An underwater experimental equipment deployment and recovery device and method with adjustable buoyancy

Abstract

This invention provides a deployment and recovery device and method for an underwater experimental device with adjustable buoyancy, comprising a lifting module, a lifting guide module, an experimental frame module, a lifting rope, and a droptable counterweight module. When the experimental device is detected to have landed on the seabed, the lifting equipment on the sea surface pulls the lifting beam module to move horizontally towards one side of the seabed. The lifting guide module and the lifting rope move with the lifting beam module from both sides of the experimental frame to the seabed, completing the deployment process. When the experimental device needs to be recovered, the hydraulic rod of the droptable counterweight module drives the slider to move outward, away from the counterweight block. The counterweight block and anti-sinking cylinder separate from the experimental device, completing the drop. The lifting equipment on the sea surface pulls the lifting beam module to move the lifting rope and guide cylinder horizontally towards the top of the experimental device. When the lifting beam module is detected to have tightened the lifting rope, the lifting equipment pulls the experimental device upward away from the seabed and gradually rises to the sea surface, ending the recovery process.

Description

Technical Field

[0001] This invention relates to the field of underwater operation technology, and in particular to a deployment and recovery device and method for underwater experimental equipment, specifically an adjustable buoyancy underwater experimental equipment deployment and recovery device and method that avoids the need to disassemble the hoisting rope. Background Technology

[0002] Oceans cover approximately 71% of the Earth's surface. With the gradual depletion of terrestrial resources, the development and utilization of marine resources has become a global concern. As marine development expands, the demand for marine experiments is increasing. The deployment and retrieval of underwater experimental equipment directly impacts the reliability and economic efficiency of marine experiments. Convenient and reliable deployment and retrieval devices and methods for underwater experimental equipment are of significant practical importance for marine resource development.

[0003] Patent application number 201921647713.1, entitled "A buttress lifting tool that eliminates the need for underwater pin removal," solves the problem of manually removing pins underwater by connecting the rope to the lifting device. Patent application number 202011514803.0, entitled "A mechanical underwater equipment lifting connection mechanism," uses a mechanical pressing operation to alternately unlock and lock, achieving automatic disassembly of the underwater lifting rope. Patent application number 202110711877.1, entitled "A deployment and recovery method using an automatic hook-and-release device," designs a structure where the connecting part and the lifting part are engaged by elastic hooks, achieving automatic hook-and-release during the deployment and recovery of underwater robotic equipment. The aforementioned patents improve the safety and convenience of underwater equipment deployment and retrieval from different perspectives, but all of them require the removal of the lifting rope after deployment and the reinstallation of the lifting rope during retrieval, which reduces the reliability of deployment and retrieval. Furthermore, none of them improve deployment and retrieval performance by adjusting the buoyancy. Summary of the Invention

[0004] This invention provides an adjustable buoyancy underwater experimental equipment deployment and recovery device and method, which enables the lifting device to land on one side of the experimental equipment. The buoyancy during deployment and recovery can be adjusted by the buoyancy cylinder of the lifting device and the drop-off counterweight at the bottom, so as to complete the underwater experiment without disassembling the lifting rope and improve the deployment and recovery performance of the experimental equipment.

[0005] The objective of this invention is achieved as follows: it includes a lifting beam module, a lifting guide module, an experimental frame module, a lifting rope, and a throwable counterweight module.

[0006] The lifting beam module includes a lifting device, two lifting device shackles, and two buoyancy cylinders. The lifting device shackles are installed in two symmetrical lifting holes at the bottom of the lifting device. The buoyancy cylinders have connecting seats at the top and bottom, which are assembled with the connecting beams extending from the top and bottom of the lifting device to ensure that the buoyancy cylinders are firmly installed on both sides of the lifting device.

[0007] The lifting guide module comprises two connecting lugs, two guide cylinders, two lifting ropes, two bearing sleeves, two radial spherical bearings, two lock nuts, and a support beam. One end of each connecting lug is a sufficiently strong ring with a clearance fit between its inner hole and the outer surface of the horizontal lifting column on the experimental frame. The other end of the connecting lug is a rectangular plate with a rectangular groove. One end of each guide cylinder has a groove machined larger than the thickness of the rectangular plate. One end of each lifting rope is fitted onto the rectangular groove of the connecting lug, and the other end passes through the guide cylinder and is mounted on the lifting shackle. The connecting lug, driven by the lifting rope, is embedded into the groove of the guide cylinder and then welded to it. The support beam has cylindrical holes at both ends, which mate with the outer rings of the radial spherical bearings. The inner rings of the radial spherical bearings are fitted onto bearing sleeves with shoulders. The lock nuts engage with the external threads at the smaller outer diameter of the bearing sleeves, fixing the inner rings of the radial spherical bearings to the bearing sleeves. The bearing sleeves are welded to the end of the guide cylinder closest to the lifting device.

