Self-floating seabed node heavy load release and recovery device

Abstract

The utility model provides a kind of self-floating type seabed node heavy load release recovery device, it is related to marine environmental monitoring technical field, comprising: acoustic release; floating body component, including frame and float; the lower end of float is connected N crossbeam;Annular counterweight is arranged below floating body component, is equipped with N lifting ring;Seabed node, is arranged inside annular counterweight;Rope assembly, including N counterweight connecting rope and M node connecting rope;Counterweight connecting rope forms U-shaped folding rope after passing through release hook;U-shaped folding rope passes through the outside of crossbeam, free end is connected in lifting ring;M node connecting rope one end is fixedly connected in seabed node, wherein, the other end of a node connecting rope is fixedly connected with the upper end of frame, and the other end of remaining node connecting rope is connected with release hook and automatically separates from release hook in release hook opening state.The utility model alleviates the chain invalidation problem of "attitude out of control-positioning lost connection" after release of existing OBN release recovery device.

Description

Technical Field

[0001] This utility model relates to the field of marine environmental monitoring technology, and in particular to a self-floating seabed node heavy load release and recovery device. Background Technology

[0002] Ocean Bottom Nodes (OBNs) are core equipment for marine seismic exploration. After deployment, they need to remain on the seabed for extended periods to collect data and be autonomously recovered via acoustic remote control after the mission. Currently, OBN release and recovery devices generally adopt a basic architecture of acoustic release device + heavy ballast + floating body. However, this model exposes a series of systemic technical bottlenecks under actual working conditions such as deep water, high-density deployment, and long-term operations, restricting operational reliability and data integrity. These bottlenecks are mainly reflected in:

[0003] In existing OBN release and recovery devices, the OBN node is rigidly fixed to the top of the floating frame or the weight. After release, the floating body and the node rise synchronously, which causes the orientation of the signal positioning device (usually a Beidou positioning device) and the underwater acoustic transducer inside the acoustic release device to be random. This often results in failure postures such as the signal positioning device entering the water and the underwater acoustic transducer facing upwards, causing the water surface positioning signal to be lost and the acoustic beacon to be unable to be captured by the USBL system.

[0004] In response to the aforementioned chain failure problem of "attitude loss of control - positioning loss of connection" that occurs after the OBN release and recovery device is released, although some existing technologies attempt to adjust the relationship between the center of buoyancy and the center of gravity by offsetting the counterweight, a coupled model of connection constraints and rollover dynamics has not been established. The attitude evolution is uncontrollable, and the rollover process is easily affected by ocean currents and stagnates at an unstable tilt angle. Utility Model Content

[0005] The purpose of this invention is to provide a self-floating seabed node heavy load release and recovery device to alleviate the chain failure problem of "attitude loss of control - positioning loss of connection" after release in the existing OBN release and recovery device.

[0006] To achieve the above objectives, the embodiments of this utility model adopt the following technical solutions:

[0007] This utility model provides a self-floating seabed node heavy load release and recovery device, comprising:

[0008] An acoustic release device includes a release device body, a hydroacoustic transducer connected to the upper end of the release device body, a release device hook connected to the lower end of the release device body, and a hook opening and closing control mechanism that is pulsatorically connected to the release device hook.

[0009] A float assembly includes a frame and a float; the acoustic release device is installed inside the frame, the float is connected to the frame and surrounds the release device body circumferentially; a signal positioning device is embedded inside the lower end of the float; N crossbeams are evenly spaced along the circumference of the lower end of the float.

[0010] An annular counterweight is located below the float assembly, and N lifting rings are evenly spaced along the circumference of the annular counterweight, where N≥3;

[0011] The seabed node (OBN node) is located inside the central hole of the annular counterweight and is separated from the annular counterweight.

[0012] The rope assembly consists of N counterweight connecting ropes and M node connecting ropes, where M ≥ 3;

[0013] The N counterweight connecting ropes are respectively wrapped around the release hook to form N U-shaped folded ropes; the N U-shaped folded ropes are wrapped around the outside of the N crossbeams in a corresponding manner; the free ends of the N U-shaped folded ropes are connected to the N lifting rings in a corresponding manner.

[0014] One end of each of the M node connecting ropes is fixedly connected to the seabed node at even intervals along the circumference of the seabed node. The other end of one node connecting rope is fixedly connected to the upper end of the frame, and the other ends of the remaining node connecting ropes are connected to the release hook and can automatically detach from the release hook when the release hook is open.

