Lifting device capable of adjusting lifting point position and method for lifting underwater equipment

Abstract

The invention relates to the technical field of underwater equipment hoisting, and discloses a hoisting device capable of adjusting the hoisting point position and a method for hoisting underwater equipment. The hoisting device comprises a hoisting column, an umbilical cable, a connecting base, a sliding base, a connecting cross beam, a driving mechanism, a controller and a tilt angle sensor; a connecting through hole which is vertically formed and matched with the umbilical cable is formed in the top of the lifting column, the umbilical cable penetrates through the connecting through hole and extends out of the outside, the umbilical cable is fixedly connected with the lifting column, the lifting column is connected with the sliding seat through the connecting seat, the sliding seat is provided with a sliding through groove in sliding fit with the connecting cross beam, and the driving mechanism is installed on the connecting cross beam. The driving mechanism is connected with the sliding seat and can drive the sliding seat and the connecting cross beam to move relatively and transversely, and the controller is electrically connected with the tilt angle sensor and the driving mechanism. When the device is used for hoisting and lowering the underwater equipment to the underwater or hoisting and recovering the underwater equipment from the underwater, the underwater equipment can be stably hoisted by adjusting the position of a hoisting point of the underwater equipment.

Description

Technical Field

[0001] The invention relates to the technical field of underwater equipment hanging and placing, in particular to a hanging device with adjustable hanging point positions and a method for hanging and placing underwater equipment. Background Art

[0002] Underwater equipment refers to equipment designed to operate in underwater environments. They can be used for various purposes, including scientific research, resource exploration, seabed construction, rescue operations, etc. These devices usually need to have water pressure resistance, corrosion resistance, good sealing and precise control systems. The underwater equipment is connected to an umbilical cable, which provides power and transmits signals to the underwater equipment. In addition, the lifting equipment can lift the underwater equipment through the umbilical cable to lower the underwater equipment into or out of the water. Generally, during lifting, the lifting point of the underwater equipment is fixed. However, during actual use, the position of the center of gravity of the underwater equipment may change. For example, some underwater equipment adopts a modular structure design. After replacing the operating parts (generally adding or removing parts in the horizontal direction of the underwater equipment, such as a manipulator), the position of the center of gravity of the underwater equipment will change. For example, when the underwater equipment clamps or carries items for lifting and recovery underwater, the center of gravity of the underwater equipment will change due to the weight of the items. When the position of the center of gravity of the underwater equipment and the position of the lifting point are not on the same vertical line, the underwater equipment will tilt when it is lifted and cannot remain stable, and it will affect the umbilical cable. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a hoisting device with adjustable hoisting point position which can hoist underwater equipment stably and a method for hoisting and placing underwater equipment.

[0004] In order to solve the above technical problems, the present invention provides a lifting device with adjustable lifting point position, comprising a lifting column, an umbilical cable, a connecting seat, a sliding seat, a connecting beam, a driving mechanism, a controller and an inclination sensor for detecting the lateral horizontality of the connecting beam, the top of the lifting column is provided with a connecting through hole which is vertically arranged and matches the umbilical cable, the umbilical cable passes through the connecting through hole and extends to the outside, the umbilical cable is fixedly connected to the lifting column, the top of the connecting seat is rotatably connected to the bottom of the lifting column, and the rotation axis is arranged in the horizontal direction, the bottom of the connecting seat is rotatably connected to the top of the sliding seat, and the rotation axis is arranged in the longitudinal direction, the sliding seat is provided with a sliding through groove which slidably cooperates with the connecting beam, the driving mechanism is installed on the connecting beam, the driving mechanism is connected to the sliding seat and can drive the sliding seat and the connecting beam to move relative to each other in the horizontal direction, and the controller is electrically connected to the inclination sensor and the driving mechanism respectively.

