A recoverable tooling for suction anchor installation and method of installation and recovery

Abstract

This application discloses a retrievable tooling and installation and retrieval method for suction anchor installation, comprising: a frame; an attitude adjustment mechanism including multiple propeller nozzles connected to the frame, the propeller nozzles being used to generate thrust of different directions and intensities to adjust the motion attitude of the frame; a transfer mechanism detachably connected to the frame for connecting to the suction anchor; and an umbilical cable, one end connected to the frame and the other end connected to surface equipment, the umbilical cable providing power to the tooling and transmitting signals. The attitude adjustment mechanism composed of propeller nozzles can provide directional and magnitude-controllable thrust during the suction anchor's descent to resist disturbances from ocean currents and waves, ensuring the suction anchor maintains a stable attitude throughout the descent process and accurately lands vertically at the designed installation position, achieving good installation accuracy.

Description

Technical Field

[0001] This application belongs to the field of marine engineering technology, specifically relating to a recyclable tooling for installing suction anchors and a method for installation and recycling. Background Technology

[0002] Suction anchors, as a highly efficient form of subsea foundation, are widely used in mooring systems for offshore wind power floating platforms and other marine engineering projects. The final installation accuracy of the suction anchor directly affects the performance and lifespan of the mooring system, and engineering practice shows that the final installation accuracy of the suction anchor is strongly correlated with its attitude at the moment of entry into the mud.

[0003] In related technologies, the positioning and installation of suction anchors mainly rely on the positioning of surface vessels and the lowering of cranes. The underwater attitude of the suction anchor is greatly affected by ocean currents and waves, making it impossible to precisely adjust the attitude of the suction anchor when it enters the mud. Especially with the trend of marine engineering developing towards deep sea, the impact of ocean currents on the attitude of suction anchors is even more significant, making it more difficult to control the construction accuracy of suction anchors. Summary of the Invention

[0004] This application aims to provide a recyclable tooling and installation and recycling method for suction anchor installation, solving the problem of difficulty in controlling the construction accuracy of suction anchors.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application propose a recyclable tooling for installing suction anchors, comprising: frame; An attitude adjustment mechanism includes multiple propeller nozzles connected to the frame. The propeller nozzles are used to generate thrust in different directions and intensities to adjust the motion attitude of the frame. An adapter mechanism, detachably connected to the frame, is used to connect to a suction anchor; An umbilical cable, with one end connected to the frame and the other end used to connect to surface equipment, is used to provide power to the tooling and transmit signals.

[0006] Optionally, the tooling has a first direction and a second direction that are perpendicular to each other, the frame and the adapter are connected along the first direction, and the plurality of propeller nozzles include a plurality of first nozzles and a plurality of second nozzles, the thrust generated by the first nozzles is along the second direction, and the thrust generated by the second nozzles forms an angle with the first direction and the second direction.

[0007] Optionally, the frame includes a first end and a second end disposed opposite to each other along the first direction, one of the first end and the second end being detachably connected to the adapter mechanism, the first nozzle being disposed at the first end, and the second nozzle being disposed at the second end.

[0008] Optionally, a plurality of the propeller nozzles are rotatably connected to the frame.

[0009] Optionally, the system also includes a monitoring mechanism, which is disposed on the frame and electrically connected to the umbilical cable. The monitoring mechanism includes a high-precision inertial measurement unit, an underwater ultra-short baseline positioning beacon, and a depth sensor. The high-precision inertial measurement unit is used to measure the tilt angle and azimuth angle of the fixture, the underwater ultra-short baseline positioning beacon is used to measure the position of the fixture, and the depth sensor is used to measure the depth of the fixture.

[0010] Optionally, the system also includes a controller disposed on the frame, the controller being electrically connected to the propeller nozzle, the adapter mechanism, the monitoring mechanism, and the umbilical cable, respectively.

[0011] Optionally, it also includes a locking mechanism connected between the frame and the adapter frame. The locking mechanism can switch between a locked state and an unlocked state to connect or disconnect from the adapter frame. The locking mechanism includes one of a pin mechanism, a claw mechanism, or a hook mechanism.

[0012] Optionally, it also includes a sinking mechanism, which includes a suction pump disposed on the frame. The suction pump is used to apply negative pressure to the suction anchor so that the suction anchor sinks.

[0013] Secondly, embodiments of this application propose a method for underwater installation and retrieval of a suction anchor, using any of the retrievable fixtures for suction anchor installation proposed in the first aspect, comprising: Connect the adapter to the frame and the suction anchor respectively; The suction anchor is lowered into the water, the propeller nozzle is controlled to work, and the falling path, horizontal position and attitude in the water of the suction anchor are adjusted so that the suction anchor reaches the designed landing point. The suction anchor described above is sinking through; After the sinking is completed, the transfer mechanism separates from the frame and the frame is retrieved to the water surface.