[0015] In an optional embodiment, the float is at least in the upper part a conical or frustum-shaped structure with an upper lateral cross-sectional area smaller than the lower lateral cross-sectional area.

[0016] In an optional embodiment, the two ends of the counterweight connecting rope are respectively provided with counterweight connecting rope sleeve structures; the lifting ring includes a U-shaped base rod and a stop rod, the closed end of the U-shaped base rod is fixedly connected to the annular counterweight block, the two ends of the stop rod are respectively detachably connected to the two ends of the U-shaped base rod to close the opening of the U-shaped base rod, and the counterweight connecting rope sleeve structure is sleeved on the outside of the stop rod.

[0017] In an optional embodiment, the release hook includes a fixing base, a flipping component, and a corner component;

[0018] The mounting base is fixedly connected to the lower end of the acoustic release device;

[0019] One end of the flipping component is hinged to the fixed base;

[0020] The bent portion of the corner piece is hinged to the fixed base, and the lower end of the corner piece is bent toward one side of the flipping piece to form a hook-shaped end structure.

[0021] The hook opening and closing control mechanism includes a driver and a push-pull linkage mechanism connected to the driver, and the push-pull linkage mechanism is drivenly connected to the upper end of the corner piece;

[0022] When the release hook is in the closed state, the free end of the flipping member overlaps the upper surface of the hook-shaped end structure, and the flipping member and the corner member enclose the locking space.

[0023] During the opening of the release hook, the driver drives the push-pull linkage mechanism to press down the corner piece, so that the corner piece rotates to the side away from the flip piece, thereby releasing the flip piece. The flip piece automatically flips downward in the state of being detached from the corner piece, thereby opening the release hook.

[0024] In an optional embodiment, the fixing base includes two fixing plates arranged opposite to each other, and the flipping member and the corner member are disposed between the two fixing plates; the lower end of the fixing plate is provided with a notch corresponding to and communicating with the locking wire space, and the two opposite sides of the notch are oblique sides such that the lower opening width of the notch is greater than the upper opening width.

[0025] And / or, one end of the node connecting rope connected to the release hook is provided with a node connecting rope sleeve structure, and the node connecting rope sleeve structure is sleeved on the outside of the flipping component.

[0026] In an optional embodiment, a cable routing groove is provided on the outer peripheral surface of the float, and the node connecting rope, which is fixedly connected to the upper end of the frame, is embedded inside the cable routing groove.

[0027] In an optional embodiment, the frame includes an upper connecting ring, a lower connecting ring, and multiple connecting rods;

[0028] The upper connecting ring is fitted onto the upper outer part of the releaser body and is fixedly connected to the outer shell of the releaser body;

[0029] The lower connecting ring is fitted onto the lower end of the releaser body and is fixedly connected to the outer shell of the releaser body;

[0030] The float is sleeved on the outside of the release device body and is clamped between the upper connecting ring and the lower connecting ring. The multiple connecting rods are arranged at intervals along the circumference of the release device body. Each connecting rod passes through the float. The upper end of each connecting rod is fixedly connected to the upper connecting ring, and the lower end of each connecting rod is fixedly connected to the lower connecting ring.

[0031] In an optional embodiment, the float comprises a plurality of sub-floats joined together in pairs along the circumferential direction, with a joint gap between each pair of adjacent sub-floats.

[0032] In an optional embodiment, the upper end of the annular counterweight is provided with N grooves evenly spaced along the circumference of the annular counterweight. Each groove penetrates the upper end face and the outer surface of the annular counterweight. The N lifting rings are installed one-to-one inside the N grooves, and the upper end face of the lifting ring is not higher than the plane where the upper opening of the groove is located.

[0033] In an optional embodiment, the surface of the counterweight connecting rope and / or the node connecting rope is covered with a plastic outer layer.

[0034] Specifically, in the present invention, the term "and / or" indicates that the structure before "and / or" and the structure after "and / or" are set simultaneously or selectively.

