A multi-functional cushioning anti-rolling hydraulic device for submersible vehicle deployment and control method

Abstract

The application provides a multifunctional buffer anti-rolling hydraulic device for submersible vehicle deployment and a control method, which comprises a portal system, a hoisting device and an anti-rolling system; the anti-rolling system belongs to an execution component, is directly connected with the hoisting device, outputs a certain pushing and pulling force under the control of an anti-rolling hydraulic module, and executes an anti-rolling function; the anti-rolling hydraulic module belongs to a hydraulic control component, is connected with the anti-rolling cylinder and a pump source through pipelines, and is used for adjusting the anti-rolling force and the stiffness of the cylinder. The device provided by the application has active and passive double working modes: the angle and posture of the submersible vehicle hoisting device can be adjusted in the active mode, and the anti-rolling and buffer of the submersible vehicle hoisting device can be realized in the passive mode. Bidirectional active posture adjustment is realized through the control of an electromagnetic reversing valve by an electrical signal; passive buffer anti-rolling functions are realized through the control of a proportional overflow valve and a proportional throttle valve by an electrical signal.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and in particular to a multifunctional buffer and anti-roll hydraulic device and control method for deploying submersibles. Background Technology

[0002] Deep-sea science is a crucial frontier in scientific research, relying heavily on advanced technology and equipment. Manned submersibles, as a particularly important piece of equipment for deep-sea operations, can be used for underwater exploration, geological surveys, sample collection, pipeline repair, and salvage and rescue missions. A safe and reliable submersible deployment system is one of the core components of a submersible's surface support system. Suspended on a gantry, the deployment device experiences lateral or longitudinal swaying during deployment operations due to changes in the gantry angle or the ship's roll or pitch. This swaying inevitably affects the safety of the deployment operation and also impacts the device's lifespan. Therefore, a high-performance anti-roll / anti-pitch device is essential for successfully completing deployment operations.

[0003] In existing technologies, conventional anti-roll / pitch devices typically have a fixed buffer stiffness and only offer passive anti-roll protection, lacking active attitude adjustment capabilities. The required anti-roll buffer stiffness varies when deploying submersibles of different tonnages. A fixed buffer stiffness cannot adapt to varying load requirements, and using a buffer device with mismatched stiffness can easily lead to poor buffering performance and even safety hazards. Furthermore, in situations such as ship roll / pitch, active adjustment of the deployment device's attitude using an anti-roll buffer mechanism is necessary, a function that conventional passive anti-roll buffer devices cannot fulfill. Summary of the Invention

[0004] This invention provides a multifunctional buffer and anti-sway hydraulic device for deploying submersibles, the multifunctional buffer and anti-sway hydraulic device including a gantry system, a hoisting device and an anti-sway system;

[0005] The gantry system includes a gantry, the bottom end of which is mounted near the ship's side via a pivot and is capable of swinging from the outboard to the inboard direction.

[0006] The hoisting device is a bent connecting rod, one end of which is connected to the submersible, and the other end is connected to the gantry through an anti-sway system;

[0007] The anti-sway system includes a first hydraulic cylinder, a second hydraulic cylinder, a first hydraulic cylinder bracket, a second hydraulic cylinder bracket, and a lifting connection plate;

[0008] The cylinder body of the first cylinder is mounted on the outer side of the top of the gantry via a first cylinder bracket, and the cylinder body of the second cylinder is mounted on the inner side of the top of the gantry via a second cylinder bracket; the piston rods of both the first and second cylinders are connected to both ends of the lifting connection plate, and the center of the lifting connection plate is connected to the lifting device via a pin.

[0009] Furthermore, the anti-sway system includes an anti-sway hydraulic module, which includes a solenoid directional valve and a two-way balance valve.

[0010] The electromagnetic directional valve has two input terminals connected to the oil inlet and the oil return port. The electromagnetic directional valve has two output terminals, A and B, which are respectively connected to the bidirectional balance valve.

[0011] The second output end of the bidirectional balance valve enters the rod chamber of the first cylinder through oil circuit B1 and the rodless chamber of the second cylinder through oil circuit B2; the first output end enters the rod chamber of the second cylinder through oil circuit A1 and the rodless chamber of the first cylinder through oil circuit A2.

