A deployment and recovery system for underwater heavy-load operation equipment

Abstract

The present invention discloses a system for deploying and recovering underwater heavy-loaded operating equipment, which relates to the technical field of marine equipment and includes: a deploying and recovering system tower; a steel cable deploying and recovering system installed on the deploying and recovering system tower, which is connected to a heavy-loaded equipment deploying and recovering bracket via a steel cable, and the heavy-loaded equipment deploying and recovering bracket can be locked and connected to the underwater heavy-loaded operating equipment to realize the deployment and recovery of the underwater heavy-loaded operating equipment; a compensation device including a compensation arm, a compensation arm movable fairlead wheel provided at the end of the compensation arm, and the end of the compensation arm can drive the compensation arm movable fairlead wheel to swing up and down; an umbilical cable storage winch is wound around an umbilical cable, and one end of the umbilical cable passes around the compensation arm movable fairlead wheel and is connected to the underwater heavy-loaded operating equipment. The present invention drives the compensation arm movable fairlead wheel to swing up and down by the compensation arm, thereby changing the tension of the umbilical cable wound on the compensation arm movable fairlead wheel, thereby eliminating the need for the umbilical cable storage winch to frequently reel in and release the umbilical cable to adjust and compensate its tension.

Description

Technical Field

[0001] The present invention relates to the technical field of marine devices, and in particular to a deployment and recovery system for underwater heavy-load operation equipment. Background Art

[0002] With the increasing demand for ocean exploration and deep-sea mineral resources, a growing number of underwater heavy-duty equipment are being connected by umbilical cables. Umbilical cables are a special type of cable, primarily composed of electrical cables (power or signal cables), optical cables (single-mode or multi-mode cables), and hydraulic or chemical pipes (steel pipes or hoses). The design and function of umbilical cables play a crucial role in marine engineering, particularly in deepwater oil and gas exploration and development.

[0003] Due to its heavy weight, underwater heavy-lift equipment poses operational challenges to the vessel's deployment and recovery system. Furthermore, its operational characteristics require the use of a large umbilical cable. The umbilical cable is the critical lifeline of the underwater heavy-lift equipment, and its operational quality impacts the safety of the system. The umbilical cable requires a certain tension during use. However, excessive or insufficient tension can damage the cable, reducing its service life. One end of the umbilical cable is attached to the vessel's umbilical cable storage winch, and the other end is connected to the underwater heavy-lift equipment. The umbilical cable between the umbilical cable storage winch and the underwater heavy-lift equipment must maintain a set tension. Due to the complex marine environment, the underwater heavy-lift equipment often experiences relatively small displacements relative to the vessel during underwater operations. When these displacements change, the tension on the umbilical cable must be compensated promptly to prevent damage caused by excessive tension or slack in the umbilical cable.

[0004] Existing umbilical cable compensation devices often use multiple pulleys in conjunction with an umbilical cable storage winch. When small displacements occur between the vessel and the underwater heavy-duty equipment, tension compensation is achieved by frequently reeling or releasing the umbilical cable between the vessel and the underwater heavy-duty equipment. Umbilical cables are bend-sensitive, and frequent reeling and releasing can significantly reduce their lifespan. Therefore, a solution that can compensate for umbilical cable tension without frequent reeling and releasing is urgently needed. Summary of the Invention

[0005] The purpose of the present invention is to provide an underwater heavy-load operation equipment deployment and recovery system to solve the problems existing in the above-mentioned prior art. The compensation arm drives the compensation arm movable fairlead wheel to swing up and down, thereby changing the tension of the umbilical cable wound on the compensation arm movable fairlead wheel, thereby eliminating the need for the umbilical cable storage winch to frequently reel in and release the umbilical cable to adjust and compensate its tension.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a deployment and recovery system for underwater heavy-load operation equipment, comprising:

[0008] Retractable system tower;

