CN117775229A - Salvaging device and salvaging method for underwater heavy column - Google Patents

Abstract

The fishing device for the underwater heavy column comprises: the device comprises a working mother ship, a water surface salvage monitor, an umbilical cable, a water surface hanging device, a hanging cable, a salvage frame, a propeller, a clasping machine, a lifting appliance, an underwater electric control system and an umbilical cable winch, wherein the clasping machine comprises: clamp subassembly, clamp axle, left pneumatic cylinder, right pneumatic cylinder and hoist and mount bearing axle, clamp subassembly includes: the fishing device comprises a right clamp, a left clamp, connecting plates, a right connecting rod and a left connecting rod, wherein protruding blocks on the right side and the left side are respectively hinged with one ends of the two connecting plates, openings at the upper ends of the right clamp and the left clamp are respectively hinged with one ends of the right connecting rod and the left connecting rod, the other ends of the right clamp and the left clamp are respectively hinged with a hoisting bearing shaft, clamp shafts respectively penetrate through the circumferences of the right clamp and the left clamp, a right hydraulic cylinder and a left hydraulic cylinder are respectively arranged on the right side and the left side between two clamp assemblies, and a fishing frame comprises an underwater camera, an umbilical cable camera, a hoist cable camera and a hoisting weighing plate.

Description

Salvaging device and salvaging method for underwater heavy column

Technical Field

The invention relates to the field of underwater salvage, in particular to a salvage device and a salvage method for underwater heavy columns.

Background

Along with the progress of science and technology and the increasing tension of the international ocean situation, the research of underwater navigation bodies and other underwater columnar targets also tends to be large and heavy, however, the targets are required to be quickly salvaged and recovered after sinking no matter in the earlier stage test or the subsequent product use, so that the data loss is avoided. The heavy columnar targets usually have diameters of several meters and weights of tens of tons, the submerged targets are easily adsorbed by sludge, and the salvaging difficulty is high.

At present, the traditional salvaging means of salvaging the ship is to utilize the operation type ROV to launch and observe, survey, approach the goal, then grasp the goal through the multi-functional manipulator, float to the surface of water and retrieve to the deck in combination with self power finally. However, the method cannot be used for fishing heavy targets due to the limitation of the bearing capacity of the working ROV and the size of the multifunctional manipulator, and the control characteristics of the full attitude and the long-distance maneuver of the fished ROV cannot be directly utilized due to the large weight of the targets, so that the positioning and exploration difficulty of the underwater heavy targets is increased.

The existing underwater heavy columnar target salvaging technology mostly adopts a mode similar to a pure mechanical embracing salvaging mode, but needs to obtain information such as accurate target positions and postures in advance, has the problems that the salvaging target is difficult to accurately align in offshore operation, the target is easy to fall off and the like, has the defects of low efficiency and poor reliability, and is difficult to apply in practice. Therefore, the salvaging method and the operation flow provided by the invention have very important significance in the field of large-scale heavy-duty target salvaging.

Disclosure of Invention

The invention complements the advantages of the traditional ROV salvaging technology and a pure mechanical salvaging mode on heavy-duty target salvaging, and aims to provide an underwater heavy-duty columnar target salvaging device and a method thereof.

In order to accomplish the object of the present application, the present application adopts the following technical scheme:

the invention relates to a salvaging device for underwater heavy columns, which comprises the following components: the device comprises a working mother ship, a water surface salvage monitor, an umbilical cable, a water surface hanging device, a lifting cable, a salvage frame, a propeller, a salvage machine, a lifting appliance, an underwater electric control system and an umbilical cable winch, wherein the water surface salvage monitor, the water surface hanging device and the umbilical cable winch are arranged on the working mother ship, the umbilical cable is respectively connected with the water surface salvage monitor and the underwater electric control system arranged in the salvage frame through the umbilical cable winch, the lifting cable is respectively connected with the water surface hanging device and the salvage machine, the salvage frame is of a cuboid structure, the salvage machine is fixed at the lower end of the salvage frame, the thrusters of vector layout are respectively arranged at four corners of the lower end of the salvage frame, and the thrusters are connected with the underwater electric control system, wherein: the embracing and fishing machine comprises: clamp subassembly, clamp axle, left pneumatic cylinder, right pneumatic cylinder and hoist and mount bearing axle, clamp subassembly includes: the fishing machine comprises at least three clamp assemblies, at least three clamp assemblies are arranged in parallel with each other, a plurality of clamp shafts respectively penetrate through the circumferences of the right clamp and the left clamp, at least three right clamp and the left clamp of the clamp assemblies are fixed together in the axial direction, a right hydraulic cylinder is respectively arranged on the right side between the two clamp assemblies, one end of the right hydraulic cylinder is respectively fixed on the lower end of the fishing frame, the other end of the right hydraulic cylinder pushes the clamp shafts connected with the upper ends of the right clamp, the other end of the right clamp is respectively hinged with a lifting bearing shaft, the lifting bearing shaft is perpendicular to the right clamp and the left clamp, the clamp shafts penetrate through the circumferences of the right clamp and the left clamp, and the hydraulic cylinder is respectively arranged on the right side between the two clamp assemblies; the salvaging frame comprises an underwater camera, an umbilical cable camera, a hoist cable camera and a hoisting weighing plate, wherein the underwater camera is respectively arranged in the center of four sides of the lower end of the salvaging frame and the upper side of the embracing and salvaging machine, the umbilical cable camera and the hoist cable camera are respectively arranged on a frame which faces the upper end of the salvaging frame of the umbilical cable and the hoist cable, the umbilical cable camera and the hoist cable camera are respectively connected with an underwater electric control system, one end of the hoisting bearing plate is fixed on a hoisting bearing shaft, at least two slings are arranged on the hoisting weighing plate, and the hoist cable is arranged between a water surface hoist and the slings.