[0035] The embodiments of this utility model can achieve at least the following beneficial effects:

[0036] The working principle of the self-floating seabed node heavy load release and recovery device is as follows:

[0037] When in use, the operating procedures and device configuration change as follows:

[0038] S1. Before deployment, the OBN node is located inside the central hole of the annular counterweight. Flexible constraint is achieved through the rope assembly, the float assembly, and the acoustic release device. The length of each connecting rope of the rope assembly is adjusted to make the OBN node as horizontal as possible, and the bottom surface of the OBN node is lower than the bottom surface of the annular counterweight.

[0039] S2. After the device sits on the bottom, the OBN node touches the bottom and collects data, and the acoustic release device is in a low-power listening state.

[0040] S3. The deck unit sends an acoustic remote control command. After the acoustic release device receives and verifies the command, it triggers the hook opening and closing control mechanism to open the release device hook, causing N counterweight connecting ropes and M-1 node connecting ropes to disengage from the release device hook. At this time, only one node connecting rope in the rope assembly is connected to the upper end of the frame and the seabed node. The N counterweight connecting ropes are only connected to the ring counterweight block, and the remaining M-1 node connecting ropes are only connected to the seabed node. Under these circumstances, the floating body assembly, acoustic release device, and seabed node obtain net buoyancy and begin to float.

[0041] As the buoyancy progresses, the OBN node tilts under the pull of gravity and the last remaining node connecting rope. The float assembly, along with the acoustic release device, tilts in the opposite direction under the pull of the last remaining node connecting rope. During the buoyancy process, the entire device eventually reaches a balanced attitude with the float assembly inverted and floats to the surface.

[0042] In this balanced posture, the hydroacoustic transducer, originally located at the upper part of the release device, faces downward, and the signal positioning device, originally embedded in the lower part of the float, faces upward. The signal positioning device uploads position information, and the hydroacoustic transducer continuously transmits response signals to work together to complete the water surface recovery operation of the device.

[0043] Through the above design, the present invention alleviates the chain failure problem of "attitude loss of control - positioning loss of connection" after the release of the OBN release and recovery device in the prior art. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 A schematic diagram of the overall structure of the self-floating seabed node heavy load release and recovery device provided in the embodiment of this utility model in the bottom-sitting state.

[0046] Figure 2 A schematic diagram of the buoyancy process of the self-floating seabed node heavy load release and recovery device provided in this embodiment of the utility model, including the floating body assembly, acoustic release device, and seabed node.

[0047] Figure 3 A schematic diagram of the structure of the self-floating seabed node heavy load release and recovery device provided in this embodiment of the utility model when the floating body assembly, acoustic release device and seabed node float to the equilibrium attitude;

[0048] Figure 4 A top view of the self-floating seabed node heavy load release and recovery device provided in the embodiment of this utility model in the bottom-sitting state;

[0049] Figure 5 for Figure 4 Sectional view along axis AA;

[0050] Figure 6 for Figure 5 BB-direction sectional view;

[0051] Figure 7 This is an isometric schematic diagram of the acoustic release device and the float assembly frame assembly structure in an embodiment of the present invention;

[0052] Figure 8 This is a top view of the acoustic release device and the float assembly frame assembly structure in an embodiment of the present invention;

[0053] Figure 9 for Figure 8 CC-direction sectional view;

[0054] Figure 10 This is an isometric view of the lifting ring provided on the annular counterweight in an embodiment of the present invention;

[0055] Figure 11 This is a schematic diagram of the counterweight connecting rope in an embodiment of the present invention.

[0056] Icons: 1-Acoustic release device; 101-Underwater acoustic transducer; 11-Release device body; 12-Release device hook; 120-Wire locking space; 121-Fixing base; 1211-Angled side; 122-Flipping component; 123-Corner component; 13-Hook opening and closing control mechanism; 131-Driver; 132-Push-pull linkage mechanism;

[0057] 2-Float assembly; 21-Frame; 211-Upper connecting ring; 212-Lower connecting ring; 213-Connecting rod; 22-Float; 221-Sub-float; 222-Splicing gap; 223-Cable channel; 23-Crossbeam;

[0058] 3-Signal positioning device;

[0059] 4- Annular counterweight; 401- Groove; 41- Lifting ring; 411- U-shaped base rod; 412- Stop bar;

[0060] 5-Seabed nodes;

[0061] 6- Rope assembly; 61- Counterweight connecting rope; 611- Counterweight connecting rope sleeve structure; 62- Nodal connecting rope. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0064] It should be noted that similar labels and letters in the accompanying drawings indicate similar items. Therefore, once an item is defined in one accompanying drawing, it does not need to be further defined and explained in subsequent accompanying drawings.