[0005] As a preferred embodiment of the present invention, a first connecting groove arranged along the longitudinal direction is provided at the top of the connecting seat, and a first connecting block is provided at the bottom of the lifting column. The first connecting block is inserted into the first connecting groove and is rotatably connected to the lateral sides of the first connecting groove through a first connecting shaft arranged along the longitudinal direction. A second connecting groove arranged along the transverse direction is provided at the top of the sliding seat, and a second connecting block is provided at the bottom of the connecting seat. The second connecting block is inserted into the second connecting groove and is rotatably connected to the longitudinal sides of the second connecting groove through a second connecting shaft arranged along the longitudinal direction.

[0006] As a preferred solution of the present invention, there are limit blocks on both longitudinal sides of the first connecting groove.

[0007] As a preferred solution of the present invention, buffer springs are respectively provided on both lateral sides of the second connecting groove, one end of the buffer spring is connected to the bottom of the second connecting groove, and the other end of the buffer spring is connected to the bottom of the connecting seat.

[0008] As a preferred embodiment of the present invention, a connecting groove corresponding to the position of the connecting through hole is provided on the top of the connecting seat, and a wire outlet groove connected to the bottom end of the connecting groove is provided on the bottom of the connecting seat, and the two lateral sides of the wire outlet groove are openings.

[0009] As a preferred embodiment of the present invention, a tapered portion gradually expanding from top to bottom is provided in the middle of the connecting through hole, an armor layer is provided on the outside of the umbilical cable, a connecting portion expanding outward is provided on the outside of the armor layer, the connecting portion is located in the tapered portion, a fastening glue is poured into the tapered portion, and the connecting portion is fixedly connected to the inner wall of the tapered portion through the fastening glue.

[0010] As a preferred embodiment of the present invention, the driving mechanism includes a movable support, a fixed support and a hydraulic cylinder, the movable support is fixed to the top of the sliding seat, the fixed support is fixed to the top of the connecting beam, the hydraulic cylinder is arranged in the transverse direction, one end of the hydraulic cylinder is connected to the movable support, the other end of the hydraulic cylinder is hinged to the fixed support, and the inclination sensor is electrically connected to the hydraulic system of the hydraulic cylinder.

[0011] As a preferred embodiment of the present invention, a first slider is provided at the top of the sliding groove, and the bottom of the first slider is slidably connected to the top of the connecting beam. A second slider is provided at the bottom of the sliding groove, and the top of the second slider is slidably connected to the bottom of the connecting beam.

[0012] As a preferred embodiment of the present invention, the sliding seat includes an upper shell and a lower shell, the upper shell and the lower shell are connected by a connecting piece, a first groove is provided at the bottom of the upper shell, and a second groove is provided at the top of the lower shell, and the first groove and the second groove are spliced ​​to form the sliding groove.

[0013] At the same time, the present invention also provides a method for hanging and placing underwater equipment using the above-mentioned hanging device with adjustable hanging point position, comprising the following steps:

[0014] S1: installing the controller on the underwater equipment, electrically connecting the umbilical cable to the underwater equipment, and electrically connecting the controller to the umbilical cable through the underwater equipment;

[0015] S2: fixing the connecting crossbeam on the top of the underwater equipment, wherein the connecting crossbeam is arranged along the transverse center line of the underwater equipment;

[0016] S3: The lifting device lifts the underwater device through the umbilical cable. At this time, the controller controls the driving mechanism to drive the sliding seat and the connecting beam to move relative to each other laterally according to the lateral horizontality of the connecting beam detected by the inclination sensor, so that the connecting beam rotates to a horizontal state;

[0017] S4: The lifting equipment gradually lowers the underwater equipment into the water through the umbilical cable. When the underwater equipment is lowered to the seabed, the umbilical cable is released.

[0018] S5: After the underwater equipment completes the operation, the lifting equipment lifts the underwater equipment through the umbilical cable. At this time, the controller controls the driving mechanism to drive the sliding seat and the connecting beam to move laterally relative to each other according to the transverse horizontality of the connecting beam detected by the inclination sensor, so that the connecting beam rotates to a horizontal state;

[0019] S6: The lifting equipment gradually lifts the underwater equipment through the umbilical cable until the underwater equipment is lifted out of the water.

