A deployment and recovery apparatus and method for a deep sea mining vehicle

Abstract

This invention relates to a deployment and retrieval device and method for deep-sea mining vehicles, comprising: a support frame on which a wire rope winch and a telescopic cylinder are mounted; a docking device connected to the wire rope of the wire rope winch, with the mining vehicle connected to its bottom; and an anti-sway platform connected to the piston rod of the telescopic cylinder, the bottom of which and the top of which are shaped for docking. A synchronization device is installed on the wire rope winch and the telescopic cylinder. By setting the cylinder to drive the anti-sway platform and the wire rope lifting docking device, maintaining stable contact between them, the anti-sway platform reduces the shaking of the docking device, thereby reducing the swaying and collision problems of the mining vehicle during deployment and retrieval. By adding the docking device and the anti-sway platform, the device achieves synchronized deployment and retrieval (lifting), improving the safety and reliability of the mining vehicle deployment and retrieval.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining deployment and recovery, and specifically to a deployment and recovery device and method for deep-sea mining vehicles. Background Technology

[0002] Deep-sea mining engineering is an important field for my country to develop marine mineral resources. In the actual operation of deep-sea mining engineering, mining trucks are deployed and retrieved in the stern area of ​​the ship. Affected by the marine environment (wind, waves, currents, etc.), mining trucks are prone to violent swaying when entering and leaving the water, and their posture is difficult to control, resulting in collisions or impacts. This seriously restricts the safety and reliability of the deployment and retrieval of mining trucks. Summary of the Invention

[0003] Based on the above description, the present invention provides a deployment and recovery device and method for deep-sea mining vehicles to solve the problem in the related art that mining vehicles are prone to violent swaying and difficult to control their posture when entering and leaving the water, resulting in collisions or impacts.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A deployment and recovery device for a deep-sea mining vehicle, comprising: a bracket on which a wire rope winch and a telescopic cylinder are mounted; a docking device connected to the wire rope of the wire rope winch, wherein the bottom of the docking device is connected to the mining vehicle; and an anti-sway platform connected to the piston rod of the telescopic cylinder, wherein the bottom of the anti-sway platform and the top of the docking device are provided with a docking shape.

[0005] Based on the above technical solution, the present invention can be further improved as follows.

[0006] Furthermore, a synchronization device is installed on the wire rope winch and the telescopic cylinder. The synchronization device is used to monitor the winding and unwinding status of the wire rope winch and the telescopic cylinder in real time, and adjust their working status according to the comparison results so that the two can achieve synchronous winding and unwinding.

[0007] Furthermore, the synchronization device includes a first displacement sensor, a second displacement sensor, and a control system. The first displacement sensor is mounted on the wire rope, and the second displacement sensor is mounted on the piston rod. The control system is used to control the start and stop of the wire rope winch and the telescopic cylinder according to the displacement values ​​of the wire rope and the piston rod, and to keep the displacement distance of the wire rope and the piston rod consistent.

[0008] Furthermore, the synchronization device includes a tension sensor and a control system. The tension sensor is installed on the wire rope winch. The control system is used to adjust the winding and unwinding direction of the wire rope winch according to the axial tension of the wire rope winch when winding and unwinding the wire rope, and to keep the anti-sway platform and the docking device in a stable and synchronized state.

[0009] Furthermore, the synchronization device includes a first speed information module, a second speed information module, and a control system. The first speed information module is installed on the wire rope winch, and the second speed information module is installed on the piston rod. The control system is used to control the operating speed of the wire rope winch and the telescopic cylinder according to the speed values ​​of the wire rope and the piston rod, and to keep the operating speeds of the wire rope and the piston rod consistent.

[0010] Secondly, embodiments of the present invention also provide a deployment and recovery method using the above-mentioned deployment and recovery device for deep-sea mining vehicles, which includes the following steps: opening the wire rope winch to lower the docking device, opening the telescopic cylinder to lower the anti-sway and anti-sway platform, and making the top of the docking device dock with the bottom of the anti-sway and anti-sway platform; maintaining stable contact between the docking device and the anti-sway and anti-sway platform, and lowering the mining vehicle.

[0011] Furthermore, the deployment and retrieval method also includes: using a synchronization device to monitor the deployment and retrieval status of the wire rope winch and the telescopic cylinder in real time, and adjusting their working status according to the comparison results so that the two can be deployed and retrieval synchronously.

