An active heave compensation system for a saturation diving bell

Abstract

The present invention discloses an active heave compensation system for a saturation diving bell, which belongs to the technical field of marine equipment, and comprises a base, on which a retractable bracket and a platform frame are provided, and the release or recovery of the diving bell is achieved by the swinging of the retractable bracket; the platform frame is provided with an active compensation unit and a coupling, and the active compensation unit comprises a parallel transfer case, and the parallel transfer case is respectively connected to a diving bell winch, a counterweight frame winch and an umbilical cable winch through a coupling. The present invention can reasonably distribute the power of the system, realize the switching of the lifting compensation mode, realize synchronous compensation for the counterweight block, the diving bell and the umbilical cable underwater, and can also compensate them separately, effectively improving the efficiency of compensation for underwater operating equipment, and compared with setting up multiple groups of power devices, the system can use the power for the three separately or simultaneously, which can improve the utilization rate of the ship deck space.

Description

Technical Field

[0001] The invention relates to the technical field of marine equipment, and in particular to an active heave compensation system for a saturation diving bell. Background Art

[0002] With the construction and development of marine equipment technology, saturation diving is widely used in rescue and salvage, marine development and other fields. Saturation diving technology has higher diving operation efficiency and safety. For offshore lifting operations with large loads such as lifting diving bells, the lifting armored cable may break because the load is subjected to very complex forces in seawater. In addition, the movement of the mother ship caused by waves will be transmitted to the underwater diving bell through the armored cable, affecting the safety and work efficiency of underwater operations. Therefore, the heave compensation technology for the saturation diving bell lifting system under severe sea conditions has become a top priority in the research of saturation diving technology. At present, there are several outstanding problems in the saturation diving bell lifting compensation technology:

[0003] (1) At present, in the operation of lowering the diving bell, the counterweight frame, diving bell and umbilical cable need to be lowered and compensated separately. After entering the water, the movement of the ship needs to be compensated for the movement of the three. However, compensating them separately has the problems of low efficiency and high energy consumption.

[0004] (2) Most offshore lifting and lowering equipment is large-scale mechanical equipment. High-power mechanical equipment usually requires the use of multiple power sources to drive the equipment to operate. The lifting and lowering compensation systems currently on the market have problems such as being too large in size, low utilization of the space deck, high resource consumption rate, and poor compensation control effect.

[0005] (3) Due to the uncertainty of the marine environment, when faced with extreme working conditions, there will be certain safety hazards in the saturation diving bell hoisting operation and underwater saturation diving operation. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an active heave compensation system for a saturation diving bell.

[0007] The technical solution of the present invention to solve the above technical problems is as follows:

[0008] An active heave compensation system for a saturation diving bell comprises a base, a retractable bracket and a platform frame are arranged on the base, the retractable bracket is hinged to the base, the retractable bracket is provided with a guide cover, the guide cover is adapted to the diving bell, the diving bell is released or recovered by the swing of the retractable bracket, and the base is provided with a driving member for driving the retractable bracket to swing;

[0009] The platform frame is provided with a diving bell winch, a counterweight frame winch and an umbilical cable winch, which are respectively connected to the diving bell pulley, the counterweight frame pulley and the umbilical cable pulley on the retracting and releasing bracket through cables, and are used for releasing or recovering the diving bell, the counterweight frame and the umbilical cable;

[0010] The platform frame is provided with an active compensation unit, which includes a parallel transfer case, which is respectively connected to the diving bell winch, the counterweight frame winch and the umbilical cable winch through a coupling, and is used to drive the diving bell winch, the counterweight frame winch and the umbilical cable winch to rotate.

[0011] Further, the parallel transfer case includes two input shafts and three output shafts, the three output shafts have the same rotation direction, the two input shafts are connected by an input gear set, the three output shafts are connected by an output gear set, and the input gear set and the output gear set are connected by a transmission shaft;

[0012] The output gear set includes an output transmission gear and a shift gear. There are three shift gears, which are respectively located on three output shafts. The three shift gears are all meshed with the output transmission gear.

[0013] The transfer case further comprises a shifter and a synchronizer. The shifter is connected to the synchronizer. Three synchronizers are provided and are respectively located on three output shafts. The shifter is used to control the meshing or disconnection of the synchronizer and the shift gear.