[0020] The embodiment of the present invention provides a lifting device with adjustable lifting point position and a method for lifting and lowering underwater equipment. Compared with the prior art, the beneficial effects are as follows: the driving mechanism of the device can drive the sliding seat and the connecting beam to slide relative to each other along the length direction of the connecting beam, drive the lifting column and the umbilical cable to move, thereby adjusting the position of the lifting point of the underwater equipment; when the device is used to lift and lower the underwater equipment into the water or to lift and recover it from the water, the inclination sensor will detect the lateral horizontality of the connecting beam and feed it back to the controller, and the controller controls the driving mechanism according to the detected inclination angle to adjust the position of the lifting point of the underwater equipment until the connecting beam rotates to a horizontal state, thereby ensuring that the underwater equipment is lifted smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the present invention;

[0022] Figure 2 is a cross-sectional view of the present invention;

[0023] Figure 3 is a cross-sectional view of a lifting column of the present invention;

[0024] Figure 4 It is a structural diagram of the connecting seat of the present invention;

[0025] Figure 5 is a structural diagram of the upper housing of the present invention;

[0026] Figure 6 is a bottom structural diagram of the upper shell of the present invention;

[0027] Figure 7 is a structural diagram of the lower housing of the present invention;

[0028] In the figure, 1, lifting column; 11, connecting through hole; 111, tapered part; 12, first connecting block; 121, first connecting axis; 2, umbilical cable; 21, connecting part; 3, connecting seat; 31, first connecting groove; 311, limiting block; 32, second connecting block; 321, second connecting axis; 33, connecting through groove; 34, outlet groove; 4, sliding seat; 41, sliding through groove; 411, first slider; 412, second slider; 42, second connecting groove; 421, buffer spring; 43, upper shell; 431, first groove; 44, lower shell; 441, second groove; 5, connecting beam; 6, driving mechanism; 61, movable support; 62, fixed support; 63, hydraulic cylinder; 7, controller; 8, inclination sensor. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0030] In the description of the present invention, it should be understood that the present invention adopts the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0031] like Figure 1-7 As shown, a lifting device with adjustable lifting point position according to a preferred embodiment of the present invention comprises a lifting column 1, an umbilical cable 2, a connecting seat 3, a sliding seat 4, a connecting beam 5, a driving mechanism 6, a controller 7 and an inclination sensor 8 for detecting the lateral horizontality of the connecting beam 5, that is, detecting the inclination angle of the connecting beam 5 relative to the lateral direction. Generally, the inclination sensor 8 is installed on the connecting beam 5. A connecting through hole 11 vertically arranged and matching with the umbilical cable 2 is provided on the top of the lifting column 1. The umbilical cable 2 passes through the connecting through hole 11 and extends to the outside. One end of the umbilical cable 2 extending out of the connecting through hole 11 is used to connect with underwater equipment. 2 is fixedly connected to the lifting column 1, that is, the lifting column 1 can be lifted by lifting the umbilical cable 2, the top of the connecting seat 3 is rotatably connected to the bottom of the lifting column 1, and the rotation axis is arranged in the horizontal direction, the bottom of the connecting seat 3 is rotatably connected to the top of the sliding seat 4, and the rotation axis is arranged in the longitudinal direction, the sliding seat 4 is provided with a sliding through groove 41 that is slidably matched with the connecting crossbeam 5, that is, the sliding seat 4 can be slidably sleeved on the connecting crossbeam 5, the driving mechanism 6 is installed on the connecting crossbeam 5, the driving mechanism 6 is connected to the sliding seat 4 and can drive the sliding seat 4 and the connecting crossbeam 5 to move relative to each other in the horizontal direction, and the controller 7 is electrically connected to the inclination sensor 8 and the driving mechanism 6 respectively.

