an air charging and discharging device. The lifting device generally includes a winding machine 11 and a cable 12 wound by the winding machine 11. The grasping assembly 20 has an airbag 21, a connecting frame 22, and a plurality of claws 23 arranged around the connecting frame 22. The upper end of each claw 23 is rotatably mounted on the connecting frame 22 around a horizontal axis. The airbag 21 is connected to the connecting frame 22. The connecting head is connected to the lifting device to move up and down under the drive of the lifting device. The connecting head 30 is movably mounted on the connecting frame 22 up and down. The connecting head 30 is configured to open the plurality of claws 23 when descending relative to the connecting frame 22, and contract the plurality of claws 23 when ascending relative to the connecting frame 22. The limiting device is arranged on the connecting frame 22 and configured to limit the maximum position of the connecting head 30 descending relative to the connecting frame 22, so that the airbag 21 drives the connecting head 30 through the connecting frame 22 to prevent the connecting head 30 from moving downward continuously. The air charging and discharging device 13 is connected to the airbag 21 through an air pipe and configured to inflate or deflate the airbag 21 to change the buoyancy provided by the airbag 21, so as to prevent the connecting frame 22 from descending by the airbag 21, and / or drive the connecting head 30 and the grasping assembly 20 to move in the water. The air pipe can be installed on the cable 12 to move up and down with the cable 12.

[0050] In the embodiment of the present invention, during operation, the lifting device can be used to make the grasping assembly 20 and the connecting head 30 enter the water at a preset depth. Then, the air charging and discharging device 13 is used to inflate the airbag 21. The airbag 21 gradually expands, and the provided buoyancy will gradually increase. First, the connecting frame 22 can be stopped from descending, and then the connecting head 30 can be stopped from descending and suspended in the water. The airbag 21 moves with the water flow, which will cause the grasping assembly 20 and the connecting head 30 to move. The length of the cable 12 can be adjusted according to the positions of the grasping assembly 20 and the connecting head 30. At this time, the change in the positions of the grasping assembly 20 and the connecting head 30 can be achieved without changing the position of the ship or the winding machine 11, and it has a large salvage range, which can improve the salvage efficiency.

[0051] That is to say, in the salvage device of the embodiment of the present invention, due to the presence of the airbag 21 and the air charging and discharging device 13, after the grasping assembly 20 is in the water, the airbag 21 can be inflated to make the grasping assembly 20 suspended in the water and move with the water flow to conduct a survey of the underwater area. When there is an item to be salvaged, the grasping assembly 20 can be stopped to salvage the object to be salvaged. Since the airbag 21 can drive the grasping assembly 20 to move over a large range, the salvage device can have a large salvage range. At this time, the ship does not need to be moved, and the salvage efficiency is high.

[0052] Moreover, in the embodiment of the present invention, since the connector 30 is at the lower end of the cable 12, and when the airbag 21 is not inflated, the grab assembly 20 moves downward relative to the connector 30 under the action of its own gravity, so the grab assembly 20 is in a contracted state, reducing the underwater resistance of the downward movement during the underwater salvage, and facilitating the diving of the grab assembly 20. When the grab assembly 20 descends to the target depth, the airbag 21 will hinder the descent of the grab assembly 20 during the inflation process, and the connector 30 will continue to descend at this time, and the connector 30 will move downward relative to the grab assembly 20, and the connector 30 will cause the claw 23 to open outward, so that the salvaged object can enter the inner side of the claw 23. As the airbag 21 becomes larger, the buoyancy provided becomes larger and larger, which will cause the connector 30 to stop descending, and cause the grab assembly 20 and the connector 30 to be suspended in the water. The open claw 23 will also be blocked by water and stop descending. In this embodiment, the retracted grabbing assembly 20 is used to facilitate descent, and the expanded grabbing assembly 20 is used to facilitate suspension of the grabbing assembly 20 in water, and the expansion and contraction of the grabbing assembly 20 does not use electric drive equipment such as motors.

