An underwater member automatic hook hanging and releasing hoisting process and system

Abstract

The present application relates to a kind of underwater component automatic hooking and unhooking hoisting process and system, belong to underwater component hoisting technical field.The underwater component automatic hooking and unhooking hoisting process includes the following steps: underwater component hooking: control hanger to the upper portion of underwater component, lower hanger, make underwater component side plate enter into lifting arm, until the stop rod below hanger is stuck on the top of underwater component, drive driver drive connecting shaft insert into lifting arm opening and underwater component lifting hole;Underwater component is transported to installation point position;Underwater component installation: when tidal level rises, lower hanger, the water inlet of underwater component bottom plate is water, so that the water level in cabin meets the stability requirement, lower underwater component and install;Underwater component unhooking: hoisting equipment keeps lifting force, so that stop rod is located on the top of underwater component, sling is not stressed, drive driver drive connecting shaft is out of lifting arm lifting hole.The hoisting process is positioned by stop rod, and the structure of driver automatic plug-in connecting shaft is cooperated, and the automatic hooking and unhooking of underwater component are realized.

Description

Technical Field

[0001] This invention belongs to the field of underwater component hoisting technology, specifically relating to an automatic hook-and-unhook hoisting process and system for underwater components. Background Technology

[0002] In the field of water conservancy engineering, underwater components, as a key type of large precast reinforced concrete component, are widely used in core construction projects such as wharves and bridge foundations due to their significant advantages, including less underwater construction work, faster construction speed, and stronger structural stability. Given the limitations of construction conditions and storage space, underwater components are typically manufactured at a prefabrication site and then transported by water to the project site for installation.

[0003] In existing technologies, underwater component hoisting usually requires the setting up of a work platform, where workers perform hooking and unhooking operations on the underwater components. This type of high-altitude work on water has an extremely high risk factor.

[0004] Therefore, how to provide an automatic hook-and-unhook hoisting process for underwater components is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automatic hooking and unhooking process and system for underwater components. Through the structural cooperation of a stop rod for positioning and an automatic insertion and removal of the connecting shaft by a driver, the automatic hooking and unhooking of underwater components is achieved.

[0006] This invention provides an automatic hook-and-unhook lifting process for underwater components. The underwater component has a bottom plate and side plates, which are perpendicularly connected to the bottom plate. The side plates and bottom plate together form a cavity. Inside the cavity, there is at least one partition perpendicular to the bottom plate, dividing the cavity into multiple compartments. The bottom plate has multiple water inlet holes, the number of which corresponds to the number of compartments, so that each compartment can be filled with water when the underwater component is launched. The automatic hook-and-unhook lifting process for underwater components includes the following steps: Underwater component hook: The sling of the lifting equipment is connected to the gantry. The gantry is controlled to be above the underwater component. The gantry is lowered so that the side plate of the underwater component enters the boom until the stop bar under the gantry is locked on the top of the underwater component and the opening of the boom is aligned with the lifting hole of the underwater component. The driver drives the connecting shaft to be inserted into the opening of the boom and the lifting hole of the underwater component. Underwater component transportation: using mobile lifting equipment to transport underwater components to the installation location; Underwater component installation: When the tide is rising, the lifting equipment lowers the gantry, and water enters through the inlet holes of the underwater component's bottom plate. The underwater component continues to be slowly lowered, while the lifting force changes are monitored in real time through the lifting force display screen of the lifting equipment. As the water level inside the underwater component compartment rises and buoyancy decreases, the lifting force gradually increases until it first stabilizes. This is when it is determined that the water level inside the underwater component compartment is equal to the water level outside the compartment. The stable lifting force at this point is the lifting force value that meets the requirements for continuing to lower the underwater component and install it. The underwater component is then lowered and installed while maintaining a stable lifting force. Unhooking of underwater components: The lifting equipment maintains the lifting force, so that the stop bar under the gantry is located on the top of the underwater component. The sling is not under force, the drive drives the connecting shaft to disengage from the boom lifting hole, and the lifting equipment controls the gantry to rise and detach from the underwater component.