[0014] Furthermore, the input gear set includes an input transmission gear and two driving gears, the two driving gears are respectively located on two input shafts, and the two driving gears are used to mesh with the input transmission gear, and the input transmission gear and the output transmission gear are connected via a transmission shaft.

[0015] Furthermore, the compensation system is dual-powered. Specifically, when the two driving gears are meshed with the input transmission gear, the compensation system is dual-powered.

[0016] Furthermore, the compensation system is single-powered. Specifically, when one of the driving gears is meshed with the input transmission gear, the compensation system is single-powered.

[0017] Furthermore, each of the shifters is connected to a motor for controlling the engagement or disconnection of the synchronizer and the shift gear.

[0018] Furthermore, the driving member is a hydraulic cylinder, the output shaft of the hydraulic cylinder is hinged to the upper end or middle part of the retractable bracket, the cylinder body of the hydraulic cylinder is hinged to the base, and the retractable bracket is driven to swing by the extension and retraction of the output shaft of the hydraulic cylinder.

[0019] Furthermore, a pressurized cabin and a control room are also provided in the platform frame.

[0020] Furthermore, the compensation system also includes an inertial sensor, a tension sensor and a rotation speed sensor. The inertial sensor is located at the center of the mother ship and is used to detect the motion posture of the mother ship; the tension sensor is located on the cable and is used to detect the tension of the rope; the rotation speed sensor is located on the rotating shaft of each winch and is used to detect the rotation speed of each winch. The rotation speed sensor sends the detection signal to the controller, and the controller outputs a control signal to control the rotation of the winch.

[0021] Compared with the prior art, the present invention has at least the following beneficial effects:

[0022] (1) The compensation system of the present invention uses a transfer case device, which can reasonably distribute the power of the system, realize the switching of the lifting compensation mode, realize synchronous compensation of the counterweight block, diving bell, and umbilical cable underwater, and can also compensate them separately, effectively improving the efficiency of compensation for underwater operating equipment. In addition, compared with setting up multiple power devices, the system can use power for the three separately or simultaneously, which can improve the utilization rate of the ship deck space;

[0023] (2) The present invention integrates the dual power system and the active compensation unit into one module, which is easy to install and saves deck space. At the same time, the use of the dual power system can improve the ability to cope with extreme working conditions. In the event of an emergency, other power sources can also be used for emergency use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0025] Figure 2 A top view of an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the specific structure of a transfer case for a vehicle in parallel according to an embodiment of the present invention;

[0027] Figure 4 It is a schematic diagram of a transfer case for a vehicle in parallel from another angle according to an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of asynchronous compensation according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of synchronous compensation according to an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the specific structure of the active compensation unit according to an embodiment of the present invention.

[0031] Explanation of reference numerals: 1. counterweight frame; 2. diving bell; 3. guide cover; 4. retracting bracket; 5. hydraulic cylinder; 6. active compensation unit; 7. diving bell winch; 8. counterweight frame winch; 9. umbilical cable winch; 10. control room; 11. pressurized cabin; 12. first input shaft; 13. second input shaft; 14. input transmission gear; 15. transmission shaft; 16. first output shaft; 17. second output shaft; 18. third output shaft; 19. first shifter; 20. second shifter; 21. third shifter; 22. first synchronizer; 23. second synchronizer ; 24. Third synchronizer; 25. Output drive gear; 26. First shift gear; 27. Second shift gear; 28. Third shift gear; 29. ​​Diving bell pulley; 30. Counterweight frame pulley; 31. Umbilical cable pulley; 32. Fuel tank; 33. Filter; 34. Engine; 35. Variable pump; 36. One-way valve; 37. Overflow valve; 38. Stop valve; 39. Accumulator; 40. Reversing valve; 41. Servo valve; 42. Driving mechanism; 43. Transfer case; 44. Controller; 45. Coupling; 47. Base; 48. Platform frame. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below in conjunction with all the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0033] An embodiment of the present invention discloses an active heave compensation system for a saturation diving bell.

