CN112298497A - Double-rope recovery method for deep submergence vehicle - Google Patents
Double-rope recovery method for deep submergence vehicle Download PDFInfo
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- CN112298497A CN112298497A CN202011264849.1A CN202011264849A CN112298497A CN 112298497 A CN112298497 A CN 112298497A CN 202011264849 A CN202011264849 A CN 202011264849A CN 112298497 A CN112298497 A CN 112298497A
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- mushroom head
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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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Abstract
The invention discloses a double-rope recovery method of a deep submersible vehicle, which comprises the steps of moving the deep submersible vehicle to the vicinity of a mother ship, starting a transmitter, enabling two ends of a traction cable which penetrates through a mushroom head and is wound on the transmitter to be shot onto or near the mother ship, fixing one end of the traction cable to a locking device, loosening a steel wire rope which is connected to a crane and penetrates through a buffer device to be connected to the locking device, pulling the traction cable, enabling the locking device and the steel wire rope to move towards the mushroom head until the mushroom head is inserted into the locking device and locked through a locking mechanism, pulling the steel wire rope to enable the deep submersible vehicle to be matched with the buffer device, and finally completing recovery of the deep submersible vehicle through hoisting of the crane. The method can easily guide the locking device to be stably connected with the mushroom head, and realizes rigid recovery of the deep submergence device in the early flexible traction and later stage through the matching of the buffer device and the deep submergence device, so that the recovery of the deep submergence device is more reliable and labor-saving.
Description
Technical Field
The invention relates to the technical field of deep submersible vehicle recovery, in particular to a deep submersible vehicle double-rope recovery method.
Background
The deep submersible has a movable deep submersible device with underwater observation and operation capabilities, is mainly used for performing tasks such as underwater investigation, submarine exploration, submarine development and salvage, lifesaving and the like, and can be used as an underwater operation base for the activity of divers.
The patent document with Chinese patent application number CN201911030892.9 and publication number 2020.1.14 discloses a single-rope recovery device and a recovery method for an armored cable deep submergence device, which comprises an automatic rope throwing device arranged on the deep submergence device; the automatic rope throwing device comprises a mushroom head connected with the deep submergence vehicle, a throwing rope and a launcher, the launcher is fixed on the deep submergence vehicle, the launcher comprises a backseat and a bullet head, the bullet head comprises an outer cover, a head and a winding part connected with the head, one end of the throwing rope is connected with the deep submergence vehicle through the mushroom head, and the other end of the throwing rope is wound on the winding part. The throwing rope is thrown out through the emitter, so that the operation of launching an operator is avoided, the risk of the operator is reduced, and the operation efficiency is improved; the operator can remotely operate the emitter through the remote controller, and the operation is convenient.
The recovery device with the structure is mainly used for recovering small-sized submergible devices, the weight of the large-sized submergible devices cannot be supported by one cable, accurate guiding cannot be achieved when the winding parts are connected with the mushroom heads, and deviation may occur during connection.
Disclosure of Invention
The invention aims to provide a double-rope recovery method for a deep submersible vehicle.
In order to achieve the purpose, the deep submergence vehicle double-rope recovery method comprises the following steps:
a) the deep submergence vehicle moves to the accessories of the mother ship.
b) And starting the launcher arranged on the deep submergence vehicle, and launching the two ends of the launcher to the mother ship or the vicinity of the mother ship by the launcher through the traction cable which is arranged on the deep submergence vehicle and penetrates through the mushroom head.
c) One end of the traction cable is fixed on the locking device by penetrating through the accommodating cavity of the hanger in the locking device.
d) And when the locking mechanism in the locking device acts with the mushroom head, the mushroom head is locked by the locking mechanism.
e) And winding the steel wire rope, and enabling the steel wire rope to pull the locking device, the mushroom head and the deep submergence vehicle to move towards the crane until the deep submergence vehicle is clamped into the cavity of the buffer device.
f) And pulling up the deep submergence vehicle by a crane for recovery.
According to the double-rope recovery method of the deep submersible vehicle, in the process of recovering the deep submersible vehicle, two traction cables are thrown out through the emitter, one end of each traction cable penetrates through the containing cavity and is fixed to the hanger, in the process of pulling the traction cables, the locking device moves towards the direction of the mushroom head on the deep submersible vehicle to realize butt joint and locking through loosening acting force on the steel wire rope, and therefore the traction cables play a role in guiding the locking device, the mushroom head can be accurately aligned to the containing cavity, and then the mushroom head is clamped through the locking mechanism; in addition, in the process of recovering the deep submersible vehicle, compared with the prior technical scheme that the deep submersible vehicle is pulled by the traction cable to move towards the crane, the deep submersible vehicle adopts a butt joint mode which is opposite, so that the possibility that the traction cable is broken due to the weight of the deep submersible vehicle is reduced, the reliability of recovering the deep submersible vehicle is improved, and more labor is saved; in the process of recovering the deep submergence device, the locking device is firstly butted with the mushroom head through the traction cable, and then the deep submergence device is pulled through the flexible steel wire rope to be butted with the buffer device so as to realize rigid butt joint, so that the swinging of the deep submergence device can be effectively reduced in the process of hoisting the deep submergence device through the crane, and the hoisting reliability and stability are improved.