[0007] This technical solution achieves automatic hooking and unhooking of underwater components through the structural cooperation of stop rod positioning and automatic insertion and removal of connecting shaft by driver. This eliminates the need to set up a working platform or for personnel to perform hooking and unhooking operations at height on the water during the entire hoisting process, fundamentally eliminating the safety risks associated with high-altitude operations on the water in existing technologies.

[0008] In some embodiments, during the underwater component transportation or installation steps, when the lifting equipment moves the gantry, the boom swings with multiple degrees of freedom through the joint bearings at the connection with the gantry to balance the force on the gantry.

[0009] This technical solution can adaptively adjust the boom posture to balance the force on the hanger and avoid local stress concentration caused by rigid connection.

[0010] In some embodiments, when the boom swings, a limiting rod provided on the side of the boom limits the swing amplitude to ensure the stability of the underwater components.

[0011] This technical solution can effectively constrain the range of motion of the boom during swing, preventing excessive swing amplitude from causing underwater components to sway.

[0012] In some embodiments, a camera positioned above the gantry is used to observe whether the connecting shaft enters the lifting hole and whether water begins to enter the underwater component compartment.

[0013] This technical solution, through the installation of cameras, allows operators to observe the status of the gantry and underwater components in real time, providing intuitive data for construction and improving the accuracy and controllability of the operation.

[0014] Based on the above-mentioned automatic hooking and unhooking hoisting process for underwater components, the present invention also provides an automatic hooking and unhooking hoisting system for underwater components, applied to the above-mentioned automatic hooking and unhooking hoisting process for underwater components, comprising: The hanger includes a main beam and a secondary beam that are perpendicular to each other. The main beam has ear plates at both ends, and the upper and lower ends of the ear plates extend out of the main beam. The parts of the ear plates that extend out of the main beam are all fitted with pins. The boom includes two parallel boom plates, with a hanging plate connected to the middle of the top of the two boom plates. The hanging plate is hinged to the lower part of the ear plate by a pin. The actuator is fixed to the inside of the boom plate. The output end of the actuator is fixed with a connecting shaft. When the underwater component is hooked, the actuator drives the connecting shaft to insert into the boom opening and the underwater component lifting hole; when the underwater component is unhooked, the actuator drives the connecting shaft to disengage from the boom opening. A stop bar is installed below the gantry. The length of the stop bar is configured such that when the stop bar is engaged with the top of the underwater component, the opening of the boom is aligned with the lifting hole of the underwater component.

[0015] This technical solution features a compact structure, accurate positioning, and a high degree of automation. Its structural design ensures the reliable implementation of the automatic hooking and unhooking process and effectively eliminates the safety risks associated with high-altitude operations on water in existing technologies.

[0016] In some embodiments, a first positioning frame is provided below both ends of the main beam, and four first positioning frames are provided for positioning the side plates of the underwater components.

[0017] This technical solution ensures precise horizontal alignment between the boom opening and the underwater component lifting hole.

[0018] In some embodiments, a second positioning frame is provided between two opposing first positioning frames, and two second positioning frames are provided for positioning underwater component partitions.

[0019] This technical solution uses a second positioning frame to position the internal partition of the underwater component, achieving precise alignment of the gantry and the underwater component in multiple directions, effectively preventing the gantry and the underwater component from deflecting during the hooking process.

[0020] In some embodiments, a spherical bearing is provided on the outer periphery of the pin at the connection between the hanging plate and the lower part of the ear plate, and the two ends of the spherical bearing are fixedly connected to the hanging plate.

[0021] This technical solution enables the boom to swing around the pivot pin in multiple degrees of freedom by setting the joint bearing, and adaptively adjusts the boom posture to balance the force on the hanger.

[0022] In some embodiments, pressure plates are provided at both ends of the spherical bearing, and the pressure plates are fixedly connected to the hanging plate.

[0023] This technical solution uses a pressure plate to firmly fix the spherical plain bearing to the hanging plate, preventing the bearing from shifting or coming off when subjected to axial loads.

[0024] In some embodiments, the end of the main beam is provided with a limiting rod parallel to the boom plate, and the limiting rod is provided with a stop for limiting the swing amplitude of the boom plate.