[0014] Optionally, before controlling the propeller nozzle to operate, the method further includes: Receive the position and orientation data of the tooling, compare it with the design target value in real time, and calculate the orientation error; Based on the pose error, the required adjustment force for each degree of freedom is calculated, and the corresponding control command is generated and sent to the propeller nozzle.

[0015] In the embodiments of this application, the attitude adjustment mechanism composed of propeller nozzles can provide directional and magnitude controllable thrust during the descent of the suction anchor, dynamically adjusting the descent path, horizontal position, and underwater attitude of the suction anchor to resist the disturbance of ocean currents and waves. This ensures that the suction anchor maintains a stable attitude throughout the descent process, accurately landing vertically into the designed installation position, achieving excellent installation accuracy. Furthermore, all functional units are integrated into a single frame, with unified power supply and communication via a single umbilical cable, greatly simplifying underwater deployment and connection operations and reducing operation time. The suction anchor installation and retrieval tooling is connected to the suction anchor via a detachable adapter mechanism. After the suction anchor installation is completed, the tooling can be retrieved, improving tooling reuse rate and reducing the cost per installation.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of the tooling and suction anchor assembly according to an embodiment of this application; Figure 2 This is a schematic diagram of the layout of the first nozzle according to an embodiment of this application; Figure 3 This is a schematic diagram of the layout of the second nozzle according to an embodiment of this application; Figure 4 This is a partial enlarged view of the locking mechanism in the locked state according to an embodiment of this application; Figure 5 This is a partial enlarged view of the locking mechanism in the unlocked state according to an embodiment of this application; Figures 6-9 This is a schematic diagram of the construction process for installing a suction anchor using the tooling according to an embodiment of this application; Figure 10 This is a flowchart of the installation and recycling method according to an embodiment of this application.

[0018] Reference numerals: 100: Tooling; 1: Suction anchor; 2: Frame; 3: Propeller nozzle; 31: First nozzle; 32: Second nozzle; 4: Suction pump; 5: Adapter mechanism; 6: Locking mechanism; 61: Pin; 62: Hydraulic cylinder; 7: Monitoring mechanism; 8: Controller; 9: Umbilical cable; 10: Penetration quick connector; 11: Sling; First direction: Y; Second direction: X. Detailed Implementation

[0019] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0021] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] A suction anchor, also known as a suction pile or suction foundation, is a large-diameter steel cylindrical foundation structure specifically designed for marine engineering. Made of rolled and welded steel plates, it can withstand the immense negative pressure, pressure differences during installation, and complex waves in deep-sea environments. During installation, its own weight initially allows it to partially sink into the seabed, creating an initial seal. Then, a water pump is used through a top interface to pump out the water from inside the cylinder, artificially creating a negative pressure environment where the internal pressure is lower than the external atmospheric pressure and the hydrostatic pressure of the seawater. The resulting pressure difference forces the cylinder to continue penetrating downwards until the designed depth is reached. This installation method is fast, low-noise, and does not require large piling equipment, minimizing disturbance to the seabed and surrounding environment. The suction anchor's load-bearing capacity primarily comes from the friction between the cylinder's sidewalls and the soil, as well as end resistance, thus possessing strong pull-out resistance and allowing it to be firmly anchored to the seabed. A major advantage is its recyclability; it can be pulled out by injecting high-pressure water or gas to restore positive pressure. Because of these characteristics, suction anchors are widely used in mooring systems for deep-water oil and gas platforms and offshore floating wind farms to secure floating production platforms, semi-submersible platforms or floating wind turbines, and are also often used as the foundation for underwater production facilities.

[0024] During the process of sinking a suction anchor from the water surface to the seabed, it is easily disturbed by waves and currents, deviating from its designed attitude and predetermined path. This affects the anchor's entry position and attitude into the mud, which is difficult to correct during subsequent sinking. Ultimately, this will result in a large tilt angle and positional deviation after the suction anchor is installed, affecting the stress state of the mooring system and reducing the service life and safety of the suction anchor.

[0025] To address the aforementioned problems, embodiments of this application propose a recyclable tooling for installing suction anchors, such as... Figures 1-9 As shown, Figure 1 This is a schematic diagram of the overall structure of the tooling and suction anchor assembly according to an embodiment of this application; Figure 2 This is a schematic diagram of the layout of the first nozzle according to an embodiment of this application; Figure 3 This is a schematic diagram of the layout of the second nozzle according to an embodiment of this application; Figure 4 This is a partial enlarged view of the locking mechanism in the locked state according to an embodiment of this application; Figure 5 This is a partial enlarged view of the locking mechanism in the unlocked state according to an embodiment of this application; Figures 6-9 This is a schematic diagram of the construction process for installing a suction anchor using the tooling according to an embodiment of this application.