[0065] In the description of this utility model, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model 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 utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] Furthermore, the terms "horizontal" and "vertical" do not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0067] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" 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 utility model based on the specific circumstances.

[0068] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0069] This embodiment provides a self-floating seabed node heavy load release and recovery device, referring to... Figures 1 to 11 The self-floating seabed node heavy load release and recovery device includes an acoustic release device 1, a floating body assembly 2, an annular counterweight 4, a seabed node 5 (OBN node), and a rope assembly 6.

[0070] The acoustic release device 1 includes a release body 11 and a hydroacoustic transducer 101 connected to the upper end of the release body 11. Specifically, the release body 11 has an electronics compartment, which integrates the hydroacoustic transducer 101, a receiving circuit, a transmitting circuit, and a main control unit. The hydroacoustic transducer 101 is located at the upper end of the release body 11. The acoustic release device 1 is configured to respond with a response signal to the system when it receives an interrogation signal from the USBL positioning system or the deck unit, and to perform battery voltage detection, depth detection, and heavy load release operations when it receives an acoustic remote control command from the system. In particular, the acoustic release device 1 in this embodiment also includes a release hook 12 connected to the lower end of the release body 11 and a hook opening and closing control mechanism 13 that is pulsatorically connected to the release hook 12.

[0071] The float assembly 2 includes a frame 21 and a float 22; an acoustic release device 1 is installed inside the frame 21, the float 22 is connected to the frame 21 and surrounds the release device body 11 circumferentially; a signal positioning device 3 is embedded inside the lower end of the float 22, the signal positioning device 3 including but not limited to a Beidou positioning device; and N crossbeams 23 are evenly spaced along the circumference of the lower end of the float 22.

[0072] An annular counterweight 4 is located below the float assembly 2. N lifting rings 41 are evenly spaced along the circumference of the annular counterweight 4, where N ≥ 3.

[0073] The seabed node 5 (OBN node) is encapsulated in a robust, corrosion-resistant shell, which integrates a battery, memory, and sensors responsible for data acquisition. In this embodiment, the seabed node 5 (OBN node) is located inside the central hole of the annular counterweight 4 and is separate from the annular counterweight 4.

[0074] The rope assembly 6 includes N counterweight connecting ropes 61 and M node connecting ropes 62, where M ≥ 3. The N counterweight connecting ropes 61 pass around the release hook 12 to form N U-shaped folded ropes; the N U-shaped folded ropes pass around the outside of the N crossbeams 23 one by one; the free ends of the N U-shaped folded ropes are connected to the N lifting rings 41 one by one. One end of each of the M node connecting ropes 62 is fixedly connected to the seabed node 5 (OBN node) at even intervals along its circumference. The other end of one node connecting rope 62 is fixedly connected to the upper end of the frame 21, and the other ends of the remaining node connecting ropes 62 are connected to the release hook 12 and can automatically detach from the release hook 12 when the release hook 12 is open.

[0075] Reference Figures 1 to 3 The working principle of this self-floating seabed node heavy load release and recovery device is as follows:

[0076] When in use, the operating procedures and device configuration change as follows:

[0077] S1. Before deployment, the OBN node is located inside the central hole of the annular counterweight 4. Flexible constraint is achieved through the rope assembly 6, the float assembly 2, and the acoustic release device 1. The length of each connecting rope of the rope assembly 6 is adjusted to make the OBN node as horizontal as possible, and the bottom surface of the OBN node is lower than the bottom surface of the annular counterweight 4.

[0078] S2. For example Figure 1 As shown, after the device sits on the bottom, the OBN node touches the bottom to collect data, and the acoustic release device 1 is in a low-power listening state.

[0079] S3. For example Figure 2 As shown, the deck unit sends an acoustic remote control command. After the acoustic release device 1 receives and verifies the command, it triggers the hook opening and closing control mechanism 13 to open the release device hook 12, causing the N counterweight connecting ropes 61 and the M-1 node connecting ropes 62 to disengage from the release device hook 12. At this time, only one node connecting rope 62 remains in the rope assembly 6, connecting the upper end of the frame 21 and the seabed node 5. The N counterweight connecting ropes 61 are only connected to the ring counterweight 4, and the remaining M-1 node connecting ropes 62 are only connected to the seabed node 5. Under these circumstances, the float assembly 2, the acoustic release device 1, and the seabed node 5 obtain net buoyancy and begin to float.

