1. The utility model provides a two portal winding and unwinding devices which characterized in that: the method comprises the following steps:

the moon pool is arranged at the stern part of the ship body;

an open-close deck device installed on the upper hull of the moon pool;

a gantry device mounted within the moon pool area;

the bracket hoisting device is arranged on the gantry device and used for hoisting the autonomous entering submersible above a hull deck;

the gantry device can swing inwards to the ship body, the bracket lifting device and the submersible are swung inwards to the ship body together, and the retraction operation of the submersible is achieved.

2. The double-gantry retracting device of claim 1, wherein: the moon pool is of a U-shaped structure with an opening towards the tail of the ship body, so that the height of the portal device can be reduced, the horizontal moving stroke of the portal is reduced, and the scale and the weight of the portal are greatly reduced.

3. The double-gantry retracting device of claim 1, wherein: the opening and closing deck device comprises an opening and closing deck, deck hinge points and oil cylinders, the two opening and closing decks are connected with the ship body through the two deck hinge points respectively, one ends of the two oil cylinders are hinged to the opening and closing deck, the other ends of the two oil cylinders are hinged to the ship body, and the opening and closing of the opening and closing deck can be achieved by stretching of cylinder rods of the oil cylinders.

4. The double-gantry retracting device of claim 1, wherein: the portal frame device comprises an upper structure, swing arms, swing arm oil cylinders and a portal frame base, wherein the upper structure is of a nearly rectangular structure, four hinge points at the lower part of the upper structure are respectively hinged with one ends of the four swing arms, and the four swing arms can respectively swing around the four hinge points at the lower part of the upper structure; the other ends of the four swing arms are hinged with the four portal bases, and the four swing arms can respectively swing around the four portal bases; four swing arm hydro-cylinders one end respectively with four swing arm is articulated to be connected, four the other end of swing arm hydro-cylinder respectively with four portal base is articulated to be connected, four swing arm length is the same, four swing arm hydro-cylinder jar pole stretches out/contracts, drives four respectively the swing arm is to the hull external swing/internal swing, and superstructure then can remain the level throughout, portal device is through four hinge point dispersion to the concentrated load of hull.

5. The double-gantry retracting device of claim 1, wherein: the bracket lifting device comprises lifting winches, steel wire ropes, a bracket and a bracket guide device, the four lifting winches are arranged on the upper structure and are connected with the bracket through the four steel wire ropes, the size of the bracket is matched with that of the moon pool, and the bracket can freely lift in the moon pool.

6. The double-gantry retracting device of claim 5, wherein: two pulley assemblies are respectively installed on the side edges of two sides of the bracket, but the side edges do not exceed the width range of the bracket, the installation positions of the four lifting winches are matched with the four pulley assemblies, one ends of the four steel wire ropes are respectively connected with the four steel wire rope tail end fixing devices, and the other ends of the four steel wire ropes respectively penetrate through the four pulley block assemblies and are wound on the four lifting winches.

7. The double-gantry retracting device of claim 6, wherein: the radial surfaces of the pulleys of the pulley assembly are longitudinally arranged along the ship body, so that the effective width of the submersible vehicle entering the bracket can be increased, and the submersible vehicle can enter and exit more conveniently.

8. The double-gantry retracting device of claim 5, wherein: the lifting winch adopts multilayer winding, reduces the width of a winding drum of the lifting winch, and meets the requirement of the rope outlet angle of the lifting winch of the bracket at the highest lifting position.

9. The double-gantry retracting device of claim 5, wherein: the lifting winch is provided with an active wave compensation device, after the bracket is lowered to a certain depth of the sea surface, the active wave compensation device of the lifting winch is started, the distance between the bracket and the sea bottom is kept basically constant, the influence of the movement of the ship body along with the wind wave flow of the sea surface is avoided, and the submersible is more favorable for entering the bracket.

10. The double-gantry retracting device of claim 5, wherein: the two bracket guiding devices are arranged on two sides of the moon pool and used for limiting the longitudinal and transverse movement of the bracket relative to the ship body; the size of the bracket guide device is matched with that of the bracket guide structure; the lower part of the bracket guiding device is in a horn mouth shape, and the bracket can be better aligned and guided in the process of lifting to the water surface under water.