[0053] When the salvaged object is found, the opened claw 23 can be placed a short distance above the salvaged object, and then the inflation and deflation device 13 can be used to deflate the airbag 21. At this time, the connector 30 and the grab assembly 20 will fall synchronously again because the buoyancy provided by the airbag 21 is reduced, so that the salvaged object enters the claw 23. As the airbag 21 is deflated, and after the airbag 21 is completely deflated, the obstruction to the descent of the grab assembly 20 is removed, and the grab assembly 20 will fall relative to the connector 30. At the same time, the connector 30 can rise under the drive of the cable 12, and the relative movement of the connector 30 and the grab assembly 20 causes the claw 23 to contract. In the process of the connector 30 rising, the grab assembly 20 has a tendency to move downward relative to the connector 30 under the action of its own gravity and the gravity of the salvaged object, so that the grab assembly 20 has a self-locking function, that is, it will not open, ensuring that the salvaged object will not fall.

[0054] In this embodiment, the connector 30 can also be called a counterweight, which cleverly utilizes the gravity characteristics of the connector 30 and the gravity characteristics of the salvaged object, so that the opening and closing of the claw 23 is achieved without setting a motor to open and close the claw 23, thereby achieving the capture of the salvaged object, that is, less or no electrical equipment can be used underwater, thereby reducing the failure of the salvage claw and the salvage device. In the process of the object moving upward, the claw 23 can be tightened by relying on the object's own gravity, which can ensure the stability and firmness of the capture.

[0055] In some embodiments of the present invention, Figures 2 to 7As shown, a transmission device is provided between the connector 30 and each jaw 23. The transmission device is configured to convert the downward movement of the connector 30 into the outward opening movement of the jaws 23, and convert the upward movement of the connector 30 into the inward contraction movement of the jaws 23. Preferably, the transmission device is a gear 42 and a rack 41. The up and down movement of the rack 41 is converted into the rotation of the gear 42. The gear 42 can be fixedly connected to the upper end of the jaw 23, thereby realizing the opening and closing of the jaw 23. The arrangement of the gear 42 and the rack 41 is beneficial to carrying heavy objects, not easily damaged, and has a simple structure, which can prevent the inability to salvage items due to the damage of the transmission device structure.

[0056] In some embodiments of the present invention, as Figure 3 and Figure 4 shown, in order to better search for and discover the object to be salvaged, a camera device 50 and a distance detection device are provided at the lower end of the connecting frame 22. The camera device 50 is configured to take pictures of the lower side and the circumferential side of the connecting frame 22. The distance detection device is configured to detect the distance between the object on the lower side of the connecting frame 22 and / or the object on the circumferential side of the connecting frame 22 and the connecting frame 22. The camera device 50 can take pictures of the underwater scene, so that the controller on the ship can judge whether there is an object to be salvaged according to the taken pictures, and at the same time control the distance detection device to judge the distance between the object to be salvaged and the connecting frame, thereby being able to reasonably control the release length of the cable 12, etc.

[0057] In some embodiments of the present invention, as Figure 4 shown, the connecting frame 22 includes a top plate 221, a plurality of first connecting arms 223, and a jaw seat 224. A perforation is provided on the top plate 221. The lifting device has a cable 12, and the cable 12 passes through the perforation. The first connecting arms 223 are vertically arranged, and the upper ends of the first connecting arms 223 are connected to the edge of the top plate 221. The jaw seat 224 is provided with a moving cavity 225 with an upward opening, and is arranged on the lower side of the top plate 221. The connector 30 is arranged in the moving cavity 225. The top plate 221 is configured to prevent the grasping assembly 20 from completely disengaging from the connector 30 downward; the connector 30 is connected to the cable 12. The jaw seat 224 is fixedly connected to the plurality of first connecting arms 223. For example, the connection between the jaw seat 224 and the first connecting arms 223 is by welding. Of course, screw connection can also be used, etc. Such an arrangement facilitates the installation of the connector 30. The limiting device is the bottom wall of the moving cavity 225. The upper end of the jaw 23 is rotatably installed on the outer wall of the jaw seat 224 through a horizontally arranged rotating shaft. The transmission device is arranged between the rotating shaft and the connector 30. In this embodiment, a space that is blocked at both the upper and lower ends is formed between the top plate 221 and the jaw seat 224, that is, the moving cavity 225. The connector 30 is arranged in the moving cavity. The connector 30 and the connecting frame 22 can not only move relative to each other, but also prevent the two from falling off each other after moving to the limit position.

