RU2510352C2 - Method of salvaging and device to this end - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to unmanned submersible craft to be used for salvaging purposes. Proposed method consists in delivery of gripping mechanism by compact unmanned submersible craft to sunk ships. Gripper is locked by manipulator clip-on chuck while device is actuated by release of said chuck. Proposed device comprises manipulator of compact unmanned submersible craft. Manipulator clip-on chuck carries bearing board with hook grippers secured therein. Board bore accommodates moving rod with lifting butt and spring-loaded bottom bearing centre pad to hold said hooks at closed or released positions. Ledges of said hooks make the retainers.

EFFECT: salvaging from deep waters with no divers, higher efficiency.

2 cl, 2 dwg

Description

The invention relates to the field of use of underwater uninhabited vehicles during underwater technical work related to the recovery of sunken objects.

One of the most important tasks facing after searching and examining a sunken object is to raise it to the surface. It is important to consider the depth, shape of the object, its position on the ground, the possibility of siltation. At shallow depths, these works are carried out using divers. In the case of deep sea lifting, the use of sophisticated technologies and devices is required.

There is a method of lifting weapons of a cylindrical shape (torpedo) using a diver, when a noose from a lifting sling is pounced on the object, which is pulled and lifted to the surface [1].

The disadvantage of this method is the impossibility of this operation in the case of large depths, as well as in the presence of danger to the diver due to the condition and nature of the object being lifted.

A known method of deep-sea lifting of a sunken object using grippers [2] or manipulators mounted on the housing of inhabited underwater vehicles [3]. This method is taken as a prototype. In this case, the object is captured by snoring and tightened with a loop of a lifting cable by analogy with the stitch of a sewing machine. The gripper is then unclenched and all the load is transferred to the lifting cable.

The disadvantage of the prototype is the inability to lift the object due to the cumbersome construction of the capture, the difficulty of picking up the object from below to pull the loop and the undesirability of using a habitable PA when working with dangerous objects. Uneven ground relief may also be an obstacle to the approach of a large inhabited apparatus to an object. So when searching for a hydrogen bomb that fell from a crashed American bomber off the coast of Spain (Palomares) in 1966, both inhabited and uninhabited underwater vehicles were used. The habitable Alvin apparatus could not retrieve the bomb from the cleft at a depth of 860 meters, and the spit of its parachute was hooked using the manipulator of the uninhabited apparatus KURV.

The objective of the invention is to increase the efficiency of lifting sunken weapons in hard-to-reach places by delivering a gripping device using a small NPA, including when there is a danger of working on the ground using people (Fig. 1).

The problem is solved in that the gripping device is mounted in the manipulator of a small-sized NPA and, after delivery to the object, is installed by fixing snoring around the cylindrical body of the object.

The essence of the proposed method is that for sharpening and lifting the object, the gripping device is cocked by spring tension, and then fixed in the tong grip of the manipulator of a small-sized NPA.

The essence of the claimed device lies in the fact that a sliding rod with a lifting pin and a spring-loaded power thrust bearing is installed in the opening of the support frame of the gripper with sliding ratchet grips, the plane of which holds the ratchets in a diluted or flattened state, and the structural adjustments on them are clamps.

On the grip rod there is a yoke for attaching a lifting sling, with which the product rises to the surface. The ratchet latches when pulling the rod behind the yoke with a lifting sling form a lever with a thrust bearing, squeezing the body of the object.

The proposed design has the following advantages over known lifting methods:

- provides sharpening of products at great depths inaccessible to divers;

- provides the efficiency of the lift, carried out with the help of small-sized, easily transported to any region uninhabited underwater vehicles;

- ensures the safety of the point in the absence of people when working with dangerous objects;

- there is the possibility of using the device with the capture in places difficult to access according to the terrain;

- there is no need to attract expensive inhabited PA based on large tonnage carrier vessels for lifting.

New is the lifting of an object using a portable gripping device delivered to a sunken product by a small uninhabited apparatus and driven by a manipulator. To reduce the weight of the design of the gripper and maintain strength, it is proposed to use a titanium alloy. The device diagram is shown below (figure 2). The operation of the device is as follows:

On board the boat (small vessel) in front of the NPA manipulator, a gripping device is installed, consisting of a support plate pos. 1 with two semicircular snares on loops pos. 2 and passing through the hole through the rod plate body pos. 3 with a cargo eye in the upper part of pos. 4 and spring loaded at the bottom of the power thrust bearing pos.5. A lifting spring cocks the trigger spring, pos. 6, ratchet grippers, having special structural protrusions, pos. 7. In the grip of the manipulator pos. 8, the elongated rod of the gripping device is clamped. The height of the rod from the board with ratchets to the eye to which the lifting sling will be attached (pos. 9) corresponds to the grip width of the manipulator. In this case, the ratchets are pressed from below by the heel of the rod and are in the open position. The device is immersed at the location of the sunken product, carrying out additional search and rapprochement with it. By controlling its place relative to the object with the help of a television camera, the device, upon the command of the operator, brings the gripping device to the upper part of the object and unclenches the tick grip of the manipulator. The spring-loaded heel of the rod is triggered and pulls the rod down, translating the ratchets of the gripper from the cocked into a standard position to crimp the cylindrical body of the object. Structural power projections (pos. 7) on the inner surface of the snoring when they lower, take a position that prevents the heel from going up to its original position. The tension of the lifting sling causes the formed levers of the protrusion-heel to compress the ratchet of the object to be lifted.

The device is retracted several meters to the side to prevent cable tangling, and the operator decides to lift the product. Variants of the organization of lifting, including either the use of a power sling pre-fixed to the rod shaft even on board the vessel in preparation for the capture for launching, or fastening to it with a carabiner of a power sling with a buoy floating to the surface and subsequent lifting of the object. In the case of great value of the lifted object, the apparatus can monitor the beginning of the process of separation from the ground.

The proposed method of lifting using small-sized uninhabited vehicles for lifting products from the ground and a portable gripping device mounted in the manipulator significantly increase the efficiency of underwater operations.

Literature

1. O.M. Slesarev, A.V. Rybnikov “Diving Works” St. Petersburg, 1996

2. “Underwater technical work using inhabited underwater vehicles”, military unit 20914, 1998

3. Copyright certificate No. 1341099, SKB STS MPX, V.V. Kruskop, A.N. Starov.

Claims (2)

1. A method of lifting sunken objects, based on the delivery of a gripping device to them with a small uninhabited underwater vehicle, characterized in that the gripping is fixed in the tong grip of the manipulator, and the device is turned on by releasing the grip of the manipulator. 2. A device for lifting objects, including the manipulator device of a small-sized uninhabited underwater vehicle, while in the grip of the manipulator a support plate with ratchet grippers is attached, characterized in that a movable rod with a lifting pin and a spring-loaded lower power bearing, the plane of which holds ratchets in a diluted or flattened state, and the structural protrusions on them are retainers.

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