[0012] Furthermore, when the solenoid a of the electromagnetic directional valve is energized, oil flows out from port B of the electromagnetic directional valve. After passing through the balance valve, it splits into two paths, B1 and B2, which enter the rod chamber of the first cylinder and the rodless chamber of the second cylinder, respectively. This causes the first cylinder to retract while the second cylinder extends, adjusting the angle of the submersible launching device outward. When the solenoid b of the electromagnetic directional valve is energized, oil flows out from port A of the electromagnetic directional valve. After passing through the balance valve, it splits into two paths, A1 and A2, which enter the rod chamber of the second cylinder and the rodless chamber of the first cylinder, respectively. This causes the first cylinder to extend while the second cylinder retracts, adjusting the angle of the submersible launching device inward.

[0013] Furthermore, the anti-sway system includes a proportional relief valve, a proportional throttle valve, a third check valve, a fourth check valve, a fifth check valve, and a sixth check valve;

[0014] The first output of the bidirectional balance valve is connected to the oil outlet of the third check valve, the oil inlet of the fifth check valve, and valve group A port, respectively; the second output is connected to the oil outlet of the fourth check valve, the oil inlet of the sixth check valve, and valve group B port, respectively.

[0015] The oil inlet of the third check valve is connected to the oil inlet of the fourth check valve; the oil outlet of the fifth check valve is connected to the oil outlet of the sixth check valve.

[0016] The outlet of the proportional relief valve is connected to the inlet of the third and fourth check valves; the inlet of the proportional relief valve is connected to the outlet of the fifth and sixth check valves.

[0017] The inlet of the proportional throttle valve is connected to the inlets of the third and fourth check valves; the outlet of the proportional throttle valve is connected to the outlets of the fifth and sixth check valves.

[0018] Furthermore, the electromagnetic directional valve is de-energized and in the neutral position, the proportional relief valve is set to a certain threshold pressure, the proportional throttle valve opens to a certain degree, and the bidirectional balance valve closes the oil circuit, forming an internal circulating oil circuit:

[0019] When the launching device swings outward, the first cylinder retracts and the second cylinder extends. At this time, the oil in the rodless chamber of the first cylinder and the rod chamber of the second cylinder enters the anti-roll hydraulic module through ports A2 and A1. Then, it passes through the fifth check valve, the proportional throttle valve, and the fourth check valve, and then splits into ports B1 and B2 to enter the rod chamber of the first cylinder and the rodless chamber of the second cylinder, thus completing one oil circuit cycle. The proportional throttle valve acts as a damper, reducing the amplitude of the submersible launching device swinging outward and playing a buffering and anti-rolling role.

[0020] When the launching device swings inward, the first cylinder extends and the second cylinder retracts. At this time, the oil in the rod chamber of the first cylinder and the rodless chamber of the second cylinder enters the anti-roll hydraulic module through ports B1 and B2. Then, it passes through the sixth check valve, the proportional throttle valve, and the third check valve, and is then divided into ports A1 and A2 to enter the rod chamber of the second cylinder and the rodless chamber of the first cylinder, thus completing one oil circuit cycle. The proportional throttle valve acts as a damper, reducing the amplitude of the submersible launching device swinging inward and playing a buffering and anti-rolling role.

[0021] Furthermore, the proportional throttle valve adjusts the damping size for different tonnages of submersibles during deployment and recovery, different loads, and different sea conditions, thereby achieving stiffness adjustment of the anti-sway device.

[0022] The proportional relief valve adjusts the safety protection pressure value for different loads.

[0023] Furthermore, the hydraulic bridge consists of the proportional relief valve, the third check valve, the fourth check valve, the fifth check valve, and the sixth check valve;

[0024] When the pressure at ports A1 and A2 exceeds the set value of the proportional relief valve, the pressure oil at ports A1 and A2 enters ports B1 and B2 respectively through the fifth check valve, the proportional relief valve, and the fourth check valve, thereby limiting and protecting the pressure at ports A1 and A2. When the pressure at ports B1 and B2 exceeds the set value of the proportional relief valve, the pressure oil at ports B1 and B2 enters ports A1 and A2 respectively through the sixth check valve, the proportional relief valve, and the third check valve, thereby limiting and protecting the pressure at ports B1 and B2.