[0080] As the buoyancy progresses, the OBN node tilts under the pull of gravity and the last remaining node connecting rope 62. The float assembly 2, along with the acoustic release device 1, tilts in the opposite direction under the pull of the last remaining node connecting rope 62. During the buoyancy process, the entire device eventually reaches the balanced posture of the float assembly 2 being completely inverted and floats to the water surface.

[0081] like Figure 3 As shown, in this balanced state, the hydroacoustic transducer 101, which was originally located at the upper part of the release body 11, faces downward, and the signal positioning device 3, which was originally embedded in the lower part of the float 22, faces upward. The signal positioning device 3 uploads position information, and the hydroacoustic transducer 101 continuously transmits response signals to complete the water surface recovery operation of the device in a coordinated manner.

[0082] Through the above design, this embodiment alleviates the chain failure problem of "attitude loss of control - positioning loss of connection" after the release of the OBN release and recovery device in the prior art.

[0083] Furthermore:

[0084] In an optional embodiment of this example, the upper part of the float 22 is at least a cone or frustum-shaped structure with a lateral cross-sectional area at the upper end smaller than that at the lower end. This structural design makes it easier for the float 22 to flip to an inverted equilibrium state during the process of the float assembly 2, the acoustic release device 1 and the seabed node 5 obtaining net buoyancy and starting to float, thereby improving the attitude certainty of the float assembly 2 in the equilibrium state.

[0085] Reference Figure 11 In an optional embodiment of this example, the two ends of the counterweight connecting rope 61 are respectively provided with counterweight connecting rope sleeve structures 611; refer to Figure 5 and Figure 10 The lifting ring 41 includes a U-shaped base rod 411 and a stop rod 412. The closed end of the U-shaped base rod 411 is fixedly connected to the annular counterweight block 4. The two ends of the stop rod 412 are detachably connected to the two ends of the U-shaped base rod 411 to close the opening of the U-shaped base rod 411. The counterweight connecting rope 61 passes around the release hook 12 to form a U-shaped folded rope. The counterweight connecting rope sleeve structure 611 at both ends is sleeved on the outside of the stop rod 412.

[0086] In this optional embodiment, the specific connection method for the two ends of the stop rod 412 to the two ends of the U-shaped base rod 411 that are detachably connected includes, but is not limited to, providing through holes at both ends of the U-shaped base rod 411, and using a screw rod for the stop rod 412. The shank of the screw rod passes through the through holes at both ends of the U-shaped base rod 411 and engages with a nut through a threaded connection to close the opening of the U-shaped base rod 411. This optional embodiment ensures the ease of assembly and reliable connection between the end of the counterweight connecting rope 61 and the lifting ring 41.

[0087] Reference Figure 5 , Figure 7 and Figure 9In an optional embodiment of this invention, the release hook 12 includes a fixed base 121, a flipping member 122, and a corner member 123. Specifically: the fixed base 121 is fixedly connected to the lower end of the acoustic release device 1; one end of the flipping member 122 is hinged to the fixed base 121 via a pin, rivet, bolt and nut assembly, or other hinge; the bent portion of the corner member 123 is hinged to the fixed base 121 via a pin, rivet, bolt and nut assembly, or other hinge, and the lower end of the corner member 123 is bent towards the flipping member 122 to form a hook-shaped end structure. The hook opening and closing control mechanism 13 includes a driver 131 and a push-pull linkage mechanism 132 connected to the driver 131. The push-pull linkage mechanism 132 is kinetically connected to the upper end of the corner member 123. When the release hook 12 is in the closed state, the free end of the flipping member 122 overlaps the upper surface of the hook-shaped end structure, and the flipping member 122 and the corner member 123 enclose a locking space 120. During the opening of the release hook 12, the driver 131 drives the push-pull linkage mechanism 132 to press down the corner piece 123, so that the corner piece 123 rotates to the side away from the flip piece 122, thereby releasing the flip piece 122. The flip piece 122 automatically flips downward in the state of being disengaged from the corner piece 123, thereby opening the release hook 12.