[0026] The fixture 100 includes: a frame 2; an attitude adjustment mechanism including multiple propeller nozzles 3 connected to the frame 2, the propeller nozzles 3 being used to generate thrust of different directions and intensities to adjust the motion attitude of the frame 2; a transfer mechanism 5 detachably connected to the frame 2, the transfer mechanism 5 being used to connect to the suction anchor 1; and an umbilical cable 9, one end of which is connected to the frame 2 and the other end of which is used to connect to the surface equipment, the umbilical cable 9 being used to provide power to the fixture 100 and transmit signals.

[0027] Frame 2 serves as the main load-bearing and installation platform for tooling 100, supporting and integrating various functional components. It provides structural support and installation benchmarks for all subsystems and connects to vessels, cranes, and other equipment on the water surface via slings 11 and umbilical cables 9 for lowering the suction anchor 1. One end of frame 2 connects to the suction anchor 1, and the other end connects to vessels, cranes, and other equipment on the water surface. Functional components are integrated within frame 2, which provides protection for these internal components. The umbilical cable 9 supplies power to the various functional components carried on frame 2 and transmits information to the control equipment on the water surface. Frame 2 connects to the suction anchor 1 via a transfer mechanism 5, allowing tooling 100 and the suction anchor 1 to combine into a single unit. Under the traction of slings 11, tooling 100 and the suction anchor 1 sink together from the water surface to the seabed. Frame 2 and transfer mechanism 5 are detachable. After installation, transfer mechanism 5 separates from frame 2, remaining on the suction anchor 1, while frame 2 can be retrieved to the water surface. The frame 2 is equipped with an attitude adjustment mechanism, which can generate thrust of different directions and magnitudes according to the position and attitude of the tooling 100 and the suction anchor 1, so that the suction anchor 1 can maintain a stable motion state when sinking in the seawater and sink into the designated position on the seabed in a vertical posture.

[0028] like Figure 1 As shown, the suction anchor 1 is a cylindrical steel structure. The tooling 100 is connected to the upper end of the suction anchor 1. The frame 2 and the adapter mechanism 5 are welded from seawater-resistant steel or alloy. The adapter mechanism 5 is fixedly connected to the top plate or side wall of the suction anchor 1, and the specific connection methods include bolt connection, clamp connection, or welding. The frame 2 is detachably connected above the adapter mechanism 5. After installation, the frame 2 is separated from the adapter mechanism 5, while the adapter mechanism 5 remains on the suction anchor 1. The frame 2 and the functional components configured on the frame 2 can be retrieved to the water surface by the umbilical cable 9 and the sling 11. The tooling 100 can be reused for the installation of the next suction anchor 1, reducing equipment turnover during the installation process and lowering construction costs. In some embodiments, to ensure that the movement of the tooling 100 and the suction anchor 1 is consistent and to facilitate unified adjustment of the movement posture of the tooling 100 and the suction anchor 1, the shape and size of the frame 2 and the adapter mechanism 5 are consistent with the shape and size of the upper end of the suction anchor 1, and are usually circular structures.

[0029] The integrated functional modules on frame 2 include an attitude adjustment mechanism, which can generate thrust of different directions and magnitudes in real time according to the position and motion attitude of tooling 100 and suction anchor 1, so that suction anchor 1 can fall into the designated position in a preset attitude. The attitude adjustment mechanism includes propeller nozzles 3, all of which are directly driven by waterproof motors. The speed and direction of each propeller nozzle 3 can be controlled independently. Multiple propeller nozzles 3 are arranged at different positions on frame 2, which can apply thrust to tooling 100 and suction anchor 1 in multiple directions, counteract the lateral disturbances brought by ocean currents, correct the tilted attitude, and ensure that suction anchor 1 maintains a vertical attitude throughout the sinking process until it reaches the designed landing point.

[0030] Multiple propeller nozzles 3 are installed symmetrically or in a specific functional layout around the perimeter and / or corners of the frame 2. The propeller nozzles 3 can rotate freely or be fixedly mounted on the frame 2. The number, specific layout, and thrust axis direction of the propeller nozzles 3 are determined through actual experiments or calculations, ensuring that their thrust vector combination can cover the control force and torque required to adjust all degrees of freedom of the suction anchor 1. By controlling the rotational speed and direction of the propeller nozzles 3 at different positions and in different directions, thrust and torque of different directions and intensities can be generated, thereby achieving real-time, dynamic position and attitude adjustment of the suction anchor 1 in multiple degrees of freedom underwater, including forward / backward, left / right, up / down, pitch, roll, and yaw. The attitude adjustment mechanism is not only used for displacement and attitude adjustment during the sinking process of the tooling 100 and suction anchor 1 assembly, but also for fine-tuning the attitude of the suction anchor 1 after it has reached the bottom.