The invention relates to a salvaging device for underwater heavy columns, wherein: the salvage frame also comprises a forward-looking multi-beam sonar, a backward-looking multi-beam sonar, a combined navigator, a altimeter and a depth meter, wherein the forward-looking multi-beam sonar, the backward-looking multi-beam sonar, the combined navigator and the depth meter are respectively connected with the underwater electric control system through information wires, the forward-looking multi-beam sonar and the backward-looking multi-beam sonar are respectively arranged on a front frame and a rear frame at the lower end of the salvage frame, the altimeter and the depth meter are respectively arranged at the lower end of the salvage frame, and the combined navigator is arranged at the center position right in front of the upper end of the salvage frame.

The invention relates to a salvaging device for underwater heavy columns, wherein: the circumferences of the right clamp and the left clamp are respectively fixed together in the axial direction through 6-8 clamp shafts, and rubber anti-skid blocks are uniformly distributed on the inner sides of the left clamp and the right clamp and are used for protecting the surface of a salvage target and preventing the salvage target from falling off.

The invention relates to a salvaging device for underwater heavy columns, wherein: an outward locking lug is arranged at the lower opening end of the left clamp or the right clamp, an inward locking groove is arranged at the lower opening end of the corresponding right clamp or the left clamp, a locking hydraulic rod is arranged between the two adjacent right clamps or left clamps, when the locking is carried out, the locking lug stretches into the locking groove, the locking hydraulic rod penetrates through the locking lug and the locking groove to lock the right clamp and the left clamp, and the locking hydraulic rod is connected with an underwater electric control system.

The method for salvaging the underwater heavy column by using the salvaging device of the underwater heavy column comprises the following steps: it comprises the following steps:

hoisting into water

The water surface lifting device is connected with a lifting appliance arranged on a lifting bearing plate through a lifting cable, the umbilical cable passes through an umbilical cable bearing head to be connected with an underwater electric control system, and the water surface lifting device is used for lifting a fishing machine and a fishing frame to enter water;

(II) initial positioning

Positioning a working mother ship to an initial beacon coordinate position of an underwater salvage target, starting the underwater salvage device to work, fully opening the salvage machine, hanging the salvage frame and the salvage machine into water by cooperation of a water surface hanging device and an umbilical winch, and opening a course maintaining function until the salvage frame is at a first distance from the sea bottom;

(III) guided probing

Operating a water surface salvage monitor, slowly adjusting the heading of an underwater salvage frame, searching a salvage target by utilizing sonar image detection transmitted by forward-looking multi-beam sonar and backward-looking multi-beam sonar, determining the distance and the azimuth of the salvage target, and adjusting the position of a working mother ship until the distance is shortened to be within a range of a second distance if the distance between the salvage frame and the center of gravity of the salvage target is larger than the second distance;

(IV) hanging and approaching

The water surface lifting device adjusts the distance between the salvage frame and the center of gravity of the salvage target to be within a third distance meter range by means of lifting cables, rotation, translation or swing arms according to real-time sonar images transmitted by the front-view multi-beam sonar and the rear-view multi-beam sonar;

(V) alignment of gravity center

According to multi-source data transmitted by the underwater cameras, the forward-looking multi-beam sonar, the backward-looking multi-beam sonar and the combined navigator in all directions, approaching closely and observing the state of a salvage target, adjusting the position and the posture of a salvage frame through the propulsion of four propellers, aiming at the salvage target, and hovering the salvage frame above the center of gravity of a columnar salvage target at fixed points by utilizing the heading and position maintaining functions;

(sixth), status confirmation

Observing the state of the salvage target on the sea floor, if the salvage target is in a large-angle even vertical inclined state, operating a water surface salvage monitor to pull down the salvage target through an underwater salvage device, or fixing a haulage rope at the upper end of the target through a working-level ROV water-entering carrying rope sleeve, and pulling down the salvage target through the haulage rope to enable the salvage target to be in a flat or small-angle inclined state;

seventh, clamp close

Continuing to lower the suspension cable to enable the salvaging frame to be close to the salvaging target, and judging whether the salvaging frame is propped against the target to be salvaged or not through attitude data transmitted by the altimeter and the combined navigator;

(eighth), clamping the bottom of the pocket

A right clamp and a left clamp of the closing fishing machine are inserted under the fishing target, and the fishing target is clamped by the bottom of the pocket of the right clamp and the left clamp;

ninth, hydraulic locking

According to the stroke data of the left hydraulic cylinder and the right hydraulic cylinder of the clasping machine and the images transmitted by the underwater camera, after clamping is judged, a locking hydraulic rod at the lower opening position of the clasping machine is opened, and the right clamp and the left clamp are locked, so that the right clamp and the left clamp are combined into a whole, lateral deformation is effectively prevented, stability is increased, and a salvaging target is locked;

(ten), lifting confirmation:

under the clamping state of the fishing machine, the water surface crane slowly increases the tension until the fishing frame, the fishing machine and the fishing purpose are separated from the sea bottom, and whether the clamping is successful or not is judged through the hoisting weight data;

eleventh, effluent recovery:

if the clamping is successful, the water surface crane slowly lifts the salvaging frame, the embracing and salvaging machine and the salvaging target until the salvaging is carried out on the deck of the working mother ship, and the salvaging is finished, otherwise, the steps four to nine are continuously repeated.

The method of the invention comprises the following steps: in the initial positioning process of the second step, the cooperative operation method of the water surface hoist and the umbilical winch is as follows: in the initial state of the salvaging frame and the water entering of the embracing machine, the length of the cable which is put in the reserved part of the umbilical winch is consistent with the maximum active wind and wave compensation height of the water surface crane; the umbilical winch adjusts the cable laying speed according to the cable laying speed of the water surface crane; the winch cable laying length is always larger than the water entering depth of the lifting appliance; the state of the umbilical cable and the suspension cable is monitored in real time through the umbilical cable camera and the suspension cable camera, and if winding accidents occur, the suspension operation is stopped in an emergency mode.