[0025] This technical solution can limit the maximum swing range of the boom, preventing excessive swing amplitude during transportation or installation from causing violent shaking of underwater components.

[0026] Based on the above solution, the automatic hooking and unhooking process and system for underwater components in this embodiment of the invention achieves automatic hooking of the underwater component by setting a stop bar that is engaged at the top of the underwater component. After the boom opening is aligned with the lifting hole of the underwater component, the connecting shaft is automatically inserted by a driver, realizing automatic hooking of the underwater component without the need for personnel to perform high-altitude hooking operations on the water platform. During unhooking, the lifting equipment maintains the lifting force so that the stop bar is located at the top of the underwater component and the sling is not under stress. Then, the driver drives the connecting shaft to automatically disengage from the boom lifting hole, realizing automatic unhooking of the underwater component and avoiding high-altitude unhooking operations by personnel on the water. The entire hooking and unhooking process is completed automatically by the driver. Combined with the method of taking advantage of the rising tide and controlling the water level difference by using water intake during the installation of underwater components, the entire process from hooking, transportation, installation to unhooking of underwater components does not require manual high-altitude operations on the water, eliminating the safety risks in this stage. In summary, this embodiment achieves automatic hooking and unhooking of underwater components through the positioning of the stop rod and the automatic insertion and removal of the connecting shaft by the driver. This eliminates the need for a work platform and personnel to perform hooking and unhooking operations at height on the water during the entire hoisting process, fundamentally eliminating the safety risks associated with high-altitude operations on the water in the prior art. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a three-dimensional schematic diagram of the automatic hooking and unhooking hoisting system for underwater components in an embodiment of the present invention; Figure 2 This is a side view of the automatic hooking and unhooking hoisting system for underwater components in an embodiment of the present invention; Figure 3 for Figure 2 Sectional view along line AA; Figure 4 for Figure 3 Enlarged view of section B; Figure 5 This is a schematic diagram of the underwater component in an embodiment of the present invention; Figure 6 This is a top view of the underwater component in an embodiment of the present invention.

[0028] In the picture: 1. Lifting frame; 2. Lifting boom; 3. Hydraulic cylinder; 4. Limiting rod; 5. Mounting rod; 6. Stop rod; 7. First positioning frame; 8. Second positioning frame; 9. Underwater component; 11. Main beam; 12. Secondary beam; 13. Ear plate; 14. Pin; 141. Spherical plain bearing; 142. Pressure plate; 143. Bolt; 201. Boom plate; 202. Hanging plate; 203. Connecting shaft; 301. Output shaft; 401. Stop; 501. Diagonal brace; 91. Side panel; 911. Lifting hole; 92. Bottom plate; 921. Water inlet hole; 93. Partition. Detailed Implementation

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] like Figures 1-6As shown, in one embodiment of the automatic hook-and-unhook lifting process and system for underwater components of the present invention, the automatic hook-and-unhook lifting process for underwater components is used to lift underwater component 9. Underwater component 9 has a bottom plate 92 and side plates 91. The side plates 91 are perpendicularly connected to the bottom plate 92, and the side plates 91 and the bottom plate 92 together enclose a cavity. Inside the cavity, there is at least one partition 93 perpendicular to the bottom plate 92, which divides the cavity into multiple compartments. The bottom plate 92 has multiple water inlets 921, the number of which corresponds to the number of compartments. When the underwater component 9 is launched, each compartment can be flooded; the automatic hooking and unhooking process for the underwater component includes the steps of hooking the underwater component 9, transporting the underwater component 9, installing the underwater component 9, and unhooking the underwater component 9; among which, the hooking step of the underwater component 9 includes: connecting the sling of the lifting equipment to the lifting frame 1, controlling the lifting frame 1 to be above the underwater component 9, lowering the lifting frame 1 so that the side plate 91 of the underwater component 9 enters the boom 2, until the stop rod 6 below the lifting frame 1 is engaged with the top of the underwater component 9, and aligning the opening of the boom 2 with the lifting hole 911 of the underwater component 9. The driver drives the connecting shaft 203 to insert into the opening of the boom 2 and the lifting hole 911 of the underwater component 9; the underwater component 9 transportation steps include: moving the lifting equipment to transport the underwater component 9 to the installation point; the underwater component 9 installation steps include: when the tide is rising, the lifting equipment lowers the boom 1, water enters through the water inlet hole 921 of the bottom plate 92 of the underwater component 9, and the underwater component 9 continues to be slowly lowered, while the lifting force changes are monitored in real time through the lifting force display screen of the lifting equipment; as the water level inside the compartment of the underwater component 9 rises and the buoyancy decreases, the lifting force gradually increases until... When the lifting force is stabilized for the first time, it is determined that the water level inside the underwater component 9 is equal to the water level outside the compartment. The stable lifting force at this time is the lifting force value that meets the requirements for continuing to lower the underwater component 9 and install it. The underwater component 9 is lowered for installation while maintaining the stable lifting force. The unhooking steps of the underwater component 9 include: the lifting equipment maintains the lifting force, so that the stop rod 6 under the jack 1 is located on the top of the underwater component 9, the sling is not under force, the driver drives the connecting shaft 203 to disengage from the lifting hole 911 and the opening of the boom 2 of the underwater component 9, and the lifting equipment controls the jack 1 to rise and detach from the underwater component 9.