Furthermore, after the deep submergence vehicle is hoisted to the mother ship, the locking mechanism is loosened, and the mushroom head is separated from the locking mechanism.
Furthermore, a limiting part is arranged at the upper end of the accommodating cavity on the hanging bracket, a traction cable fixing position is arranged above the locking mechanism on the hanging bracket, and the locking mechanism is arranged on the side edge of the accommodating cavity on the hanging bracket and used for clamping the mushroom head; one end of the traction cable is fixed on the traction cable fixing position; after the mushroom head stretched into and held the intracavity, spacing to the mushroom head through spacing portion.
Furthermore, a cavity used for being matched with the deep submergence vehicle is arranged at the lower end of the buffer device, and an accommodating cavity communicated with the cavity and used for accommodating the locking device is arranged above the cavity in the buffer device; when the deep submergence vehicle is matched with the cavity, the locking device is positioned in the accommodating cavity. Therefore, after the deep submersible vehicle is clamped into the cavity, the locking device cannot interfere with butt joint of the deep submersible vehicle and the buffer device.
Furthermore, the buffer device comprises a fixed support, a stabilizing oil cylinder, a stabilizing support, a buffer support and a buffer cushion, wherein the fixed support is hinged on the crane, the stabilizing support is arranged below the fixed support, the stabilizing oil cylinder is respectively hinged on two sides of the fixed support and is hinged with the stabilizing support, the buffer is arranged between the lower part of the stabilizing support and the buffer support, the buffer is arranged at four corners of the stabilizing support, the buffer cushion is arranged below the buffer support, a cavity is arranged on the buffer cushion, and the cross section of the cavity is arc-shaped, so that the stabilizing support is fixed by the stabilizing oil cylinders on two sides of the stabilizing support to be not easy to swing, and the angle of the stabilizing support can be adjusted, so that the deep diving apparatus and the buffer cushion can be butted at more accurate positions, and the buffer cushion are arranged, so that the deep diving apparatus is buffered at one stage by the buffer cushion when the buffer cushion contacts the deep diving apparatus, carry out the second grade buffering to the deep diving ware through the buffer, reduce and lead to the fact the collision to the deep diving ware, simultaneously at the hoist and mount in-process, owing to set up the buffer, consequently, can effectual reduction to the vibrations of fixed bolster, anti-sway hydro-cylinder and anti-sway support.
Furthermore, the locking mechanism comprises a lock tongue, a lock tongue cover plate, a lock pin, a connecting rod and a locking elastic piece, the inner end of the lock tongue is embedded into the hanger, the lock tongue is detachably fixed on the hanger, the lock tongue is provided with an inner cavity, the lock pin extends into the hanger through the inner cavity, the outer end of the lock pin extends out of the lock tongue cover plate, the locking elastic piece is arranged between the lock pin and the lock tongue cover plate on the lock pin, the lock tongue cover plate presses the locking spring and is fixed on the lock tongue, the connecting rod is further arranged on the lock tongue, the outward end of the lock pin penetrates through the lock tongue cover plate and is hinged to the connecting rod, the middle part of the connecting rod is hinged to the lock. According to the structure, in the process that the mushroom head connected to the deep submergence vehicle is clamped into the locking mechanism, when the mushroom head pushes the lock pin, the lock pin overcomes the elasticity of the locking elastic piece to move outwards, and when the mushroom head moves upwards to the position where the lock pin can return, the lock pin is small in the action of the locking elastic piece to reset and clamp the mushroom head, so that the mushroom head is locked with the locking device; if the mushroom head needs to be loosened, the connecting rod is moved through manual action, the connecting rod drives the lock pin to overcome the elasticity of the locking elastic piece to move outwards, and the lock pin is separated from the mushroom head, so that the separation of the mushroom head is realized, and the operation is very convenient; because the locking mechanism is integrally fixed on the hanger through the lock tongue on the locking mechanism, when the locking mechanism is installed, the locking mechanism can be integrally installed on the hanger after being assembled, and when the locking mechanism is disassembled, the locking mechanism can be completely disassembled only by disassembling the lock tongue, so that the locking mechanism is convenient to install, maintain and the like.