The method of the invention comprises the following steps: positioning the salvage device right above the underwater target in a positioning mode of step-by-step approaching the salvage target of 'rough adjustment of a mother ship-rough positioning of a water surface hoist-precise alignment of the salvage device' in the initial positioning of the step (II), the guiding detection of the step (III), the approaching of the hoist of the step (IV) and the gravity center alignment of the step (V); in the clamping approaching process, the altimeter is arranged in a salvage frame above the embracing salvage machine, and when the height data transmitted by the altimeter is close to the radius of the clamping salvage target, the altimeter is confirmed to be close to the salvage target; or observing the roll data of the combined navigator, and confirming that the roll data is close to the salvaging target when the roll data is obviously changed.

The method of the invention, wherein: in the center of gravity alignment process of the step (five), the underwater camera observation method comprises the following steps: firstly, observing the specific position and azimuth of an underwater camera in the process of approaching a target; after finding the salvage target, observing whether the salvage target moves to the upper side of the salvage target or not through an underwater camera on the upper side of the embracing and salvaging machine; when the underwater camera moves above the salvage object, slowly adjusting the position and the course of the salvage frame, and judging that the salvage frame aims at the center of gravity of the salvage object after the salvage object is observed to be positioned at the picture center of the underwater camera at the front side and the rear side of the salvage frame and the salvage object is basically consistent in size in the underwater camera; in the process of clamping and locking the salvage target, the open and close states of the salvage machine are judged through the underwater cameras on the left side and the right side of the salvage frame, and the underwater camera on the upper side of the salvage machine is used for observing whether the salvage target is correctly clamped or not. The method of the invention comprises the following steps: in the step (eleventh) of water recovery, the method for reliably locking the salvaging target is as follows: the pulling force of the lifting cable and the interaction of the gravity of the underwater salvaging target are received by the salvaging machine, the produced extruded moment clamps the salvaging target, the larger the gravity of the salvaging target is, the larger the clamping force is, and the locking hydraulic rod is matched, so that the salvaging machine cannot be loosened after the pulling force is changed in the recycling process, meanwhile, after the lifting salvaging target leaves the seabed, the right clamp and the left clamp of the salvaging machine are required to be continuously controlled to be closed, the salvaging machine is locked by the opening of the locking hydraulic rod, the reliable locking of the salvaging target is ensured through the combined action of multiple locking modes, and the falling of the recycling process is prevented.

The method of the invention comprises the following steps: the first distance, the second distance and the third distance are respectively set as follows: 2 m, 5 m, 1 m.

The underwater heavy columnar target salvaging method and the operation flow efficiently realize salvaging and recycling of horizontal or small-angle inclined targets with the diameter of several meters and the weight of tens of tons, fill the blank in the field of salvaging special heavy columnar targets, and solve the difficulties of difficult positioning, easy falling of the targets, low operation efficiency and the like of the heavy columnar targets by combining a large-diameter mechanical self-locking, embracing and salvaging mechanism and a motorized carrying platform into an underwater salvaging device and combining a water surface hanging system and an operation information management system on a salvaging lifeboat according to the operation flows of positioning, detecting, approaching, aligning, closing, clamping, locking, lifting and recycling. The main innovation points of the invention are as follows:

(1) The invention provides a salvage operation flow integrating the functions of lifting and entering water, initial positioning, guiding and detecting, approaching lifting and placing, aligning the center of gravity, confirming the state, clamping and approaching, holding the bottom, hydraulic locking, lifting and confirming and recycling the yielding water, which has reasonable and standard flow, greatly reduces the operation risk and improves the salvage efficiency.

(2) The invention relates to a semi-mechanical salvage method, which is characterized in that in the process of positioning a salvage device right above an underwater target, the salvage device is positioned from thick to thin and from far to near in a step-by-step approach to the target positioning mode of 'coarse adjustment of an operation mother ship-coarse positioning of a hanging system-accurate alignment' of the salvage device, so that the defect that a salvage system cannot move in a large range and vertically due to the large weight of the underwater salvage device and the target can be overcome, and the quick positioning capability of the target can be improved.

(3) In the water recovery process, the fishing structure of the fishing device generates a moment for extruding the target under the interaction of the pulling force of the lifting cable and the gravity of the underwater target, and the clamping force correspondingly changes with the weight of the clamped target, so that the clamping force is larger as the gravity of the target is larger. And the hydraulic locking bolt mechanism is matched, so that the pull force can not be loosened after being changed in the recovery process. And simultaneously, after the lifting target leaves the sea floor, the clamping hydraulic rod is used for locking the locking and fishing mechanism again. The reliable locking of the target and the salvaging device from the sea bottom to the target in the recovery process is ensured through multiple measures.

(4) The salvaging method provided by the invention can quickly salvage various diameters and weight targets only by improving the diameter and the bearing capacity of the modularized embracing and salvaging mechanism, and other operation flows are unchanged, so that the salvaging method is wide in application range.