[0032] The working principle of this embodiment is as follows: when in use, the connecting beam 5 is fixed to the top of the underwater equipment in the transverse direction, wherein there is a space between the top of the underwater equipment and the top of the connecting beam 5 for the sliding seat 4 to slide; when the underwater equipment is lifted, if the underwater equipment is tilted relative to the transverse direction, the inclination sensor 8 detects the inclination angle of the connecting beam 5 and feeds it back to the controller 7, and the controller 7 controls the driving mechanism 6 according to the detected inclination angle, thereby driving the sliding seat 4 and the connecting beam 5 to move relative to each other in the transverse direction (in the length direction of the connecting beam 5), thereby adjusting the position of the lifting point of the underwater equipment until the connecting beam 5 rotates to a horizontal state, at which time the center of gravity of the underwater equipment and the position of the lifting point are on the same vertical line, ensuring the stability of the underwater equipment when being lifted; when the underwater equipment is lowered into the water or recovered from the water, the underwater equipment is easily affected by the water flow and swings, at which time the sliding seat 4 will rotate along the longitudinal axis relative to the connecting seat 3, and the connecting seat 3 will rotate along the transverse axis relative to the lifting column 1, thereby reducing the impact on the lifting column 1 and the umbilical cable 2.

[0033] At the same time, the present invention also provides a method for placing an underwater device using the present embodiment, comprising the following steps:

[0034] S1: Install the controller 7 on the underwater equipment and electrically connect the umbilical cable 2 to the underwater equipment, that is, connect one end of the umbilical cable 2 passing through the lifting column 1 to the underwater equipment to realize the electrical connection between the umbilical cable 2 and the underwater equipment, and the controller 7 is electrically connected to the umbilical cable 2 through the underwater equipment, and the other end of the umbilical cable 2 is electrically connected to the terminal device, thereby realizing the transmission of current and signals.

[0035] S2: Fix the connecting beam 5 on the top of the underwater equipment, wherein the connecting beam 5 is arranged along the transverse center line of the underwater equipment (in this embodiment, the transverse direction of the equipment refers to the length direction of the equipment), that is, the connecting beam 5 is in a horizontal state. It can be understood that there is a space for the sliding seat 4 to slide between the top of the underwater equipment and the top of the connecting beam 5. For example, a support column is arranged at the bottom of the connecting beam 5, and the support column is fixedly connected to the connecting beam 5 and the underwater equipment respectively.

[0036] S3: The underwater equipment is hoisted by the umbilical cable 2. At this time, the controller 7 controls the driving mechanism 6 to drive the sliding seat 4 to move laterally according to the transverse levelness of the connecting beam 5 detected by the inclination sensor 8, so that the connecting beam 5 rotates to a horizontal state. Since the center of gravity of the underwater equipment and the lifting point may not be on the same vertical line during the initial installation, and the position of the center of gravity of the underwater equipment changes (the center of gravity shifts laterally) due to the subsequent installation or removal of components of the underwater equipment, that is, the center of gravity of the underwater equipment and the lifting point are not on the same vertical line, the transverse levelness of the connecting beam 5 is detected by the inclination sensor 8, and the driving mechanism 6 is controlled according to the detected structure to drive the sliding seat 4 and the connecting beam 5 to move relative to each other laterally, so as to adjust the position of the lifting point of the underwater equipment. When the lifting point of the underwater equipment and the center of gravity are on the same vertical line (on the axis of the connecting through hole 11), the connecting beam 5 is in a horizontal state, so that the underwater equipment can be lifted smoothly.

[0037] S4: The lifting equipment gradually lowers the underwater equipment underwater through the umbilical cable 2. When the underwater equipment is lowered to the seabed, the umbilical cable 2 is loosened, that is, the umbilical cable 2 no longer bears the gravity of the underwater equipment, and the underwater equipment can operate underwater.

[0038] S5: After the underwater equipment completes the operation, the lifting equipment lifts the underwater equipment through the umbilical cable 2. At this time, the controller 7 controls the driving mechanism 6 to drive the sliding seat 4 to move laterally according to the lateral horizontality of the connecting beam 5 detected by the inclination sensor 8, so that the connecting beam 5 rotates to a horizontal state; after the underwater equipment completes the operation, there is a situation where the center of gravity position of the underwater equipment changes due to clamping or carrying objects (the center of gravity shifts laterally), resulting in the center of gravity of the underwater equipment and the lifting point are not on the same vertical line, so the position of the lifting point of the underwater equipment is adjusted, and the connecting beam 5 is rotated to a horizontal state, so that the underwater equipment can be lifted smoothly.