Further, the lockpin includes fixed pin, connecting pin, stopper and movable rod, and the fixed pin setting is in the spring bolt, and the one end of fixed pin is equipped with the connecting pin, the connecting pin passes the spring bolt apron, is located one of the connecting pin in the spring bolt apron outside and serves and be equipped with the stopper, and the stopper is kept out on the spring bolt apron, is equipped with the movable rod on the stopper, articulated connecting rod on the movable rod, the other end of fixed pin stretches into and holds the intracavity. This structure, the fixed pin stretch into be used for in the gallows with the first effect of mushroom, the cross-section of connecting pin is less than the cross-section of fixed pin, conveniently sets up the locking elastic component like this, the effect of stopper is avoided the lockpin to break away from the spring bolt apron under the effect of locking elastic component, then is convenient for articulate the connecting rod through setting up the movable rod.
Further, the spring bolt includes fixed plate, fixing base, extends seat and the fixed ear of connecting rod, and the spring bolt passes through the fixed plate to be installed on the gallows, and the fixing base is established in the one end of fixed plate and is imbedded into the gallows, is equipped with the extension seat in the top of fixed plate, and the inner chamber of spring bolt runs through extension seat, fixed plate and fixing base, is located to extend one of seat and serves and be equipped with the fixed ear of connecting rod, the fixed ear of connecting rod outwards upwards extends from one side of extending the seat, at the middle part of the terminal articulated connecting rod of. Therefore, the locking device is fixed on the hanger through the bolt.
Furthermore, the inner end of the fixing pin is inclined downwards and outwards from the top end to form an inclined plane, and two sides of the inclined plane are inclined towards the center and extend to form an arc shape. From this, through the circular-arc setting on fixed pin inclined plane, the mushroom head can easily push away the fixed pin when passing through locking mechanism, thereby can kick-back fixed mushroom head owing to the effect of locking elastic component after the mushroom head passes the fixed pin.
Furthermore, the mushroom head comprises a mushroom top, a mushroom column and a mushroom tail, the mushroom top is connected to the top end of the mushroom column, the mushroom tail is arranged at the bottom end of the mushroom column, the periphery of the mushroom top extends outwards and downwards from the top end to the bottom end to form an arc surface, the diameter of the mushroom top is larger than that of the mushroom column, a connecting platform is formed between the periphery of the bottom end of the mushroom top and the mushroom column, the mushroom tail is connected to the deep submergence device, a through hole is formed in the mushroom head from the top end to the bottom end, a side leading hole communicated with the through hole is formed in the side edge of the mushroom head, and one end of the traction cable penetrates through the through hole from the top end of the mushroom head and then penetrates. Therefore, the mushroom top is arranged, when the mushroom top passes through the locking mechanism, the mushroom top is resisted and fixed by the fixing pin, and therefore the connection of the mushroom head and the locking device is realized; the side guide hole of the through hole is arranged, so that the traction cable rope can conveniently penetrate through the side guide hole, and the purpose of double-rope traction is achieved.
Further, the launcher is fixed on the deep submersible vehicle and comprises a rear seat and a bullet head; the bullet head comprises an outer cover, a head part and a winding part connected with the head part, the head part and the winding part are arranged in the outer cover, a winding gap is formed between the outer cover and the winding part, and the traction cable penetrates through the mushroom head and then the two ends of the traction cable are wound on the winding part; the rear seat is fixed on the deep submersible vehicle through support legs, each support leg comprises a connecting rod and a connecting seat, each connecting rod is connected with the rear seat, and an included angle between each connecting rod and the corresponding connecting seat is an acute angle so that the bullet heads incline upwards; a gas storage cavity is formed in the rear seat, an inflation inlet connected with the gas storage cavity is formed in the rear seat, and high-pressure air is injected into the gas storage cavity through the inflation inlet; the rear seat comprises a front panel and a rear shell, the front panel and the rear shell enclose the air storage cavity, the front panel is provided with an air nozzle, the air nozzle is communicated with the air storage cavity, high-pressure air in the air storage cavity is intensively sprayed through the air nozzle, and a winding part of the bullet head is provided with a groove for accommodating the air nozzle; the air storage cavity is internally provided with a support on the front panel, and the support is provided with an electromagnetic valve which can block the air nozzle. The launcher facilitates launching of the tow cable.
Drawings
FIG. 1 is a perspective view of a deep submergence vehicle double-rope recovery device of the present invention.
Fig. 2 is an enlarged view at B in fig. 1.
Fig. 3 is a cross-sectional view of the locking device of the present invention.
Fig. 4 is a perspective view of the locking device of the present invention.
Fig. 5 is an enlarged view of the invention at a in fig. 1.
Fig. 6 is a cross-sectional view of the fixing pin of the present invention.
Fig. 7 is an enlarged view at C in fig. 3.
Fig. 8 is a cross-sectional view of a cushioning device of the present invention.
Fig. 9 is a cross-sectional view of the mushroom head of the present invention.
Fig. 10 is a connection structure view of the mushroom head and bullet launcher and the deep submergence vehicle.
Fig. 11 is a schematic view of the structure of the bullet launcher.