[0012] Furthermore, the method for achieving synchronized release and retraction includes: using a control system to control the start and stop of the wire rope winch and the telescopic cylinder based on the displacement values ​​of the wire rope and the piston rod, and keeping the displacement distance of the wire rope and the piston rod consistent.

[0013] Furthermore, the method for achieving synchronous winding and unwinding includes: using a control system to adjust the winding and unwinding direction of the wire rope winch according to the axial tension of the wire rope winch during winding and unwinding, and keeping the anti-sway platform and the docking device in a stable and synchronized contact state.

[0014] Furthermore, the method for synchronizing the two includes: using the control system to control the operating speed of the wire rope winch and the telescopic cylinder according to the speed values ​​of the wire rope and the piston rod, and keeping the operating speeds of the wire rope and the piston rod consistent.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: By setting up a hydraulic cylinder-driven anti-sway platform and a wire rope lifting dock, and keeping the two in stable contact, the anti-sway platform can reduce the shaking of the dock, thereby reducing the swaying and collision problems of the mining vehicle during deployment and retrieval, and improving the safety and reliability of the deployment and retrieval of the mining vehicle. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the overall structure of the deployment and recovery device for deep-sea mining vehicles provided in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the docking device and anti-sway platform after recovery, as provided in an embodiment of the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 1. Anti-sway and anti-sway platform; 2. Telescopic cylinder; 3. Piston rod; 4. Connector; 5. Wire rope winch; 6. Wire rope; 71. First displacement sensor; 72. Second displacement sensor; 8. Tension sensor; 91. First speed information module; 92. Second speed information module; 10. Control system; 11. Support frame; 12. Mining vehicle. Detailed Implementation

[0019] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0020] This invention provides a deployment and retrieval device and method for deep-sea mining vehicles, which can solve the problem in related technologies that mining vehicles are prone to violent swaying and difficult attitude control when entering and leaving the water, resulting in collisions or impacts.

[0021] See Figure 1 and Figure 2 As shown in the illustration, an embodiment of the present invention provides a deployment and retrieval device for a deep-sea mining vehicle, comprising: a support 11, on which a wire rope winch 5 and a telescopic cylinder 2 are mounted; a docking device 4, connected to the wire rope 6 of the wire rope winch 5, with the mining vehicle 12 connected to the bottom of the docking device 4; and an anti-sway platform 1, connected to the piston rod 3 of the telescopic cylinder 2, the bottom of the anti-sway platform 1 and the top of the docking device 4 having a docking shape. By setting the telescopic cylinder 2 to drive the anti-sway platform 1, the wire rope winch 5 raises and lowers the docking device 4, maintaining a stable contact between the two. The anti-sway platform 1 can reduce the swaying of the docking device 4, thereby reducing the swaying and collision problems of the mining vehicle during deployment and retrieval, and improving the safety and reliability of the deployment and retrieval of the mining vehicle.

[0022] This invention also provides a deployment and retrieval method using the above-described deployment and retrieval device for deep-sea mining vehicles, comprising the following steps: activating the wire rope winch 5 to lower the docking device 4, activating the telescopic cylinder 2 to lower the anti-sway and anti-vibration platform 1, and aligning the top of the docking device 4 with the bottom of the anti-sway and anti-vibration platform 1; maintaining stable contact between the docking device 4 and the anti-sway and anti-vibration platform 1, and lowering the mining vehicle 12 to solve the swaying and collision problem during the deployment and retrieval of the mining vehicle.

[0023] See Figure 1 and Figure 2 As shown, in some embodiments, a synchronization device is installed on the wire rope winch 5 and the telescopic cylinder 2. The synchronization device is used to monitor the deployment and retraction status of the wire rope winch 5 and the telescopic cylinder 2 in real time, and adjust their working status according to the comparison results to achieve synchronized deployment and retraction. The synchronization device enables the synchronized deployment and retrieval of the anti-sway platform 1 and the docking device 4, eliminating the need for clamping devices and effectively avoiding the impact of wind, waves, and currents on the deployment and retrieval process of the mining vehicle, allowing for precise deployment and retrieval of the mining vehicle.