[0008] The experimental frame module consists of an experimental frame, two horizontal lifting columns, two lifting column baffles, two lifting column end caps, eight nuts, two lifting lugs, and two shackles. The experimental frame is a cubic frame with four vertical columns at its four corners. The two horizontal lifting columns are symmetrically welded to the outside of the two vertical columns on one side of the frame. Each horizontal lifting column is a short cylindrical tube with a sealing plate welded to its end. The side of the short cylindrical tube without the sealing plate is welded to the vertical column of the experimental frame and extends outwards. The two lifting column baffles are vertically welded to the horizontal lifting columns, ensuring that the distance between them and the sealing plate is slightly greater than the thickness of the connecting lug of the lifting guide module, thus preventing the connecting lug of the lifting guide module from moving towards the experimental frame. Four circumferentially distributed studs are vertically welded to the sealing plate. The lifting column end caps have four circumferentially distributed through holes. The four nuts, through their engagement with the four studs, lock the lifting column end caps to the ends of the horizontal lifting columns, preventing the connecting lugs from slipping off the ends of the horizontal lifting columns. The lifting lugs are welded to two vertical columns on the other side of the experimental frame, and shackles are installed on the lifting lugs for installing the lifting ropes.

[0009] The throwable counterweight module includes a hydraulic cylinder, a hydraulic rod, a connecting rod seat, a support base, three connecting rods, three sliders, a counterweight block, and an anti-sinking cylinder. The hydraulic cylinder is vertically mounted on top of the support base. The hydraulic rod passes through a central hole in the support base and is hinged to the connecting rod seat. The horizontal disc at the bottom of the connecting rod seat has three circumferentially distributed lugs, each hinged to one of the three connecting rods. The other end of each connecting rod is hinged to a slider installed in a circumferentially distributed slide rail at the bottom of the support base. Thus, when the hydraulic rod moves up and down under the drive of hydraulic oil, the three sliders slide horizontally inward or outward along the slide rails at the bottom of the support base, driven by the connecting rods. Three circumferentially distributed vertical columns are fixed to the horizontal disc of the connecting rod seat. When the hydraulic rod moves, these three vertical columns slide up and down within three vertical holes at the top of the support base to counteract the tilting torque on the hydraulic rod caused by the equipment tilting during deployment and retrieval. The counterweight has a hexagonal plate at the top and a cylinder with a diameter smaller than the inscribed circle of the hexagon at the bottom, with the bottom of the cylinder fixed to the anti-sinking cylinder. The support base has a hexagonal groove at its center corresponding to the top of the counterweight. During deployment, the hexagonal plate at the top of the counterweight embeds into the groove, and the hydraulic rod drives three circumferentially distributed sliders to move horizontally inward. The sides and bottom of the hexagonal plate at the top of the counterweight contact the sides and bottom of the rectangular grooves on the sliders, thus firmly locking the counterweight and the anti-sinking cylinder inside the sliders. During retrieval, the hydraulic rod moves downward, causing the three sliders to slide outward, separating the hexagonal plate at the top of the counterweight from the sliders. Because the counterweight is embedded in the groove at the bottom of the support base, the experimental device remains stationary relative to the counterweight and the anti-sinking cylinder even if the experimental frame is tilted. When the experimental equipment is lifted, the counterweight and the anti-sinking cylinder automatically detach from the equipment, eliminating the lifting resistance caused by the anti-sinking cylinder being embedded in the seabed and reducing retrieval resistance by discarding the counterweight.

[0010] A method for deploying and recovering underwater experimental equipment includes the following steps:

[0011] 1. The hydraulic rod of the counterweight module retracts into the hydraulic cylinder, and the counterweight and anti-sinking cylinder are locked in the rectangular grooves at the bottom of the three sliders.

[0012] 2. The lifting equipment on the sea surface drives the lifting beam module, the lifting guide module and the lifting rope to move, so that the lifting guide module moves from the ground to the top of the experimental frame and lifts and transports the experimental device to the underwater.