[0058] In some embodiments of the present invention, the transmission device includes a second connecting arm 43, a gear 42 and a rack 41; the second connecting arm 43 is connected to the upper end of the connector 30 and is located outside the claw seat 224, and each second connecting arm 43 has a first connecting arm 223 on both sides, so that the two first connecting arms 223 form a guide groove extending in the vertical direction, and there is no need to open a slide groove inside the claw seat 224. In some alternative embodiments, a slide groove can also be opened inside the claw seat at the same time, and a slider moving in the vertically extending slide groove is provided on the connector 30. The gear 42 is meshed with the rack 41; the gear 42 is arranged on the rotating shaft, and the rack 41 is arranged on the second connecting arm 43 and is arranged vertically.

[0059] In some embodiments of the present invention, the airbag 21 is fixedly connected to the top plate 221. The airbag 21 may be one, and a conduit is provided in the middle of the airbag 21, the conduit is fixedly connected to the top plate 221, and the conduit is coaxial with the perforation to pass the cable 12.

[0060] In other embodiments of the present invention, Figure 8 As shown, the airbag 21 is fixedly connected to the top plate 221. There are multiple airbags 21, which are evenly distributed along the circumferential edge of the top plate 221. Each airbag 21 is connected to the inflation and deflation device 13 through an air pipe so that the amount of gas in each two airbags 21 is equal or unequal. A conduit is also connected to the upper side of the top plate 221, and the conduit is coaxial with the perforation to pass the cable 12. The provision of the conduit can prevent the cable 12 and the airbag 21 from being entangled with each other. Moreover, the provision of multiple airbags 21 can cause the top plate 221 to tilt by filling different airbags 21 with different inflation amounts, thereby causing the inlet of the open claw 23 to tilt, controlling the angle at which the salvaged object enters the grasping space in the claw 23, so that the salvaged object can be reasonably grasped, and preventing the salvaged object from falling off from the grasping assembly 20 as much as possible. Specifically, the tilt angle of the top plate 221 can be determined based on the picture obtained by the camera device 50.

[0061] Furthermore, when the salvaged object is lifted up after being caught, the center of gravity of the salvaged object is offset, causing the top plate 221 and the grab assembly 20 to tilt, causing the salvaged object to fall off. The airbag 21 can be controlled to provide appropriate buoyancy to make the top plate 221 as horizontal as possible to prevent the salvaged object from falling off. Furthermore, a gyroscope can be provided in the top plate 221 to detect the tilt angle of the top plate 221.