11. A double-portal frame folding and unfolding operation method, which adopts the double-portal frame folding and unfolding device of any one of claims 1-10, and is characterized by comprising the following steps:

firstly, starting ship power positioning, and enabling a stern to be close to a submersible to be recovered;

secondly, a cylinder rod of a swing arm oil cylinder of the portal device extends out to drive a swing arm of the portal device to swing outwards of the ship body, and the portal device and the bracket lifting device swing outwards of the ship body;

thirdly, releasing a rope by using a lifting winch of the bracket lifting device, descending a bracket of the bracket lifting device along the moon pool, and starting a wave compensation device of the lifting winch after the bracket is lowered to a certain depth to stabilize the bracket at the certain depth;

fourthly, enabling the submersible to automatically enter the position above a bracket of the bracket hoisting device and between the steel wire ropes on two sides of the bracket;

fifthly, a hoisting winch of the bracket hoisting device is used for winding up the rope, the submersible vehicle is located on a bracket, the hoisting winch continues to wind up the rope, the submersible vehicle and the bracket continue to hoist, the bracket guide structure enters the bracket guide device, and the submersible vehicle and the bracket hoist to the position above a main deck of the ship body along the bracket guide device;

sixthly, retracting a cylinder rod of a swing arm cylinder of the gantry device to drive the swing arm to swing towards the inside of the ship body, and horizontally moving the submersible vehicle into the ship body to complete retraction and release of the submersible vehicle;

and seventhly, the submersible laying operation is opposite to the steps.

Background

Underwater operation devices such as manned submersible vehicles, Remote Operated Vehicles (ROVs) and underwater vehicles (AUVs) generally require a water surface to support a ship to be carried to a specific sea area, then the underwater operation devices are laid on the sea surface or underwater to perform operation, and after the operation is completed, the underwater operation devices are recovered to a support ship deck to perform work such as maintenance, data processing and the like.

The laying and recovery operation of the submersible is the most critical part in the operation process of the submersible and is the link which is most prone to accidents. At present, the existing retraction modes of the submersible mainly comprise A-shaped frame laying and recycling, special single-arm hanging and single-arm laying and recycling, slideway laying and recycling and the like. However, the above folding and unfolding modes are mainly used for medium and small submersible vehicles, and no mature solution is available for the laying and recycling of large or ultra-large (heavy weight and large size) submersible vehicles, especially under high sea conditions.

Disclosure of Invention

The invention aims to provide a double-portal collecting and releasing device and an operation method thereof, aiming at solving the technical problem of how to realize distribution and recovery of a large or ultra-large (heavy weight and large size) underwater vehicle under a high sea condition.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: 1. a double door frame folding and unfolding apparatus comprising:

the moon pool is arranged at the stern part of the ship body;

an open-close deck device installed on the upper hull of the moon pool;

a gantry device mounted within the moon pool area,

the bracket hoisting device is arranged on the gantry device and used for hoisting the autonomous entering submersible above a hull deck;

the gantry device can swing inwards to the ship body, the bracket lifting device and the submersible are swung inwards to the ship body together, and the retraction operation of the submersible is achieved.

Furthermore, the moon pool is of a U-shaped structure which is opened towards the tail of the ship body, so that the height of the portal device can be reduced, the horizontal moving and transporting stroke of the portal is reduced, and the scale and the weight of the portal are greatly reduced.

Furthermore, the device for opening and closing the deck comprises an opening and closing deck, deck hinge points and oil cylinders, wherein the two opening and closing decks are respectively connected with the ship body through the two deck hinge points, one ends of the two oil cylinders are hinged and connected with the opening and closing deck, the other ends of the two oil cylinders are hinged and connected with the ship body, and the opening and closing of the opening and closing deck can be realized by stretching and contracting cylinder rods of the oil cylinders.

Further, the portal frame device comprises an upper structure, swing arms, swing arm oil cylinders and a portal frame base, wherein the upper structure is of a nearly rectangular structure, four hinge points on the lower portion of the upper structure are respectively hinged with one ends of the four swing arms, and the four swing arms can respectively swing around the four hinge points on the lower portion of the upper structure; the other ends of the four swing arms are hinged with the four portal bases, and the four swing arms can respectively swing around the four portal bases; four swing arm hydro-cylinders one end respectively with four swing arm is articulated to be connected, four the other end of swing arm hydro-cylinder respectively with four portal base is articulated to be connected, four swing arm length is the same, four swing arm hydro-cylinder jar pole stretches out/contracts, drives four respectively the swing arm is to the hull external swing/internal swing, and superstructure then can remain the level throughout, portal device is through four hinge point dispersion to the concentrated load of hull.

