CN112339947B - Deep sea emergency disposal tool deployment device - Google Patents
Deep sea emergency disposal tool deployment device Download PDFInfo
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- CN112339947B CN112339947B CN202011217367.0A CN202011217367A CN112339947B CN 112339947 B CN112339947 B CN 112339947B CN 202011217367 A CN202011217367 A CN 202011217367A CN 112339947 B CN112339947 B CN 112339947B
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- cabin
- body frame
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- rov
- tool
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000001681 protective effect Effects 0.000 claims abstract description 15
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 7
- 238000011084 recovery Methods 0.000 abstract description 6
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 238000009826 distribution Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Barrages (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
一种深海应急处置工具布放装置，包括：主体框架、组合舱体、定位传感器和ROV协同工具接口，其中：组合舱体设置于主体框架内，定位传感器和ROV协同工具接口设置于组合舱体上；主体框架包括：底座、上连接架、承重吊点和支腿结构；组合舱体包括：舱体框架、底板、舱门、锁具和防护与缓冲装置。防护与缓冲装置包括：防护橡胶和防护板。锁具包括：锁舌、锁钳、顶块、传动轴、操作把手和限位机构。本发明采用集中方式进行多种专用工具海底布放，根据作业过程需求采用ROV协同作业方式进行工具轮换，作业完成后再由布放装置集中回收专用工具至水面，节省了布放、回收及工具轮换时间，在深海沉船及沉物的打捞、抢险和救援等方面具有广阔应用前景。
A deep-sea emergency disposal tool deployment device, comprising: a main frame, a combined cabin, a positioning sensor and an ROV collaborative tool interface, wherein: the combined cabin is arranged in the main frame, and the positioning sensor and the ROV collaborative tool interface are arranged in the combined cabin. The main frame includes: the base, the upper connecting frame, the load-bearing lifting point and the outrigger structure; the combined cabin includes: the cabin frame, the bottom plate, the cabin door, the lock and the protection and buffer device. Protection and buffering devices include: protective rubber and protective plates. The lock includes: lock tongue, lock pliers, top block, transmission shaft, operating handle and limit mechanism. The invention adopts a centralized method to deploy a variety of special tools on the seabed, and adopts the ROV collaborative operation method to perform tool rotation according to the needs of the operation process. After the operation is completed, the special tools are collected by the deployment device to the water surface in a centralized manner, saving deployment, recovery and tool rotation. It has broad application prospects in the salvage, rescue and rescue of deep-sea sunken ships and sunken objects.
Description
Technical Field
The invention relates to the technology in the technical field of oceans, in particular to a deep sea emergency disposal tool laying device.
Background
In order to solve the problem of recovering liquid or articles in the deep-water sunken ship, special technology and tool equipment which adapt to special conditions of deep sea are adopted to cooperate with the deep-water ROV to complete emergency treatment such as plugging, opening, cutting, liquid pumping and the like of the deep-water sunken ship. The types and the number of special tools related to ROV cooperative operation are generally large, the existing arrangement, recovery and rotation modes of the special tools usually occupy a large amount of operation time and workload, and the operation efficiency and the popularization of emergency disposal are determined along with the proportional increase of the depth.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the deep sea emergency treatment tool arrangement device, which is characterized in that a combined cabin body for storing special tools is arranged in a main body frame, a cabin door controlled by mechanical transmission is arranged, and a protection and buffer device is arranged, so that the seabed arrangement of various special tools is realized, the arrangement, recovery and tool alternation time is saved, and the deep sea emergency treatment tool arrangement device has wide application prospects in the aspects of salvaging, emergency rescue and rescue of deep sea sunken ships and sunken objects.
The invention is realized by the following technical scheme:
the invention comprises the following steps: main body frame, combination cabin body, location sensor and ROV are instrument interface in coordination, wherein: the combined cabin body is arranged in the main body framework, and the positioning sensor and the ROV cooperative tool interface are arranged on the combined cabin body.
The main body frame includes: base, last link, bearing hoisting point and landing leg structure, wherein: the upper connecting frame is arranged on the base, the bearing hoisting points are arranged around the top of the base, and the supporting leg structure is arranged below the bottom of the base.