[0034] In the above illustrative embodiment, the automatic hooking and unhooking process for underwater components in this invention involves setting a stop rod 6 to engage with the top of the underwater component 9. After the opening of the boom 2 aligns with the lifting hole 911 of the underwater component 9, the driver drives the connecting shaft 203 to automatically insert, achieving automatic hooking of the underwater component 9 without requiring personnel to perform high-altitude hooking operations on the surface. During unhooking, the lifting equipment maintains the lifting force, keeping the stop rod 6 positioned on top of the underwater component 9 with the sling unloaded. Then, the driver drives the connecting shaft 203 to automatically disengage from the lifting hole 911 and the opening of the boom 2, achieving automatic unhooking of the underwater component 9 and avoiding high-altitude unhooking operations on the water. The entire hooking and unhooking process is completed automatically by the driver. By utilizing the rising tide and the change in lifting force to determine the water level during installation, the final installation lifting force is determined, eliminating the need for manual high-altitude operations on the water throughout the entire process of hooking, transporting, installing, and unhooking the underwater component 9, thus eliminating the safety risks associated with this stage. In summary, this embodiment achieves automatic hooking and unhooking of the underwater component 9 through the positioning of the stop rod 6 and the structural cooperation of the automatic insertion and unloading of the connecting shaft 203 by the driver. This eliminates the need to set up a working platform or for personnel to perform hooking and unhooking operations at high altitudes on the water during the entire hoisting process, fundamentally eliminating the safety risks associated with high-altitude operations on the water in the prior art.

[0035] It should be noted that in the above embodiment, the boom 2 is provided with two parallel boom plates 201. When the boom 2 is connected to the underwater component 9, the two boom plates 201 are located on both sides of the side plate 91 of the underwater component 9, ensuring that the openings of the two boom plates 201 are aligned with the lifting holes 911 of the underwater component 9. Therefore, when hooking, the connecting shaft 203 needs to be inserted sequentially into the opening of the boom 2 on the inner side of the side plate 91, the lifting hole 911 of the underwater component 9, and the opening of the boom 2 on the outer side of the side plate 91; when unhooking, the connecting shaft 203 needs to be disengaged sequentially from the opening of the boom 2 on the outer side of the side plate 91, the lifting hole 911 of the underwater component 9, and the opening of the boom 2 on the inner side of the side plate 91.

[0036] In some embodiments, during the transportation or installation of the underwater component 9, when the lifting equipment moves the gantry 1, the boom 2 achieves multi-degree-of-freedom swing through the spherical bearing 141 at the connection point with the gantry 1 to balance the force on the gantry 1. By using the spherical bearing 141, the boom 2's posture can be adaptively adjusted during the transportation or installation of the underwater component 9 to balance the force on the gantry 1, avoiding localized stress concentration caused by rigid connections, and improving structural stability and equipment safety during the lifting process.