[0025] A multifunctional buffer anti-sway hydraulic control method for submersible deployment is also provided, the multifunctional buffer anti-sway hydraulic control method including an active attitude adjustment method for the submersible deployment device;

[0026] The proportional relief valve and proportional throttle valve do not provide electrical signals. When the solenoid a of the electromagnetic directional valve is energized, oil flows out from port B of the electromagnetic directional valve. After passing through the balance valve, it splits into two paths, B1 and B2, which enter the rod chamber of the first cylinder and the rodless chamber of the second cylinder, respectively. This causes the first cylinder to retract while the second cylinder extends, and the submersible launching device adjusts its angle outward. When the solenoid b of the electromagnetic directional valve is energized, oil flows out from port A of the electromagnetic directional valve. After passing through the balance valve, it splits into two paths, A1 and A2, which enter the rod chamber of the second cylinder and the rodless chamber of the first cylinder, respectively. This causes the first cylinder to extend while the second cylinder retracts, and the submersible launching device adjusts its angle inward.

[0027] Furthermore, the active attitude adjustment method for the submersible launching device includes an anti-sway control method during the launching process of the submersible;

[0028] The electromagnetic directional valve is in the neutral position when not energized, the proportional relief valve is set to a certain pressure threshold, the proportional throttle valve opens to a certain degree, and the bidirectional balance valve closes the oil circuit, forming an internal circulation oil circuit.

[0029] When the launching device swings outward, the first cylinder retracts and the second cylinder extends. At this time, the oil in the rodless chamber of the first cylinder and the rod chamber of the second cylinder enters the anti-roll hydraulic module through ports A2 and A1. Then, it passes through the fifth check valve, the proportional throttle valve, and the fourth check valve, and then splits into ports B1 and B2 to enter the rod chamber of the first cylinder and the rodless chamber of the second cylinder, thus completing one oil circuit cycle. The proportional throttle valve acts as a damper, reducing the amplitude of the submersible launching device swinging outward and playing a buffering and anti-rolling role.

[0030] When the launching device swings inward, the first cylinder extends and the second cylinder retracts. At this time, the oil in the rod chamber of the first cylinder and the rodless chamber of the second cylinder enters the anti-roll hydraulic module through ports B1 and B2. Then, it passes through the sixth check valve, the proportional throttle valve, and the third check valve, and is then divided into ports A1 and A2 to enter the rod chamber of the second cylinder and the rodless chamber of the first cylinder, thus completing one oil circuit cycle. The proportional throttle valve acts as a damper, reducing the amplitude of the submersible launching device swinging inward and playing a buffering and anti-rolling role.

[0031] The beneficial effects achieved by this invention are:

[0032] The device provided by this invention has both active and passive operating modes: it can adjust the angle and attitude of the submersible's launching device in active mode, and it can also achieve anti-sway buffering of the launching device in passive mode. Bidirectional active attitude adjustment is achieved by controlling the electromagnetic reversing valve with electrical signals; the passive buffering and anti-sway function is achieved by controlling the proportional relief valve and the proportional throttle valve with electrical signals.

[0033] The device provided by this invention can realize the circuit safety protection function: the setting of the proportional relief valve can realize circuit protection under extreme conditions or when the damping parameter is not set properly, so as to avoid overload damage to the mechanical parts of the anti-sway device.

[0034] The method provided by this invention has a stepless adjustment function for anti-roll / pitch parameters during the submersible launch process: by adjusting the electrical control signal to change the pressure set value of the proportional relief valve and the opening degree of the proportional throttle valve, the safety valve threshold and anti-roll buffer stiffness of the submersible launch device can be remotely and steplessly adjusted.

[0035] The device provided by this invention has an adaptive control function for the anti-sway effect of the submersible: by installing corresponding sensors on the hydraulic cylinder and the A-frame, and using dedicated control software to adjust the control signals of the proportional relief valve and the proportional throttle valve in real time, the adaptive control of the anti-sway effect of the submersible is realized.