FIG. 12 is a schematic view of the deep submergence vehicle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 12, the double-rope recovery device for the deep submergence vehicle comprises a crane 3, a locking device 1, a buffer device 2 and a mushroom head device.
The crane 3 is installed on the mother ship, and the crane 3 can be a folding arm type crane.
As shown in fig. 1, 5 and 10, the buffer device 2 is installed on the crane 3, a steel wire rope 31 passing through the buffer device 2 and connecting with the locking device 1 is arranged in the crane 3, the locking device 1 comprises a hanger 11 and a locking mechanism 12, and the locking mechanism 12 is arranged on the hanger 11. The mushroom head device comprises a mushroom head 4, a launcher and a traction cable 41, the launcher is a bullet launcher 51, the traction cable 41 is arranged in the mushroom head 4, when the deep submergence vehicle 5 is not recovered, the mushroom head 4 is installed on the deep submergence vehicle 5, and two ends of the traction cable 41 are arranged in the bullet launcher 51.
In the present embodiment, as shown in fig. 10 and 11, the bullet launcher 51 is fixed to the deep submergence vehicle 5, the bullet launcher 51 includes a rear seat 511 and a bullet 512, and the bullet 512 has a light weight and can be launched through the rear seat 511. The bullet head 512 comprises an outer cover 5213, a head portion 5211 and a winding portion 5212 connected with the head portion 5211, the head portion 5211 and the winding portion 5212 are arranged in the outer cover 5213, a winding gap 5215 is formed between the outer cover 5213 and the winding portion 5212, and the pulling cable 41 penetrates through the rear two sections of the mushroom head 4 and is wound on the winding portion 5212. The rear seat 511 is fixed on the deep submersible vehicle 5 through a support leg 5115, the support leg 5115 comprises a connecting rod 5118 and a connecting seat 5119, the connecting rod 5118 is connected with the rear seat 511, and an included angle between the connecting rod 5118 and the connecting seat 5119 is an acute angle, so that the bullet 512 is inclined upwards, the launching angle of the bullet launcher 51 can be conveniently adjusted, and the bullet 512 can fall on a required position; the deep submersible vehicle 5 is provided with a mounting plate 50, the mounting plate 50 is provided with a plurality of mounting holes 500, the connecting seat 5119 is fixed on the mounting plate 50, and the bullet emitter 51 can be arranged at different positions on the deep submersible vehicle 5 as required to be used as an emitting position for adjustment; a gas storage cavity 5114 is formed in the rear seat 511, a gas filling port 5115 which is connected with the gas storage cavity 5114 is arranged on the rear seat 511, high-pressure air is injected into the gas storage cavity 5114 through the gas filling port 5115, and the high-pressure air has a large pushing force and can push the bullet 512; the rear seat 5112 comprises a front panel 5111 and a rear shell 511, the front panel 5111 and the rear shell 511 enclose a gas storage cavity 5114, an air nozzle 5120 is arranged on the front panel 5111, the air nozzle 5120 is communicated with the gas storage cavity 5114, high-pressure air in the gas storage cavity 5114 is intensively sprayed through the air nozzle 5120 to form a strong power source, a groove 5214 for accommodating the air nozzle 5120 is arranged on a winding part 5212 of the bullet head 512, and the bullet head 512 can be fixed on the rear seat 5112 and is used for receiving the spraying of high-pressure air due to the matching of the air nozzle 5120 and the groove 5214; a bracket 5113 is arranged on the front panel 5111 in the air storage cavity 5114, an electromagnetic valve 5114 is arranged on the bracket 5113, and the electromagnetic valve 5114 can seal off the air nozzle 5120; the remote controller is wirelessly connected with the electromagnetic valve, and the electromagnetic valve 5114 can be started through the remote controller to realize remote operation. The mushroom head 4 is connected to the mounting plate 50.
As shown in fig. 1 and 5, a cavity 21 is arranged at the lower end of the buffering device 2, the locking device 1 is accommodated in the cavity 21, and an accommodating cavity 20 for accommodating the locking device is arranged above the cavity in the buffering device 2, so that interference of the locking device after the deep submergence vehicle is recovered on the buffering device is avoided.