The combined cabin body comprises: cabin body frame, bottom plate, hatch door, tool to lock and protection and buffer, wherein: the cabin body frame is arranged in the main body frame, the bottom plate is arranged in the bottom of the cabin body frame, and the cabin door is arranged on the side face of the cabin body frame through the lockset.
The protection and buffer device comprises: protective rubber and a protective plate, wherein: the protective rubber is arranged on the inner edge of the cabin body frame and the cabin door, and the protective plate is arranged on the periphery of the cabin door.
The lock comprises: spring bolt, lock pincers, kicking block, transmission shaft, operating handle and stopper, wherein: the spring bolt sets up in the lock pincers, and the lock pincers sets up in transmission shaft one end, and the kicking block sets up on the transmission shaft and sets up in the lock pincers top, and operating handle and stopper link to each other and set up in the transmission shaft other end.
The hatch door is of a bell mouth structure.
Technical effects
The invention integrally solves the problems of insufficient crane quantity, long repeated laying time, low efficiency, high risk and the like faced by the complex multi-tool system underwater combined operation, and is particularly suitable for underwater centralized laying and recycling of ROV cooperative operation tools.
Compared with the prior art, the invention selects the number of the cabins and the arrangement mode thereof by the modularized cabin combination design and combining with the engineering requirement; the unique cabin door and the lock design thereof are suitable for the operation of an ROV manipulator to open and close the cabin door. The invention adopts a centralized mode to distribute various special tools on the seabed, adopts an ROV cooperative operation mode to carry out tool alternation according to the requirements of the operation process, and intensively recovers the special tools to the water surface by the distributing device after the operation is finished, thereby saving the distributing, recovering and tool alternation time and having wide application prospect in the aspects of deep-sea sunken ships and salvage, rescue and rescue of the sunken objects.
Drawings
FIG. 1 is a schematic view of a main frame structure according to the present invention;
FIG. 2 is a schematic structural view of the assembled cabin of the present invention;
FIG. 3 is a schematic structural view of the assembled cabin of the present invention in an open state;
FIG. 4 is a schematic view of a lock according to the present invention;
FIG. 5 is a schematic view of the operating handle of the present invention;
in the figure: the device comprises a base 1, an upper connecting frame 2, a combined cabin 3, a cabin door 4, protective rubber 5, a bottom plate 6, a protective plate 7, a lockset 8, a bolt 9, a locking clamp 10, a top block 11, a transmission shaft 12, an operating handle 13, a limiting mechanism 14, a main body frame 15, a bearing lifting point 16, a cabin frame 17, a protective and buffer device 18, a supporting leg structure 19 and a guide structure 20.
Detailed Description
As shown in fig. 1, the device for deploying an emergency treatment tool in deep sea according to the present embodiment includes: main body frame 15, combination cabin 3 for depositing specialized tool, positioning sensor and ROV cooperation tool interface, wherein: the combined cabin 3 is arranged in the main body frame 15, and the positioning sensor and the ROV cooperative tool interface are arranged on the combined cabin 3.
The main body frame 15 includes: base 1, last link 2 and bearing hoisting point 16, wherein: the upper connecting frame 2 is arranged on the base 1, the bearing hoisting points 16 are arranged around the top of the base 1, and the supporting leg structures 19 are arranged under the bottom of the base 1 to prevent the integral inclination caused by uneven terrain.
The combined cabin 3 comprises: cabin body frame 17, bottom plate 6, hatch door 4, tool to lock 8 and protection and buffer 18, wherein: the cabin body frame 17 is arranged in the main body frame 15, the bottom plate 6 is arranged in the bottom of the cabin body frame 17, the cabin door 4 is arranged on the side face of the cabin body frame 17 through a lock 8 and used for protecting internal tools and preventing the internal tools from sliding out of the cabin body frame 17, and the cabin door 4 can be opened and closed through ROV auxiliary operation or underwater remote control cabin door lock mode.