[0036] The hydraulic bridge circuit composed of one-way valves in the device provided by the present invention enables a proportional throttle valve to achieve anti-sway buffering function in both the front and rear directions; it also enables a proportional relief valve to achieve pressure protection function in both the front and rear directions. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a multifunctional buffer and anti-sway hydraulic device used for the deployment of submersibles.

[0038] Figure 2 This is a schematic diagram of the anti-sway hydraulic module in a multifunctional buffer anti-sway hydraulic device used for submersible deployment.

[0039] 1. Electromagnetic directional valve, 2. Bidirectional balance valve, 3. Proportional relief valve, 4. Proportional throttle valve, 5. First check valve, 6. Second check valve, 7. Third check valve, 8. Fourth check valve, 9. Fifth check valve, and 10. Sixth check valve. Detailed Implementation

[0040] The technical solution of the present invention will be described in more detail below with reference to the accompanying drawings. The present invention includes, but is not limited to, the following embodiments.

[0041] As attached Figure 1 As shown, the present invention proposes a multifunctional buffer and anti-sway hydraulic device for the deployment of submersibles. The multifunctional buffer and anti-sway hydraulic device includes a gantry system, a hoisting device, and an anti-sway system.

[0042] The gantry system includes a gantry and a gantry hydraulic cylinder; the bottom of the gantry is located near the ship's side via a pivot and can swing from the outboard to the inboard direction; the gantry hydraulic cylinder is used to support and control the rotation of the gantry.

[0043] The launching device is a bent connecting rod, with one end connected to the submersible and the other end connected to the gantry through an anti-roll system. The launching device is bent outwards.

[0044] The anti-sway system includes a first hydraulic cylinder, a second hydraulic cylinder, a first hydraulic cylinder bracket, a second hydraulic cylinder bracket, a hoisting connecting plate, and an anti-sway hydraulic module.

[0045] The cylinder body of the first hydraulic cylinder is mounted on the outer side of the top of the gantry via a first hydraulic cylinder bracket, and the cylinder body of the second hydraulic cylinder is mounted on the inner side of the top of the gantry via a second hydraulic cylinder bracket. The connection point between the second hydraulic cylinder bracket and the second hydraulic cylinder is closer to the bottom of the gantry than the connection point between the first hydraulic cylinder bracket and the first hydraulic cylinder. The piston rods of both the first and second hydraulic cylinders are connected to both ends of the lifting connecting plate, and the center of the lifting connecting plate is connected to the lifting device via a pin.

[0046] When the launching device swings towards the stern outboard chord, the piston rod of the first cylinder extends passively, and the piston rod of the second cylinder retracts passively. Together, the two cylinders provide damping to resist the rearward swing of the swaying suspension, thus providing anti-roll buffering. Similarly, when the launching device swings forward, the piston rod of the first cylinder extends passively, and the piston rod of the second cylinder retracts passively. Together, the two cylinders provide damping to resist the forward swing of the swaying suspension, thus providing anti-roll buffering.

[0047] As attached Figure 2 As shown, the anti-sway hydraulic module includes a solenoid directional valve 1, a two-way balance valve 2, a proportional relief valve 3, a proportional throttle valve 4, a first check valve 5, a second check valve 6, a third check valve 7, a fourth check valve 8, a fifth check valve 9, and a sixth check valve 10.