[0034] Reference Figures 1 to 7 An active heave compensation system for a saturation diving bell includes a base 47, on which a retractable support 4 and a platform frame 48 are provided. The retractable support 4 is hinged to the base 47, and the retractable support 4 is located at one end of the base 47. The retractable support 4 is a U-shaped structure. A guide cover 3 is provided at the top of the retractable support 4. The guide cover 3 is adapted to the diving bell 2. The adaptation is the docking of the guide cover 3 and the diving bell 2. In this embodiment, no further description is given. The diving bell 2 is released or recovered by the swing of the retractable support 4. The base 47 is provided with a driving member for driving the retractable support 4 to swing. The driving member is a hydraulic cylinder 5. Two hydraulic cylinders 5 are provided, which are respectively located on both sides of the base 47 and are used to connect with both sides of the retractable support 4. Specifically, the output shaft of the hydraulic cylinder 5 is hinged to the upper end or middle part of the retractable support 4, and the cylinder body of the hydraulic cylinder 5 is hinged to the base 47. The retractable support 4 is driven to swing by the extension and contraction of the output shaft of the hydraulic cylinder 5. When the hydraulic cylinder 5 is extended, it can drive the retractable bracket 4 to swing from the left side to the right side. The left and right directions here can be referred to Figure 1 Schematic diagram of .

[0035] The platform frame 48 is provided with a diving bell winch 7, a counterweight frame winch 8 and an umbilical cable winch 9, which are respectively connected to a diving bell pulley 29, a counterweight frame pulley 30 and an umbilical cable pulley 31 on the retracting and releasing bracket 4 through cables, and are used for releasing or recovering the diving bell 2, the counterweight frame 1 and the umbilical cable;

[0036] The platform frame 48 is provided with a pressurized cabin 11 and a control room 10, and the platform frame 48 is also provided with an active compensation unit 6, and the active compensation unit 6 includes a parallel transfer case 43, and the parallel transfer case 43 is respectively connected to the diving bell winch 7, the counterweight frame winch 8 and the umbilical cable winch 9 through a coupling 45, and is used to drive the diving bell winch 7, the counterweight frame winch 8 and the umbilical cable winch 9 to rotate, so as to realize the transmission of power torque. Among them, there are two counterweight frame pulleys 30, which are respectively located on both sides of the diving bell pulley 29, the umbilical cable pulley 31 is located on the upper end surface of the top of the retracting and unretracting bracket 4, and the counterweight frame pulley 30 and the diving bell pulley 29 are both located on the lower end surface of the top of the retracting and unretracting bracket 4.

[0037] The transfer case 43 is a dual-input multi-output structure, specifically including two input shafts and three output shafts, wherein the two input shafts are respectively a first input shaft 12 and a second input shaft 13, and the two input shafts are connected via an input gear set. The input gear set includes an input transmission gear 14 and two driving gears, wherein the two driving gears are respectively located on the first input shaft 12 and the second input shaft 13, and are used to mesh with the input transmission gear 14.

[0038] The three output shafts are respectively a first output shaft 16, a second output shaft 17 and a third output shaft 18, the three output shafts have the same rotation direction, the three output shafts are connected through an output gear set, and the input gear set and the output gear set are connected through a transmission shaft 15. Among them, the output gear set includes an output transmission gear 25 and three shift gears, and the input transmission gear 14 and the output transmission gear 25 are connected through the transmission shaft 15.

[0039] The three shift gears are respectively a first shift gear 26 , a second shift gear 27 and a third shift gear 28 . The three shift gears are respectively located at the ends of the three output shafts, and are respectively used to mesh with the output transmission gear 25 .

[0040] The transfer case 43 further includes a shifter and a synchronizer, wherein the shifter is connected to the synchronizer, and three shifters and synchronizers are provided, respectively located on three output shafts, and respectively set as a first shifter 19, a second shifter 20, a third shifter 21, a first synchronizer 22, a second synchronizer 23 and a third synchronizer 24, and the shifter is used to control the meshing or disconnection of the synchronizer and the shift gear. Each shifter is connected to a motor (not shown in the figure) for controlling the meshing or disconnection of the synchronizer and the shift gear.

[0041] Specifically:

[0042] The first input shaft 12 and the second output shaft 17 are connected to the hydraulic motor, and the hydraulic system provides power. The two driving gears are meshed with the input transmission gear 14, and the first shift gear 26, the second shift gear 27 and the third shift gear 28 are meshed with the output transmission gear 25. The power is transmitted to the first output shaft 16, the second output shaft 17 and the third output shaft 18 through the transmission shaft 15, the first input shaft 12 and the second input shaft 13. The first output shaft 16, the second output shaft 17 and the third output shaft 18 are respectively articulated with the diving bell winch 7, the counterweight frame winch 8 and the umbilical cable winch 9 through the coupling 45, thereby driving them to rotate to control the recovery or release of the diving bell 2, the counterweight frame 1 and the umbilical cable.