[0088] In this optional embodiment, in the closed state, the free end of the flipper 122 overlaps the upper surface of the hook-shaped end structure of the corner piece 123, forming a locking space 120. This locking mechanism ensures that the counterweight connecting rope 61 is firmly fixed in the locking space 120 in the non-released state, improving the functional reliability and system safety of the device. During the release process, the driver 131 presses down on the corner piece 123 through the push-pull linkage mechanism 132, causing the corner piece 123 to rotate away from the flipper 122, thereby releasing the flipper 122. The flipper 122 automatically flips downward in the state of being detached from the corner piece 123, realizing automatic release. This thrust release mechanism can quickly open the release hook 12, ensuring the smooth progress of the release process.

[0089] More specifically, the free end of the flipper 122, when detached from the corner piece 123, automatically flips downwards by its own weight to open the release hook 12. Alternatively, a torsion spring or other elastic element can be provided between the flipper 122 and the corner piece 123. When the free end of the flipper 122 overlaps the upper surface of the hook-shaped end structure, the elastic element is in an elastic energy storage state. When the free end of the flipper 122 detaches from the hook-shaped end structure of the corner piece 123, the elastic element rebounds under the action of elastic restoring force, causing the free end of the flipper 122 to automatically flip downwards to open the release hook 12. The hook opening and closing control mechanism 13 includes a driver 131 and a push-pull linkage mechanism 132 connected to the driver 131. The assembly structure of the driver 131 and the push-pull linkage mechanism 132 can be, but is not limited to, using a motor push rod assembly, a cylinder piston rod assembly, or other thrust mechanisms.

[0090] Continue to refer to Figure 5 , Figure 7 and Figure 9 In an optional embodiment of this example, the fixing base 121 includes two fixing plates arranged opposite to each other, and the flipping member 122 and the corner member 123 are disposed between the two fixing plates; the lower end of the fixing plate is provided with a notch that communicates with the locking wire space 120, and the two sides opposite to the notch are oblique sides 1211 such that the lower opening width of the notch is greater than the upper opening width.

[0091] In this optional embodiment, the fixing base 121 includes two fixing plates arranged opposite to each other. The flipping member 122 and the corner member 123 are disposed between the two fixing plates, ensuring the stability of the flipping member 122 and the corner member 123 during movement and improving the reliability of the release process. The lower end of the fixing plate is provided with a notch corresponding to and communicating with the locking space 120. The two sides opposite to the notch are slanted sides 1211, so that the lower opening width of the notch is greater than the upper opening width. This slanted design reduces the possibility of tangling between the connecting ropes, effectively avoiding the problem of release failure or release delay caused by the connecting ropes tangling, and ensuring that the connecting rope can smoothly leave the notch after release. Furthermore, the end surfaces of the free end of the flipping member 122 and the hook-shaped end structure of the corner member 123 are preferably designed as smooth planes or arc surfaces to further ensure that the connecting rope smoothly leaves the locking space 120 after release.

[0092] In an optional embodiment of this example, one end of the node connecting rope 62 connected to the release hook 12 is provided with a node connecting rope sleeve structure. The node connecting rope sleeve structure is sleeved on the outside of the flipping member 122. When the free end of the flipping member 122 rotates and flips down, the node connecting rope sleeve structure can smoothly slide off the flipping member 122, ensuring that the corresponding node connecting rope 62 quickly leaves the locking line space 120 in the released state.

[0093] Reference Figures 1 to 6 In an optional embodiment of this example, a cable routing groove 223 is provided on the outer peripheral surface of the float 22. The node connecting rope 62, which is fixedly connected to the upper end of the frame 21, is embedded in the cable routing groove 223. The cable routing groove 223 constrains the suspension path of a node connecting rope 62 to the seabed node 5 (OBN node), so as to prevent the node connecting rope 62 from getting tangled or hooked with other connecting ropes.