Furthermore, the bracket lifting device comprises lifting winches, steel wire ropes, a bracket and a bracket guide device, the four lifting winches are arranged on the upper structure and are connected with the bracket through the four steel wire ropes, the size of the bracket is matched with that of the moon pool, and the bracket can freely lift in the moon pool.

Furthermore, two pulley assemblies are respectively installed on the side edges of two sides of the bracket, but the side edges do not exceed the width range of the bracket, the installation positions of the four hoisting winches are matched with the four pulley assemblies, one ends of the four steel wire ropes are respectively connected with the four steel wire rope tail end fixing devices, and the other ends of the four steel wire ropes respectively penetrate through the four pulley block assemblies and are wound on the four hoisting winches.

Furthermore, the radial surfaces of the pulleys of the pulley assembly are longitudinally arranged along the ship body, so that the effective width of the submersible vehicle entering the bracket can be increased, and the submersible vehicle can enter and exit more conveniently.

Furthermore, the lifting winch adopts multilayer winding, the width of a winding drum of the lifting winch is reduced, and the requirement of the rope outlet angle of the lifting winch with the bracket at the highest lifting position is met.

Furthermore, the lifting winch is provided with an active wave compensation device, after the bracket is lowered to a certain depth of the sea surface, the active wave compensation device of the lifting winch is started, the distance between the bracket and the sea bottom is kept basically constant, the influence of the movement of the ship body along with the sea surface storm flow is avoided, and the submersible is more favorable for entering the bracket.

Further, two bracket guiding devices are arranged on two sides of the moon pool and used for limiting the longitudinal and transverse movement of the bracket relative to the ship body; the size of the bracket guide device is matched with that of the bracket guide structure; the lower part of the bracket guiding device is in a horn mouth shape, and the bracket can be better aligned and guided in the process of lifting to the water surface under water.

Furthermore, the opening and closing deck device comprises an opening and closing deck, deck hinge points and oil cylinders, the two opening and closing decks are connected with the ship body through the two deck hinge points respectively, one ends of the two oil cylinders are hinged and connected with the opening and closing deck, the other ends of the two oil cylinders are hinged and connected with the ship body, and the opening and closing of the opening and closing deck can be achieved by stretching and retracting cylinder rods of the oil cylinders.

A double-portal frame folding and unfolding operation method adopts a double-portal frame folding and unfolding device, and comprises the following steps:

firstly, starting ship power positioning, and enabling a stern to be close to a submersible to be recovered;

secondly, a cylinder rod of a swing arm oil cylinder of the portal device extends out to drive a swing arm of the portal device to swing outwards of the ship body, and the portal device and the bracket lifting device swing outwards of the ship body;

thirdly, releasing a rope by using a lifting winch of the bracket lifting device, descending a bracket of the bracket lifting device along the moon pool, and starting a wave compensation device of the lifting winch after the bracket is lowered to a certain depth to stabilize the bracket at the certain depth;

fourthly, enabling the submersible to automatically enter the position above a bracket of the bracket hoisting device and between the steel wire ropes on two sides of the bracket;

fifthly, a hoisting winch of the bracket hoisting device is used for winding up the rope, the submersible vehicle is located on a bracket, the hoisting winch continues to wind up the rope, the submersible vehicle and the bracket continue to hoist, the bracket guide structure enters the bracket guide device, and the submersible vehicle and the bracket hoist to the position above a main deck of the ship body along the bracket guide device;

sixthly, retracting a cylinder rod of a swing arm cylinder of the gantry device to drive the swing arm to swing towards the inside of the ship body, and horizontally moving the submersible vehicle into the ship body to complete retraction and release of the submersible vehicle;

and seventhly, the submersible laying operation is opposite to the steps.

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention does not need manual connection and disconnection operation of the heavy-load lifting hook during the retraction operation, and has higher operation efficiency and safety.

(2) The bracket hoisting device can be configured with an active wave compensation function, keeps the depth direction of the bracket relatively fixed and is not influenced by the motion of a water surface ship body.