Drawings

FIG. 1 is a perspective view of a fishing apparatus for underwater heavy columns according to the present invention;

FIG. 2 is a schematic forward view of the clamp assembly and the fishing frame in a closed condition;

FIG. 3 is a side schematic view of the clamp assembly and the fishing frame in a closed condition;

FIG. 4 is a schematic plan view of the fishing frame taken from FIGS. 2 A-A;

FIG. 5 is a schematic plan view of the fishing frame;

FIG. 6 is a forward schematic view of the clamp assembly and the fishing frame in an open condition;

FIG. 7 is a side schematic view of the clamp assembly and the fishing frame in an open condition;

FIG. 8 is a flow chart of a method for fishing an underwater heavy columnar target;

FIG. 9 is a schematic diagram of a lifting and water-entering flow of the fishing method;

FIG. 10 is a schematic diagram of an initial positioning process of the fishing method;

FIG. 11 is a schematic diagram of a guided detection flow of the fishing method;

FIG. 12 is a schematic view of a lifting and approaching process of the fishing method;

FIG. 13 is a schematic diagram of a center of gravity alignment process of the fishing method;

FIG. 14 is a schematic diagram of a state confirmation process of the fishing method;

FIG. 15 is a schematic diagram of a clamping and approaching process of the fishing method;

FIG. 16 is a diagram illustrating a bottom-holding process of the fishing method;

FIG. 17 is a schematic diagram of the hydraulic locking flow of the fishing method;

FIG. 18 is a schematic diagram of a lift-off confirmation process of the fishing method;

FIG. 19 is a schematic diagram of the effluent recovery process of the salvaging method.

In fig. 1 to 7, reference numeral 1 denotes a mother ship; reference numeral 2 is a water surface salvage monitor; reference numeral 3 is an umbilical; the reference numeral 4 is a water surface hanging device; reference numeral 5 is a hoist cable; reference numeral 6 is a salvaging frame; reference numeral 7 denotes a propeller; the reference numeral 8 is a clasping machine; reference numeral 9 is a hoisting weighing plate; reference numeral 10 is an umbilical load bearing head; reference numeral 11 is a lifting appliance; reference numeral 12 is a right clamp; reference numeral 13 is a left clamp; reference numeral 14 is a clamp shaft; reference numeral 15 denotes a bump; reference numeral 16 is a connection plate; reference numeral 17 is a left hydraulic cylinder; reference numeral 18 is a right hydraulic cylinder; reference numeral 19 is a right connecting rod; reference numeral 20 is a left connecting rod; reference numeral 21 is a hoisting load bearing shaft; reference numeral 22 denotes an underwater camera; reference numeral 23 is an umbilical cord camera; reference numeral 24 is a hoist cable camera; reference numeral 25 is a salvage target; reference numeral 26 is a clamp assembly; reference numeral 27 is a forward looking multibeam sonar; reference numeral 28 is a back vision multibeam sonar; reference numeral 29 is a combined navigator; reference numeral 30 is a altimeter; reference numeral 31 denotes a depth gauge; reference numeral 32 is an underwater electronic control system; reference numeral 33 is an umbilical winch; reference numeral 34 denotes a locking projection; reference numeral 35 denotes a locking groove; reference numeral 36 denotes a locking hydraulic lever.

Detailed Description

In order to facilitate understanding of the underwater heavy columnar target salvaging method and the operation flow, the technical scheme of the invention is described in further detail below with reference to the accompanying drawings and the specific embodiments.

As shown in fig. 1 to 7, a fishing device for underwater heavy columns according to the present invention comprises: the device comprises a working mother ship 1, a water surface salvage monitor 2, an umbilical cable 3, a water surface hoist 4, a lifting cable 5, a salvage frame 6, a propeller 7, a salvage machine 8, a lifting appliance 11, an underwater electric control system 32 and an umbilical cable winch 33, wherein the water surface salvage monitor 2, the water surface hoist 4 and the umbilical cable winch 33 are arranged on the working mother ship 1, the umbilical cable 3 is respectively connected with the water surface salvage monitor 2 and the underwater electric control system 32 arranged in the salvage frame 6 through the umbilical cable winch 33, the lifting cable 5 is respectively connected with the water surface hoist 4 and the salvage machine 8, the salvage frame 6 is of a cuboid structure, the salvage machine 8 is fixed at the lower end of the salvage frame 6, the propeller 7 of vector layout is respectively arranged at four corners of the lower end of the salvage frame 6, and the propeller 7 is connected with the underwater electric control system 32.

As shown in fig. 2 to 7, the bailing machine 8 includes: the clamp assembly 26, the clamp shaft 14, the left hydraulic cylinder 17, the right hydraulic cylinder 18, and the hoist load shaft 21, the clamp assembly 26 including: the right clamp 12, the left clamp 13, the connecting plate 16, the right connecting rod 19 and the left connecting rod 20, the right clamp 12 and the left clamp 13 are respectively in semicircular structures, a protruding block 15 is respectively arranged on the right side and the left side of the right clamp 12 and the left clamp 13, the protruding block 15 on the right side and the left side is respectively hinged with one ends of the two connecting plates 16, the other ends of the two connecting plates 16 are fixed at the lower end of the salvage frame 6, the openings at the upper ends of the right clamp 12 and the left clamp 13 are respectively hinged with one ends of the right connecting rod 19 and the left connecting rod 20, the other ends of the right connecting rod 19 and the left connecting rod 20 are respectively hinged with a hoisting bearing shaft 21, the hoisting bearing shaft 21 is perpendicular to the right clamp 12 and the left clamp 13, the clasping machine 8 comprises at least three clamp assemblies 26, the at least three clamp assemblies 26 are arranged in parallel to each other, and 6-8 clamp shafts 14 respectively pass through the circumferences of the right clamp 12 and the left clamp 13, the three right clamp 12 and the left clamp 13 of the clamp assemblies are fixed together in the axial direction, the left clamp 13 and the left clamp 12 are evenly distributed on the inner sides of the right clamp 12 and the left clamp 12 and the rubber slide block are used for preventing salvage objects from falling off (25). A right hydraulic cylinder 18 is respectively arranged on the right side between the two clamp assemblies 26, one end of the right hydraulic cylinder 18 is respectively fixed at the lower end of the salvage frame 6, the other end of the right hydraulic cylinder pushes a clamp shaft 14 connected with the upper end of the right clamp 12, a left hydraulic cylinder 17 is respectively arranged on the left side between the two clamp assemblies 26, one end of the left hydraulic cylinder is respectively fixed at the lower end of the salvage frame 6, the other end of the left hydraulic cylinder pushes a clamp shaft 14 connected with the upper end of the left clamp 14, the left hydraulic cylinder 17 and the right hydraulic cylinder 18 are connected with an underwater electric control system 32, and the left hydraulic cylinder 17 and the right hydraulic cylinder 18 simultaneously act to control the opening and closing of the right clamp 12 and the left clamp 13; the salvage frame 6 comprises an underwater camera 22, an umbilical cable camera 23, a hoist cable camera 23 and a hoisting weighing plate 9, wherein the underwater camera 22 is respectively arranged in the center of four sides of the lower end of the salvage frame 6 and the upper side of the salvage machine 8, the umbilical cable camera 23 and the hoist cable camera 24 are respectively arranged on the side frames of the upper end of the salvage frame 6 which are opposite to the umbilical cable 3 and the hoist cable 5, the side frames are connected with an underwater electric control system 32, one end of the hoisting bearing plate 9 is fixed on a hoisting bearing shaft 21, at least two slings 11 are arranged on the hoisting weighing plate 9, and the hoist cable 5 is arranged between the water surface hoist 4 and the slings 11.