[0062] In some embodiments of the present invention, when the connector 30 moves downward relative to the connecting frame 22, it drives the gear 42 to rotate in a first direction. The salvage device for ships with a wide salvage range further includes a stop wedge, a stop spring, a stop block, and a connecting rod. The stop wedge is horizontally telescopically mounted on the connecting frame 22. The stop spring is disposed between the stop wedge and the connecting frame 22 and is connected to the stop wedge and the connecting frame 22 at both ends, configured to urge the stop wedge to insert into the gear groove of the gear 42. And the inclined surface of the stop wedge allows the rotating shaft to rotate relative to the connecting frame 22 in a second direction after being inserted into the gear groove of the gear 42, and hinders the rotating shaft from rotating relative to the connecting frame 22 in the first direction. The first direction is opposite to the second direction. The stop block is vertically movably mounted on the connecting frame 22. The stop block hinders the stop wedge to disengage the stop wedge from the gear 42. The connecting rod is connected to the stop block and has a horizontal section extending into the moving cavity. The horizontal section is disposed on the descending stroke of the connector 30 descending relative to the connecting frame 22. When the connector 30 descends, it pushes the horizontal section downward, driving the stop block to move downward, releasing the blockage of the stop wedge. At this time, the stop wedge cooperates with the gear 42 under the action of the stop spring, realizing the function of allowing the rotating shaft to rotate relative to the connecting frame 22 in the second direction and hindering the rotating shaft from rotating relative to the connecting frame 22 in the first direction. After the salvaged object is taken away, the stop block and the stop wedge can be reset. When the airbag 21 drives the connector 30 and the connecting frame 22 to move suspended in water, the connector 30 is in the lowest position relative to the connecting frame 22. At this time, the stop wedge is disengaged from the stop block and inserted into the gear groove of the gear 42, which can conversely prevent the connector 30 from continuing to move downward relative to the connecting frame 22.

[0063] In some embodiments of the present invention, as Figures 1 to 8 shown, each jaw 23 includes a first joint 231 and a second joint 232. The upper end of the first joint 231 is fixedly connected to the rotating shaft. The upper end of the second joint 232 is fixedly connected to the lower end of the first joint 231. The second joint 232 is disposed at an angle to the first joint 231; the inner surface of the second joint 232 is provided with anti-slip rubber. The anti-slip rubber is beneficial to prevent the salvaged object from falling off the jaw 23.

[0064] In some other embodiments of the present invention, each jaw further includes a third joint 233. The third joint 233 is rotatably connected to the end of the second joint 232. The second joint 232 and the second joint 232 are vertically disposed. There is a spring between the third joint 233 and the second joint 232, allowing the third joint 233 to rotate around the end of the second joint 232 and form a straight line with the second joint 232. Such a setting facilitates salvaging items, makes the structure of the grasping assembly 20 compact when not salvaging items, and also facilitates the diving of the grasping assembly 20.

[0065] The embodiment of the present invention also provides a salvage method for a salvage device with a wide salvage range for ships in any of the above embodiments, which includes:

[0066] Start the lifting device to make the grasping component 20 and the connecting head 30 enter the water at a preset depth;

[0067] Inflate the airbag 21 through the air charging and discharging device 13, so that the connecting frame 22 rises relative to the connecting head 30, and then the clamping claws 23 open outward, and then the grasping component 20 and the connecting head 30 are suspended in the water, and then the grasping component 20 and the connecting head 30 move with the water flow;

[0068] Deflate the airbag 21 through the air charging and discharging device 13, so that the connecting frame 22 and the connecting head 30 at this time descend synchronously to wrap the object to be salvaged;

[0069] When the object to be salvaged is within the multiple clamping claws 23 and after the deflation of the airbag 21 is completed, make the lifting device rise until the object to be salvaged rises to a preset position.

[0070] In the embodiment of the present invention, after the grasping component 20 is in the water, the airbag 21 can be inflated, so that the grasping component 20 is suspended in the water and moves with the water flow to conduct a survey underwater. When there is an object to be salvaged, the grasping component 20 can be stopped to salvage the object to be salvaged. Since the airbag 21 can drive the grasping component 20 to move in a large range, the salvage device can have a large salvage range. At this time, the ship does not need to move, and the salvage efficiency is high. The relative movement of the connecting head 30 and the connecting frame 22 is made by using the airbag 21, that is, the clamping claws 23 are automatically opened to grasp the object, and during the upward movement of the object, the clamping claws 23 are tightened more and more by the gravity of the object itself. It can be realized that the opening and contraction of the clamping claws 23 do not rely on the motor drive, and there will be no motor failure. Therefore, the failure of the salvage device can be reduced.