(3) The submersible is directly recovered to the deck of the ship body from a certain water depth, the submersible is not influenced by sea surface sea condition environment, and the submersible can safely and stably enter the bracket;

(4) compared with a single portal frame retracting device, the single portal frame retracting device can disperse the load of the portal frame on the ship body, and greatly reduces the structural design difficulty of the ship body.

(5) The system can keep a complete deck space after the operation is finished;

(6) the system can be arranged at the tail of the ship, is favorable for balancing the floating state of the ship and reducing the scale of the ship.

(7) According to the invention, the opening size of the moon pool can be greatly reduced through the internal and external swinging of the door frame.

Drawings

FIG. 1 is a schematic front view of a double-door frame folding and unfolding apparatus according to the present invention;

FIG. 2 is a schematic top view of the double door frame retracting device of the present invention;

FIG. 3 is a schematic view of the operation method of the double-gantry folding and unfolding apparatus of the present invention;

in the drawings: 1. a moon pool; 2. a gantry device; 21. a superstructure; 22. swinging arms; 23. a swing arm cylinder; 24. a gantry base; 3. a bracket hoisting device; 31. hoisting a winch; 32. a wire rope end fixing device; 33. a wire rope; 34. a pulley assembly; 35. a bracket; 36. a carriage guide; 4. a deck opening and closing device; 41. opening and closing the deck; 42. a deck hinge point; 43. an oil cylinder; 5. a submersible; 6. a ship body.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

Please refer to fig. 1 and 2. The invention discloses a double-portal frame folding and unfolding device, which comprises a moon pool 1, a portal frame device 2, a bracket lifting device 3, an opening and closing deck device 4 and the like.

The moon pool 1 is arranged at the stern part of the ship body 6; the gantry device 2 is arranged in the area of the moon pool 1; the bracket hoisting device 3 is arranged on the gantry device 2; the opening and closing deck device 4 is installed at the upper portion of the moon pool 1.

The submersible 5 automatically enters the bracket lifting device 3, the bracket lifting device 3 lifts the submersible 5 to a position above a ship deck, the portal device 2 swings towards the inside of the ship body 6, and the bracket lifting device 3 and the submersible 5 swing together to the inside of the ship body 6, so that the retraction operation of the submersible 5 is realized.

The present invention also has the following embodiments in addition to the above:

in a further embodiment of the present invention, please continue to refer to fig. 1 and 2. The moon pool 1 is arranged at the stern part of a ship body 6, the moon pool 1 is U-shaped, the opening of the moon pool faces the stern part, and the size of the moon pool 1 is matched with the overall size of a submersible 5 when the submersible is laid. The gantry horizontal moving device has the advantages that the height of the gantry device can be reduced, the horizontal moving stroke of the gantry is reduced, and the scale and the weight of the gantry are greatly reduced.

In a further embodiment of the present invention, please continue to refer to fig. 1 and 2. The gantry apparatus 2 of the present invention includes an upper structure 21, a swing arm 22, a swing arm cylinder 23, a gantry base 24, and the like. The superstructure 21 is a near rectangular structure. Four hinge points at the lower part of the upper structure 21 are respectively hinged with one end of a four-swing arm 22, and the four-swing arm 22 can respectively swing around the four hinge points at the lower part of the upper structure 21; the other end of the four swing arms 22 is hinged with the four door frame bases 24, and the four swing arms 22 can respectively swing around the four door frame bases 24. One end of a four-swing-arm oil cylinder 23 is hinged with the four swing arms 22, and the other end of the four-swing-arm oil cylinder 23 is hinged with a four-portal base 24. The four swing arms 22 are the same in length, the four swing arm oil cylinders 23 extend out of or retract from the cylinder rods, the four swing arms 22 are driven to swing outwards or inwards of the ship body respectively, and the upper structure 21 can be kept horizontal all the time. Compare in single portal winding and unwinding devices, the load of portal to the hull can be dispersed in the design of four portal bases, greatly reduced hull structural design degree of difficulty.

In a further embodiment of the present invention, please continue to refer to fig. 1 and 2. The pallet hoisting device 3 of the present invention includes a hoisting winch 31, a wire rope 33, a pallet 35, and the like. A four-lift winch 31 is mounted on the superstructure 21, the four-lift winch 31 being connected to a carriage 35 by a four-wire rope 33. The size of the bracket 35 is matched with that of the moon pool 1, and the bracket 35 can freely lift in the moon pool 1.