[0013] 3. Once the experimental device is detected to have landed on the seabed, the hoisting equipment on the sea surface pulls the hoisting beam module to move horizontally towards the seabed on one side of the experimental frame. The hoisting guide module and hoisting rope then move with the hoisting beam module from both sides of the experimental frame to the seabed, completing the deployment process.

[0014] 4. When it is necessary to recover the experimental device, the hydraulic rod of the counterweight module can be thrown to drive the slider to move outward away from the counterweight block. The counterweight block and the anti-sinking cylinder are separated from the experimental device, and the throwing is completed.

[0015] 5. The hoisting equipment on the sea surface pulls the hoisting beam module, which in turn moves the hoisting rope and guide cylinder to the top of the experimental device.

[0016] 6. Once the lifting beam module is detected to have tightened the lifting rope, the lifting equipment pulls the experimental device upwards, lifting it away from the seabed and gradually rising to the sea surface, thus ending the recovery process.

[0017] Compared with existing technologies, the beneficial effects of this invention are: 1. The structure of assembling a buoyancy cylinder with the hoisting beam increases buoyancy in water and reduces the impact of gravity load during deployment and recovery. 2. When the hoisting beam moves from the top of the experimental device to the seabed, the guide cylinder drives the hoisting rope to swing from both sides of the experimental device to the seabed, enabling underwater experimental operations to be completed without disassembling the hoisting rope. 3. It has a load-dropping function. When hoisting and recovery are required, the counterweight and anti-sinking cylinder at the bottom of the experimental frame can be separated from the main body, reducing the impact of gravity on hoisting and recovery. 4. The slider structure used in the load-dropping mechanism has high load-bearing capacity and good guiding performance. The slider groove and the counterweight are locked through surface contact, enabling the locking and dropping of heavy counterweights, resulting in high structural reliability. 5. The load-dropping mechanism has strong adaptability. By changing the diameter and height of the cylindrical part of the counterweight, it can adapt to different experimental devices. In addition, the groove at the bottom of the support base ensures that the lateral force of the counterweight acts on the support base when the experimental frame lands on the seabed at different angles, while the vertical column on the connecting rod base can assist the hydraulic rod in bearing the tilting moment. Therefore, the jettison mechanism can realize the smooth jettison when the underwater experimental device lands at different angles. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the underwater deployment and recovery device in its hoisting state;

[0019] Figure 2 This is a structural schematic diagram of the hoisting beam module;

[0020] Figure 3 This is a structural schematic diagram of the hoisting guide module;

[0021] Figure 4 This is a cross-sectional view of the hoisting guide module at the connecting lug end;

[0022] Figure 5 This is a cross-sectional view of the spherical plain bearing assembly;

[0023] Figure 6 This is a schematic diagram of the experimental framework module;

[0024] Figure 7 This is a structural schematic diagram of a throwable counterweight module;

[0025] Figure 8 This is a cross-sectional schematic diagram of the throwable counterweight module in the locked state;

[0026] Figure 9 This is a cross-sectional schematic diagram of the throwable counterweight module in the throw-out state;

[0027] Figure 10 This is a schematic diagram of the underwater deployment and recovery device in its seabed landing state;

[0028] Figure 11 This is a cross-sectional schematic diagram of the second implementation scheme of the throwable counterweight module. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0030] Combined with appendix Figure 1 The deployment and recovery device of the present invention consists of a hoisting beam module 1, a hoisting guide module 2, a hoisting rope 3, an experimental frame module 4, and a throwable counterweight module 5.

[0031] Combined with appendix Figure 2 The lifting beam module 1 includes a lifting device 11, a buoyancy cylinder 12, and a lifting device shackle 13. The two lifting device shackles 13 are installed in two symmetrical lifting holes at the bottom of the lifting device 11. The two buoyancy cylinders 12 have connecting seats at the top and bottom, which are assembled with the connecting beams extending from the top and bottom of the lifting device 11 and installed parallel to both sides of the lifting device 11.

[0032] Combined with appendix Figure 3-5 The hoisting guide module 2 includes a connecting lug 21, a guide cylinder 22, a hoisting rope 23, a bearing sleeve 24, a radial spherical bearing 25, a locking nut 26, and a supporting beam 27. One end of the connecting lug 21 is a ring with sufficient strength, and the inner hole of the ring is clearance-fitted with the outer surface of the horizontal hanging column on the experimental frame 41. The other end of the connecting lug 21 is a rectangular plate with a rectangular groove. One end of the guide cylinder 22 is machined with a groove larger than the thickness of the rectangular plate. One end of the hoisting rope 23 is fitted onto the rectangular groove of the connecting lug 21, and the other end passes through the guide cylinder 22 and is installed on the lifting shackle 13. The connecting lug 21 is embedded into the groove of the guide cylinder 22 under the action of the hoisting rope 23 and then welded to the guide cylinder 22. The support beam 27 has cylindrical holes at both ends, which mate with the outer ring of the radial spherical bearing 25. The inner ring of the radial spherical bearing 25 is fitted onto the bearing sleeve 24 with a shoulder. The locking nut 26 mates with the external thread at the smaller outer diameter of the bearing sleeve 24, fixing the inner ring of the radial spherical bearing 25 onto the bearing sleeve 24. The bearing sleeve 24 is welded to the end of the guide cylinder 22 near the lifting device 11.