[0071] In some embodiments of the present invention, the salvage method further includes: when the grasping component 20 and the connecting head 30 move with the water flow, controlling the release length of the cable 12 so that the grasping component 20 and the connecting head 30 stop in the water. By reasonably controlling the inflation amount of the airbag 21 and the release length of the cable 12, the positions of the grasping component 20 and the connecting head 30 in the water can be reasonably controlled. Especially after the object to be salvaged is found, the opened clamping claws 23 can be at a short distance above the object to be salvaged.

[0072] In some embodiments of the present invention, before inflating the airbag 21 through the air charging and discharging device 13, the salvage method further includes:

[0073] Obtain the direction of the water flow at the grasping component 20 in the water;

[0074] Obtain the salvage range;

[0075] Determine the target position of the ship according to the direction of the water flow and the salvage range, and move the ship to the target position.

[0076] In the embodiment of the present invention, the ship can be placed at the edge of the salvage range and at the upstream end of the water flow. Then, the airbag 21 moves towards the downstream end of the water flow along with the water flow, realizing the survey and salvage within the salvage range. By controlling the release of the cable 12, the moving speed and position of the airbag 21 along the water flow can be controlled, and basically, the survey and salvage of any position within the salvage range can be achieved.

[0077] In some embodiments of the present invention, the salvage method further includes: using the imaging device 50 and the distance detection device to determine the object to be salvaged and the position of the object to be salvaged.

[0078] Control the positions of the grasping assembly 20 and the connector 30 in the water according to the position of the object to be salvaged;

[0079] Determine the angle at which the object to be salvaged enters the inner side of the claw 23 based on the picture of the object to be salvaged obtained by the imaging device 50, and control the air volume in each airbag 21 according to the angle, thereby controlling the tilt angle of the top plate 221.

[0080] In the embodiment of the present invention, different airbag 21 can be filled with different inflation amounts, so that the top plate 221 is tilted, and then the inlet of the opened claw 23 is tilted, controlling the angle at which the object to be salvaged enters the grasping space of the claw 23, so that the object to be salvaged can be reasonably grasped and the object to be salvaged is prevented from falling off the grasping assembly 20 as much as possible.

[0081] In some embodiments of the present invention, the salvage method further includes: during the process of the lifting device driving the connector 30 to rise, using the gyroscope to detect the tilt angle of the top plate 221; controlling the air volume in each airbag 21 according to the tilt angle of the top plate 221, thereby controlling the top plate 221 to be in a horizontal state.

[0082] In the embodiment of the present invention, during the process of the object to be salvaged being driven to rise after being grasped, the center of gravity of the object to be salvaged is offset, causing the top plate 221 and the grasping assembly 20 to be tilted, resulting in the object to be salvaged falling off. By controlling the airbag 21 to provide appropriate buoyancy, the top plate 221 can be made as horizontal as possible to prevent the object to be salvaged from falling off.

[0083] So far, those skilled in the art should recognize that although multiple exemplary embodiments of the present invention have been shown and described in detail herein, still, without departing from the spirit and scope of the present invention, many other variations or modifications that conform to the principles of the present invention can be directly determined or derived based on the content disclosed in the present invention. Therefore, the scope of the present invention should be understood and determined to cover all these other variations or modifications.

Claims

1. A salvaging device for a ship with a wide salvaging range, comprising a lifting device, characterized in that: Also includes: A grabbing assembly, the grabbing assembly comprising an airbag, a connecting frame and a plurality of claws arranged around the connecting frame, the upper end of each claw being rotatably mounted on the connecting frame around a horizontal axis; the airbag being connected to the connecting frame; A connecting head, the connecting head is connected to the lifting device so as to be lifted and lowered under the drive of the lifting device, and the connecting head is installed on the connecting frame so as to be movable up and down; and the connecting head is configured to open the plurality of claws when descending relative to the connecting frame, and to retract the plurality of claws when ascending relative to the connecting frame; A limit device, disposed on the connecting frame, configured to limit a maximum position of the connecting head relative to the connecting frame; The inflation and deflation device is connected to the airbag through an air tube and is configured to inflate or deflate the airbag to change the buoyancy provided by the airbag, thereby causing the airbag to hinder the descent of the connecting frame and / or drive the connecting head and the grabbing assembly to move in the water.