[0043] Reference Figures 3 to 6 , the first shift gear 26, the second shift gear 27 and the third shift gear 28 rotate together with the power output, but if there are no three synchronizers meshing with the three shift gears, the three shift gears can only idle on the output shaft, that is, they will not drive the three output shafts to rotate. Figure 3 and Figure 4 As shown in the figure, they are all state diagrams when the shift gear is idling, that is, schematic diagrams when the synchronizer and the shift gear are not engaged, and each shifter is provided with a corresponding motor, which can control the shifter to make the synchronizer and the shift gear on the output shaft engage or disengage. When the synchronizer and the shift gear are engaged, the output shaft can be driven to rotate synchronously, such as Figure 5 and Figure 6 The diagram shows the state when the shift gear is meshed with the synchronizer. The shifter controls the meshing or disconnection of the synchronizer and the shift gear to achieve the switching and connection of the system power, and then the switching of the compensation mode can be controlled. When both driving gears are meshed with the input transmission gear 14, the compensation system is dual-powered; when only one of the two driving gears is meshed with the input transmission gear 14, the compensation system is single-powered. The use of dual power can improve the ability to cope with extreme working conditions, and in the event of an emergency, there are other powers that can be used in an emergency.

[0044] When the first output shaft 16, the second output shaft 17 and the third output shaft 18 are respectively controlled by the first shifter 19, the second shifter 20 and the third shifter 21 in a certain order and the first synchronizer 22, the second synchronizer 23 and the third synchronizer 24 are respectively engaged with the first shift gear 26, the second shift gear 27 and the third shift gear 28, the diving bell winch 7, the counterweight frame winch 8 and the umbilical winch 9 operate independently in a certain order, thereby realizing the diving bell 2, the counterweight frame 1 and the umbilical cable. Release and compensation; when the first output shaft 16, the second output shaft 17 and the third output shaft 18 are respectively controlled by the first shifter 19, the second shifter 20 and the third shifter 21 to simultaneously control the first synchronizer 22, the second synchronizer 23 and the third synchronizer 24 to engage with the first shift gear 26, the second shift gear 27 and the third shift gear 28, the diving bell winch 7, the counterweight frame winch 8 and the umbilical cable winch 9 operate simultaneously to achieve synchronous lifting and compensation of the diving bell 2, the counterweight frame 1 and the umbilical cable.

[0045] There are two compensation modes:

[0046] Compensation mode 1: The diving bell 2, the counterweight frame 1 and the umbilical cable are respectively suspended and released for compensation. In the release stage of the saturated diving bell suspension operation, the output shaft of the hydraulic cylinder 5 is first used to move the retractable support 4 from the left to the right ( Figure 1 ) swings, operates the counterweight frame winch 8 to release the counterweight frame 1 into the sea, and compensates for its lifting, then the diving bell winch 7 pulls up the diving bell 2 to dock with the guide cover 3, the guide cover 3 limiting device is released (the guide cover 3 limiting device is used to limit the position of the guide cover 3 and the diving bell 2 connected thereto, to ensure that the torsion angle of the diving bell 2 does not exceed the limit when it is suspended on the A-frame, wherein the A-frame is the retractable bracket 4 in the present invention), lowers the diving bell 2, compensates for the diving bell 2, and compensates for the umbilical cable, such as Figure 5 shown.

[0047] Compensation mode 2: The diving bell 2 dives to the operation site, the diving bell 2 docks with the counterweight frame 1, and the parallel transfer case 43 is used to switch the compensation mode to synchronously compensate the counterweight frame 1, the diving bell 2 and the umbilical cable. Figure 6 shown.

[0048] Among them, the most important difference between compensation mode 1 and compensation mode 2 lies in whether the compensation of the counterweight frame 1, the diving bell 2 and the umbilical cable is performed synchronously.