[0033] Combined with appendix Figure 1 Appendix Figure 6 The experimental frame module 4 consists of an experimental frame 41, two horizontal hanging columns 42, two hanging column baffles 43, two hanging column end caps 44, eight nuts 45, two lifting lugs 46, and two shackles 47. The two horizontal hanging columns 42 are symmetrically welded to the outside of the two vertical columns on one side of the experimental frame 41. The horizontal hanging columns 42 are cylindrical tubes with end caps welded to them. The side of the cylindrical tube without end caps is welded to the vertical column of the experimental frame 41 and extends outward from the outside of the experimental frame 41. Two lifting column baffles 43 are vertically welded to the horizontal lifting column, ensuring that the distance between them and the sealing plate is slightly greater than the thickness of the connecting lug 21 of the lifting guide module 2, so as to prevent the connecting lug 21 of the lifting guide module 2 from moving towards the experimental frame 41. Four circumferentially distributed studs are vertically welded to the sealing plate. The lifting column end cap 44 has four circumferentially distributed through holes. Four nuts 45 lock the lifting column end cap 44 to the end of the horizontal lifting column by cooperating with the four studs, so as to prevent the connecting lug 21 from slipping off the end of the horizontal lifting column 42. Lifting lugs 46 are welded to two vertical columns on the other side of the experimental frame 41. Shackles 47 are installed on the lifting lugs 46 for installing the lifting rope 4.

[0034] Combined with appendix Figure 7-9The throwable counterweight module 5 includes a hydraulic cylinder 51, a connecting rod seat 52, a support seat 53, a connecting rod 54, a slider 55, a counterweight block 56, an anti-sinking cylinder 57, and a hydraulic rod 58. The hydraulic cylinder 51 is vertically mounted on the top of the support base 53. The hydraulic rod 58 passes through the circular hole in the center of the support base 53 and is hinged to the connecting rod seat 52. The horizontal disc at the bottom of the connecting rod seat 52 has three circumferentially distributed lugs, which are respectively hinged to three connecting rods 54. The other ends of the three connecting rods 54 are respectively hinged to three sliders 55 installed in the circumferentially distributed slides at the bottom of the support base 53. Thus, when the hydraulic rod 58 moves up and down under the drive of hydraulic oil, the three sliders 55 slide horizontally inward or outward along the slides at the bottom of the support base 53 under the drive of the connecting rods 54. Three circumferentially distributed vertical columns are fixed on the horizontal disc of the connecting rod seat 52. When the hydraulic rod 58 moves, these three vertical columns slide up and down in the three vertical holes at the top of the support base 53 to enhance the strength of the mechanism and counteract the tilting torque of the hydraulic rod 58 caused by the tilting of the equipment during the deployment and retrieval process. The counterweight 56 ​​has a hexagonal plate at the top and a cylinder with a diameter smaller than the inscribed circle of the hexagon at the bottom. The bottom of the cylinder is fixedly connected to the anti-sinking cylinder 57. The support base 53 has a hexagonal groove at the center of its bottom surface, corresponding to the top of the counterweight 56. During placement, the hexagonal plate at the top of the counterweight 56 ​​is inserted into the hexagonal groove. The hydraulic rod 58 drives three circumferentially distributed sliders 55 to move horizontally inward. The sides and bottom of the hexagonal plate at the top of the counterweight 56 ​​contact the sides and bottom of the rectangular grooves of the sliders 55, thus firmly locking the counterweight 56 ​​and the anti-sinking cylinder 57 inside the sliders. During retrieval, the hydraulic rod 58 moves downward, causing the three sliders 55 to slide outward, separating the hexagonal plate at the top of the counterweight 56 ​​from the sliders 55. Because the counterweight 56 ​​is embedded in the groove at the bottom of the support base 53, even if the experimental frame 41 is tilted, the experimental apparatus remains stationary relative to the counterweight 56 ​​and the anti-sinking cylinder 57. When the experimental equipment is lifted, the counterweight 56 ​​and the anti-sinking cylinder 57 automatically detach from the experimental equipment. Not only is there no lifting resistance caused by the anti-sinking cylinder 57 being embedded in the seabed, but the recovery resistance is also reduced by discarding the counterweight.