[0009] The steel cable deploying and recovery system is installed on the deploying and recovery system tower, which is connected to a heavy-duty equipment deploying and recovery bracket through a steel cable. The heavy-duty equipment deploying and recovery bracket can be locked and connected with the underwater heavy-duty operation equipment for realizing the deployment and recovery of the underwater heavy-duty operation equipment. The locking connection method of the heavy-duty equipment deploying and recovery bracket and the underwater heavy-duty operation equipment is not specifically limited. A metal structure with magnetic attraction ability such as an iron block can be fixed on the top of the underwater heavy-duty operation equipment, and an electromagnet is set at the bottom of the heavy-duty equipment deploying and recovery bracket. The adsorption, locking and release and unlocking of the underwater heavy-duty operation equipment can be realized by turning the power on and off of the electromagnet. Other structures can also be used. For example, a hanging ring is fixed on the top of the underwater heavy-duty operation equipment, and a cylinder-driven clamp is set at the bottom of the heavy-duty equipment deploying and recovery bracket. The hanging ring is clamped by the clamp to realize the locking of the underwater heavy-duty operation equipment. When the underwater heavy-duty operation equipment is deployed, the clamp is controlled by the cylinder to release the hanging ring, so that the deployment of the underwater heavy-duty operation equipment can be realized.

[0010] The compensating device comprises a compensating arm, wherein a compensating arm movable fairlead is provided at the end of the compensating arm, and the end of the compensating arm can drive the compensating arm movable fairlead to swing up and down;

[0011] The umbilical cable storage winch is wound with an umbilical cable. One end of the umbilical cable passes around the compensation arm and moves the fairlead pulley to connect to the underwater heavy-load operation equipment, reducing damage to the umbilical cable. The umbilical cable storage winch is connected to an umbilical cable motor, which can control the rotation of the umbilical cable roller on the umbilical cable storage winch. The umbilical cable roller is used to wind the umbilical cable, thereby realizing the retraction and deployment of the umbilical cable. The steel cable of the steel cable deployment and recovery system is used to bear the main weight of the underwater heavy-load operation equipment during the entry phase, reducing the swaying of the equipment before entering the water; it fully ensures the operational safety of the umbilical cable, greatly reduces the bending of the umbilical cable, limits the swaying of the equipment before entering the water, ensures the safety of the system operation, increases the system life, and reduces the system footprint, facilitating safe operation and maintenance.

[0012] Optionally, the retraction and deployment system tower is arranged on one side of the ship deck; the retraction and deployment system tower comprises an upper frame and a lower frame, the lower frame is fixed on the ship deck, the lower frame is provided with an umbilical cable storage winch slide rail, and the umbilical cable storage winch is slidably provided on the umbilical cable storage winch slide rail; the umbilical cable storage winch moves along the bow and stern direction of the ship on the umbilical cable storage winch slide rail, and a horizontally arranged hydraulic cylinder can be arranged here to control the horizontal sliding of the umbilical cable storage winch on the umbilical cable storage winch slide rail, and a screw nut mechanism can also be used to realize the sliding of the umbilical cable storage winch on the umbilical cable storage winch slide rail, the screw is arranged parallel to the umbilical cable storage winch slide rail, the screw nut is connected to the umbilical cable storage winch, and the screw is driven to rotate by the screw nut motor, so that the screw nut drives the umbilical cable storage winch to move horizontally along the umbilical cable storage winch slide rail. When the umbilical cable completes one turn on the umbilical cable storage winch, it moves a distance of one cable diameter to ensure the umbilical cable is neatly arranged on the umbilical cable storage winch. Otherwise, poor cable arrangement on the umbilical cable storage winch can cause cables to cross and damage the umbilical cable. The umbilical cable storage winch using the present invention does not introduce additional bends during the cable arrangement process, fully protecting the umbilical cable. The upper frame is a T-shaped platform structure, and is equipped with the compensation arm and the steel cable deployment and recovery system.