[0039] S6: The lifting equipment gradually lifts the underwater equipment through the umbilical cable 2 until the underwater equipment is lifted out of the water surface, thereby recovering the underwater equipment.

[0040] When the method is used to lift and lower the underwater equipment into the water or to lift and recover it from the water, the inclination sensor 8 will detect the lateral level of the connecting beam 5 and feed it back to the controller 7. The controller 7 controls the driving mechanism 6 according to the detected inclination angle, thereby driving the sliding seat 4 and the connecting beam 5 to move relative to each other laterally, thereby adjusting the position of the lifting point of the underwater equipment until the connecting beam 5 rotates to a horizontal state, so as to ensure that the underwater equipment is lifted smoothly.

[0041] Exemplarily, a first connecting groove 31 arranged in the longitudinal direction is provided on the top of the connecting seat 3, and a first connecting block 12 is provided at the bottom of the lifting column 1. The first connecting block 12 is inserted into the first connecting groove 31, and is rotatably connected to the lateral sides of the first connecting groove 31 through a first connecting shaft 121 arranged in the transverse direction, so as to realize the rotatable connection between the connecting seat 3 and the lifting column 1. It can be understood that there is space on the longitudinal sides of the first connecting groove 31 for the lifting column 1 to rotate, and the lateral width of the first connecting groove 31 is suitable for the lateral size of the first connecting block 12, so as to prevent the first connecting block 12 from rotating in the transverse direction. Offset, a second connecting groove 42 arranged in the transverse direction is provided on the top of the sliding seat 4, and a second connecting block 32 is provided at the bottom of the connecting seat 3. The second connecting block 32 is inserted into the second connecting groove 42, and is rotatably connected to the longitudinal sides of the second connecting groove 42 through a second connecting shaft 321 arranged in the longitudinal direction, so as to realize the rotatable connection between the connecting seat 3 and the sliding seat 4. It can be understood that there is space on the transverse sides of the second connecting groove 42 for the connecting seat 3 to rotate, and the longitudinal width of the second connecting groove 42 is adapted to the longitudinal dimension of the second connecting block 32 to prevent the second connecting block 32 from being offset in the longitudinal direction.

[0042] Exemplarily, there are limit blocks 311 on both longitudinal sides of the first connecting groove 31. When the underwater equipment is affected by the water flow and produces longitudinal swing, the connecting seat 3 will rotate around the axis of the first connecting shaft 121. The setting of the limit blocks 311 plays a limiting role to prevent the connecting seat 3 from rotating too much and causing the umbilical cable 2 to be affected (the umbilical cable 2 is scratched and worn by the underwater equipment, or the umbilical cable 2 is entangled with the equipment structure).

[0043] Exemplarily, buffer springs 421 are respectively provided on the lateral sides of the second connecting groove 42, one end of the buffer spring 421 is connected to the bottom of the second connecting groove 42, and the other end of the buffer spring 421 is connected to the bottom of the connecting seat 3. When the underwater equipment is affected by the water flow and produces lateral swing, the sliding seat 4 will rotate around the axis of the second connecting shaft 321. The setting of the buffer spring 421 can play a buffering role. In addition, after the umbilical cable 2 is loosened, the setting of the buffer spring 421 can help the connecting seat 3 and the sliding seat 4 to remain in the initial state, thereby preventing the connecting seat 3 from rotating and tipping over to cause the umbilical cable 2 to contact the underwater equipment, thereby avoiding affecting the umbilical cable 2.

[0044] Exemplarily, the top of the connecting seat 3 is provided with a connecting groove 33 corresponding to the position of the connecting through hole 11, and the bottom of the connecting seat 3 is provided with an outlet groove 34 connected to the bottom end of the connecting through groove 33, and the two lateral sides of the outlet groove 34 are openings. The umbilical cable 2 passes through the connecting through hole 11, the connecting groove 33 and the outlet groove 34 in sequence, and extends to the outside from the opening of the outlet groove 34, so as to facilitate the connection of the umbilical cable 2 with the underwater equipment.