As shown in fig. 4 and 5, the salvage frame 6 further comprises a forward-looking multi-beam sonar 27, a backward-looking multi-beam sonar 28, a combined navigator 29, an altimeter 30 and a depth meter 31, which are respectively connected with an underwater electric control system 32 through information wires, wherein the forward-looking multi-beam sonar 27 and the backward-looking multi-beam sonar 28 are respectively arranged on a front frame and a rear frame at the lower end of the salvage frame 6, the altimeter 30 and the depth meter 31 are respectively arranged at the lower end of the salvage frame 6, and the combined navigator 29 is arranged at the central position right in front of the upper end of the salvage frame 6.

As shown in fig. 6 and 7, an outward locking projection 34 is provided at the lower opening end of the left clamp 13 or the right clamp 12, an inward locking groove 35 is provided at the lower opening end of the corresponding right clamp 12 or the left clamp 13, and a locking hydraulic rod 36 is provided between the adjacent two right clamps 12 or the left clamp 13, and when locked, the locking projection 34 extends into the locking groove 35, the locking hydraulic rod 36 passes through the locking projection 34 and the locking groove 35, and the locking hydraulic rod 36 is connected with the underwater electric control system 32, which locks the right clamp 12 and the left clamp 13.

The method for salvaging the underwater heavy column by using the salvaging device of the underwater heavy column comprises the following steps:

hoisting into water

The water surface lifting device 4 is connected with a lifting appliance 11 arranged on a lifting bearing plate 9 through a lifting cable 5, the umbilical cable 3 passes through an umbilical cable bearing head 10 to be connected with an underwater electric control system 32, and the water surface lifting device 4 lifts a fishing machine 8 and a fishing frame 6 to enter water;

(II) initial positioning

The working mother ship 1 is positioned to the beacon initial coordinate position of the underwater salvage target 25, the underwater salvage device starts to work, the salvage machine 8 is fully opened, the salvage frame 6 and the salvage machine 8 are hoisted into water by the cooperation of the water surface hoist 4 and the umbilical winch 33, the course maintenance function is opened until the salvage frame 6 is at a first distance of 2 meters from the seabed, and the cooperative operation method of the water surface hoist 4 and the umbilical winch 33 is as follows: in the initial state of the salvaging frame 6 and the embracing machine 8 entering water, the umbilical winch 33 reserves part of the cable laying length and is consistent with the maximum active wind wave compensation height of the water surface crane 4; the umbilical winch 33 adjusts the cable laying speed according to the cable laying speed of the water surface crane 4; the winch cable laying length is always larger than the water entering depth of the lifting appliance 11; the state of the umbilical cable 3 and the hoist cable 5 is monitored in real time through the umbilical cable camera 23 and the hoist cable camera 24, and if a winding accident occurs, the hoisting operation is stopped in an emergency;

(III) guided probing

Operating the water surface salvage monitor 2, slowly adjusting the heading of the underwater salvage frame 6, searching the salvage target 25 by utilizing sonar image detection transmitted by the forward-looking multi-beam sonar 27 and the backward-looking multi-beam sonar 28, determining the distance and the azimuth of the salvage target, and adjusting the position of the working mother ship 1 until the distance is shortened to be within a range of 5 meters which is the second distance if the distance between the salvage frame 6 and the gravity center of the salvage target 25 is larger than the second distance;

(IV) hanging and approaching

The water surface lifting device 4 adjusts the distance between the gravity centers of the salvage frame 6 and the salvage target 25 to be within a third distance, namely, within a range of 1 meter in a manner of winding and unwinding a lifting cable, rotating, translating or swinging according to the real-time sonar images transmitted by the front-view multi-beam sonar 27 and the rear-view multi-beam sonar 28;

(V) alignment of gravity center

According to multi-source data transmitted by the underwater camera 22, the forward-looking multi-beam sonar 27, the backward-looking multi-beam sonar 28 and the combined navigator 29 in all directions, the state of the salvage target 25 is closely approached and observed, the position and the posture of the salvage frame 6 are adjusted by the propulsion of the four propellers 7 to aim at the salvage target 25, the salvage frame 6 is hovered above the center of gravity of the columnar salvage target 25 at fixed points by utilizing the heading and position maintaining functions, and the observation method of the underwater camera 22 comprises the following steps: firstly, observing the specific position and orientation of the underwater camera 22 in the process of approaching the target 25; after the salvage target 25 is found, observing whether the salvage target 25 moves above the salvage target 25 or not through the underwater camera 22 on the upper side of the embracing salvage machine 8; when the underwater camera 22 moves above the salvage object 25, slowly adjusting the position and heading of the salvage frame 6, and judging that the salvage frame 6 is aligned with the gravity center of the salvage object 22 after observing that the salvage object 25 is positioned at the picture center of the underwater camera 22 on the front side and the rear side of the salvage frame 6 and the salvage object 25 is basically consistent in size in the underwater camera 22; in the process of clamping and locking the salvage target 25, the open and close states of the salvage machine 8 are judged through the underwater cameras 22 on the left side and the right side of the salvage frame 6, and whether the salvage target 25 is accurately clamped or not is observed by the underwater camera 22 on the upper side of the salvage machine 8;