[0013] Optionally, the steel cable laying and recovery system includes two steel cable winches symmetrically arranged on both sides of the compensating arm, the steel cable winch transmission is connected to a steel cable retraction and discharge motor, and the steel cable is retracted and released by controlling the rotation of the roller on the steel cable winch, and the steel cable is wound on the steel cable winch; steel cable guide pulley brackets are symmetrically provided on both sides of the end of the compensating arm, and a steel cable guide pulley is movably provided on the steel cable guide pulley bracket. One end of the steel cable on the steel cable winch passes around the steel cable guide pulley on the same side and is connected to the heavy-load equipment retracting and releasing bracket. The steel cable guide pulleys are arranged on both sides of the compensating arm and can be driven to deflect. The steel cable extends from a steel cable winch, passes around the steel cable guide pulley on the same side, and is connected to the steel cable bearing heads arranged in pairs from the cable holes. Before the underwater heavy-load operation equipment enters the water, the main load-bearing of the steel cable winch and the steel cable is to avoid the load-bearing of the umbilical cable and damage to the equipment. In other embodiments, the steel cable bearing head can be arranged on the underwater heavy-load operation equipment according to actual needs. After the underwater heavy-load operation equipment is deployed, it is always connected to the steel cable to facilitate dragging the underwater heavy-load operation equipment to the heavy-load operation equipment retraction bracket. When the steel cable bearing head is set on the heavy-load operation equipment retraction bracket, when the underwater heavy-load operation equipment is recovered, the underwater heavy-load operation equipment is dragged to move by the umbilical cable. Due to the buoyancy of the sea, the dragging of the umbilical cable does not require a lot of force, which can reduce the damage to the umbilical cable. It is only briefly dragged to the heavy-load operation equipment recovery bracket during recovery. When the underwater heavy-load operation equipment is locked and connected to the heavy-load operation equipment recovery bracket, the umbilical cable is no longer needed to provide dragging force, and the steel cable is used instead to provide the force to drag the equipment up and recover.

[0014] Optionally, the upper frame is provided with an extension extending out from the side of the ship near the sea surface; the steel cable deployment and recovery system includes a deployment track vertically fixed to the bottom of the extension, and the heavy-load equipment deployment bracket can move up and down along the deployment track; the deployment track is fixed to the outside of the deployment and recovery system tower and extends below the water surface. During the release of the underwater heavy-load operation equipment, the steel cable winch synchronously releases the cable, driving the heavy-load equipment deployment bracket to smoothly lower the underwater heavy-load operation equipment along the deployment track until it is completely submerged in water, and the heavy-load equipment deployment bracket disconnects the locking connection with the underwater heavy-load operation equipment. The deployment track mainly has the function of limiting the freedom of the underwater heavy-load operation equipment before entering the water.

[0015] Optionally, the compensation device also includes a compensation arm fixing a fairlead wheel, and a horizontally arranged fairlead wheel shaft is installed on the end of the upper frame away from the sea surface through a connecting frame, and the compensation arm fixing fairlead wheel is sleeved on the fairlead wheel shaft, and the compensation arm fixing fairlead wheel can rotate on the fairlead wheel shaft; both ends of the fairlead wheel shaft are connected to the end of the compensation arm away from the compensation arm moving fairlead wheel; the lower part of the compensation arm is connected to a driving device, and the driving device can drive the compensation arm to rotate up and down around the fairlead wheel shaft.

[0016] Optionally, the drive device includes a compensating arm hydraulic cylinder, the bottom of which is fixedly mounted on the tower of the retracting and launching system. The end of the telescopic rod of the compensating arm hydraulic cylinder passes through the through hole of the upper frame and is connected to the lower part of the compensating arm. The compensating arm hydraulic cylinder drives the compensating arm to swing, and the compensating arm moves, causing the mobile fairlead to move in a direction with at least a vertical principal component relative to the retracting and launching system tower. During the compensation process, the up and down movement of the mobile fairlead compensates for the movement of the underwater heavy-load operation equipment relative to the deployment and recovery system, so as to keep the movement of the mobile fairlead relative to the underwater heavy-load operation equipment less than the vertical component of the movement of the deployment and recovery system relative to the underwater heavy-load operation equipment. When the compensating arm hydraulic cylinder is in a neutral position, the mobile fairlead and the fixed fairlead are at approximately the same height. When the compensating arm hydraulic cylinder is extended, the compensating arm swings upward, increasing the distance, and the compensating arm hydraulic cylinder is fully extended, at which point it is at its highest position. When the compensating arm hydraulic cylinder is retracted, reducing the distance, the compensating arm hydraulic cylinder is fully retracted, at which point it is at its lowest position.