The front end of the cabin body frame is provided with a bell-mouthed guide structure 20 for a special worker to align underwater and enter a hatch, and the guide structure reduces the positioning precision of an ROV when a tool system enters the cabin body and is beneficial to severe sea condition operation; the cabin body is internally provided with a protection and buffer device 18, can be adaptively adjusted according to the size of a tool, plays a role in guiding the tool when the tool enters and exits the cabin body, and plays roles in fixing and buffering impact and the like on the tool in the distribution process.
The protection and buffer device 18 comprises: a protection rubber 5 and a protection plate 7, wherein: the protective rubber 5 is arranged on the inner edge of the cabin frame 17 and the cabin door 4, and the protective plate 7 is arranged around the surface of the guide structure 20.
As shown in fig. 4, the lock 8 includes: spring bolt 9, lock pincers 10, kicking block 11, transmission shaft 12, operating handle 13 and stop gear 14, wherein: the lock tongue 9 is arranged in the locking pliers 10 and has a spring resetting function, and when the cabin door is closed, the lock tongue can be automatically opened under the action of external force, so that the cabin door is closed and locked; the locking pliers 10 is arranged at one end of a transmission shaft 12, the ejector block 11 is arranged on the transmission shaft 12 and above the locking pliers 10, an operating handle 13 is connected with a limiting mechanism 14 and arranged at the other end of the transmission shaft 12, and an ROV manipulator or a hydraulic and motor-driven transmission mechanism drives the locking pliers 10 and the lock tongue 9 to move until the limiting function is relieved and then the cabin door 4 is opened.
As shown in fig. 3, the hatch 4 has a bell mouth structure, is in a downward-turning form, and is operated under water by means of an ROV manipulator, the lock 8 is opened by the manipulator, then the hatch 4 is opened, a handle grabbed by the manipulator is arranged above the hatch 4, a damping buffer mechanism is arranged at a hinge position below the hatch 4, and a limit position is arranged to prevent the hatch from falling into sludge; after the hatch door 4 is opened, the hatch door lock is always in an open state, the operating handle 13 needs to be restored to an initial state (the initial state is vertical upward) before the door is closed, then the hatch door 4 is closed, moving thrust needs to be provided when the hatch door 4 is closed, the bolt 9 is pushed into the locking pliers 10, and at the moment, the hatch door 4 is properly closed.
The load-bearing hoisting point 16 is used for being connected with a lifting appliance and a sling for offshore lifting, and comprises: and fixing a hoisting point or separating the hoisting point, wherein the rigging is separated from the laying device after the fixed hoisting point is integrally laid to the seabed, the butting rigging is put down from the water surface to be butted after the operation is finished, and the separated hoisting point is subjected to hoisting point butting assisted by an ROV.
The positioning sensor adopts an acoustic or optical principle, and sends the seabed position to the water surface for positioning and adjusting the water surface; the actual position can be provided for the ROV underwater, and the positioning and searching of the ROV are convenient.
The emergency treatment tool system that can be carried in the combined cabin 3 includes: the special tool system comprises a hole opening tool, a liquid pumping tool, a cutting tool, a cleaning tool and auxiliary tools, wherein the special tool is firstly installed in a combined cabin body 3 before launching, then the whole submarine construction position is integrally arranged, the whole arrangement device is arranged in deep water by a water surface crane through a bearing lifting point 16, the special tool in the cabin is butted, rotated and reset by an ROV after the operation is finished after being arranged on the seabed, and finally the special tool system is integrally recovered by the arrangement device.