[0031] The attitude control algorithm for the attitude adjustment mechanism includes at least the following processes: b1) Attitude decoupling: Decompose the attitude error into linear displacement errors along the longitudinal, lateral, and vertical directions of the suction anchor 1, as well as angular displacement errors about its pitch axis, roll axis, and yaw axis. b2) Force and torque calculation: Based on the linear displacement error and angular displacement error, combined with the preset dynamic model of the tooling 100 and suction anchor 1 assembly, calculate the control force and control torque in three directions that need to be applied at the center of mass of the assembly to correct the error. b3) Thrust distribution: Based on the preset installation position, thrust direction and thrust-speed characteristics of each propeller nozzle 3 on the integrated rigid frame 2, the required control force and control torque are mapped to the specific speed or thrust command of each propeller nozzle 3 through the thrust distribution matrix, so as to achieve precise and coordinated adjustment of attitude.

[0032] The various functional components on the underwater tooling 100 transmit data to the surface control equipment via the umbilical cable 9. Operators can obtain real-time operating parameters of the tooling 100 and the suction anchor 1, and input commands as needed to control the corresponding functional components for position and attitude adjustments, installation, and retrieval. The umbilical cable 9 is an integrated composite cable, connecting one end to the support equipment on the surface vessel and the other end to the frame 2. The umbilical cable 9 integrates power transmission lines and signal communication lines, providing the necessary power for the entire underwater tooling 100 and enabling bidirectional high-speed data communication between the surface control room and the underwater tooling 100.

[0033] This application utilizes multiple propeller nozzles 3 arranged on the frame 2 of the fixture 100 to output thrust of different directions and magnitudes in real time throughout the descent of the suction anchor 1. This counteracts disturbances caused by ocean currents, continuously corrects the attitude and position of the suction anchor 1, and ensures that the suction anchor 1 sinks vertically into the seabed at the designated entry point, effectively improving the final installation accuracy. Furthermore, the fixture 100 can be completely recovered after penetration and reused for the construction of the next suction anchor 1, significantly reducing project costs compared to a disposable fixture 100.

[0034] Additionally, in some alternative embodiments, such as Figure 1-3 As shown, the tooling 100 has a first direction Y and a second direction X that are perpendicular to each other. The frame 2 and the adapter 5 are connected along the first direction Y. The multiple propeller nozzles 3 include multiple first nozzles 31 and multiple second nozzles 32. The thrust generated by the first nozzles 31 is along the second direction X, and the thrust generated by the second nozzles 32 forms an angle with the first direction Y and the second direction X.

[0035] The first direction Y is the length direction of the suction anchor 1. When the suction anchor 1 is inserted into the seabed, it should be kept as vertical as possible. Therefore, during the descent of the tooling 100 and the suction anchor 1, it is necessary to control the first direction Y of the tooling 100 to be consistent with the height direction and the second direction X to be consistent with the horizontal direction, so that the suction anchor 1 can sink into the seabed in a stable posture, ensuring installation accuracy and sinking quality.

[0036] In this embodiment, the propeller nozzle 3 is divided into a first nozzle 31 that generates horizontal thrust and a second nozzle 32 that generates oblique thrust. The first nozzle 31 is used to push the tooling 100 and the suction anchor 1 to move horizontally. The number of first nozzles 31 can be 3, 4, 5 or more, and they are evenly distributed on the frame 2 around the central axis of the frame 2. The thrust generated by each first nozzle 31 is horizontal but at a certain angle to each other. By adjusting the magnitude of the thrust generated by the first nozzles 31 located at different positions, the direction of the resultant force of the thrust generated by each first nozzle 31 acting on the frame 2 can be flexibly controlled. Through differential speed control, forward and backward, left and right movement and horizontal rotation can be realized, so that the tooling 100 and the suction anchor 1 can be moved to the designated position.

[0037] The second nozzle 32 is mounted obliquely on the frame 2. Its thrust has horizontal and vertical components and is mainly used to generate torque to adjust pitch and roll attitude, and to assist in depth fine-tuning. When the suction anchor 1 experiences pitch or roll attitude deviation, the thrust difference of the second nozzle 32 at different positions can quickly generate a corrective torque to adjust the attitude back to the design range. Combined with the horizontal position adjustment of the first nozzle 31, multi-degree-of-freedom control is achieved, further improving the response speed and correction accuracy of attitude adjustment, and enabling better handling of disturbances and impacts in complex ocean current environments.

[0038] In some alternative embodiments, the frame 2 includes a first end and a second end disposed opposite to each other along a first direction Y, one of the first end and the second end being detachably connected to the adapter 5, a first nozzle 31 being disposed at the first end, and a second nozzle 32 being disposed at the second end.