As shown in fig. 5, 7 and 8, the damping device 2 includes a fixed bracket 22, a roll-reducing cylinder 23, a roll-reducing bracket 24, a buffer 25, a buffer bracket 26 and a buffer pad 27, the fixed bracket 22 is hinged on the crane 3, the roll-reducing bracket 24 is hinged below the fixed bracket 22, the roll-reducing cylinders 23 are hinged on both sides of the fixed bracket 22 and are hinged with the roll-reducing bracket 24, the axis of the hinge shaft of the fixed bracket 22 and the hinge shaft of the crane 3 is vertical to the axis of the hinge shaft of the roll-reducing bracket 24 and the hinge shaft of the fixed bracket 22, the buffer 25 is arranged between the lower side of the roll-reducing bracket 24 and the buffer bracket 26, the buffer 25 is arranged at the four corners of the roll-reducing bracket 24, a space is arranged between the buffers 25, the buffer 25 is a hydraulic buffer or a rubber block, the buffer 27 is arranged below the buffer bracket 26, a space is arranged in the buffer bracket 26, the space of the buffer 25 and the space in the buffer, the lower extreme of blotter 27 has and holds the communicating cavity 21 of chamber, and the cross-section of cavity is the arc, and blotter 27 is the block rubber, from this, fixes anti-roll support 24 through anti-roll cylinder 23 of anti-roll support 24 both sides and makes it be difficult to take place to sway, and can adjust anti-roll support 24's angle through anti-roll cylinder 23, lets deep diving ware and blotter carry out better butt joint. Owing to set up buffer 25 and buffer pad 27, consequently, carry out the one-level buffering through buffer pad 27 to the deep diving ware when buffer pad 27 contacts the deep diving ware, carry out the second grade buffering to the deep diving ware through buffer 25, reduce and lead to the fact the collision to the deep diving ware, simultaneously at the hoist and mount in-process, owing to set up the buffer, consequently, can effectual reduction to the vibrations of fixed bolster, anti-sway hydro-cylinder and anti-sway support.
As shown in fig. 2 to 4 and 7, the locking device 1 includes a hanger 11 and a locking mechanism 12. Have in the gallows 11 and hold chamber 111, it is close to gradually to the centre from the bottom up to hold the chamber, can better lead to the mushroom head like this, it is equipped with spacing portion 112 to lie in the upper end that holds chamber 111 on gallows 11, be equipped with on spacing portion 112 and supply traction cable 41 to pass perforation 113, it is equipped with the cross-section and is greater than fenestrate spacing groove 114 to lie in perforation 113's top on the gallows, this spacing groove 114 is used for passing the perforation back at traction cable and knots in order to block the part of knoing of traction cable above, play the effect of fixed traction cable. The locking mechanism 12 comprises a locking tongue 121, a locking tongue cover plate 122, a locking pin 123, a connecting rod 124 and locking elastic pieces, the locking elastic pieces are locking springs 125, the locking mechanism 12 is mounted on the hanger 11 through the locking tongue 121, the locking tongue 121 is provided with an inner cavity 1211, the locking pin 123 extends into the hanger 11 through the inner cavity 1211 and is used for resisting the mushroom heads 4, the locking springs 125 are arranged on the locking pins 123, the locking tongue cover plate 122 presses the locking springs 125 and is fixed on the locking tongue 121, the connecting rod 124 is further arranged on the locking tongue 121, one end, connected with the locking springs 125, of the locking pins 123 penetrates through the locking tongue cover plate 122 and is connected with the connecting rod 124, two locking mechanisms 12 are arranged, and the locking device 1.
In the locking device, when the mushroom head connected to the deep submergence vehicle is clamped into the locking mechanism, the lock pin overcomes the elasticity of the locking elastic piece to move outwards when the mushroom head pushes the lock pin, and when the mushroom head moves upwards until the lock pin can return, the lock pin is reset to clamp the mushroom head under the action of the locking elastic piece, so that the locking of the mushroom head and the locking device is realized; if the mushroom head needs to be loosened, the connecting rod is moved through manual action, the connecting rod drives the lock pin to overcome the elasticity of the locking elastic piece to move outwards, and the lock pin is separated from the mushroom head, so that the separation of the mushroom head is realized, and the operation is very convenient; because the locking mechanism is integrally fixed on the hanger through the lock tongue on the locking mechanism, when the locking mechanism is installed, the locking mechanism can be integrally installed on the hanger after being assembled, and when the locking mechanism is disassembled, the locking mechanism can be completely disassembled only by disassembling the lock tongue, so that the locking mechanism is convenient to install, maintain and the like.
As shown in fig. 3 and 7, the locking pin 123 includes a fixing pin 1231, a connecting pin 1232, a stopper 1233, and a movable lever 1234, the fixing pin 1231 is disposed inside the latch bolt 121, the connecting pin 1232 is disposed at one end of the fixing pin 1231, the section of the connecting pin 1232 is smaller than that of the fixing pin 1231, so as to set the locking spring 125 on top, the connecting pin 1232 passes through the bolt cover plate 122, one end of the connecting pin 1232 located outside the bolt cover plate 122 is provided with a limit block 1233, the limit block 1333 is resisted with the bolt cover plate, the limit block 1233 is provided with a movable rod 1234, the movable bar 1234 is hinged with a connecting bar 124, the other end of the fixed pin 1231 is used to resist the mushroom head 4, thus, the connecting rod 124 is arranged to push the connecting rod 124 inwards when the locking device 1 and the mushroom head 4 need to be unlocked, the fixing pin 1231 can be pulled out to separate the locking device 1 from the mushroom head 4, thus facilitating the quick detachment from the mushroom head 4.