[0037] In some embodiments, such as Figure 2As shown, when the boom 2 swings, the swing amplitude of the boom 2 is limited by the limiting rod 4 set on the side of the boom 2 to ensure the stability of the underwater component 9. By setting the limiting rod 4, the range of motion of the boom 2 is effectively constrained when it swings, preventing the underwater component 9 from shaking due to excessive swing amplitude, thereby ensuring the stability of the underwater component 9 during the hoisting process.

[0038] In some embodiments, a camera mounted above the gantry 1 observes the real-time status of the gantry 1 and the underwater component 9, whether the connecting shaft 203 enters the lifting hole 911, and whether water begins to enter the compartment of the underwater component 9. Through the camera, operators can observe the status of the gantry 1 and the underwater component 9 in real time. Once the connecting shaft 203 enters the lifting hole 911, the next work process can begin. After observing that water begins to enter the compartment, the operator should monitor the lifting force value displayed on the crane equipment screen in real time.

[0039] In some embodiments, such as Figure 1 , Figure 5 As shown, during the hooking step of underwater component 9, when lowering the lifting frame 1, the side plate 91 of underwater component 9 is positioned by the first positioning frame 7, and the partition plate 93 of underwater component 9 is positioned by the second positioning frame 8. In the hooking step of underwater component 9, when lowering the lifting frame 1, the first positioning frame 7 positions the side plate 91 of underwater component 9, and the second positioning frame 8 positions the partition plate 93 of underwater component 9, ensuring accurate positioning between the lifting frame 1 and the underwater component 9. This ensures that the opening of the boom 2 and the lifting hole 911 of the underwater component 9 are precisely aligned, providing a reliable positional guarantee for the subsequent automatic insertion of the connecting shaft 203 by the actuator.

[0040] Based on the above-mentioned automatic hooking and unhooking lifting process for underwater components, this invention also provides an automatic hooking and unhooking lifting system for underwater components, applied to the above-mentioned automatic hooking and unhooking lifting process for underwater components, including a lifting frame 1, a boom 2, a driver, and a stop rod 6; wherein, the lifting frame 1 includes a main beam 11 and a secondary beam 12 that are perpendicular to each other, the main beam 11 is provided with ear plates 13 at both ends, the upper and lower ends of the ear plates 13 extend out of the main beam 11, and the portions of the ear plates 13 that extend out of the main beam 11 are all provided with pins 14; the boom 2 includes two parallel arm plates 201, the tops of the two arm plates 201 being connected in the middle. There is a lifting plate 202, which is hinged to the pin 14 at the lower part of the ear plate 13; the driver is fixed to the inner side of the arm plate 201, and the output end of the driver is fixed with a connecting shaft 203. When the underwater component 9 is hooked, the driver drives the connecting shaft 203 to insert into the opening of the boom 2 and the lifting hole 911 of the underwater component 9; when the underwater component 9 is unhooked, the driver drives the connecting shaft 203 to disengage from the opening of the boom 2; the stop rod 6 is set below the lifting frame 1, and the length of the stop rod 6 is configured such that when the stop rod 6 is locked at the top of the underwater component 9, the opening of the boom 2 is aligned with the lifting hole 911 of the underwater component 9.

[0041] In the above illustrative embodiment, the underwater component automatic hooking and unhooking system of this embodiment forms a stable hoisting connection structure by vertically setting the main beam 11 and secondary beam 12 of the gantry 1, and extending the ear plates 13 at both ends of the main beam 11 to pass through the pins 14; the boom 2 is hinged to the pins 14 at the lower part of the ear plates 13 via the lifting plate 202, so that the boom 2 can swing around the pins 14 to adapt to the attitude changes of the underwater component 9 during hoisting; the driver is fixed inside the boom plate 201, and its output end connecting shaft 203 can automatically insert into the opening of the boom 2 and the lifting hole 911 of the underwater component 9 when hooking, and automatically disengage when unhooking, realizing the fully automated operation of hooking and unhooking, without the need for manual insertion and removal operations at high altitudes above the water; the length configuration of the stop rod 6 is such that when it is locked on the top of the underwater component 9, the opening of the boom 2 is aligned with the lifting hole 911 of the underwater component 9, providing a precise positioning reference for the automatic insertion and removal of the driver. The system is compact, accurately positioned, and highly automated. Its structural design ensures the reliable implementation of the automatic hooking and unhooking process and effectively eliminates the safety risks of high-altitude operations on water in existing technologies.