[0039] The first nozzle 31 and the second nozzle 32 are arranged in layers along the first direction Y on the frame 2 to reduce mutual disturbance between the thrust generated by the first nozzle 31 and the second nozzle 32. Referring to the figure, in this embodiment, four first nozzles 31 and four second nozzles 32 are provided. The first nozzles 31 are concentrated at the end away from the transfer mechanism 5 and the suction anchor 1, and the second nozzles 32 are arranged at the end closer to the suction anchor 1. Correspondingly, the first nozzles 31 can also be concentrated at the end closer to the transfer mechanism 5 and the suction anchor 1, and the second nozzles 32 can be arranged at the end away from the suction anchor 1. Multiple first nozzles 31 and multiple second nozzles 32 can also be arranged in three, four, or other multiple layers along the first direction Y on the frame 2. Layered arrangement avoids mutual interference between the wakes of different propeller nozzles 3, ensures that each propeller nozzle 3 can stably output the designed thrust, and improves the accuracy of attitude control.

[0040] In some alternative embodiments, multiple propeller nozzles 3 are rotatably connected to the frame 2.

[0041] In this embodiment, the propeller nozzle 3 is rotatably connected to the frame 2. The direction of the propeller nozzle 3 is adjustable to change the thrust direction. It can adjust the thrust direction according to different working conditions to adapt to more complex position and attitude correction requirements. At the same time, it can also reduce the water flow resistance in the non-working state, which is convenient for the deployment and recovery of the tooling 100.

[0042] Additionally, in some optional embodiments, a monitoring mechanism 7 is also included. The monitoring mechanism 7 is disposed on the frame 2 and electrically connected to the umbilical cable 9. The monitoring mechanism 7 includes a high-precision inertial measurement unit, an underwater ultra-short baseline positioning beacon, and a depth sensor. The high-precision inertial measurement unit is used to measure the tilt angle and azimuth angle of the fixture 100, the underwater ultra-short baseline positioning beacon is used to measure the position of the fixture 100, and the depth sensor is used to measure the depth of the fixture 100.

[0043] The integrated functional components on frame 2 also include a monitoring mechanism 7, comprising a high-precision inertial measurement unit, an underwater ultra-short baseline positioning beacon, and a depth sensor. This mechanism is used to acquire, in real-time and with high precision, the underwater three-dimensional position, depth, roll / pitch angle, and horizontal azimuth information of the suction anchor 1, providing feedback on the real-time status of the tooling 100 and the suction anchor 1 assembly. The monitoring mechanism 7 transmits the real-time acquired position and attitude information to a control terminal via an umbilical cable 9. This control terminal can be integrated onto the tooling 100 or located on the water.

[0044] Additionally, in some optional embodiments, a controller 8 is also included, which is disposed on the frame 2 and is electrically connected to the propeller nozzle 3, the adapter 5, the monitoring mechanism 7 and the umbilical cable 9, respectively.

[0045] Controller 8 is an industrial computer integrated within a waterproof compartment, connected to the surface control room via umbilical cable 9. Controller 8 has a built-in closed-loop attitude and position control program, with a multi-degree-of-freedom motion controller 8 at its core. Its workflow is as follows: First, controller 8 receives real-time pose data from monitoring mechanism 7, including three-dimensional coordinates, depth, roll angle, pitch angle, and heading angle, and compares it with the preset descent trajectory and the final target pose, calculating the errors in six degrees of freedom: linear displacement (forward / backward, left / right, up / down) and angular displacement (pitch, roll, yaw). Then, based on these errors, controller 8 calculates, according to the preset dynamic model of the tooling 100-suction anchor 1 assembly, the three-directional control forces (Fx, Fy, Fz) and three-directional control torques (Mx, My, Mz) required to quickly and smoothly eliminate errors at the center of mass of the assembly. Next, a pre-set "thrust distribution matrix" based on the propeller nozzle 3 layout maps the required macroscopic control force and torque into independent thrust or speed commands for each of the multiple propeller nozzles 3. Finally, these commands are sent in real time to the drive unit of each propeller nozzle 3. This control method enables the fixture 100 to actively resist external disturbances such as ocean currents and waves, achieving dynamic attitude stabilization and precise trajectory tracking of the suction anchor 1 during the lowering process.

[0046] The entire adjustment process involves real-time acquisition of position and attitude data by the monitoring mechanism 7. The controller 8 calculates the position and attitude error based on the acquired data and then sends corresponding control commands to each propeller nozzle 3 to achieve closed-loop dynamic adjustment. Compared with the traditional installation method that relies solely on ship hoisting, the adjustment accuracy is higher and the resistance to ocean current interference is stronger.

[0047] Additionally, in some optional embodiments, a locking mechanism 6 is also included, which is connected between the frame 2 and the adapter frame 2. The locking mechanism 6 can switch between a locked state and an unlocked state to connect or disconnect from the adapter frame 2. The locking mechanism 6 includes one of a pin mechanism, a claw mechanism, or a hook mechanism.

[0048] The locking mechanism 6 is fixedly connected to the frame 2 and electrically connected to the controller 8. Upon receiving an electrical signal command, it automatically performs mechanical locking or unlocking actions, quickly engaging or disengaging with the adapter 5 to achieve a detachable connection between the tooling 100 and the suction anchor 1. The locking mechanism 6 is one of a hydraulically driven or electrically driven pin 61 mechanism, claw mechanism, or hook mechanism. Under normal conditions, the pin 61, claw, or other actuators remain locked under the action of spring or hydraulic locking force. Only upon receiving a specific unlocking command from the controller 8, the driving device overcomes the locking force, pulling the actuator back, thereby achieving mechanical separation.