Through specific practical experiments, the emergency treatment device can carry 6 sets of emergency treatment tools at one time, the deployment water depth is determined according to the matching conditions of the mother ship crane and the ROV, and the existing equipment supports 6000m deployment and recovery to the maximum extent. The method adopts a once centralized distribution and underwater alternate operation mode, greatly reduces the underwater non-operation time, takes 6000m operation water depth and 6 tool operations as an example, the distribution (recovery) time of a common operation mode is about 42 hours, the centralized distribution (recovery) time is only 7 hours, and the operation efficiency of the method is in direct proportion to the operation water depth and the tool types.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. The utility model provides a device is put to emergent processing instrument in deep sea which characterized in that includes: main body frame, combination cabin body, location sensor and ROV are instrument interface in coordination, wherein: the combined cabin body is arranged in the main body frame, and the positioning sensor and the ROV cooperative tool interface are arranged on the combined cabin body;
the main body frame includes: base, last link, bearing hoisting point and landing leg structure, wherein: the upper connecting frame is arranged on the base, the bearing hoisting points are arranged on the periphery of the top of the base, and the supporting leg structure is arranged below the bottom of the base;
the combined cabin body comprises: cabin body frame, bottom plate, hatch door, tool to lock and protection and buffer, wherein: the cabin body frame is arranged in the main body frame, the bottom plate is arranged in the bottom of the cabin body frame, and the cabin door is arranged on the side surface of the cabin body frame through a lockset;
the lock comprises: spring bolt, lock pincers, kicking block, transmission shaft, operating handle and stop gear, wherein: the spring bolt sets up in the lock pincers, and the lock pincers sets up in transmission shaft one end, and the kicking block sets up on the transmission shaft and sets up in the lock pincers top, and operating handle links to each other with spacing mechanism and sets up in the transmission shaft other end.
2. The apparatus of claim 1, wherein the bottom of the base is provided with an anti-sinking plate for increasing the ground contact area.
3. The apparatus as claimed in claim 1, wherein said shielding and cushioning means comprises: protective rubber and a protective plate, wherein: the protective rubber is arranged on the inner edge of the cabin body frame and the cabin door, and the protective plate is arranged on the periphery of the cabin door.
4. The apparatus of claim 1 or 3, wherein the front end of the frame of the nacelle is provided with a bell-mouth-shaped guide structure to reduce the positioning accuracy of the ROV when the tool system enters the nacelle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011217367.0A CN112339947B (en) | 2020-11-04 | 2020-11-04 | Deep sea emergency disposal tool deployment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011217367.0A CN112339947B (en) | 2020-11-04 | 2020-11-04 | Deep sea emergency disposal tool deployment device |
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| Publication Number | Publication Date |
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| CN112339947A CN112339947A (en) | 2021-02-09 |
| CN112339947B true CN112339947B (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011217367.0A Active CN112339947B (en) | 2020-11-04 | 2020-11-04 | Deep sea emergency disposal tool deployment device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113460244B (en) * | 2021-09-01 | 2022-05-20 | 天津大学 | Laying and recycling device of multi-joint submersible vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1048946C (en) * | 1995-04-05 | 2000-02-02 | 中国科学院沈阳自动化研究所 | Launching recovery system of autonomous submersible |
| FR2823485B1 (en) * | 2001-04-13 | 2003-08-01 | Eca | DEVICE FOR LAUNCHING AND RECOVERING AN UNDERWATER VEHICLE AND METHOD OF IMPLEMENTING |
| KR100442973B1 (en) * | 2004-02-25 | 2004-08-05 | 한국해양연구원 | Remotely operated recovery apparatus and recovery method for removing liquid contained in a sunken ship |
| KR101316107B1 (en) * | 2012-09-10 | 2013-10-11 | 한국해양과학기술원 | Oceanographic observation device having rope trigger apparatus and retrieval apparatus |
| CN104354843B (en) * | 2014-10-20 | 2016-02-17 | 上海交通大学 | Ocean oil tanker micro salvage drilling device and method with ROV |
| CN208966155U (en) * | 2018-07-20 | 2019-06-11 | 张环宇 | A kind of Novel foot-operated door lock |
| CN209241284U (en) * | 2018-11-08 | 2019-08-13 | 天津深之蓝海洋设备科技有限公司 | A kind of cable control underwater robot lays recyclable device |
| CN209757481U (en) * | 2019-03-12 | 2019-12-10 | 上海交通大学 | Deep-sea laying and recovering device for full-sea-depth unmanned submersible |
| CN111268063B (en) * | 2020-01-20 | 2021-04-02 | 上海交通大学 | Underwater grabbing type fishing equipment and method suitable for long columnar equipment |
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