[0042] In some embodiments, the actuator is a hydraulic cylinder 3. To ensure the normal operation of the hydraulic cylinder 3 underwater when the underwater component 9 is unhooked, the output shaft 301 is provided with a waterproof sealing sleeve.

[0043] In some embodiments, such as Figure 6 As shown, each compartment of the underwater component 9 has a water inlet hole 921 on its bottom plate 92. With the water inlet hole 921, water can be evenly introduced into each compartment during the installation and lowering of the underwater component 9, so that the underwater component 9 sinks smoothly as a whole, avoiding tilting or instability caused by uneven water intake, and helping to control the water level difference between the inside and outside of the compartment to meet the installation requirements.

[0044] In some embodiments, such as Figure 2 As shown, a mounting rod 5 perpendicular to the arm plate 201 is provided on the inner side of the arm plate 201, and the driver is fixedly connected to the mounting rod 5. The mounting rod 5 provides a reliable mounting base for the driver, ensuring the positional accuracy and operational stability of the driver during hook-and-unhook actions.

[0045] In some embodiments, such as Figure 2 As shown, a diagonal brace 501 is provided between the mounting rod 5 and the arm plate 201, forming a triangular structure with the mounting rod 5 and the arm plate 201. The diagonal brace 501 enhances the rigidity and deformation resistance of the mounting rod 5, ensuring that the installation position of the driver does not shift when subjected to insertion and extraction loads, thus improving the long-term operational reliability of the driver.

[0046] In some embodiments, such as Figure 2As shown, four first positioning frames 7 are provided below both ends of the main beam 11 for positioning the side plates 91 of the underwater component 9. Specifically, the opposing first positioning frames 7 are engaged with the side plates 91 on opposite sides of the underwater component 9. By precisely limiting the side plates 91 of the underwater component 9 from both sides through the four first positioning frames 7, the horizontal alignment of the lifting frame 1 and the underwater component 9 can be quickly achieved when the lifting frame 1 is lowered, ensuring that the opening of the boom 2 and the lifting hole 911 of the underwater component 9 are precisely aligned laterally.

[0047] In some embodiments, such as Figure 3 As shown, a second positioning frame 8 is provided between two opposing first positioning frames 7. Two second positioning frames 8 are provided for positioning the partition 93 of the underwater component 9. Specifically, the second positioning frame 8 has a slot for positioning the partition 93. By positioning the internal partition 93 of the underwater component 9 using the second positioning frame 8, precise alignment of the gantry 1 and the underwater component 9 in multiple directions is achieved, effectively preventing deflection of the gantry 1 and the underwater component 9 during the hooking process.

[0048] In some embodiments, such as Figure 2 , Figure 3 As shown, both the first positioning frame 7 and the second positioning frame 8 have guide parts at their lower ends for guidance. During the lowering process of the jack 1, the guide parts first contact the side plate 91 or partition 93 of the underwater component 9, and guide the positioning frame smoothly into the positioning position through the inclined surface, avoiding jamming or collision caused by initial alignment deviation, and improving the smoothness and fault tolerance of the hook operation.

[0049] In some embodiments, such as Figure 4 As shown, a spherical bearing 141 is provided on the outer periphery of the pin 14 at the lower connection between the lifting plate 202 and the ear plate 13. Both ends of the spherical bearing 141 are fixedly connected to the lifting plate 202. The spherical bearing 141 allows the boom 2 to swing freely around the pin 14, adaptively adjusting the boom 2's posture to balance the force on the lifting frame 1, avoiding additional bending moments caused by rigid connections, and improving the adaptability and safety of the structure during hoisting. In this embodiment, the spherical bearing 141 is also called a spherical bearing.