[0024] See Figure 1 and Figure 2 As shown, in some embodiments, the synchronization device includes a first displacement sensor 71, a second displacement sensor 72, and a control system 10. The first displacement sensor 71 is mounted on the wire rope 6, and the second displacement sensor 72 is mounted on the piston rod 3. The control system 10 is used to control the start and stop of the wire rope winch 5 and the telescopic cylinder 2 according to the displacement values ​​of the wire rope 6 and the piston rod 3, and to keep the displacement distance of the wire rope 6 and the piston rod 3 consistent.

[0025] Specifically, the first synchronous deployment and retrieval method is displacement (length) synchronization. That is, displacement sensors are installed on both the wire rope winch 5 and the telescopic cylinder piston rod 3. When the telescopic cylinder piston rod 3 extends, the wire rope winch 5 releases the wire rope 6, and the displacement sensors feed back the relative displacement value of the two to the control system 10. The start and stop of the wire rope winch 5 and the telescopic cylinder piston rod 3 are adjusted in real time on the deck, so that the movement distance of the two is kept consistent.

[0026] See Figure 1 and Figure 2 As shown, in some embodiments, the synchronization device includes a tension sensor 8 and a control system 10. The tension sensor 8 is mounted on the wire rope winch 5. The control system 10 is used to adjust the winding and unwinding direction of the wire rope winch 5 according to the axial tension of the wire rope winch 5 when winding and unwinding the wire rope 6, and to keep the anti-sway platform 1 and the docking device 4 in a stable contact and synchronized state.

[0027] Specifically, the second synchronous deployment and retrieval method is tension synchronization. This involves installing a tension sensor 8 on the wire rope winch 5. During deployment and retrieval, the axial tension of the wire rope winch 5 is monitored in real time as the wire rope 6 is extended or retracted. When the tension is too low, approaching zero, it indicates that the docking device 4 and the anti-sway platform 1 have completely disengaged. At this point, the control system 10 on the deck adjusts the direction of the wire rope 6's extension and retraction in real time to maintain a stable, synchronized contact between the two. When the tension is too high, it indicates that the docking device 4 and the anti-sway platform 1 are severely compressed. In this case, the direction of the wire rope 6's extension and retraction is adjusted in the opposite direction to maintain a stable, synchronized contact between the two.

[0028] See Figure 1 and Figure 2 As shown, in some embodiments, the synchronization device includes a first speed information module 91, a second speed information module 92, and a control system 10. The first speed information module 91 is mounted on the wire rope winch 5, and the second speed information module 92 is mounted on the piston rod 3. The control system 10 is used to control the operating speed of the wire rope winch 5 and the telescopic cylinder 2 according to the speed values ​​of the wire rope 6 and the piston rod 3, and to keep the operating speeds of the wire rope 6 and the piston rod 3 consistent.

[0029] Specifically, the third deployment and retrieval method is speed synchronization. That is, speed information modules are installed on both the wire rope winch 5 and the telescopic cylinder piston rod 3. When the telescopic cylinder piston rod 3 extends, the wire rope winch 5 releases the wire rope 6, and the speed information modules feed back the deployment and retrieval speed values ​​to the control system 10. This allows for real-time adjustment of the operating speeds of the wire rope winch 5 and the telescopic cylinder piston rod 3 on the deck, thereby maintaining a stable synchronized state between the two.

[0030] The above three synchronous deployment and recovery methods can be switched and selected to control and realize the stable operation of the docking device 4 and the anti-sway and anti-sway platform 1 from the three aspects of displacement, tension and speed, so as to make its operation safe and reliable.

[0031] This application monitors and compares the motion state of the telescopic cylinder 2 and the extension / retraction state of the wire rope winch 5 in real time. Based on the feedback results of displacement, tension, and speed, it quickly adjusts the working states of the telescopic cylinder 2 and the wire rope winch 5 to achieve balance, thereby realizing the synchronous deployment and retrieval of the anti-sway platform 1 and the docking device 4. This reduces the impact of ocean waves on deployment and retrieval, avoids situations where the anti-sway platform 1 and the docking device 4 fail to lock or loosen due to deformation under stress, and enables precise deployment and retrieval of mining vehicles. It ensures the operational safety and reliability of the anti-sway platform and docking device from multiple aspects.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0033] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0034] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0035] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A deployment and retrieval device for deep-sea mining vehicles, characterized in that, It includes: The bracket (11) is equipped with a wire rope winch (5) and a telescopic cylinder (2); The docking device (4) is connected to the wire rope (6) of the wire rope winch (5), and the bottom of the docking device (4) is connected to the mining car (12). The anti-sway platform (1) is connected to the piston rod (3) of the telescopic cylinder (2). The bottom of the anti-sway platform (1) and the top of the docking device (4) are provided with a shape for docking.