[0017] Optionally, the extension portion is provided with a cable hole or a U-shaped groove for the steel cable and the umbilical cable to pass through.

[0018] Optionally, an umbilical cable channel is provided on the heavy-load equipment retraction and deployment bracket, and after one end of the umbilical cable passes through the umbilical cable channel, it is connected to the underwater heavy-load operation equipment through the umbilical cable load-bearing head; an umbilical cable detection device is provided at the umbilical cable channel, and the umbilical cable detection device may include a visual sensor, a photoelectric sensor, a tension sensor, a tension tester, etc., which belongs to the existing technical structure and is used to detect the status of the umbilical cable, including the tension of the umbilical cable, the degree of surface damage, etc., and the detection data can be transmitted to the control system. The operator controls the compensation arm to swing up and down through the data of the control system to realize the tension compensation of the umbilical cable. The control system can adopt computers, numerical control devices, etc. in the existing technology, so no further details will be given, thereby realizing the status detection and management of the umbilical cable throughout its life cycle.

[0019] Optionally, a plurality of steel cable load-bearing heads are fixedly provided on the top of the heavy-load equipment retracting and unfolding bracket, and one end of the steel cable is fixedly connected to the steel cable load-bearing head on the same side thereof.

[0020] Optionally, the heavy-load equipment retraction and deployment bracket is equipped with support rollers on the inner side. These rollers are rotatably mounted on the deployment track, allowing the heavy-load equipment retraction and deployment bracket to move only along the deployment track. This restricts the freedom of movement of the underwater heavy-load operation equipment before it enters the water and reduces equipment sway. With the exception of the underwater heavy-load operation equipment and the heavy-load equipment retraction and deployment bracket, the remaining components of the present invention are arranged on the inner side of the ship's tower. During equipment operation and maintenance, the layout is open and easy to operate, well-lit, and reduces the safety risks of working outside the shipboard.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] The umbilical cable of the present invention passes around the compensation arm and moves the fairlead wheel to connect with the underwater heavy-load operation equipment. When the ship and the underwater heavy-load operation equipment move slightly away from each other, the tension on the umbilical cable increases. The compensation arm controls the fairlead wheel to swing downward, thereby reducing the tension on the umbilical cable. When the ship and the underwater heavy-load operation equipment move slightly closer, the tension on the umbilical cable decreases. The compensation arm controls the fairlead wheel to swing upward, thereby increasing the tension on the umbilical cable. This eliminates the need for frequent reeling or releasing of the umbilical cable, thereby achieving a tension compensation function for the umbilical cable. During the deployment and recovery of the underwater heavy-load operation equipment, the steel cable bears the weight of the underwater heavy-load operation equipment, thereby avoiding excessive stress on the umbilical cable during the deployment and recovery process and reducing damage to the umbilical cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a structural diagram of the underwater heavy-load operation equipment deployment and recovery system of the present invention;

[0025] Figure 2 This is a schematic diagram of lowering underwater heavy-load operation equipment of the underwater heavy-load operation equipment deployment and recovery system of the present invention;

[0026] Figure 3 This is a schematic diagram of the umbilical cable compensation of the underwater heavy-load operation equipment deployment and recovery system of the present invention;

[0027] Figure 4 This is a schematic diagram of the cable storage state of the umbilical cable storage winch of the underwater heavy-load operation equipment deployment and recovery system of the present invention.