[0094] Reference Figures 5 to 9In an optional embodiment of this example, the frame 21 includes an upper connecting ring 211, a lower connecting ring 212, and multiple connecting rods 213. The upper connecting ring 211 is fitted onto the upper outer side of the releaser body 11 and is fixedly connected to the outer shell of the releaser body 11. The fixed connection method includes, but is not limited to, connecting an upper flange to the upper end of the outer shell of the releaser body 11 and fixing the upper connecting ring 211 to the upper flange together with screws. The lower connecting ring 212 is fitted onto the lower outer side of the releaser body 11 and is fixedly connected to the outer shell of the releaser body 11. The fixed connection method includes, but is not limited to, connecting a lower flange to the lower end of the outer shell of the releaser body 11 and fixing the lower connecting ring 212 to the lower flange together with screws. The float 22 is sleeved on the outside of the release body 11 and is clamped between the upper connecting ring 211 and the lower connecting ring 212. Multiple connecting rods 213 are arranged at intervals along the circumference of the release body 11. Each connecting rod 213 passes through the float 22. The upper end of each connecting rod 213 is fixedly connected to the upper connecting ring 211, and the lower end of each connecting rod 213 is fixedly connected to the lower connecting ring 212.

[0095] Reference Figure 1 , Figure 4 , Figure 5 and Figure 6 In an optional embodiment of this invention, the float 22 includes a plurality of sub-floats 221 spliced ​​together in pairs along the circumferential direction, with a splicing gap 222 between each pair of adjacent sub-floats 221. As the float rises, this splicing gap 222, in conjunction with the crossbeam 23, allows each connecting rope to fall outward from the splicing gap 222 between adjacent sub-floats 221, preventing the connecting ropes from tangling or snagging and ensuring the reliability of the release process.

[0096] Reference Figures 1 to 5 In an optional embodiment of this invention, the upper end of the annular counterweight 4 is provided with N grooves 401 evenly spaced along the circumference of the annular counterweight 4. Each groove 401 penetrates the upper end face and the outer surface of the annular counterweight 4. N lifting rings 41 are installed one-to-one inside the N grooves 401, and the upper end face of the lifting ring 41 is not higher than the plane where the upper opening of the groove 401 is located. In this optional embodiment, by setting the grooves 401 and ensuring that the upper end face of the lifting ring 41 is not higher than the plane where the upper opening of the groove 401 is located, each lifting ring 41 is embedded below the upper end face of the annular counterweight 4, preventing the node connecting rope 62 from snagging on the lifting ring 41 during the ascent after release, thus ensuring the reliability of the release process.

[0097] In an optional embodiment of this example, a plastic outer layer is wrapped around the surface of the counterweight connecting rope 61 and / or the node connecting rope 62. The inclusion of a plastic outer layer on the outside of the connecting rope can make the outer surface of the connecting rope smooth, reduce the tangling of the connecting rope after release, and ensure the reliability of the release process.

[0098] Finally, it should be noted that:

[0099] 1. In this specification, "and / or" means that the structure before "and / or" and the structure after "and / or" are set simultaneously or selectively;

[0100] 2. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to mutually. The above embodiments in this specification are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of this utility model.

Claims

1. A self-floating seabed node heavy load release and recovery device, characterized in that, include: The acoustic release device (1) includes a release device body (11), a water acoustic transducer (101) connected to the upper end of the release device body (11), a release device hook (12) connected to the lower end of the release device body (11), and a hook opening and closing control mechanism (13) that is pulsatorically connected to the release device hook (12). The float assembly (2) includes a frame (21) and a float (22); the acoustic release device (1) is installed inside the frame (21), the float (22) is connected to the frame (21) and surrounds the release device body (11) circumferentially; a signal positioning device (3) is embedded inside the lower end of the float (22); N crossbeams (23) are evenly spaced along the circumference of the lower end of the float (22). An annular counterweight (4) is located below the float assembly (2). N lifting rings (41) are evenly spaced along the circumference of the annular counterweight (4), where N ≥ 3. The seabed node (5) is located inside the central hole of the annular counterweight (4) and is separated from the annular counterweight (4); Rope assembly (6) includes N counterweight connecting ropes (61) and M node connecting ropes (62), where M ≥ 3; The N counterweight connecting ropes (61) are respectively wrapped around the release hook (12) to form N U-shaped folded ropes; the N U-shaped folded ropes are wrapped around the outside of the N crossbeams (23) one by one; the free ends of the N U-shaped folded ropes are connected to the N lifting rings (41) one by one. One end of each of the M node connecting ropes (62) is fixedly connected to the seabed node (5) at even intervals along the circumference of the seabed node (5). The other end of one node connecting rope (62) is fixedly connected to the upper end of the frame (21), and the other end of the remaining node connecting ropes (62) is connected to the release hook (12) and can automatically detach from the release hook (12) when the release hook (12) is open.

2. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, The float (22) has at least an upper part that is a cone or frustum-shaped structure with a lateral cross-sectional area at the upper end smaller than that at the lower end.

3. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, The counterweight connecting rope (61) has a counterweight connecting rope sleeve structure (611) at both ends; the lifting ring (41) includes a U-shaped base rod (411) and a stop rod (412). The closed end of the U-shaped base rod (411) is fixedly connected to the annular counterweight block (4). The two ends of the stop rod (412) are detachably connected to the two ends of the U-shaped base rod (411) to close the opening of the U-shaped base rod (411). The counterweight connecting rope sleeve structure (611) is sleeved on the outside of the stop rod (412).

4. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, The release hook (12) includes a fixed base (121), a flipping part (122), and a corner part (123). The mounting base (121) is fixedly connected to the lower end of the acoustic release device (1); One end of the flipping component (122) is hinged to the fixed base (121); The bent portion of the corner piece (123) is hinged to the fixed base (121), and the lower end of the corner piece (123) is bent toward the side of the flip piece (122) to form a hook-shaped end structure. The hook opening and closing control mechanism (13) includes a driver (131) and a push-pull linkage mechanism (132) connected to the driver (131). The push-pull linkage mechanism (132) is connected to the upper end of the corner piece (123). When the release hook (12) is in the closed state, the free end of the flipping member (122) overlaps the upper surface of the hook-shaped end structure, and the flipping member (122) and the corner member (123) enclose the locking space (120). During the opening of the release hook (12), the driver (131) drives the push-pull linkage mechanism (132) to press down the corner piece (123) so that the corner piece (123) rotates to the side away from the flip piece (122) to release the flip piece (122). The flip piece (122) automatically flips down in the state of being disengaged from the corner piece (123) to open the release hook (12).

5. The self-floating seabed node heavy load release and recovery device according to claim 4, characterized in that, The fixing base (121) includes two fixing plates arranged opposite to each other, and the flipping member (122) and the corner member (123) are located between the two fixing plates; the lower end of the fixing plate is provided with a notch that communicates with the locking wire space (120), and the two opposite sides of the notch form oblique sides (1211) such that the lower opening width of the notch is greater than the upper opening width. And / or, one end of the node connecting rope (62) connected to the release hook (12) is provided with a node connecting rope sleeve structure, which is sleeved on the outside of the flipping part (122).

6. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, A cable routing groove (223) is provided on the outer circumferential surface of the float (22), and the node connecting rope (62) which is fixedly connected to the upper end of the frame (21) is embedded in the cable routing groove (223).

7. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, The frame (21) includes an upper connecting ring (211), a lower connecting ring (212), and multiple connecting rods (213). The upper connecting ring (211) is fitted onto the upper exterior of the releaser body (11) and is fixedly connected to the outer shell of the releaser body (11); The lower connecting ring (212) is fitted onto the lower end of the release body (11) and is fixedly connected to the outer shell of the release body (11); The float (22) is sleeved on the outside of the release body (11), and the float (22) is clamped between the upper connecting ring (211) and the lower connecting ring (212). The multiple connecting rods (213) are arranged at intervals along the circumference of the release body (11). Each connecting rod (213) passes through the float (22). The upper end of each connecting rod (213) is fixedly connected to the upper connecting ring (211), and the lower end of each connecting rod (213) is fixedly connected to the lower connecting ring (212).

8. The self-floating seabed node heavy load release and recovery device according to claim 7, characterized in that, The float (22) includes a plurality of sub-floats (221) spliced ​​together in pairs along the circumferential direction, with a splicing gap (222) between each pair of adjacent sub-floats (221).

9. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, The upper end of the annular counterweight (4) is provided with N grooves (401) evenly spaced along the circumference of the annular counterweight (4). Each groove (401) penetrates the upper end face and the outer surface of the annular counterweight (4). N lifting rings (41) are installed in the N grooves (401) one by one, and the upper end face of the lifting ring (41) is not higher than the plane where the upper opening of the groove (401) is located.

10. The self-floating seabed node heavy load release and recovery device according to claim 1, characterized in that, The surface of the counterweight connecting rope (61) and / or the node connecting rope (62) is covered with a plastic outer layer.

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