As shown in fig. 7, the latch 121 includes a fixing plate 1215, a fixing seat 1212, an extension seat 1213 and a link fixing lug 1214, the latch 121 is mounted on the hanger 11 by a bolt passing through the fixing plate 1211, the fixing seat 1212 is provided at one side of the fixing plate 1211 and inserted into the hanger 11, the extension seat 1213 is provided at the other side of the fixing plate 1211, an inner cavity 1211 of the latch 121 passes through the extension seat 1213, the fixing plate 1215 and the fixing seat 1212, the link fixing lug 1214 is provided at one side of the extension seat 1213, the link fixing lug 1214 extends upward and outward from one side of the extension seat 1213, and the end of the link fixing lug 1214 is hinged to the middle of the link 124, thereby fixing the locking device 1 on the hanger 11 through the latch 121.
As shown in fig. 6 and 7, the other end of the fixing pin is inclined downward and outward from the top end to form an inclined surface 12311, two sides of the inclined surface 12311 are inclined and extended to the center to form an arc shape, and the top end of the fixing pin 1231 is used for clamping the mushroom head 4, so that the mushroom head 4 can easily push the fixing pin 1231 open when passing through the locking mechanism 12 through the arc-shaped arrangement of the fixing pin inclined surface 12311, and the mushroom head 4 can be rebounded due to the action of the locking spring 125 after the mushroom head 4 passes through the fixing pin 1231, so as to fix the mushroom head 4.
As shown in fig. 3 and 9, the mushroom head 4 comprises a mushroom top 42, a mushroom column 43 and a mushroom tail 44, the mushroom top 42 is connected to the top end of the mushroom column 43, the mushroom tail 44 is arranged at the bottom end of the mushroom column 43, the periphery of the mushroom top 42 extends outwards and downwards from the top end to the bottom end to form an arc surface, the diameter of the mushroom top 42 is larger than that of the mushroom column 43, a connecting platform 45 is formed between the periphery of the bottom end of the mushroom top 42 and the mushroom column 43, a fixing pin 1231 resists against the connecting platform 45, the mushroom tail 44 is connected to the deep submergence vehicle 5, a through hole 46 is further formed in the mushroom head 4, and the traction cable 41 is arranged in the through hole 46, so that the mushroom top 42 is arranged, when the mushroom top 42 passes through the locking mechanism 12, the mushroom top 42 is resisted by the fixing pin 1231, and the connection of the mushroom head 4 and.
The deep submersible vehicle recovery method by the deep submersible vehicle double-rope recovery device with the structure comprises the following steps:
(1) the deep submersible 5 is moved into the near sea area of the mother vessel.
(2) Both ends of the hauling cable 41 are thrown by the launcher onto or near the mother vessel, and if both ends of the hauling cable 41 do not fall into the sea area near the mother vessel, the hauling cable 41 is fished out onto the mother vessel by other means such as a bamboo pole or the like.
(3) One end of the pulling cable 41 crosses the locking mechanism upwards from the lower end of the hanger accommodating cavity 111 to pass through the through hole 113 and be fixed on the hanger 11, in this embodiment, the pulling cable 41 above the through hole can be knotted, the limiting part is enabled to resist the knotted part to realize fixation, or the pulling cable is tied on the hanger, and the limiting groove is used as a fixing position of the pulling cable.
(4) As shown in fig. 12, pulling the other end of the pulling cable 41 causes the locking device 1 to move along the pulling cable 41 in the direction of the mushroom head 4, during which the cable 31 also follows the locking device 1; with the continuous pulling of the pulling cable 41, the hanger 11 is in butt joint with the mushroom head 4, so that the mushroom head 4 is gradually inserted into the accommodating cavity 111 of the hanger 11, after the mushroom head touches the lock pin 123 in the locking mechanism, with the pulling of the pulling cable 41, the mushroom head 4 enables the lock pin to overcome the elastic force of the locking spring to move outwards, after the mushroom top 42 of the mushroom head 4 crosses the lock pin 123, the lock pin 123 resets under the effect of the locking spring, the mushroom head 4 is clamped through the lock pin 123, meanwhile, the limit part can limit the mushroom head to continue to move upwards, the connection of the mushroom head 4 and the locking device 1 is realized, and the pulling of the pulling cable 41 is stopped at the moment.
(5) The wire rope 31 is pulled by using the winding drum on the crane, the locking device 1 and the mushroom head 4 are driven by the wire rope 31 to recover the deep submergence device 5, and along with the continuous movement of the wire rope 31, the deep submergence device 5 continuously moves towards the direction of the buffer device 2 until the deep submergence device 5 is clamped into the cavity of the buffer pad, so that the rigid connection between the deep submergence device 5 and the buffer device is realized.
(6) The deep submersible vehicle is placed on the designated position of the mother ship through the crane 3.