[0049] The specific compensation steps are as follows:

[0050] (1) The second shifter 20 controls the second synchronizer 23 to mesh with the second shift gear 27, while the first synchronizer 22 and the first shift gear 26, and the third synchronizer 24 and the third shift gear 28 are not meshed. At this time, the power is transmitted to the counterweight frame winch 8 through the transmission shaft 15 and the second output shaft 17 via the differential. The counterweight frame winch 8 starts and lowers the counterweight frame 1. In this process, the counterweight frame 1 is compensated, as shown in FIG. Figure 5 As shown;

[0051] (2) After the counterweight frame 1 is lowered to the specified position, the first synchronizer 22 and the third synchronizer 24 are meshed with the first shift gear 26 and the third shift gear 28 respectively by the first shifter 19 and the third shifter 21, and the power is transmitted to the diving bell winch 7 and the umbilical winch 9 through the transmission shaft 15, the first output shaft 16 and the third output shaft 18 through the differential, and the diving bell 2 and the umbilical winch are lowered by the diving bell winch 7 and the umbilical winch 9, and compensation is performed in the process;

[0052] (3) After the diving bell 2 is lowered to the specified position, the three synchronizers and the three shift gears are all engaged, so that the synchronous compensation of the diving bell 2, the counterweight frame 1 and the umbilical cable can be achieved underwater, such as Figure 6 shown.

[0053] Reference Figures 1 to 7 The active compensation unit 6 also includes an oil tank 32, a filter 33, a variable pump 35, an engine 34, a one-way valve 36, a relief valve 37, a stop valve 38, an accumulator 39, a two-position two-way reversing valve 40, a servo valve 41, a drive mechanism 42, and a controller 44. Specifically, the oil tank 32 is used to provide hydraulic oil or receive recovered hydraulic oil; the filter 33 is used to filter various impurities in the circuit of the hydraulic system; the variable pump 35 provides the hydraulic power required for the system to compensate for heave; the overflow valve 37 prevents oil leakage; the reversing valve 40 is a secondary element, which switches between the hydraulic motor state and the hydraulic pump state during heave compensation to achieve conversion between hydraulic energy and mechanical energy; the accumulator 39 adopts a bladder-type gas-filled accumulator, which stores gravitational potential energy as gas pressure when the load drops, and is used as the compensation power of the system. This embodiment adopts the secondary element pump working condition combined with the energy recovery technology of the accumulator 39, and effectively improves the energy utilization rate and saves energy; the servo valve 41 is a hydraulic servo valve, which is used to continuously and proportionally control the flow and pressure according to the feedback amount of the input signal and the output signal; the controller 44 is used to receive the signals of each sensor, and perform signal processing and prediction, and give control commands to the actuator (winch) to achieve heave compensation of the system; the parallel car transfer box 43 is used to merge the power and distribute the power to multiple groups of actuators to achieve switching of the compensation mode.

[0054] Reference Figure 7, the controller 44 inputs the control signal to the reversing valve 40 and the servo valve 41 to realize the control of the hydraulic compensation system, and the coupling 45 connects the output shaft of the driving mechanism 42 with the two input shafts of the transfer case 43 to realize the output of the speed and torque of the hydraulic system. When the load needs to make a downward compensation movement due to the movement of the ship, the load is mainly driven to descend by the gravity of the load. The controller 44 outputs a signal, and the reversing valve 40 works in the left position. The driving mechanism 42 is a hydraulic pump or motor. When the driving mechanism 42 works in the pumping state, the load descending movement is transmitted to the driving mechanism 42, and drives it to absorb oil from the oil tank 32. The driving mechanism 42 is in the pumping state at this time and transmits the hydraulic oil to the accumulator 39 to complete the energy storage. The reversing valve 40 controls the flow of the system, and adjusts the speed of the driving mechanism 42 in the pumping state by controlling the servo valve 41, thereby adjusting the load descending speed.

[0055] When the load (the diving bell, counterweight frame and umbilical cable in the present invention) needs to make an upward compensation movement due to the movement of the ship, the reversing valve 40 works in the right position, and the driving mechanism 42 works in the motor working condition. At this time, external power is needed to drive the load down. The engine 34 and the accumulator 39 jointly provide power, and the controller 44 outputs a control signal to control the displacement of the variable pump 35, so as to adjust the rotation speed of the driving mechanism 42, thereby adjusting the load rising speed.