[0048] The electromagnetic directional valve 1 has two input terminals connected to the oil inlet and return port. It also has two output terminals, A and B, which are connected to valve group A and valve group B respectively via the bidirectional balancing valve 2. The first output terminal of the bidirectional balancing valve 2 is connected to the outlet of the first check valve 5, the outlet of the third check valve 7, the inlet of the fifth check valve 9, and valve group A. The second output terminal is connected to the outlet of the second check valve 6, the outlet of the fourth check valve 8, the inlet of the sixth check valve 10, and valve group B. The inlet of the first check valve 5 is connected to the inlet of the second check valve 6; the inlet of the third check valve 7 is connected to the inlet of the fourth check valve 8; and the outlet of the fifth check valve 9 is connected to the outlet of the sixth check valve 10. The outlet of the proportional relief valve 3 is connected to the inlet of the third check valve 7 and the fourth check valve 8; the inlet of the proportional relief valve 3 is connected to the outlet of the fifth check valve 9 and the outlet of the sixth check valve 10. The inlet of the proportional throttle valve 4 is connected to the inlet of the third check valve 7 and the fourth check valve 8; the outlet of the proportional throttle valve 4 is connected to the outlet of the fifth check valve 9 and the outlet of the sixth check valve 10. Oil is output from valve group A through oil circuit A1 into the rod chamber of the second cylinder, and through oil circuit A2 into the rodless chamber of the first cylinder; oil is output from valve group B through oil circuit B1 into the rod chamber of the first cylinder, and through oil circuit B2 into the rodless chamber of the second cylinder.

[0049] The multi-functional buffer and anti-roll hydraulic device can be used for the deployment and recovery of submersibles of different tonnages, such as 25T, 40T, and 50T. For different loads and sea conditions, the device can adjust the damping size via the proportional throttle valve 4, thereby adjusting the stiffness of the anti-roll device to achieve optimal anti-roll performance under different loads and sea conditions. Different loads can also be addressed by adjusting the safety protection pressure value via the proportional relief valve 3.

[0050] To adapt to the varying swing periods and amplitudes of the submersible's launching device caused by different sea states during navigation or operation, and to the different stiffness requirements of the launching device at different angles, this device integrates a displacement sensor inside the anti-roll cylinder to detect the swing angle of the launching device in real time, and installs a ship attitude sensor on the gantry to detect the ship's rolling amplitude. This device employs a specialized attitude control algorithm, using the real-time data detected by the cylinder displacement sensor and the ship attitude sensor as control input. After calculation, appropriate control signals are output to the proportional relief valve 3 and the proportional throttle valve 4, thereby achieving adaptive control of the submersible's anti-roll effect.

[0051] In extremely harsh sea conditions or when the equipment's operational capabilities are exceeded, excessive swaying of the submersible's launching device can cause a sharp increase in pipeline pressure, leading to system overpressure. The hydraulic bridge, consisting of the proportional relief valve 3 and the third to sixth check valves 7 to 10, provides overpressure protection for the circuit. When the pressure at valve group A exceeds the set value of the proportional relief valve 3, the pressure oil at valve group A enters valve group B via the fifth check valve 9, the proportional relief valve 3, and the fourth check valve 8, thus limiting the pressure at valve group A. Similarly, when the pressure at valve group B exceeds the set value of the proportional relief valve 3, the pressure oil at valve group B enters valve group A via the sixth check valve 10, the proportional relief valve 3, and the third check valve 7, thus limiting the pressure at port B. The hydraulic bridge, composed of the four check valves (third to sixth check valves 7 and 10), allows bidirectional pressure protection to be achieved with a single proportional relief valve.

[0052] Furthermore, the present invention also provides a multifunctional buffer anti-sway hydraulic control method for submersible deployment, the control method comprising the following parts:

[0053] The active attitude adjustment method for the submersible's hoisting device specifically includes:

[0054] The active lateral / longitudinal attitude adjustment function of the submersible launching device is mainly used when the ship is in a lateral / longitudinal state to actively adjust the launching device to a certain angle to ensure precise lifting and lowering of the submersible. In this function mode, the proportional relief valve 3 and the proportional throttle valve 4 do not provide electrical signals. When the solenoid valve 1 electromagnet a is energized, oil is discharged from port B of the electromagnet valve 1. After passing through the balance valve, it is divided into two paths, B1 and B2, which enter the rod chamber of the first cylinder and the rodless chamber of the second cylinder, respectively. This causes the first cylinder to retract while the second cylinder extends, and the launching device adjusts its angle to the left. When the solenoid valve 1 electromagnet b is energized, oil is discharged from port A of the electromagnet valve 1. After passing through the balance valve, it is divided into two paths, A1 and A2, which enter the rod chamber of the second cylinder and the rodless chamber of the first cylinder, respectively. This causes the first cylinder to extend while the second cylinder retracts, and the launching device adjusts its angle to the right. The bidirectional balance valve 2 can counteract the load on the cylinders and prevent the oil from flowing back into the two chambers of the cylinders, thereby ensuring that the launching device is maintained at a certain angle.