[0035] Combined with appendix Figure 1 Appendix Figure 8-10 A method for deploying and recovering underwater experimental equipment includes the following steps:

[0036] 1. The hydraulic rod 58 of the counterweight assembly 5 retracts into the hydraulic cylinder 52, and the counterweight block 56 and the anti-sinking cylinder 57 are locked in the grooves at the bottom of the three sliders 55.

[0037] 2. The hoisting equipment on the sea surface drives the hoisting beam module 1, the hoisting guide module 2 and the hoisting rope 3 to move, so that the hoisting guide module 2 moves from the ground to the top of the experimental frame 41 and lifts and transports the experimental device to the underwater.

[0038] 3. Once the experimental device is detected to have landed on the seabed, the hoisting equipment on the sea surface pulls the hoisting beam module 1 to move horizontally towards the seabed on one side of the experimental frame. The hoisting guide module 2 and the hoisting rope 3 then move with the hoisting beam module 1 from both sides of the experimental frame 41 to the seabed, completing the deployment process.

[0039] 4. When the experimental device needs to be recovered, the hydraulic rod 58 of the counterweight module 5 can be thrown out of the hydraulic cylinder 52, driving the slider 55 to move outward away from the counterweight block 56. The counterweight block 56 and the anti-sinking cylinder 57 are separated from the experimental device, and the throwing is completed.

[0040] 5. The hoisting equipment on the sea surface pulls the hoisting beam module 1, which in turn drives the hoisting rope 3 and the guide cylinder 22 to move horizontally toward the top of the experimental device.

[0041] 6. Once the lifting beam module 1 is detected to have tightened the lifting rope 3, the lifting equipment will pull the experimental device upwards away from the seabed and gradually rise to the sea surface, thus ending the recovery process.

[0042] The above is only one specific embodiment of the present invention, and other specific embodiments may be adopted as needed. (See attached figures.) Figure 11 The second specific embodiment of the present invention is as follows:

[0043] When the seabed is hard rock, the separation resistance between the anti-sinking cylinder and the seabed is very small, so it is not necessary to jettison the anti-sinking cylinder. Therefore, the top of the anti-sinking cylinder 57-1 is designed as a hollow annular plate, which is fixed to the bottom of the experimental frame 41. The counterweight 56-1 passes through the annular plate at the top of the anti-sinking cylinder 57-1 and is locked in the groove of the three sliders 55. During recovery, the hydraulic rod 58 moves downward, causing the three sliders 55 to slide outward and separate from the regular hexagonal plate at the top of the counterweight 56-1, thus achieving the jettisoning of the counterweight 56-1. The anti-sinking cylinder 57-1 is then lifted and recovered along with the experimental frame 41. In this way, the recovery resistance is reduced, and the anti-sinking cylinder can be reused in multiple experiments, reducing the experimental cost.