[0045] Exemplarily, a tapered portion 111 gradually expanding from top to bottom is provided in the middle of the connecting through hole 11, an armor layer is provided on the outside of the umbilical cable 2, and a connecting portion 21 expanding outward is provided on the outside of the armor layer, and the connecting portion 21 is located in the tapered portion 111. Generally, in actual operation, the armor steel wire on the outside of the umbilical cable 2 located in the tapered portion 111 is cut and peeled off, and expanded outward into a trumpet shape to form the connecting portion 21, and the tapered portion 111 is poured with fastening glue, and the connecting portion 21 is fixedly connected to the inner wall of the tapered portion 111 through the fastening glue, so that the connection between the umbilical cable 2 and the lifting column 1 is fastened.

[0046] Exemplarily, the driving mechanism 6 includes a movable support 61, a fixed support 62 and a hydraulic cylinder 63. The movable support 61 is fixed on the top of the sliding seat 4, the fixed support 62 is fixed on the top of the connecting beam 5, the hydraulic cylinder 63 is arranged in the transverse direction, one end of the hydraulic cylinder 63 is connected to the movable support 61, and the other end of the hydraulic cylinder 63 is hinged to the fixed support 62. The inclination sensor 8 is electrically connected to the hydraulic system of the hydraulic cylinder 63, and the telescopic shaft of the hydraulic cylinder 63 can be telescoped in the transverse direction, thereby driving the sliding seat 4 to move in the transverse direction. In this embodiment, a position sensor for detecting the moving position of the telescopic rod of the hydraulic cylinder 63 is provided on the hydraulic cylinder 63, and the position sensor is electrically connected to the controller 7. When the inclination sensor 8 feeds back the detected structure to the controller 7, the controller 7 calculates the required displacement of the telescopic rod of the hydraulic cylinder 63. When the driving mechanism 6 drives the telescopic rod of the hydraulic cylinder 63 to telescope, the position sensor detects whether the telescopic rod of the hydraulic cylinder 63 has moved into place.

[0047] Exemplarily, a first slider 411 is provided at the top of the sliding groove 41, and the bottom of the first slider 411 is slidably connected to the top of the connecting beam 5. A second slider 412 is provided at the bottom of the sliding groove 41, and the top of the second slider 412 is slidably connected to the bottom of the connecting beam 5, which helps the sliding seat 4 to slide relative to the connecting beam 5.

[0048] Exemplarily, the sliding seat 4 includes an upper shell 43 and a lower shell 44, which are connected by a connecting piece (such as a bolt). A first groove 431 is provided at the bottom of the upper shell 43, and a second groove 441 is provided at the top of the lower shell 44. The first groove 431 and the second groove 441 are spliced ​​to form a sliding groove 41, which facilitates the assembly connection between the sliding seat 4 and the connecting beam 5.

[0049] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A lifting device with adjustable lifting point position, characterized in that: It includes a lifting column, an umbilical cable, a connecting seat, a sliding seat, a connecting beam, a driving mechanism, a controller and an inclination sensor for detecting the lateral horizontality of the connecting beam. The top of the lifting column is provided with a connecting through hole which is vertically arranged and matches the umbilical cable. The umbilical cable passes through the connecting through hole and extends to the outside. The umbilical cable is fixedly connected to the lifting column. The top of the connecting seat is rotatably connected to the bottom of the lifting column, and the rotation axis is arranged in the horizontal direction. The bottom of the connecting seat is rotatably connected to the top of the sliding seat, and the rotation axis is arranged in the longitudinal direction. The sliding seat is provided with a sliding through groove which slidably cooperates with the connecting beam. The driving mechanism is installed on the connecting beam. The driving mechanism is connected to the sliding seat and can drive the sliding seat and the connecting beam to move relative to each other in the horizontal direction. The controller is electrically connected to the inclination sensor and the driving mechanism respectively.