2. The deployment and recovery device for deep-sea mining vehicles according to claim 1, characterized in that: The wire rope winch (5) and the telescopic cylinder (2) are equipped with a synchronization device. The synchronization device is used to monitor the winding and unwinding status of the wire rope winch (5) and the telescopic cylinder (2) in real time, and adjust their working status according to the comparison results so that the two can be wound and unwinded synchronously.

3. The deployment and recovery device for deep-sea mining vehicles according to claim 2, characterized in that: The synchronization device includes a first displacement sensor (71), a second displacement sensor (72), and a control system (10). The first displacement sensor (71) is mounted on the wire rope (6), and the second displacement sensor (72) is mounted on the piston rod (3). The control system (10) is used to control the start and stop of the wire rope winch (5) and the telescopic cylinder (2) according to the displacement values ​​of the wire rope (6) and the piston rod (3), and to keep the displacement distance of the wire rope (6) and the piston rod (3) consistent.

4. The deployment and recovery device for deep-sea mining vehicles according to claim 2, characterized in that: The synchronization device includes a tension sensor (8) and a control system (10), wherein the tension sensor (8) is mounted on the wire rope winch (5); The control system (10) is used to adjust the winding and unwinding direction of the wire rope winch (5) according to the axial tension of the wire rope winch (5) when winding and unwinding the wire rope (6), and to keep the anti-sway platform (1) and the docking device (4) in a stable synchronous state of contact.

5. The deployment and recovery device for deep-sea mining vehicles according to claim 2, characterized in that: The synchronization device includes a first speed information module (91), a second speed information module (92), and a control system (10). The first speed information module (91) is installed on the wire rope winch (5), and the second speed information module (92) is installed on the piston rod (3). The control system (10) is used to control the running speed of the wire rope winch (5) and the telescopic cylinder (2) according to the speed values ​​of the wire rope (6) and the piston rod (3), and to keep the running speed of the wire rope (6) and the piston rod (3) consistent.

6. A deployment and recovery method using the deployment and recovery device for deep-sea mining vehicles as described in claim 1, characterized in that, It includes the following steps: Turn on the wire rope winch (5) to lower the docking device (4), turn on the telescopic cylinder (2) to lower the anti-sway platform (1), and connect the top of the docking device (4) with the bottom of the anti-sway platform (1). Maintain stable contact between the docking device (4) and the anti-sway platform (1), and lower the mining vehicle (12).

7. The deployment and recovery method according to claim 6, characterized in that: The deployment and retrieval method further includes: using a synchronization device to monitor the deployment and retrieval status of the wire rope winch (5) and the telescopic cylinder (2) in real time, and adjusting their working status according to the comparison results so that the two can be deployed and retrieval synchronously.

8. The deployment and recovery method according to claim 7, characterized in that, The method for achieving synchronized opening and closing of the two includes: The control system (10) controls the start and stop of the wire rope winch (5) and the telescopic cylinder (2) according to the displacement values ​​of the wire rope (6) and the piston rod (3), and keeps the displacement distance of the wire rope (6) and the piston rod (3) consistent.

9. The deployment and recovery method according to claim 7, characterized in that, The method for achieving synchronized opening and closing of the two includes: The control system (10) adjusts the winding and unwinding direction of the wire rope winch (5) according to the axial tension of the wire rope winch (5) when winding and unwinding the wire rope (6), and keeps the anti-sway platform (1) and the docking device (4) in a stable synchronous state of contact.

10. The deployment and recovery method according to claim 7, characterized in that, The method for achieving synchronized opening and closing of the two includes: The control system (10) controls the running speed of the wire rope winch (5) and the telescopic cylinder (2) according to the speed values ​​of the wire rope (6) and the piston rod (3), and keeps the running speed of the wire rope (6) and the piston rod (3) consistent.

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