[0050] In some embodiments, such as Figure 4 As shown, the spherical plain bearing 141 has pressure plates 142 at both ends, and the pressure plates 142 are fixedly connected to the hanging plate 202. The pressure plates 142 firmly fix the spherical plain bearing 141 to the hanging plate 202, preventing the bearing from moving or falling out when subjected to axial load, thus ensuring the installation reliability and long-term stability of the spherical plain bearing 141.

[0051] In some embodiments, such as Figure 4As shown, the pressure plate 142 is connected to the hanging plate 202 by bolts 143. The use of bolts 143 to connect the pressure plate 142 allows for detachable fixing, which ensures connection strength and facilitates the installation, maintenance and replacement of the spherical bearing 141, thereby improving the maintainability of the equipment.

[0052] In some embodiments, such as Figure 2 As shown, the end of the main beam 11 is provided with a limiting rod 4 parallel to the boom plate 201, and the limiting rod 4 is provided with a stop 401 for limiting the swing amplitude of the boom plate 201. By setting the limiting rod 4 and the stop 401, the maximum swing range of the boom 2 is limited, preventing the boom 2 from swinging too much during transportation or installation and causing the underwater component 9 to shake violently, thus ensuring the attitude stability of the underwater component 9 in each stage of hoisting.

[0053] A camera is installed above the gantry 1 to observe the real-time status of the gantry 1 and the underwater component 9. Operators can remotely observe the alignment of the opening of the boom 2 with the lifting hole 911 of the underwater component 9, the cooperation status of the positioning frame and the underwater component 9, and the water level inside the cabin when the underwater component 9 is installed through the camera. This provides intuitive visual feedback for remote control and realizes unmanned operation of high-altitude operations on the water.

[0054] Through the description of several embodiments of the automatic hook-and-unhook lifting process and system for underwater components of the present invention, it can be seen that the embodiments of the automatic hook-and-unhook lifting process and system for underwater components of the present invention have at least one or more of the following advantages: 1. The automatic hooking and unhooking process for underwater components provided by the present invention is achieved by setting a stop rod 6 to be locked on the top of the underwater component 9, and after the opening of the boom 2 is aligned with the lifting hole 911 of the underwater component 9, the connecting shaft 203 is automatically inserted by the driver, thereby realizing the automatic hooking of the underwater component 9 without the need for workers to perform high-altitude hooking operations on the water work platform.

[0055] 2. The automatic hooking and unhooking process for underwater components provided by the present invention uses the lifting equipment to maintain the lifting force during unhooking, so that the stop rod 6 is located on the top of the underwater component 9 and the sling is not under force. Then, the driver drives the connecting shaft 203 to automatically disengage from the lifting hole 911 of the boom 2, thereby realizing the automatic unhooking of the underwater component 9 and avoiding the need for workers to carry out high-altitude unhooking operations on the water.

[0056] 3. The automatic hooking and unhooking process for underwater components provided by this invention is completed automatically by the drive. By taking advantage of the rising tide and using the change in lifting force to determine when the water level is level during the installation of underwater component 9, the final installation lifting force is determined. This eliminates the need for manual high-altitude operations on the water during the entire process of hooking, transporting, installing and unhooking underwater component 9, thus eliminating the safety risks in this process.

[0057] 4. The underwater component automatic hooking and unhooking hoisting system provided by the present invention has a compact structure, accurate positioning, and a high degree of automation. The structural design ensures the reliable implementation of the automatic hooking and unhooking process and effectively eliminates the safety risks of high-altitude operations on water in the prior art.