Claims

1. A deployment and recovery device for underwater experimental equipment with adjustable buoyancy, characterized in that: The system includes a lifting beam module, a lifting guide module, an experimental frame module, lifting ropes, and a droptable counterweight module. Once the experimental device is detected to have landed on the seabed, the lifting equipment on the sea surface pulls the lifting beam module to move horizontally towards one side of the experimental frame. The lifting guide module and lifting ropes then move with the lifting beam module from both sides of the experimental frame to the seabed, completing the deployment process. When the experimental device needs to be retrieved, the hydraulic rod of the droptable counterweight module drives the slider to move outward, away from the counterweight block. The counterweight block and anti-sinking cylinder separate from the experimental device, completing the drop. The lifting equipment on the sea surface then pulls the lifting beam module, which in turn moves the lifting ropes and guide cylinder horizontally towards the top of the experimental device. Once the lifting beam module is detected to have tightened the lifting ropes, the lifting equipment pulls the experimental device upward, lifting it away from the seabed and gradually rising to the surface, ending the retrieval process. The throwable counterweight module includes a hydraulic cylinder, a hydraulic rod, a connecting rod seat, a support base, three connecting rods, three sliders, a counterweight, and an anti-sinking cylinder. The hydraulic cylinder is vertically mounted on the top of the support base. The hydraulic rod passes through a circular hole in the center of the support base and is hinged to the connecting rod seat. The horizontal disc at the bottom of the connecting rod seat has three circumferentially distributed lugs, which are hinged to the three connecting rods respectively. The other end of the connecting rod is hinged to three sliders installed in circumferentially distributed slides at the bottom of the support base. Three circumferentially distributed vertical columns are fixedly connected to the horizontal disc of the connecting rod seat. The top of the counterweight is a regular hexagonal plate, and the bottom is a cylinder with a diameter smaller than the inscribed circle of the hexagon. The bottom of the cylinder is fixedly connected to the anti-sinking cylinder. The center of the bottom surface of the support base is designed with a regular hexagonal groove corresponding to the top of the counterweight. The lifting beam module includes a lifting device, two lifting device shackles, and two buoyancy cylinders. The lifting device shackles are installed in two symmetrical lifting holes at the bottom of the lifting device. The buoyancy cylinders have connecting seats at the top and bottom, which are assembled with the connecting beams extending from the top and bottom of the lifting device to ensure that the buoyancy cylinders are firmly installed on both sides of the lifting device. The hoisting guide module includes two connecting lugs, two guide cylinders, two bearing sleeves, two radial spherical bearings, two lock nuts, and a support beam. One end of the connecting lug is a sufficiently strong ring with a clearance fit between the inner hole of the ring and the outer surface of the horizontal lifting column on the experimental frame. The other end of the connecting lug is a rectangular plate with a rectangular groove. One end of the guide cylinder is machined with a groove larger than the thickness of the rectangular plate. One end of the hoisting rope is looped on the rectangular groove of the connecting lug, and the other end passes through the guide cylinder and is installed on the shackle of the lifting device. The connecting lug is embedded into the groove of the guide cylinder by the hoisting rope and then welded to the guide cylinder. The support beam has cylindrical holes at both ends, which fit with the outer ring of the radial spherical bearing. The inner ring of the radial spherical bearing is fitted onto the bearing sleeve with a shoulder. The lock nuts fit with the external thread at the smaller outer diameter of the bearing sleeve, fixing the inner ring of the radial spherical bearing to the bearing sleeve. The bearing sleeve is welded to the end of the guide cylinder near the lifting device. The experimental frame module consists of an experimental frame, two horizontal lifting columns, two lifting column baffles, two lifting column end caps, eight nuts, two lifting lugs, and two shackles. The experimental frame is a cubic frame with four vertical columns at the four corners. The two horizontal lifting columns are symmetrically welded to the outside of the two vertical columns on one side of the frame. The horizontal lifting columns are short cylindrical tubes with end caps welded to them. The side of the short cylindrical tube without end caps is welded to the vertical column of the experimental frame and extends outward from the outside of the experimental frame. The two lifting column baffles are vertically welded to the horizontal lifting columns. The end caps have four circumferentially distributed studs welded vertically to them. The lifting column end caps have four circumferentially distributed through holes. The four nuts lock the lifting column end caps to the ends of the horizontal lifting columns by engaging with the four studs. The lifting lugs are welded to the two vertical columns on the other side of the experimental frame. The shackles are installed on the lifting lugs for attaching the lifting ropes.

2. A recovery method for an underwater experimental equipment deployment and recovery device based on the adjustable buoyancy of claim 1, characterized in that, The hydraulic rod of the throwable counterweight module retracts into the hydraulic cylinder, locking the counterweight and anti-sinking cylinder within the rectangular slots at the bottom of the three sliders. The lifting equipment on the sea surface moves the lifting beam module, lifting guide module, and lifting ropes, causing the lifting guide module to move from the ground to the top of the experimental frame and lift and transport the experimental device underwater. Once the experimental device is detected to have landed on the seabed, the lifting equipment on the sea surface pulls the lifting beam module towards the seabed on one side of the experimental frame. The lifting guide module and lifting ropes then move with the lifting beam module from both sides of the experimental frame to the seabed, completing the deployment process. When the experimental device needs to be retrieved, the hydraulic rod of the throwable counterweight module moves the sliders outward, away from the counterweight, separating the counterweight and anti-sinking cylinder from the experimental device, completing the throw-off. The lifting equipment on the sea surface pulls the lifting beam module, moving the lifting ropes and guide cylinder towards the top of the experimental device. Once the lifting beam module is detected to have tightened the lifting ropes, the lifting equipment pulls the experimental device upward, lifting it away from the seabed and gradually rising to the surface, ending the retrieval process.

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