[0055] Anti-sway control methods during submersible deployment include:

[0056] When a ship is sailing or operating at sea, it will experience roll / pitch with a certain period and amplitude. The roll / pitch of the ship will affect the safety of the submersible launching device operation and the comfort of the submersible crew. This device uses the hydraulic valve group function design to realize the anti-roll / pitch of the submersible launching device. In anti-roll / pitch mode, the electromagnetic directional valve 1 is de-energized and in the neutral position. The proportional relief valve 3 and proportional throttle valve 4 are given a certain electrical signal, causing the proportional relief valve to set a certain threshold pressure, and the proportional throttle valve 4 to open to a certain degree. Simultaneously, the bidirectional balance valve 2 closes the oil circuit, forming an internal circulation oil circuit. When the submersible launching device (including the submersible) begins to swing violently outwards due to ship rolling, it causes the first cylinder to retract and the second cylinder to extend. At this time, the oil from the rodless chamber of the first cylinder and the rod chamber of the second cylinder enters the valve group A port through ports A2 and A1, then passes through the fifth check valve 9, the proportional throttle valve 4, and the fourth check valve 8, and then is divided into ports B1 and B2 through the valve group B port, entering the rod chamber of the first cylinder and the rodless chamber of the second cylinder, thus completing one... In each oil circuit cycle, due to the damping effect of the proportional throttle valve 4, the amplitude of the submersible launching device swinging outward is reduced, thus playing a buffering and anti-rolling role. Similarly, when the submersible launching device (including the submersible) begins to swing violently inward due to the ship's rolling, the first cylinder will extend and the second cylinder will retract. At this time, the oil in the rod chamber of the first cylinder and the rodless chamber of the second cylinder enters the valve group B port through ports B1 and B2, and then passes through the sixth one-way valve 10, the proportional throttle valve 4, and the third one-way valve 7. It then enters the rod chamber of the second cylinder and the rodless chamber of the first cylinder through ports A1 and A2 via the valve group A port, thus completing one oil circuit cycle. Due to the damping effect of the proportional throttle valve 4, the amplitude of the submersible launching device swinging inward is reduced, thus playing a buffering and anti-rolling role.

[0057] The invention is not limited to the specific embodiments described above. Those skilled in the art can implement the invention using other specific embodiments based on the disclosed content of the embodiments and accompanying drawings. Therefore, any design that adopts the design structure and concept of the invention and makes some simple changes or modifications falls within the protection scope of the invention.