[0058] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. An automatic hook-and-unhook hoisting process for underwater components, characterized in that, This equipment is used for hoisting underwater components. The underwater component has a bottom plate and side plates, which are perpendicularly connected to the bottom plate. The side plates and bottom plate together form a cavity. Inside the cavity, there is at least one partition perpendicular to the bottom plate, dividing the cavity into multiple compartments. The bottom plate has multiple water inlet holes, the number of which corresponds to the number of compartments, so that each compartment can be flooded when the underwater component is launched. The hoisting system used in the hoisting process includes: The hanger includes a main beam and a secondary beam that are perpendicular to each other. The main beam has ear plates at both ends, and the upper and lower ends of the ear plates extend out of the main beam. The parts of the ear plates that extend out of the main beam are all fitted with pins. The boom includes two parallel boom plates, with a hanging plate connected to the middle of the top of the two boom plates. The hanging plate is hinged to the lower part of the ear plate by a pin. The actuator is fixed to the inside of the boom plate. The output end of the actuator is fixed with a connecting shaft. When the underwater component is hooked, the actuator drives the connecting shaft to insert into the boom opening and the underwater component lifting hole; when the underwater component is unhooked, the actuator drives the connecting shaft to disengage from the underwater component lifting hole and the boom opening. A stop bar is installed below the gantry. The length of the stop bar is configured such that when the stop bar is engaged with the top of the underwater component, the opening of the boom is aligned with the lifting hole of the underwater component. The automatic hook-and-unhook hoisting process for underwater components includes the following steps: Underwater component hook: The sling of the lifting equipment is connected to the gantry. The gantry is controlled to be above the underwater component. The gantry is lowered so that the side plate of the underwater component enters the boom until the stop bar under the gantry is locked on the top of the underwater component and the opening of the boom is aligned with the lifting hole of the underwater component. The driver drives the connecting shaft to be inserted into the opening of the boom and the lifting hole of the underwater component. Underwater component transportation: using mobile lifting equipment to transport underwater components to the installation location; Underwater component installation: When the tide is rising, the lifting equipment lowers the gantry, and water enters through the inlet holes of the underwater component's bottom plate. The underwater component continues to be slowly lowered, while the lifting force changes are monitored in real time through the lifting force display screen of the lifting equipment. As the water level inside the underwater component compartment rises and buoyancy decreases, the lifting force gradually increases until it first stabilizes. This is when it is determined that the water level inside the underwater component compartment is equal to the water level outside the compartment. The stable lifting force at this point is the lifting force value that meets the requirements for continuing to lower the underwater component and install it. The underwater component is then lowered and installed while maintaining a stable lifting force. Underwater component unhooking: The lifting equipment maintains the lifting force, so that the stop bar under the gantry is located on the top of the underwater component. The sling is not under force, and the drive drives the connecting shaft to disengage from the lifting hole and boom opening of the underwater component. The lifting equipment controls the gantry to rise and detach from the underwater component.

2. The automatic hooking and unhooking hoisting process for underwater components according to claim 1, characterized in that, During the underwater component transportation or installation process, when the lifting equipment moves the gantry, the boom swings with multiple degrees of freedom through the joint bearings at the connection point with the gantry to balance the force on the gantry.

3. The automatic hooking and unhooking hoisting process for underwater components according to claim 2, characterized in that, When the boom swings, the swing amplitude is limited by a limit bar set on the side of the boom to ensure the stability of the underwater components.

4. The automatic hooking and unhooking hoisting process for underwater components according to claim 1, characterized in that, The camera installed above the gantry can be used to observe whether the connecting shaft enters the lifting hole and whether water begins to enter the underwater component compartment.

5. The automatic hooking and unhooking hoisting process for underwater components according to claim 1, characterized in that, The main beam is equipped with a first positioning frame at both ends. There are four first positioning frames, which are used to position the side plates of the underwater components.

6. The automatic hooking and unhooking hoisting process for underwater components according to claim 5, characterized in that, A second positioning frame is provided between two opposing first positioning frames. There are two second positioning frames, which are used to position the underwater component partition.

7. The automatic hooking and unhooking hoisting process for underwater components according to claim 1, characterized in that, A spherical bearing is provided on the outer circumference of the pin at the lower connection between the hanging plate and the ear plate, and the two ends of the spherical bearing are fixedly connected to the hanging plate.

8. The automatic hooking and unhooking hoisting process for underwater components according to claim 7, characterized in that, The spherical bearing has pressure plates at both ends, and the pressure plates are fixedly connected to the hanging plate.

9. The automatic hooking and unhooking hoisting process for underwater components according to claim 7, characterized in that, The end of the main beam is equipped with a limiting rod parallel to the boom plate, and the limiting rod is equipped with a stop block to limit the swing amplitude of the boom plate.

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