[0028] Explanation of the accompanying reference numerals: 1-umbilical cable storage winch; 2-umbilical cable; 3-compensating arm fixed cable guide wheel; 4-compensating arm; 5-compensating arm movable cable guide wheel; 6-umbilical cable detection device; 7-umbilical cable bearing head; 8-heavy-load equipment retracting and lowering bracket; 9-underwater heavy-load operation equipment; 10-retracting and lowering system tower; 11-umbilical cable storage winch slide rail; 12-steel cable winch; 13-steel cable; 14-steel cable guide pulley; 15-steel cable guide pulley bracket; 16-steel cable bearing head; 17-compensating arm hydraulic cylinder; 18-deployment track; 19-bracket roller. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide an underwater heavy-load operation equipment deployment and recovery system to solve the problems existing in the above-mentioned prior art. The compensation arm drives the compensation arm movable fairlead wheel to swing up and down, thereby changing the tension of the umbilical cable wound on the compensation arm movable fairlead wheel, thereby eliminating the need for the umbilical cable storage winch to frequently reel in and release the umbilical cable to adjust and compensate its tension.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, this embodiment provides a system for deploying and recovering underwater heavy-load equipment, including an umbilical cable handling system with a compensation function, a steel cable deployment and recovery system, a deployment and recovery system tower 10, and a heavy-load equipment deployment and recovery bracket 8. The umbilical cable handling system with a compensation function includes a movable umbilical cable storage winch 1 and a compensation arm 4. The steel cable deployment and recovery system includes a pair of steel cable winches 12, a heavy-load equipment deployment and recovery bracket 8, and a deployment track 18, which is used to bear the main weight of the underwater heavy-load equipment 9 during the submersible phase and reduce the swaying of the underwater heavy-load equipment 9 before entering the water. The umbilical cable handling system with a compensation function is compactly arranged on the deployment and recovery system tower 10 located on the side. The umbilical cable handling system with a compensation function fully ensures the operational safety of the underwater heavy-load equipment 9, greatly reduces the bending of the umbilical cable 2, ensures system safety, and increases system life. It also reduces the system footprint, facilitating safe operation and maintenance.

[0033] In this embodiment, the launch and retraction system tower 10 is positioned on one side of the ship's deck, supporting all components. The launch and retraction system tower 10 consists of two layers. The lower layer is fixed to the ship's deck and is equipped with umbilical cable storage winch slide rails 11 and umbilical cable storage winch 1. The upper layer is a T-shaped platform, equipped with a compensating arm 4, a pair of steel cable winches 12, and a steel cable guide pulley 14. The launch and retraction system tower 10 has an extension on its seaward side. The bottom of this extension is equipped with a deployment track 18 extending below the water surface. The upper layer has two central holes that allow the compensating arm hydraulic cylinder 17 to move and the cable to enter and exit freely.

[0034] In this embodiment, the compensating arm hydraulic cylinder 17 is hinged between the compensating arm 4 and the retracting and launching system tower 10, and is used to drive the compensating arm 4 to swing up and down. A compensating arm fixed fairlead 3 is provided at one end of the compensating arm 4. The compensating arm fixed fairlead 3 is connected to the retracting and launching system tower 10 and can rotate around the fairlead shaft. The other end of the compensating arm 4 is a compensating arm movable fairlead 5. The compensating arm hydraulic cylinder 17 drives the compensating arm 4 to swing around the fairlead shaft. The movement of the compensating arm 4 causes the compensating arm movable fairlead 5 to move up and down with it. After one end of the umbilical cable passes through the compensating arm fixed fairlead 3 and the compensating arm movable fairlead 5 in sequence, it is connected to the underwater heavy-load operation equipment through the umbilical cable bearing head 7.

[0035] In this embodiment, during the compensation process, the movement of the compensating arm mobile fairlead 5 compensates for the movement of the underwater heavy-load operation equipment 9 relative to the deployment and recovery system, so as to keep the movement of the compensating arm mobile fairlead 5 relative to the underwater heavy-load operation equipment 9 smaller than the vertical component of the movement of the deployment and recovery system relative to the underwater heavy-load operation equipment 9. When the compensating arm hydraulic cylinder 17 is in the neutral position, the compensating arm mobile fairlead 5 and the compensating arm fixed fairlead 3 are at approximately the same height. When the compensating arm hydraulic cylinder 17 is extended, the compensating arm 4 swings upward, increasing the distance, and the compensating arm hydraulic cylinder 17 is fully extended, now at the highest position. The compensating arm hydraulic cylinder 17 contracts, reducing the distance, and the compensating arm hydraulic cylinder 17 is fully retracted, now at the lowest position.