[0056] The compensation system also includes an inertial sensor, a tension sensor and a rotation speed sensor. The inertial sensor is located at the center of the mother ship and is used to detect the motion posture of the mother ship, wherein the inertial sensor is an MRU model sensor; the tension sensor is located on the cable and is used to detect the tension of the rope; the rotation speed sensor is located on the rotating shaft of each winch and is used to detect the rotation speed of each winch. The rotation speed sensor sends the detection signal to the controller 44, and the controller 44 outputs a control signal to control the rotation of the winch to ensure that the spatial position of the load remains unchanged.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An active heave compensation system for a saturation diving bell, comprising a base (47), characterized in that: The base (47) is provided with a retractable support (4) and a platform frame (48); the retractable support (4) is hinged to the base (47); the retractable support (4) is provided with a guide cover (3); the guide cover (3) is adapted to the diving bell (2); the diving bell (2) is released or recovered by swinging the retractable support (4); and the base (47) is provided with a driving member for driving the retractable support (4) to swing; The platform frame (48) is provided with a diving bell winch (7), a counterweight frame winch (8) and an umbilical cable winch (9), which are respectively connected to a diving bell pulley (29), a counterweight frame pulley (30) and an umbilical cable pulley (31) on the retracting and releasing bracket (4) through cables, and are used for releasing or recovering the diving bell (2), the counterweight frame (1) and the umbilical cable; The platform frame (48) is provided with an active compensation unit (6), and the active compensation unit (6) includes a parallel transfer case (43), and the parallel transfer case (43) is respectively connected to the diving bell winch (7), the counterweight frame winch (8) and the umbilical cable winch (9) through a coupling (45), and is used to drive the diving bell winch (7), the counterweight frame winch (8) and the umbilical cable winch (9) to rotate; The parallel transfer case (43) comprises two input shafts and three output shafts, the three output shafts have the same rotation direction, the two input shafts are connected via an input gear set, the three output shafts are connected via an output gear set, and the input gear set and the output gear set are connected via a transmission shaft (15); The output gear set comprises an output transmission gear (25) and a shift gear, wherein three shift gears are provided and are respectively located on three output shafts, and the three shift gears are all meshed with the output transmission gear (25); The parallel transfer case (43) also includes a shifter and a synchronizer. The shifter is connected to the synchronizer. Three synchronizers are provided and are respectively located on three output shafts. The shifter is used to control the meshing or disconnection of the synchronizer and the shift gear.

2. An active heave compensation system for a saturation diving bell according to claim 1, characterized in that: The input gear set comprises an input transmission gear (14) and two driving gears, the two driving gears are respectively located on two input shafts, and the two driving gears are used to mesh with the input transmission gear (14), and the input transmission gear (14) and the output transmission gear (25) are connected via a transmission shaft (15).

3. An active heave compensation system for a saturation diving bell according to claim 2, characterized in that: When the two driving gears are meshed with the input transmission gear (14), the compensation system is dual-powered.

4. An active heave compensation system for a saturation diving bell according to claim 2, characterized in that: When one of the driving gears is meshed with the input transmission gear (14), the compensation system is single-powered.

5. An active heave compensation system for a saturation diving bell according to claim 1 or 2, characterized in that: Each of the shifters is connected to a motor for controlling the engagement or disconnection of the synchronizer and the shift gear.

6. An active heave compensation system for a saturation diving bell according to claim 1, characterized in that: The driving member is a hydraulic cylinder (5), the output shaft of the hydraulic cylinder (5) is hinged to the upper end or middle part of the retractable bracket (4), the cylinder body of the hydraulic cylinder (5) is hinged to the base (47), and the retractable bracket (4) is driven to swing by the extension and retraction of the output shaft of the hydraulic cylinder (5).

7. An active heave compensation system for a saturation diving bell according to claim 1, characterized in that: A pressurized cabin (11) and a control room (10) are also provided in the platform frame (48).

8. An active heave compensation system for a saturation diving bell according to claim 1, characterized in that: The compensation system also includes an inertial sensor, a tension sensor and a rotation speed sensor. The inertial sensor is located at the center of the mother ship and is used to detect the motion posture of the mother ship. The tension sensor is located on the cable and is used to detect the tension of the cable. The rotation speed sensor is located on the rotating shaft of each winch and is used to detect the rotation speed of each winch. The rotation speed sensor sends the detection signal to the controller (44), and the controller (44) outputs a control signal to control the rotation of the winch.

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