Claims

1. A multi-functional cushioned anti-rolling hydraulic device for submersible vehicle deployment, characterized by, The multifunctional buffer anti-rolling hydraulic device comprises a portal system, a lifting device and an anti-rolling system; The portal system comprises a portal, the bottom end of which is arranged near the ship side through a rotating shaft and can swing in the direction from the outboard to the inboard; The lifting device is a bent connecting rod, one end of which is connected with the submersible and the other end is connected with the portal through the anti-rolling system; The anti-rolling system comprises a first oil cylinder, a second oil cylinder, a first oil cylinder support, a second oil cylinder support, a lifting connecting plate and an anti-rolling hydraulic module; The cylinder body of the first oil cylinder is arranged on the outboard end of the top of the portal through the first oil cylinder support, and the cylinder body of the second oil cylinder is arranged on the inboard end of the top of the portal through the second oil cylinder support; the piston rods of the first oil cylinder and the second oil cylinder are both connected with the two ends of the lifting connecting plate, and the center of the lifting connecting plate is connected with the lifting device through a pin shaft; The anti-rolling hydraulic module comprises an electromagnetic reversing valve (1) and a bidirectional balance valve (2); The two-way input end of the electromagnetic reversing valve (1) is connected with the oil inlet and the oil return, the electromagnetic reversing valve (1) has two output ends A and B, and the two-way output ends are connected with valve group A and valve group B through the bidirectional balance valve (2) respectively; The second output end of the bidirectional balance valve (2) enters the rod cavity of the first oil cylinder through B1 oil way and enters the non-rod cavity of the second oil cylinder through B2 oil way; the first output end enters the rod cavity of the second oil cylinder through A1 oil way and enters the non-rod cavity of the first oil cylinder through A2 oil way; The anti-rolling system comprises a proportional overflow valve (3), a proportional throttle valve (4), a third one-way valve (7), a fourth one-way valve (8), a fifth one-way valve (9) and a sixth one-way valve (10); The first output end of the bidirectional balance valve (2) is connected with the oil outlet of the third one-way valve (7), the oil inlet of the fifth one-way valve (9) and valve group A respectively; the second output end is connected with the oil outlet of the fourth one-way valve (8), the oil inlet of the sixth one-way valve (10) and valve group B respectively; The oil inlets of the third one-way valve (7) and the fourth one-way valve (8) are connected; the oil outlets of the fifth one-way valve (9) and the sixth one-way valve (10) are connected; The oil outlet of the proportional overflow valve (3) is connected with the oil inlets of the third one-way valve (7) and the fourth one-way valve (8); the oil inlets of the fifth one-way valve (9) and the sixth one-way valve (10) are connected with the oil inlet of the proportional overflow valve (3); The oil inlets of the third one-way valve (7) and the fourth one-way valve (8) are connected with the oil inlet of the proportional throttle valve (4); the oil outlets of the fifth one-way valve (9) and the sixth one-way valve (10) are connected with the oil outlet of the proportional throttle valve (4). When the electromagnetic iron a of the electromagnetic reversing valve (1) is energized, the B output end of the electromagnetic reversing valve (1) discharges oil, which, after passing through the bidirectional balance valve, is divided into B1 and B2 two ways through the valve group B port and enters the rod cavity of the first oil cylinder and the rodless cavity of the second oil cylinder respectively, so that the first oil cylinder retracts and the second oil cylinder extends, and the submersible hoisting device adjusts the angle outward; when the electromagnetic iron b of the electromagnetic reversing valve (1) is energized, the A output end of the electromagnetic reversing valve (1) discharges oil, which, after passing through the bidirectional balance valve, is divided into A1 and A2 two ways through the valve group A port and enters the rod cavity of the second oil cylinder and the rodless cavity of the first oil cylinder respectively, so that the first oil cylinder extends and the second oil cylinder retracts, and the submersible hoisting device adjusts the angle inward; The electromagnetic reversing valve (1) is not energized and is in the middle position, the proportional overflow valve (3) sets a certain threshold pressure, the proportional throttle valve (4) opens a certain opening, and the bidirectional balance valve (2) closes the oil circuit to form an internal circulation oil circuit.

2. The multi-functional cushioning anti-rolling hydraulic device according to claim 1, wherein When the hoisting device swings outward, the first oil cylinder retracts and the second oil cylinder extends, at which time the oil in the rodless cavity of the first oil cylinder and the rod cavity of the second oil cylinder enters the anti-rolling hydraulic module through A2 and A1 ports, and then passes through the fifth one-way valve (9), the proportional throttle valve (4), the fourth one-way valve (8), and is divided into B1 and B2 ports to enter the rod cavity of the first oil cylinder and the rodless cavity of the second oil cylinder, thereby completing an oil circuit circulation, and the proportional throttle valve (4) performs damping action to slow down the amplitude of the submersible hoisting device swinging outward, thereby playing a buffering anti-rolling role. When the hoisting device swings inward, the first oil cylinder extends and the second oil cylinder retracts, at which time the oil in the rod cavity of the first oil cylinder and the rodless cavity of the second oil cylinder enters the anti-rolling hydraulic module through B1 and B2 ports, and then passes through the sixth one-way valve (10), the proportional throttle valve (4), the third one-way valve (7), and is divided into A1 and A2 ports to enter the rod cavity of the second oil cylinder and the rodless cavity of the first oil cylinder, thereby completing an oil circuit circulation, and the proportional throttle valve (4) performs damping action to slow down the amplitude of the submersible hoisting device swinging inward, thereby playing a buffering anti-rolling role.