[0036] In this embodiment, the umbilical cable storage winch 1 is located on the side of the retracting and unretracting system tower 10 away from the sea surface and is arranged on the umbilical cable storage winch slide 11. The umbilical cable storage winch 1 moves along the bow and stern direction of the ship on the umbilical cable storage winch slide 11. When the umbilical cable 2 completes one circle of storage on the umbilical cable storage winch 1, the umbilical cable storage winch slide 11 moves a distance of one cable diameter to ensure that the umbilical cable 2 is neatly arranged on the umbilical cable storage winch 1. Otherwise, the cables will cross due to poor cable arrangement quality on the umbilical cable storage winch 1, causing damage to the umbilical cable 2. The umbilical cable storage winch that arranges the cable in this way does not introduce additional bends during the cable arrangement process, fully protecting the umbilical cable.

[0037] In this embodiment, the underwater heavy-load operation equipment 9 primarily bears the load before entering the water, a task handled by a wire rope winch system. This prevents the umbilical cable 2 from bearing the load and causing damage to the umbilical cable 2. Two wire rope winches 12 are arranged in pairs on the retraction and deployment system tower 10, symmetrically arranged relative to the compensation arm 4. Steel cable guide pulleys 14 are arranged on both sides of the compensation arm 4 via steel cable guide pulley brackets 15 and can be driven to deflect. Steel cables 13 extend from one wire rope winch 12, bypass the steel cable guide pulley 14 on the same side, and connect through the middle hole of the upper frame to the paired steel cable bearing heads 16 arranged on the heavy-load equipment retraction and deployment bracket 8. In other embodiments, the steel cable bearing heads 16 can be arranged on the underwater heavy-load operation equipment 9 as needed.

[0038] In this embodiment, the heavy-load equipment stowage and deployment bracket 8 is provided with bracket rollers 19 near the stowage and deployment system tower 10. The bracket rollers 19 are connected to the heavy-load equipment stowage and deployment bracket 8 and are arranged to roll within the deployment track 18. This allows the heavy-load equipment stowage and deployment bracket 8 to move up and down only along the deployment track 18, limiting the freedom of the underwater heavy-load operation equipment 9 before entering the water and reducing equipment sway.

[0039] In this embodiment, the deployment track 18 is fixed to the exterior of the retraction and deployment system tower 10 and extends below the water surface. During the release of the underwater heavy-load operating equipment 9, the steel cable winch 12 simultaneously releases the cable, driving the heavy-load equipment retraction and deployment bracket 8 to smoothly lower the equipment along the deployment track 18 until it is completely submerged in the water. The heavy-load equipment retraction and deployment bracket 8 then disconnects the locking connection with the underwater heavy-load operating equipment 9. The deployment track 18 primarily serves to restrict the equipment's freedom of movement before entering the water and does not restrict its layout. It can also be designed in other forms, such as a telescopic design, or in other locations, depending on the actual vessel configuration.

[0040] In this embodiment, the umbilical cable 2 always passes through the umbilical cable channel in the middle of the retractable system tower 10. An umbilical cable detection device 6 is provided above the channel to perform status detection and management of the umbilical cable throughout its life cycle.

[0041] In this embodiment, the retractable system, with the exception of the underwater heavy-load operation equipment 9 and the heavy-load equipment retractable support 8, is located on the retractable system tower 10 inside the ship's side. During equipment operation and maintenance, the system is arranged in an open, well-lit, and easily accessible layout, minimizing safety risks associated with overboard operations.

[0042] In this embodiment, the underwater heavy-load operation equipment 9 is moved underwater and controlled by the control cabin on the ship. When the position of the equipment changes, the ship's dynamic positioning system controls the ship to always move synchronously with the underwater heavy-load operation equipment 9, and adjusts the swing of the compensation arm 4 at any time to compensate for the tension of the umbilical cable 2. During operation, the umbilical cable 2 is avoided from bending, and the umbilical cable 2 is always ensured to operate in a vertical state.