2. The hoisting device with adjustable hoisting point position according to claim 1, characterized in that: A first connecting groove arranged along the longitudinal direction is provided at the top of the connecting seat, and a first connecting block is provided at the bottom of the lifting column. The first connecting block is inserted into the first connecting groove and is rotatably connected to the lateral sides of the first connecting groove through a first connecting shaft arranged along the longitudinal direction. A second connecting groove arranged along the transverse direction is provided at the top of the sliding seat, and a second connecting block is provided at the bottom of the connecting seat. The second connecting block is inserted into the second connecting groove and is rotatably connected to the longitudinal sides of the second connecting groove through a second connecting shaft arranged along the longitudinal direction.

3. The hoisting device with adjustable hoisting point position according to claim 2, characterized in that: The first connecting groove has two longitudinal sides with limiting blocks respectively.

4. The hoisting device with adjustable hoisting point position according to claim 2, characterized in that: Buffer springs are respectively provided on both lateral sides of the second connecting groove, one end of the buffer spring is connected to the bottom of the second connecting groove, and the other end of the buffer spring is connected to the bottom of the connecting seat.

5. The hoisting device with adjustable hoisting point position according to claim 1, characterized in that: The top of the connection seat is provided with a connection groove corresponding to the position of the connection through hole, and the bottom of the connection seat is provided with a wire outlet groove connected to the bottom end of the connection groove, and the two lateral sides of the wire outlet groove are openings.

6. The hoisting device with adjustable hoisting point position according to claim 1, characterized in that: A tapered portion gradually expanding from top to bottom is provided in the middle of the connecting through hole, an armor layer is provided on the outside of the umbilical cable, a connecting portion expanding outward is provided on the outside of the armor layer, the connecting portion is located in the tapered portion, a fastening glue is poured into the tapered portion, and the connecting portion is fixedly connected to the inner side wall of the tapered portion through the fastening glue.

7. The hoisting device with adjustable hoisting point position according to claim 1, characterized in that: The driving mechanism includes a movable support, a fixed support and a hydraulic cylinder. The movable support is fixed on the top of the sliding seat, the fixed support is fixed on the top of the connecting beam, the hydraulic cylinder is arranged in the transverse direction, one end of the hydraulic cylinder is connected to the movable support, and the other end of the hydraulic cylinder is hinged to the fixed support. The inclination sensor is electrically connected to the hydraulic system of the hydraulic cylinder.

8. The hoisting device with adjustable hoisting point position according to claim 1, characterized in that: A first slider is disposed at the top of the sliding slot, and the bottom of the first slider is slidably connected to the top of the connecting beam. A second slider is disposed at the bottom of the sliding slot, and the top of the second slider is slidably connected to the bottom of the connecting beam.

9. The hoisting device with adjustable hoisting point position according to claim 1, characterized in that: The sliding seat includes an upper shell and a lower shell, the upper shell and the lower shell are connected by a connecting piece, a first groove is provided at the bottom of the upper shell, a second groove is provided at the top of the lower shell, and the first groove and the second groove are spliced ​​to form the sliding groove.

10. A method for suspending underwater equipment using the suspending device with adjustable suspending point position as claimed in claim 1, characterized in that: The following steps are involved: S1: installing the controller on the underwater equipment, electrically connecting the umbilical cable to the underwater equipment, and electrically connecting the controller to the umbilical cable through the underwater equipment; S2: fixing the connecting crossbeam on the top of the underwater equipment, wherein the connecting crossbeam is arranged along the transverse center line of the underwater equipment; S3: The lifting device lifts the underwater device through the umbilical cable. At this time, the controller controls the driving mechanism to drive the sliding seat and the connecting beam to move relative to each other laterally according to the lateral horizontality of the connecting beam detected by the inclination sensor, so that the connecting beam rotates to a horizontal state; S4: The lifting equipment gradually lowers the underwater equipment into the water through the umbilical cable. When the underwater equipment is lowered to the seabed, the umbilical cable is released. S5: After the underwater equipment completes the operation, the lifting equipment lifts the underwater equipment through the umbilical cable. At this time, the controller controls the driving mechanism to drive the sliding seat and the connecting beam to move laterally relative to each other according to the transverse horizontality of the connecting beam detected by the inclination sensor, so that the connecting beam rotates to a horizontal state; S6: The lifting equipment gradually lifts the underwater equipment through the umbilical cable until the underwater equipment is lifted out of the water.

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