[0049] like Figure 4-5 As shown, in this embodiment, the locking mechanism 6 is a pin 61. A hydraulic cylinder 62 is located on the side of the frame 2 connected to the adapter mechanism 5. The pin 61 is connected to the hydraulic cylinder 62 and is retractable. A corresponding pin hole is provided on the adapter mechanism 5, allowing the pin 61 to extend and retract within the pin hole, thus locking or unlocking the locking structure. When the frame 2 needs to be connected to the adapter mechanism 5, after the frame 2 is aligned, the controller 8 sends a command to control the pin 61 to insert into the pin hole to complete the locking. When separating, the pin 61 is driven out of the pin hole to release the lock. The structure is simple and the operation is reliable. Both locking and unlocking operations can be remotely controlled by surface control equipment, eliminating the need for underwater operation assistance and significantly improving operational safety and efficiency.

[0050] Furthermore, multiple locking structures are provided between the frame 2 and the transfer mechanism 5. The hydraulic cylinder 62 and the pin 61 are arranged around the outer periphery of the transfer mechanism 5. The pin 61 extends into the pin hole on the inner side of the frame 2, and at the same time plays a limiting role. It remains locked throughout the lowering process, and the pin 61 will not come out of the pin hole. It has good stability and high connection strength, and can withstand the self-weight of the tooling 100 and the suction anchor 1 assembly, as well as the dynamic load generated during the attitude adjustment process, so as to ensure the structural stability of the tooling 100 and the suction anchor 1 during the movement process.

[0051] Additionally, in some alternative embodiments, a sinking mechanism is also included, which includes a suction pump 4 disposed on the frame 2. The suction pump 4 is used to draw negative pressure on the suction anchor 1 so that the suction anchor 1 sinks.

[0052] The functional components integrated on frame 2 also include a sinking mechanism, which is connected to a chamber within the suction anchor 1 and uses negative pressure to sink the suction anchor 1 into the seabed. Figure 1As shown, the fixture 100 carries four parallel electrically controlled suction pumps 4, installed in the upper center of the frame 2. The inlet of the suction pump 4 is connected to the pipeline in the suction anchor 1 through a quick-connect interface 10, such as a hydraulic quick-connect coupling with a self-sealing function. This quick-connect interface typically has sealing and self-locking functions, automatically engaging and sealing when the connection mechanism is locked, and automatically disengaging when separated. When the fixture 100 is connected to the suction anchor 1, the quick-connect interface automatically engages and locks with the corresponding interface pre-installed on the adapter frame 2, thereby connecting the suction pump 4 with the internal chamber of the suction anchor 1. After being lowered into place, the suction pump 4 can be started to extract the water from the inner cavity of the suction anchor 1, creating a negative pressure inside the cylinder. Relying on the pressure difference between the inside and outside, the suction anchor 1 is continuously driven downward into the seabed until the design depth is reached. No additional penetrating equipment needs to be lowered, simplifying the construction process. When recovering the suction anchor 1, the suction pump 4 can also work in reverse to inject high-pressure water or gas into the cylinder of the suction anchor 1, helping to break the pressure balance inside and outside the cylinder and assisting the suction anchor 1 to be pulled out of the seabed, thus meeting the needs of both installation and recovery operations.

[0053] During the sinking operation, the suction pump 4 installed on frame 2 can be directly connected to the inner cavity of suction anchor 1 to draw negative pressure, eliminating the need for additional underwater equipment and simplifying the construction process. After the sinking operation is completed, the locking mechanism 6 is unlocked, and frame 2 separates from the transfer mechanism 5. Frame 2, along with umbilical cable 9, can then be retrieved to the surface for the installation of the next suction anchor 1, eliminating the need to leave tooling 100 on the seabed and effectively reducing construction costs.

[0054] The controller 8 is integrated on the frame 2 and is electrically connected to functional components such as the attitude adjustment mechanism, sinking mechanism, locking mechanism 6 and monitoring mechanism 7. It can calculate and output control commands to each propeller nozzle 3 and suction pump 4 in real time based on the deviation between the monitoring data and the design target, and control the locking and unlocking of the locking mechanism 6.

[0055] This invention discloses a recyclable fixture for installing suction anchors. The fixture includes a frame, and integrated on the frame a transfer mechanism, an attitude adjustment mechanism, a sinking mechanism, a locking mechanism, a monitoring mechanism, and a controller. The attitude adjustment mechanism uses multiple independently controlled propeller nozzles to generate thrust of different magnitudes and directions, enabling dynamic adjustment of the underwater position and attitude of the suction anchor in deep-water environments. The sinking mechanism uses a suction pump to provide negative pressure. The fixture is temporarily connected to the transfer mechanism on the suction anchor via the locking mechanism, and is powered and communicated by a single umbilical cable. During construction, after the fixture controls the suction anchor to position and completes initial sinking, the controller can remotely trigger the locking mechanism to unlock, hoisting the frame and its integrated functional components back to the water surface, achieving rapid overall recovery of the fixture.