[0043] The working process of the present invention is:

[0044] During the deployment phase, before the underwater heavy-load operating equipment 9 begins to be lowered, it is locked and connected to the heavy-load operating equipment retraction and deployment bracket 8. At this point, the umbilical cable 2 is already connected to the underwater heavy-load operating equipment 9, and the steel cable 13 has also passed through the steel cable guide pulley 14 and connected to the steel cable bearing head 16. At this time, the heavy-load operating equipment retraction and deployment bracket 8 is in the highest position, the bracket roller 19 is located in the deployment track 18, and the underwater heavy-load operating equipment 9 is located outside the ship's side. When the underwater heavy-load operating equipment 9 begins to be deployed, the umbilical cable storage winch 1 releases the umbilical cable 2, causing it to be slightly slack, allowing the steel cable 13 to bear the full weight of the underwater heavy-load operating equipment 9. At this time, the steel cable winch 12 operates synchronously, causing the underwater heavy-load operating equipment 9 to be released at a uniform speed. The underwater heavy-load operating equipment 9 and the heavy-load operating equipment retraction and deployment bracket 8 are then lowered along the deployment track 18. During this process, the bracket roller 19 is limited by the deployment track 18 to prevent the equipment from shaking during the water entry stage. When all the equipment is in the water, the heavy-load equipment retracting bracket 8 unlocks the underwater heavy-load operation equipment 9, and the underwater heavy-load operation equipment 9 is lowered.

[0045] During the compensation phase, since the underwater heavy-load equipment deployment and recovery system of the present invention is located on a floating vessel, heave motion frequently causes the position between the underwater heavy-load equipment 9 and the deployment and recovery system to change. As the vessel's attitude changes, the tension of the umbilical cable 2 also varies slightly. At this point, the compensating arm hydraulic cylinder 17 is actuated to control the up-and-down swinging of the compensating arm 4. This movement of the fairlead 5 by the compensating arm tensions or loosens the umbilical cable 2, changing the tension of the umbilical cable 2 to compensate for the vessel's motion. The compensating arm hydraulic cylinder 17 can be actuated actively or passively, and can be controlled by a control system in the vessel's control cabin. The compensating arm's fixed fairlead 3 itself is able to rotate freely in its installed position, so the compensating motion during this phase does not cause slippage between the compensating arm's fixed fairlead 3 and the umbilical cable 2, thereby improving the equipment's lifespan. This embodiment also allows for compensation during the deployment phase, during which the compensating arm 4 is deployed, by adjusting the up-and-down swinging position of the compensating arm 4 based on the actual deployment position of the underwater heavy-load equipment 9. This also serves to compensate for the tension of the umbilical cable 2 during deployment.

[0046] During the recovery phase, when the underwater heavy-load operating equipment 9 completes the operation, the umbilical cable storage winch 1 is controlled to reel in the umbilical cable 2 and recover the underwater heavy-load operating equipment 9 until it reaches the heavy-load equipment retracting and unfolding bracket 8 under the water surface. After the underwater heavy-load operating equipment 9 is connected and locked with the heavy-load equipment retracting and unfolding bracket 8, the tension on the umbilical cable 2 is released and the steel cable winch 12 reels in the steel cable 13, thereby lifting the underwater heavy-load operating equipment 9 to its original position.

[0047] The present invention reduces the frequent bending caused by ensuring the neat arrangement of the umbilical cable 2 during the compensation process and ensures the storage quality of the umbilical cable 2 through the design of a movable umbilical cable storage winch 1. The compensation arm 4 drives the compensation arm to move the cable guide wheel 5 to perform heave compensation, reduce the tension change of the umbilical cable 2, and achieve heave compensation. And when the steel cable is required to connect the operating equipment, synchronous compensation can be achieved. The steel cable 13 bears the main weight of the equipment on the water surface, and cooperates with the laying track 18 during the dangerous operation stage of the equipment entering the water, which limits the degree of freedom of the equipment before entering the water, reduces the swaying of the equipment, and protects the umbilical cable 2 from frequent tension fluctuations. At the same time, it reduces the power required by the equipment and reduces the size of the equipment. The equipment that needs to be operated and maintained is arranged on the inside of the ship's side, and the structure is compactly arranged, which reduces the area occupied by the deck and facilitates the safe operation and maintenance of the equipment.