(7) The traction force on the steel wire rope 31 is released, the locking device 1 is exposed, the connecting rod is pulled inwards to enable the locking pin 123 to move outwards, the locking mechanism is released to enable the mushroom head to be separated from the hanging bracket 11, and the deep submergence vehicle is released.
According to the double-rope recovery device of the deep submersible vehicle, in the process of recovering the deep submersible vehicle, two traction cables are thrown out through the emitter, one end of each traction cable penetrates through the containing cavity and is fixed to the hanger, in the process of pulling the traction cables, the locking device moves towards the direction of the mushroom head on the deep submersible vehicle to realize butt joint and locking through loosening acting force on the steel wire rope, so that the traction cables play a role in guiding the locking device, the mushroom head can be accurately aligned to the containing cavity, and then the mushroom head is clamped through the locking mechanism; in addition, in the process of recovering the deep submersible vehicle, compared with the prior technical scheme that the deep submersible vehicle is pulled by the traction cable to move towards the crane, the deep submersible vehicle adopts a butt joint mode which is opposite, so that the possibility that the traction cable is broken due to the weight of the deep submersible vehicle is reduced, the reliability of recovering the deep submersible vehicle is improved, and more labor is saved; in the process of recovering the deep submergence device, the locking device is firstly butted with the mushroom head through the traction cable, and then the deep submergence device is pulled through the flexible steel wire rope to be butted with the buffer device so as to realize rigid butt joint, so that the swinging of the deep submergence device can be effectively reduced in the process of hoisting the deep submergence device through the crane, and the hoisting reliability and stability are improved.
Claims (10)
1. A deep submergence vehicle double-rope recovery method is characterized by comprising the following steps:
a) an accessory for moving the deep submergence vehicle to a mother ship;
b) starting a launcher arranged on the deep submergence vehicle, and launching two ends of the launcher to a mother ship or the vicinity of the mother ship by the launcher through a traction cable which is wound on the launcher and penetrates through a mushroom head arranged on the deep submergence vehicle;
c) one end of a traction cable penetrates through an accommodating cavity of a hanger in the locking device and is fixed on the locking device;
d) loosening a steel wire rope wound on the crane, penetrating through the buffer device and connected to the locking device, connecting the buffer device to the crane, then pulling the other end of the traction cable to enable the locking device and the steel wire rope to move towards the mushroom head along the traction cable, when the locking device moves to the mushroom head, continuously pulling the traction cable to enable the mushroom head to be inserted into the accommodating cavity, and when a locking mechanism in the locking device acts with the mushroom head, locking the mushroom head through the locking mechanism;
e) winding a steel wire rope, and enabling the steel wire rope to pull the locking device, the mushroom head and the deep submergence vehicle to move towards the direction of the crane until the deep submergence vehicle is clamped into a cavity of the buffer device;
f) and pulling up the deep submergence vehicle by a crane for recovery.
2. The deep submergence vehicle double-rope recovery method according to claim 1, characterized in that: after the deep submergence vehicle is hoisted to the mother ship, the locking mechanism is loosened, and the mushroom head is separated from the locking mechanism.
3. The deep submergence vehicle double-rope recovery method according to claim 1, characterized in that: a limiting part is arranged at the upper end of the accommodating cavity on the hanging bracket, a traction cable fixing position is arranged above the locking mechanism on the hanging bracket, and a locking mechanism is arranged on the side edge of the accommodating cavity on the hanging bracket and used for clamping the mushroom head; one end of the traction cable is fixed on the traction cable fixing position; after the mushroom head stretched into and held the intracavity, spacing to the mushroom head through spacing portion.
4. The deep submergence vehicle double-rope recovery method according to claim 1, characterized in that: the lower end of the buffer device is provided with a cavity used for being matched with the deep submergence vehicle, and an accommodating cavity communicated with the cavity and used for accommodating the locking device is arranged above the cavity in the buffer device; when the deep submergence vehicle is matched with the cavity, the locking device is positioned in the accommodating cavity, the buffer device comprises a fixed support, an anti-rolling oil cylinder, an anti-rolling support, a buffer support and a buffer pad, the fixed support is hinged to the crane, the anti-rolling support is arranged below the fixed support, the anti-rolling oil cylinder is hinged to the two sides of the fixed support respectively, the anti-rolling support is hinged to the anti-rolling support, the buffer is arranged between the lower portion of the anti-rolling support and the buffer support, the buffers are arranged at the four corners of the anti-rolling support, the buffer pad is arranged below the buffer support, the cavity is arranged on the buffer pad, and the cross section of; the anti-rolling support is limited through the anti-rolling oil cylinder, and the angle of the anti-rolling support is adjusted at the same time.