(sixth), status confirmation

Observing the state of the salvage target 25 on the sea floor, if the salvage target 25 is in a large-angle even vertical inclined state, operating the water surface salvage monitor 2 to pull down the salvage target 25 through an underwater salvage device, or fixing a haulage rope at the upper end of the target 25 through an operation level ROV water-entering carrying rope sleeve, and pulling down the salvage target 25 through the haulage rope to enable the salvage target 25 to be in a flat or small-angle inclined state;

seventh, clamp close

Continuing to lower the suspension cable 5 to enable the salvaging frame 6 to be close to the salvaging target 25, and judging whether the salvaging frame 6 is propped against the target 25 to be salvaged or not through attitude data transmitted by the altimeter 30 and the combined navigator 29;

(eighth), clamping the bottom of the pocket

The right clamp 12 and the left clamp 13 of the clasping machine 8 are closed, the clasping machine 8 is inserted under the bottom of the salvaging target 25, and the left clamp 12 and the left clamp 13 are used for holding the salvaging target 25;

ninth, hydraulic locking

According to the stroke data of the left hydraulic cylinder 17 and the right hydraulic cylinder 18 of the bailing machine 8 and the images transmitted by the underwater camera 22, after the clamping is judged, a locking hydraulic rod 36 at the lower opening position of the bailing machine 8 is spread, the right clamp 12 and the left clamp 13 are locked, the right clamp 12 and the left clamp 13 are combined into a whole, lateral deformation is effectively prevented, stability is increased, and the salvaging target 25 is locked;

(ten), lifting confirmation:

in the state that the fishing machine 8 is clamped, the water surface lifting device 4 slowly increases the tension until the fishing frame 6, the fishing machine 8 and the fishing purpose 25 are separated from the sea bottom, and whether the clamping is successful or not is judged through lifting weight data;

eleventh, effluent recovery:

if the clamping is successful, the water surface lifting device 4 slowly lifts the salvage frame 8, the embracing salvage machine 8 and the salvage target 25 until the salvage target 25 is lifted on the deck of the working mother ship 1, and the reliable locking method of the salvage target 25 is as follows: the fishing target 25 is clamped by utilizing the interaction that the fishing machine 8 is subjected to the pulling force of the lifting cable 5 and the gravity of the underwater fishing target 25, the greater the gravity of the fishing target 25 is, the greater the clamping force is, and the locking hydraulic rod 36 is matched, so that the fishing machine 8 cannot be loosened after the pulling force is changed in the recovery process, meanwhile, after the lifting fishing target 25 leaves the sea floor, the right clamp 12 and the left clamp 13 of the fishing machine 8 are required to be continuously controlled to be closed, the fishing machine 8 is locked by utilizing the opening of the locking hydraulic rod 36, the reliable locking of the fishing target 25 is ensured by the combined action of multiple locking modes, the falling off of the recovery process is prevented, the fishing is finished, and otherwise, the steps (four) to (nine) are continuously repeated.

Positioning the salvage device right above the underwater target in a positioning mode of step-by-step approaching the salvage target 25 of 'rough adjustment of a mother ship-rough positioning of a water surface hoist-precise alignment of the salvage device' in the initial positioning of the step (II), the guiding detection of the step (III), the approaching of the hoist of the step (IV) and the gravity center alignment of the step (V); in the clamping approaching step seven, the altimeter 30 is arranged in the salvage frame 6 above the embracing salvage machine 8, and when the height data transmitted by the altimeter 30 approaches the radius of the clamping salvage target 25, the altimeter is confirmed to be close to the salvage target 25; or observing the roll data of the integrated navigator 29, and confirming that the roll data is close to the salvage target 25 when the roll data is significantly changed.

The foregoing disclosure is merely illustrative of specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art will readily recognize that changes and modifications are possible within the scope of the present invention.

Claims (10)