2. The salvaging device with a wide salvaging range for a ship according to claim 1, characterized in that: A transmission device is provided between the connecting head and each of the claws, and the transmission device is configured to convert the descending movement of the connecting head into the outward opening movement of the claws, and convert the ascending movement of the connecting head into the inward contracting movement of the claws.

3. The salvaging device with a wide salvaging range for a ship according to claim 1, characterized in that: A camera device and a distance detection device are provided at the lower end of the connecting frame; The camera device is configured to capture images of the lower side and the surrounding side of the connecting frame; The distance detection device is configured to detect the distance between the connection frame and an object below the connection frame and / or an object around the connection frame.

4. The salvaging device with a wide salvaging range for a ship according to claim 2, characterized in that: The connecting frame comprises: A top plate, wherein the top plate is provided with a through hole, and the lifting device has a cable, and the cable passes through the through hole; A plurality of first connecting arms, wherein the first connecting arms are vertically arranged, and the upper ends of the first connecting arms are connected to the edges of the top plate; A claw seat, wherein the claw seat is provided with a movable cavity with an upward opening, and is arranged on the lower side of the top plate; the connecting head is arranged in the movable cavity, and the top plate is configured to prevent the grasping assembly from completely detaching from the connecting head downward; the claw seat is fixedly connected to a plurality of the first connecting arms; the limiting device is the bottom wall of the movable cavity; the upper end of the claw is rotatably mounted on the outer wall of the claw seat through a horizontally arranged rotating shaft; the transmission device is arranged between the rotating shaft and the connecting head.

5. The ship salvaging device with a wide salvaging range according to claim 4, characterized in that: The airbag is fixedly connected to the top plate; There are multiple airbags evenly distributed along the circumferential edge of the top plate, and each airbag is connected to the inflation and deflation device through an air pipe so that the air volumes in every two airbags are equal or unequal.

6. The salvaging device with a wide salvaging range for a ship according to claim 5, characterized in that: A conduit is also connected to the upper side of the top plate, and the conduit is coaxial with the through hole so as to pass the cable.

7. The salvaging device with a wide salvaging range for a ship according to claim 4, characterized in that: The transmission device includes a second connecting arm, a gear and a rack; the second connecting arm is connected to the upper end of the connecting head and is located on the outside of the claw seat; the gear is meshed with the rack; the gear is arranged on the rotating shaft, and the rack is arranged on the second connecting arm and is vertically arranged.

8. A salvaging method for a salvaging device with a wide salvaging range for a ship according to any one of claims 1 to 7, characterized in that: include: Starting the lifting device to allow the grabbing assembly and the connector to enter the water at a preset depth; Inflate the airbag through the inflation and deflation device to make the connecting frame rise relative to the connecting head, thereby making the claws open outward, and then make the grabbing assembly and the connecting head suspended in the water, thereby making the grabbing assembly and the connecting head move with the water flow; The airbag is deflated by the inflation and deflation device, so that the connecting frame and the connecting head at this time are synchronously lowered to wrap the salvaged object; When the salvaged object is within the plurality of claws and after the airbags are deflated, the lifting device is raised until the salvaged object is raised to a preset position.

9. The salvage method according to claim 8, characterized in that: Also includes: When the grabbing assembly and the connecting head are moved along with the water flow, the release length of the cable is controlled to make the grabbing assembly and the connecting head stop in the water.

10. The salvage method according to claim 8, characterized in that: Before inflating the airbag with air through the inflation and deflation device, the method further comprises: Obtaining the direction of water flow at the grabbing component in the water; Get the salvage scope; The target position of the ship is determined according to the direction of the water flow and the salvage range, and the ship is moved to the target position.

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