[0056] The power system in this embodiment is highly integrated and simplified, using a propeller nozzle to directly provide thrust, eliminating the complex pump-valve-pipeline-dedicated nozzle system. This significantly reduces the number of components and underwater sealing points, improving system reliability and lowering manufacturing and maintenance costs. The propeller nozzle thrust magnitude and direction can be directly and quickly adjusted via motor speed and steering, offering fast response and high control precision, and more effectively combating dynamic ocean current interference. All functional units are integrated into a single frame, with unified power supply and communication via a single umbilical cable, greatly simplifying underwater deployment and connection operations and reducing operation time. The entire fixture can be detachably connected to the suction anchor via an adapter mechanism, allowing for remote control to trigger mechanical unlocking after installation. This enables rapid and reliable separation and overall recovery of the fixture body, which carries numerous functional components, from the suction anchor, improving fixture reuse rate and reducing single installation costs. From lowering, positioning, attitude adjustment, negative pressure sinking to fixture recovery, the entire process can be completed automatically or semi-automatically by the controller based on sensor feedback. This high degree of automation reduces reliance on operator experience and improves construction quality and efficiency.

[0057] This application also proposes an underwater installation and retrieval method for a suction anchor, using any of the retrievable fixtures for suction anchor installation proposed in the above embodiments, comprising: connecting a transfer mechanism to a frame and a suction anchor respectively; lowering the suction anchor into the water, controlling the propeller nozzle to operate, and adjusting the descent path, horizontal position, and underwater attitude of the suction anchor so that the suction anchor reaches the designed landing point; sinking the suction anchor; after sinking, separating the transfer mechanism from the frame and retrieving the frame to the water surface.

[0058] refer to Figures 6-9 The operating steps for installing suction anchors using this tooling are as follows: S1. Connect the adapter mechanism to both the frame and the suction anchor. On the dock or barge, first secure the adapter mechanism to the top of the suction anchor using bolts or welding. Then, use a crane to lift the fixture above the suction anchor, align it, and lower it so that the pin at the bottom of the frame aligns with the pin hole of the adapter mechanism. Activate the hydraulic system; the pin inserts and locks in place. Simultaneously, the quick-connect interface automatically mates and seals.

[0059] S2. Lower the suction anchor into the water, control the propeller nozzles to adjust the anchor's descent path, horizontal position, and underwater attitude, ensuring the anchor reaches the designed landing point. The crane on the construction vessel lifts the suction anchor and tooling assembly, moves it above the designed installation point, and lowers it into the water. During the lowering process, the controller begins operation. Its built-in control program enters a real-time loop: the monitoring mechanism continuously provides feedback on the real-time status of the assembly. The controller compares the current state with the desired state, generating an error. Subsequently, as mentioned earlier, through rapid calculations of "error calculation—force / moment calculation—thrust distribution," adjustment commands are generated for each propeller nozzle. For example, if a lateral current is detected causing the suction anchor to drift eastward, the controller will not only instruct the western propeller nozzle to increase thrust to generate a westward corrective force but also simultaneously fine-tune the output of other propellers to counteract any undesirable rotation caused by the corrective force, preventing roll or yaw and ensuring the suction anchor remains stable throughout the correction process. The suction anchor is ensured to move in a near-vertical attitude above the designed seabed coordinates until it gently touches the bottom.

[0060] S3. Penetrating the Suction Anchor. After confirming that the bottom of the suction anchor is in contact with the seabed and that its position and attitude meet the requirements, the surface control room sends a command. The controller starts four electrically controlled suction pumps to extract seawater from inside the suction anchor. Under the action of the internal and external pressure difference, the suction anchor smoothly penetrates the seabed until it reaches its final position.

[0061] S4. After the sinking is completed, the transfer mechanism separates from the frame, and the frame is retrieved to the surface. Once the sinking is in place and data verification is successful, the surface operator inputs the retrieval command. The command is transmitted via the umbilical cable. The controller first shuts down all propeller nozzles and suction pumps, then sends a signal to the solenoid valve of the hydraulic locking unit. The hydraulic cylinders actuate, simultaneously retracting the four corner pins from the pin holes of the transfer mechanism, unlocking and separating the frame from the transfer mechanism. After unlocking, the crane, using the main hook and umbilical cable in coordination, lifts the frame, now separated from the suction anchor, and all equipment on it as a whole, retrieving it to the deck. The transfer mechanism remains on the suction anchor.