1. A fishing device for underwater heavy columns, comprising: the device is characterized in that the lifting cable (5) is connected with the water surface lifting device (4) and the fishing machine (8) respectively, the fishing frame (6) is of a cuboid structure, the fishing machine (8) is fixed at the lower end of the fishing frame (6), the vector layout propeller (7) is respectively arranged at four corners of the lower end of the fishing frame (6), and the propeller (7) is connected with the underwater electric control system (32) through the umbilical cable winch (33). The clasping machine (8) comprises: the clamp assembly (26), clamp axle (14), left pneumatic cylinder (17), right pneumatic cylinder (18) and hoist and mount bearing axle (21), clamp assembly (26) include: the right clamp (12), the left clamp (13), the connecting plate (16), the right connecting rod (19) and the left connecting rod (20), the right clamp (12) and the left clamp (13) are respectively in semicircular structures, a protruding block (15) is respectively arranged on the right side and the left side of the right clamp (12) and the left clamp (13), the protruding block (15) on the right side and the left side is respectively hinged with one ends of two connecting plates (16), the other ends of the two connecting plates (16) are fixed at the lower end of the salvaging frame (6), openings at the upper ends of the right clamp (12) and the left clamp (13) are respectively hinged with one ends of the right connecting rod (19) and the left connecting rod (20), the other ends of the right connecting rod (19) and the left connecting rod (20) are respectively hinged with a hoisting bearing shaft (21), the hoisting bearing shaft (21) is perpendicular to the right clamp (12) and the left clamp (13), at least three clamp assemblies (26) are respectively arranged in parallel with each other, a plurality of clamp assemblies (26) are respectively fixed on the left clamp assemblies (12) and the right clamp assemblies (26) through the right clamp (12) and the left clamp assemblies (26) respectively, the two clamp assemblies are respectively arranged between the two clamp assemblies (18) in an axial direction, one end of the left hydraulic cylinder (17) is respectively fixed at the lower end of the salvaging frame (6), the other end of the left hydraulic cylinder is used for pushing a clamp shaft (14) connected with the upper end of the right clamp (12), a left hydraulic cylinder (17) is respectively arranged at the left side between the two clamp assemblies (26), one end of the left hydraulic cylinder is respectively fixed at the lower end of the salvaging frame (6), the other end of the left hydraulic cylinder is used for pushing the clamp shaft (14) connected with the upper end of the left clamp (14), the left hydraulic cylinder (17) and the right hydraulic cylinder (18) are connected with an underwater electric control system (32) and simultaneously act to control the opening and closing of the right clamp (12) and the left clamp (13); the salvaging frame (6) comprises an underwater camera (22), an umbilical cable camera (23), a hoist cable camera (23) and a hoisting weighing plate (9), wherein the underwater camera (22) is respectively arranged in the center of four sides of the lower end of the salvaging frame (6) and the upper side of the embracing and salvaging machine (8), the umbilical cable camera (23) and the hoist cable camera (24) are respectively arranged on the frames of the upper end of the salvaging frame (6) which are opposite to the umbilical cable (3) and the hoist cable (5), the umbilical cable camera and the hoist cable camera are connected with an underwater electric control system (32), one end of the hoisting bearing plate (9) is fixed on a hoisting bearing shaft (21), at least two slings (11) are arranged on the hoisting weighing plate (9), and the hoist cable (5) is arranged between a water surface hoist (4) and the slings (11).

2. The fishing device for underwater heavy columns as set forth in claim 1, wherein: the salvage frame (6) further comprises a forward-looking multi-beam sonar (27), a backward-looking multi-beam sonar (28), a combined navigator (29), a altimeter (30) and a depth meter (31), wherein the forward-looking multi-beam sonar (27) and the backward-looking multi-beam sonar (28) are respectively arranged on a front frame and a rear frame at the lower end of the salvage frame (6), the altimeter (30) and the depth meter (31) are respectively arranged at the lower end of the salvage frame (6), and the combined navigator (29) is arranged at the central position right in front of the upper end of the salvage frame (6).

3. The fishing device for underwater heavy columns as set forth in claim 2, wherein: the circumferences of the right clamp (12) and the left clamp (13) are respectively fixed with the three right clamps (12) and the left clamp (13) of the clamp assembly (26) in the axial direction through 6-8 clamp shafts (14), and rubber anti-slip blocks are uniformly distributed on the inner sides of the left clamp (13) and the right clamp (12) and are used for protecting the surface of the salvaging target (25) and preventing the salvaging target (25) from falling off.

4. A fishing device for underwater heavy columns as claimed in claim 3, wherein: an outward locking lug (34) is arranged at the lower opening end of the left clamp (13) or the right clamp (12), an inward locking groove (35) is arranged at the lower opening end of the corresponding right clamp (12) or the left clamp (13), a locking hydraulic rod (36) is arranged between the two adjacent right clamps (12) or left clamps (13), when the left clamp or the right clamp is locked, the locking lug (34) stretches into the locking groove (35), the locking hydraulic rod (36) penetrates through the locking lug (34) and the locking groove (35) to lock the right clamp (12) and the left clamp (13), and the locking hydraulic rod (36) is connected with an underwater electric control system (32).

5. A method of fishing an underwater heavy column using the fishing apparatus for an underwater heavy column as claimed in claim 4, wherein: it comprises the following steps:

hoisting into water

The water surface lifting device (4) is connected with a lifting appliance (11) arranged on a lifting bearing plate (9) through a lifting cable (5), the umbilical cable (3) passes through an umbilical cable bearing head (10) to be connected with an underwater electric control system (32), and the water surface lifting device (4) lifts a fishing machine (8) and a fishing frame (6) to enter water;

(II) initial positioning

Positioning a working mother ship (1) to an initial beacon coordinate position of an underwater salvage target (25), starting the underwater salvage device to work, fully opening the salvage machine (8), and cooperatively hanging the salvage frame (6) and the salvage machine (8) into water by a water surface hanging device (4) and an umbilical cable winch (33), and opening a course maintaining function until the salvage frame (6) is at a first distance from the sea bottom;

(III) guided probing

Operating a water surface salvage monitor (2), slowly adjusting the heading of an underwater salvage frame (6), searching a salvage target (25) by utilizing sonar image detection transmitted by a front-view multi-beam sonar (27) and a rear-view multi-beam sonar (28), and determining the distance and the azimuth of the salvage target, wherein if the distance between the salvage frame (6) and the center of gravity of the salvage target (25) is larger than a second distance, the position of the working mother ship (1) is adjusted until the distance is shortened to be within the range of the second distance;

(IV) hanging and approaching

The water surface lifting device (4) adjusts the distance between the gravity centers of the salvaging frame (6) and the salvaging target (25) to be within a third distance meter range by means of a lifting cable retraction, rotation, translation or swing arm mode according to real-time sonar images transmitted by the front-view multi-beam sonar (27) and the rear-view multi-beam sonar (28);

(V) alignment of gravity center

According to multi-source data transmitted by the underwater camera (22), the forward-looking multi-beam sonar (27), the backward-looking multi-beam sonar (28) and the combined navigator (29) in all directions, approaching closely and observing the state of the salvage target (25), adjusting the position and the posture of the salvage frame (6) through the propulsion of the four propellers (7), aiming at the salvage target (25), and hovering the salvage frame (6) above the center of gravity of the columnar salvage target (25) at fixed points by utilizing the heading and position maintaining functions;