[0048] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A system for deploying and recovering underwater heavy-load equipment, characterized by: include: Retractable system tower; A steel cable deployment and recovery system is installed on the deployment and recovery system tower and is connected to a heavy-load equipment deployment and recovery bracket via a steel cable. The heavy-load equipment deployment and recovery bracket can be locked and connected to the underwater heavy-load operation equipment to achieve the deployment and recovery of the underwater heavy-load operation equipment; The compensating device includes a compensating arm, wherein a compensating arm movable fairlead is provided at the end of the compensating arm, and the end of the compensating arm can drive the compensating arm movable fairlead to swing up and down; The umbilical cable storage winch is wound with an umbilical cable, and one end of the umbilical cable is connected to the underwater heavy-load operation equipment after passing over the compensating arm mobile fairlead wheel; the retraction and deployment system tower includes an upper frame and a lower frame; the upper frame is provided with the compensating arm and the steel cable laying and recovery system; the compensating device also includes a compensating arm fixed fairlead wheel, and the upper frame is equipped with a horizontally arranged fairlead wheel shaft through a connecting frame at the end away from the sea surface, and the compensating arm fixed fairlead wheel is sleeved on the fairlead wheel shaft, and the compensating arm fixed fairlead wheel can rotate on the fairlead wheel shaft; both ends of the fairlead wheel shaft are connected to one end of the compensating arm away from the compensating arm mobile fairlead wheel; the lower part of the compensating arm is connected to a driving device, and the driving device It is capable of driving the compensating arm to rotate up and down around the cable guide wheel shaft; the driving device includes a compensating arm hydraulic cylinder; the lower frame is provided with an umbilical cable storage winch slide rail, and the umbilical cable storage winch is slidably provided on the umbilical cable storage winch slide rail; the upper frame is provided with an extension extending out of the ship's side close to the sea surface; the extension is provided with a cable hole or U-shaped groove for the steel cable and umbilical cable to pass through; the heavy-load equipment retracting and releasing bracket is provided with an umbilical cable channel, after one end of the umbilical cable passes through the umbilical cable channel, it is connected to the underwater heavy-load operation equipment through the umbilical cable bearing head; an umbilical cable detection device is provided at the umbilical cable channel, and the umbilical cable detection device includes a tension sensor for detecting the status of the umbilical cable; When the ship's attitude changes, the tension of the umbilical cable also changes. At this time, the compensating arm hydraulic cylinder is actuated to control the compensating arm to swing up and down. The compensating arm moves the fairlead wheel up and down to tension or loosen the umbilical cable, thereby changing the tension of the umbilical cable and preventing the life of the umbilical cable from being reduced due to frequent winding and releasing of the umbilical cable.

2. The underwater heavy-load operation equipment deployment and recovery system according to claim 1, characterized in that: The retractable system tower is arranged on one side of the ship deck; the lower frame is fixed on the ship deck; and the upper frame is a T-shaped platform structure.

3. The underwater heavy-load operation equipment deployment and recovery system according to claim 2, characterized in that: The steel cable laying and recovery system includes two steel cable winches symmetrically arranged on both sides of the compensation arm, and a steel cable is wound on the steel cable winches; steel cable guide pulley brackets are symmetrically provided on both sides of the end of the compensation arm, and a steel cable guide pulley is movably provided on the steel cable guide pulley bracket. One end of the steel cable on the steel cable winch passes around the steel cable guide pulley on the same side and is connected to the heavy-load equipment retracting bracket.

4. The underwater heavy-load operation equipment deployment and recovery system according to claim 2, characterized in that: The steel cable laying and recovery system includes a laying track vertically fixed at the bottom of the extension part, and the heavy-load equipment retracting bracket can move up and down along the laying track.

5. The underwater heavy-load operation equipment deployment and recovery system according to claim 1, characterized in that: The bottom of the compensation arm hydraulic cylinder is fixed on the retractable system tower, and the end of the telescopic rod of the compensation arm hydraulic cylinder passes through the through hole of the upper frame and is connected to the lower part of the compensation arm.

6. The underwater heavy-load operation equipment deployment and recovery system according to claim 3, characterized in that: A plurality of steel cable bearing heads are fixedly provided on the top of the heavy-load equipment retracting and unfolding bracket, and one end of the steel cable is fixedly connected to the steel cable bearing head on the same side thereof.

7. The underwater heavy-load operation equipment deployment and recovery system according to claim 4, characterized in that: A bracket roller is provided on the inner side of the heavy-load equipment retracting and placing bracket, and the bracket roller is rollingly arranged on the placing track.

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