[0062] This invention achieves a perfect combination of high-precision installation of suction anchors and convenient tooling recovery through a highly integrated propeller propulsion system, integrated umbilical cable supply, and an innovative quick-detachable mechanism, significantly improving the economy, reliability, and efficiency of deep-sea construction.

[0063] In addition, in some optional embodiments, before controlling the propeller nozzle to work, the method further includes: receiving the position and attitude data of the tooling and comparing it with the design target value in real time to calculate the position and attitude error; calculating the required adjustment force for each degree of freedom based on the position and attitude error, and generating corresponding control commands to send to the propeller nozzle.

[0064] In this embodiment, the controller is configured to execute the following control logic: a) Receive data from the monitoring agency and compare it with the design target value in real time to calculate the pose error; b) Based on the pose error, calculate the required adjustment force for each degree of freedom, generate corresponding control commands and send them to each propeller nozzle, distribute the required control force or torque and convert it into independent speed and steering control commands for each propeller nozzle, drive it to work and correct the pose of the suction anchor. c) Once the suction anchor reaches the designed planar position and vertical posture, control the suction pump to start and carry out the sinking construction; d) After the penetration is completed and the installation is confirmed to be qualified, send an unlocking command to the locking mechanism to achieve the separation of the tooling from the suction anchor.

[0065] Other components of the recyclable tooling for installing suction anchors according to embodiments of this application, such as monitoring mechanisms and sinking mechanisms, as well as sinking operations, are known to those skilled in the art and will not be described in detail here.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A recyclable tooling for suction anchor installation, characterized by, include: frame; An attitude adjustment mechanism includes multiple propeller nozzles connected to the frame. The propeller nozzles are used to generate thrust in different directions and intensities to adjust the motion attitude of the frame. An adapter mechanism, detachably connected to the frame, is used to connect to a suction anchor; An umbilical cable, with one end connected to the frame and the other end used to connect to surface equipment, is used to provide power to the tooling and transmit signals.

2. The recoverable tooling for suction anchor installation of claim 1, wherein, The tooling has a first direction and a second direction that are perpendicular to each other. The frame and the adapter are connected along the first direction. The plurality of propeller nozzles include a plurality of first nozzles and a plurality of second nozzles. The thrust generated by the first nozzles is along the second direction, and the thrust generated by the second nozzles forms an angle with the first direction and the second direction.

3. The recyclable tooling for installing suction anchors according to claim 2, characterized in that, The frame includes a first end and a second end disposed opposite to each other along the first direction, one of the first end and the second end being detachably connected to the adapter mechanism, the first nozzle being disposed at the first end, and the second nozzle being disposed at the second end.

4. The recyclable tooling for installing suction anchors according to claim 1, characterized in that, Multiple propeller nozzles are rotatably connected to the frame.

5. The recyclable tooling for installing suction anchors according to claim 1, characterized in that, It also includes a monitoring mechanism, which is disposed on the frame and electrically connected to the umbilical cable. The monitoring mechanism includes a high-precision inertial measurement unit, an underwater ultra-short baseline positioning beacon, and a depth sensor. The high-precision inertial measurement unit is used to measure the tilt angle and azimuth angle of the tooling, the underwater ultra-short baseline positioning beacon is used to measure the position of the tooling, and the depth sensor is used to measure the depth of the tooling.

6. The recyclable tooling for installing suction anchors according to claim 5, characterized in that, It also includes a controller, which is disposed on the frame and is electrically connected to the propeller nozzle, the adapter mechanism, the monitoring mechanism and the umbilical cable respectively.

7. The recyclable tooling for installing suction anchors according to claim 1, characterized in that, It also includes a locking mechanism connected between the frame and the adapter frame. The locking mechanism can switch between a locked state and an unlocked state to connect or disconnect from the adapter frame. The locking mechanism includes one of a pin mechanism, a claw mechanism, or a hook mechanism.

8. The recyclable tooling for installing suction anchors according to claim 1, characterized in that, It also includes a sinking mechanism, which includes a suction pump disposed on the frame. The suction pump is used to draw negative pressure on the suction anchor to cause the suction anchor to sink.

9. An installation and recycling method, used with the recyclable tooling for installing suction anchors as described in any one of claims 1-8, characterized in that, include: Connect the adapter to the frame and the suction anchor respectively; The suction anchor is lowered into the water, the propeller nozzle is controlled to work, and the falling path, horizontal position and attitude in the water of the suction anchor are adjusted so that the suction anchor reaches the designed landing point. The suction anchor described above is sinking through; After the sinking is completed, the transfer mechanism separates from the frame and the frame is retrieved to the water surface.

10. The installation and recycling method according to claim 9, characterized in that, Before controlling the propeller nozzle to operate, the method further includes: Receive the position and orientation data of the tooling, compare it with the design target value in real time, and calculate the orientation error; Based on the pose error, the required adjustment force for each degree of freedom is calculated, and the corresponding control command is generated and sent to the propeller nozzle.

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