(sixth), status confirmation

Observing the state of the salvaging object (25) on the sea floor, if the salvaging object is in a large-angle even vertical inclined state, operating the water surface salvaging monitor (2) to pull the salvaging object (25) by an underwater salvaging device, or fixing a haulage rope at the upper end of the object (25) by an operation level ROV water-entering carrying rope sleeve, and pulling the salvaging object (25) by the haulage rope to enable the salvaging object to be in a flat or small-angle inclined state;

seventh, clamp close

Continuing to lower the hoisting cable (5) to enable the salvaging frame (6) to be close to the salvaging target (25), and judging whether the salvaging frame (6) is propped against the target (25) to be salvaged or not through attitude data transmitted by the altimeter (30) and the combined navigator (29);

(eighth), clamping the bottom of the pocket

A right clamp (12) and a left clamp (13) of the closing and fishing machine (8), the closing and fishing machine (8) is inserted under the fishing target (25), and the right clamp (12) and the left clamp (13) are used for holding the fishing target (25) by the bottom;

ninth, hydraulic locking

According to the stroke data of a left hydraulic cylinder (17) and a right hydraulic cylinder (18) of the clasping machine (8) and the images transmitted by an underwater camera (22), after clamping is judged, a locking hydraulic rod (36) at the lower opening position of the clasping machine (8) is opened, a right clamp (12) and a left clamp (13) are locked, so that the right clamp (12) and the left clamp (13) are combined into a whole, lateral deformation is effectively prevented, stability is increased, and a salvaging target (25) is locked;

(ten), lifting confirmation:

under the clamping state of the fishing machine (8), the water surface lifting device (4) slowly increases the tension until the fishing frame (6), the fishing machine (8) and the fishing purpose (25) are separated from the sea bottom, and whether the clamping is successful or not is judged through lifting weight data;

eleventh, effluent recovery:

if the clamping is successful, the water surface lifting device (4) slowly lifts the salvaging frame (8), the embracing and salvaging machine (8) and the salvaging target (25) until the salvaging frame is lifted to the deck of the working mother ship (1), and the salvaging is finished, otherwise, the steps (four) to (nine) are continuously repeated.

6. The method according to claim 5, wherein: in the initial positioning process of the step (II), the cooperative operation method of the water surface hoist (4) and the umbilical winch (33) is as follows: in the initial state of the salvaging frame (6) and the embracing machine (8) entering water, the umbilical winch (33) reserves part of the cable laying length and is consistent with the maximum active wind and wave compensation height of the water surface crane (4); the umbilical cable winch (33) adjusts the cable laying speed according to the cable laying speed of the water surface hoisting device (4); the winch cable laying length is always larger than the water entering depth of the lifting appliance (11); the states of the umbilical cable (3) and the suspension cable (5) are monitored in real time through the umbilical cable camera (23) and the suspension cable camera (24), and if winding accidents occur, the suspension operation is stopped in an emergency mode.

7. The method according to claim 6, wherein: positioning the salvaging device right above the underwater target in a positioning mode of step-by-step approaching the salvaging target (25) of 'rough adjustment of a mother ship, rough positioning of a water surface hanging device and accurate alignment of the salvaging device' in the initial positioning of the step (II), guiding detection of the step (III), hanging approaching of the step (IV) and gravity center alignment of the step (V); in the clamping approaching of the step (seven), the altimeter (30) is arranged in the salvage frame (6) above the embracing salvage machine (8), and when the height data transmitted by the altimeter (30) approaches to the radius of the clamping salvage target (25), the altimeter is confirmed to be approaching to the salvage target (25); or observing the roll data of the combined navigator (29), and confirming that the combined navigator is close to the salvaging target (25) when the roll data is obviously changed.

8. The method according to claim 7, wherein: in the center of gravity alignment process of the step (five), the underwater camera (22) observation method comprises the following steps: firstly, observing the specific position and orientation of an underwater camera (22) in the process of approaching a target (25); after finding the salvage target (25), observing whether the salvage target (25) is moved above by an underwater camera (22) on the upper side of the embracing and salvaging machine (8); when the underwater camera (22) moves above the salvage object (25), slowly adjusting the position and the heading of the salvage frame (6), and judging that the salvage frame (6) is aligned with the gravity center of the salvage object (22) after the salvage object (25) is positioned at the picture center of the underwater camera (22) on the front side and the rear side of the salvage frame (6) and the sizes of the salvage objects (25) in the underwater camera (22) are basically consistent; in the process of clamping and locking the salvage target (25), the open and close states of the salvage machine (8) are judged through the underwater cameras (22) on the left side and the right side of the salvage frame (6), and whether the salvage target (25) is accurately clamped or not is observed by the underwater camera (22) on the upper side of the salvage machine (8).

9. A method according to claim 8, characterized in that during the step (eleven) of effluent recovery, the method of reliable locking of the fishing target (25) is: utilize to hold and drag for quick-witted (8) receive the pulling force of hoist cable (5) and the interact of salvage target (25) gravity under water, the extruded moment that produces is come to be to the centre gripping of salvage target (25), and salvage target (25) gravity is big more, clamping force is big more, and cooperate locking hydraulic stem (36), it can't loosen after the pulling force changes in the recovery process to have guaranteed, simultaneously after lifting by crane salvage target (25) leave the seabed, need continue to control right clamp (12) and left clamp (13) of holding and drag for quick-witted (8) and be in the closure, utilize opening of locking hydraulic stem (36) to lock and hold and drag for quick-witted (8), through the joint action of multiple locking mode, it is reliable locking to have guaranteed to salvage target (25), prevent that recovery process from droing.

10. The method according to claim 9, wherein: the first distance, the second distance and the third distance are respectively set as follows: 2 m, 5 m, 1 m.