Further, as shown in fig. 1 and 2, two pulley assemblies 34 are mounted on the sides of the bracket 35, but not beyond the width of the bracket 35, and the four-lift winch 31 is mounted at a position matching the four pulley assemblies 34. One end of the four steel wire ropes 33 is connected with the four steel wire rope end fixing devices 32, and the other end of the four steel wire ropes passes through the four pulley block assemblies 34 and is wound on the four-lift winch 31.

Further, in a preferred embodiment, and with continued reference to fig. 1 and 2, the arrangement of the radial surfaces of the pulleys of the pulley block assembly 34 longitudinally with respect to the hull 6 increases the effective width of the vehicle 5 into the cradle 35, and facilitates entry and exit of the vehicle 5.

Further, as a preferred embodiment, please continue to refer to fig. 1 and 2, hoisting winch 31 employs multi-layer winding to reduce the drum width of hoisting winch 31, so as to meet the rope-out angle requirement of hoisting winch with bracket 35 at the highest hoisting position.

Further, as a preferred embodiment, please continue to refer to fig. 1 and 2, the lifting winch 31 is configured with an active wave compensation function, after the bracket 35 is lowered to a certain depth of the sea surface, the active wave compensation function of the lifting winch 31 is started, and the distance from the bracket 35 to the sea bottom is kept substantially constant without being influenced by the movement of the hull 6 along with the sea surface storm currents, which is more beneficial for the submersible 5 to enter the bracket.

Further, as a preferred embodiment, and with continued reference to fig. 1 and 2, two carriage guides 36 are provided on either side of the moon pool 1 for limiting longitudinal and lateral movement of the carriage 35 relative to the hull 6. The carriage guide 36 is sized to match the guide structure of the carriage 35. The lower part of the bracket guide device 36 is in a bell mouth shape, so that the bracket 35 can be better aligned and guided in the process of lifting to the water surface under water.

In a further embodiment of the present invention, please continue to refer to fig. 1 and 2. The opening and closing deck device 4 of the present invention includes an opening and closing deck 41, a deck hinge point 42, a cylinder 43, and the like. The two opening and closing decks 42 are respectively connected with the ship body 6 through two deck hinge points 42, one ends of the two oil cylinders 43 are hinged with the opening and closing decks 42, the other ends of the two oil cylinders 43 are hinged with the ship body 6, and the opening and closing of the opening and closing decks can be realized by stretching and contracting the cylinder rods of the oil cylinders 43.

As shown in fig. 3, the present invention further includes the following operation method in addition to the above:

in a first step, the vessel dynamic positioning is switched on and the stern approaches the submersible 5 to be recovered, see (a) in fig. 3.

And secondly, extending a rod of a swing arm oil cylinder 23 to drive a swing arm 22 to swing outwards of the ship body 6, and swinging the gantry device 2 and the bracket lifting device 3 outwards of the ship body 6.

And thirdly, releasing the rope of the hoisting winch 31, descending the bracket 35 along the moon pool 1, and starting the wave compensation function of the hoisting winch 31 after the bracket 35 is lowered to a certain depth, so that the bracket 35 is stabilized at a certain depth.

In the fourth step, the vehicle 5 autonomously enters above the carriage 35, in the middle of the wire ropes 33 on both sides of the carriage 35, see fig. 3 (b).

Fifthly, the hoisting winch 31 is used for winding up the rope, the submersible 5 is seated on the bracket 35, the hoisting winch 31 is used for continuously winding up the rope, the submersible 5 and the bracket 35 are continuously lifted, the guiding structure of the bracket 35 enters the bracket guiding device 36, and the submersible 5 and the bracket 35 are lifted up to the position above the main deck of the ship body 6 along the bracket guiding device, which is shown as (c) in fig. 3.

And sixthly, retracting the rod of the swing arm cylinder 23 to drive the swing arm 22 to swing towards the inside of the ship body 6, and translating the submersible vehicle 5 into the ship body 6 to finish the retraction and release of the submersible vehicle.

The deployment of the submersible 5 is reversed.

In conclusion, the submersible vehicle can be recycled from the water surface or underwater to the deck of the ship or can be laid from the deck to the water surface or underwater, so that the condition that operators directly enter a dangerous area to operate is avoided, and meanwhile, the operation efficiency and the safety and reliability can be greatly improved.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.