5. The deep submergence vehicle double-rope recovery method according to claim 1, characterized in that: the locking mechanism comprises a lock tongue, a lock tongue cover plate, a lock pin, a connecting rod and a locking elastic piece, wherein the inner end of the lock tongue is embedded into the hanger, the lock tongue is detachably fixed on the hanger, the lock tongue is provided with an inner cavity, the lock pin extends into the hanger through the inner cavity, the outer end of the lock pin extends out of the lock tongue cover plate, the locking elastic piece is arranged between the lock pin and the lock tongue cover plate on the lock pin, the lock tongue cover plate presses a locking spring and is fixed on the lock tongue, the connecting rod is further arranged on the lock tongue, the outward end of the lock pin penetrates through the lock tongue cover plate to be hinged with the connecting rod, the middle part of the connecting rod is hinged; when the mushroom head connected to the deep submergence device is clamped into the locking mechanism, the lock pin overcomes the elasticity of the locking elastic piece to move outwards when the mushroom head pushes the lock pin, and when the mushroom head moves upwards until the lock pin can return, the lock pin is reset under the action of the locking elastic piece to clamp the mushroom head, and the mushroom head is locked with the locking device; if the mushroom head needs to be loosened, the connecting rod is pulled through manual action, the connecting rod drives the lock pin to overcome the elastic force of the locking elastic piece to move outwards, and the lock pin is separated from the mushroom head, so that the mushroom head is separated.
6. The deep submergence vehicle double-rope recovery method according to claim 5, wherein: the lockpin includes fixed pin, connecting pin, stopper and movable rod, and the fixed pin sets up in the spring bolt, and the one end of fixed pin is equipped with the connecting pin, the connecting pin passes the spring bolt apron, is located one of the connecting pin in the spring bolt apron outside and serves and is equipped with the stopper, and the stopper supports and keeps off on the spring bolt apron, is equipped with the movable rod on the stopper, articulated connecting rod on the movable rod, the other end of fixed pin stretches into and holds the intracavity.
7. The deep submergence vehicle double-rope recovery method according to claim 5, wherein: the spring bolt includes fixed plate, fixing base, extends seat and the fixed ear of connecting rod, and the spring bolt passes through the fixed plate to be installed on the gallows, and the fixing base is established in the one end of fixed plate and is imbedded the gallows, is equipped with the extension seat in the top of fixed plate, and the inner chamber of spring bolt runs through extension seat, fixed plate and fixing base, lies in to extend one of seat and serves and be equipped with the fixed ear of connecting rod, the fixed ear of connecting rod upwards extends from one side of extending the seat outwards, at the middle part of the terminal articulated connecting rod.
8. The deep submergence vehicle double-rope recovery method according to claim 5, wherein: the inner of fixed pin sets up from the top and forms the inclined plane downwards outwards, the both sides on inclined plane slope to the center and extend and be circular-arc setting.
9. The deep submergence vehicle double-rope recovery method according to claim 1, characterized in that: the mushroom head comprises a mushroom top, a mushroom column and a mushroom tail, the mushroom top is connected to the top end of the mushroom column, the mushroom tail is arranged at the bottom end of the mushroom column, the periphery of the mushroom top extends outwards and downwards from the top end to the bottom end to form an arc surface, the diameter of the mushroom top is larger than that of the mushroom column, a connecting platform is formed between the periphery of the bottom end of the mushroom top and the mushroom column, the mushroom tail is connected to the deep submergence device, a through hole is formed in the mushroom head from the top end to the bottom end, a side leading hole communicated with the through hole is formed in the side edge of the mushroom head, and one end of the traction cable penetrates through the through hole from the top end of the mushroom head and.
10. The deep submergence vehicle double-rope recovery method according to claim 1, characterized in that: the launcher is fixed on the deep submersible vehicle and comprises a rear seat and a bullet head; the bullet head comprises an outer cover, a head part and a winding part connected with the head part, the head part and the winding part are arranged in the outer cover, a winding gap is formed between the outer cover and the winding part, and the traction cable penetrates through the mushroom head and then the two ends of the traction cable are wound on the winding part; the rear seat is fixed on the deep submersible vehicle through support legs, each support leg comprises a connecting rod and a connecting seat, each connecting rod is connected with the rear seat, and an included angle between each connecting rod and the corresponding connecting seat is an acute angle so that the bullet heads incline upwards; a gas storage cavity is formed in the rear seat, an inflation inlet connected with the gas storage cavity is formed in the rear seat, and high-pressure air is injected into the gas storage cavity through the inflation inlet; the rear seat comprises a front panel and a rear shell, the front panel and the rear shell enclose the air storage cavity, the front panel is provided with an air nozzle, the air nozzle is communicated with the air storage cavity, high-pressure air in the air storage cavity is intensively sprayed through the air nozzle, and a winding part of the bullet head is provided with a groove for accommodating the air nozzle; the air storage cavity is internally provided with a support on the front panel, and the support is provided with an electromagnetic valve which can block the air nozzle.
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| CN112298497B (en) | 2023-04-11 |
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