3. The multi-functional cushioning anti-rolling hydraulic device according to claim 1, wherein The proportional throttle valve (4) adjusts the damping size for different tonnage submersibles, different loads and different sea conditions, thereby realizing the stiffness adjustment of the anti-rolling device. The proportional overflow valve (3) adjusts the safety protection pressure value for different loads.

4. The multi-functional cushioning anti-rolling hydraulic device according to claim 1, wherein The hydraulic bridge composed of the proportional overflow valve (3), the third one-way valve (7), the fourth one-way valve (8), the fifth one-way valve (9) and the sixth one-way valve (10); The hydraulic bridge composed of the proportional overflow valve (3), the third one-way valve (7), the fourth one-way valve (8), the fifth one-way valve (9) and the sixth one-way valve (10); When the pressure of A1 and A2 exceeds the set value of the proportional overflow valve (3), the pressure oil of A1 and A2 enters B1 and B2 through the fifth one-way valve (9), the proportional overflow valve (3), and the fourth one-way valve (8), thereby playing a limiting protection role on the pressure of A1 and A2; when the pressure of B1 and B2 exceeds the set value of the proportional overflow valve (3), the pressure oil of B1 and B2 enters A1 and A2 through the sixth one-way valve (10), the proportional overflow valve (3), and the third one-way valve (7), thereby playing a limiting protection role on the pressure of B1 and B2.

5. A multi-functional cushioned anti-rolling hydraulic control method for submarine launching based on the multi-functional cushioned anti-rolling hydraulic device according to any one of claims 1 to 4, characterized by, The multi-functional buffer anti-rolling hydraulic control method comprises an active posture adjustment method of the submersible hoisting device. The proportional overflow valve (3) and the proportional throttle valve (4) do not provide an electrical signal, when the electromagnetic reversing valve (1) is powered on, the B output end of the electromagnetic reversing valve (1) outputs oil, which passes through the bidirectional balance valve and then passes through the valve group B to be divided into two paths of B1 and B2, and then enters the rod cavity of the first oil cylinder and the rodless cavity of the second oil cylinder, so that the first oil cylinder retracts and the second oil cylinder extends, and the submersible hoisting device adjusts the angle outwardly.

6. The multi-functional cushioning anti-sway hydraulic control method of claim 5, wherein, The active posture adjustment method of the submersible hoisting device comprises an anti-rolling control method during the hoisting process of the submersible. The electromagnetic reversing valve (1) is not powered on and is in the neutral position, the proportional overflow valve (3) is set to a certain threshold pressure, the proportional throttle valve (4) is opened to a certain opening, and the bidirectional balance valve (2) closes the oil circuit, thereby forming an internal circulation oil circuit. When the hoisting device swings outwardly, the first oil cylinder retracts and the second oil cylinder extends, at this time, the oil in the rodless cavity of the first oil cylinder and the rod cavity of the second oil cylinder enters the anti-rolling hydraulic module through A2 and A1, and then enters the rod cavity of the first oil cylinder and the rodless cavity of the second oil cylinder through the fifth one-way valve (9), the proportional throttle valve (4), and the fourth one-way valve (8), thereby completing an oil circuit circulation, and the proportional throttle valve (4) performs damping action, thereby reducing the amplitude of the swing of the submersible hoisting device outwardly and playing a buffer anti-rolling role. When the hoisting device swings inwardly, the first oil cylinder extends and the second oil cylinder retracts, at this time, the oil in the rod cavity of the first oil cylinder and the rodless cavity of the second oil cylinder enters the anti-rolling hydraulic module through B1 and B2, and then enters the rod cavity of the second oil cylinder and the rodless cavity of the first oil cylinder through the sixth one-way valve (10), the proportional throttle valve (4), and the third one-way valve (7), thereby completing an oil circuit circulation, and the proportional throttle valve (4) performs damping action, thereby reducing the amplitude of the swing of the submersible hoisting device inwardly and playing a buffer anti-rolling role.

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