Multifunctional control hydraulic module for hoisting manned submersible

Abstract

The multifunctional control hydraulic module is characterized in that a two-way cartridge valve is connected between a cavity A and a cavity B of a winch motor, the side pressure of the cavity B of the winch motor acts on a bottom cavity of the two-way cartridge valve and enters a spring cavity through a throttling hole of the two-way cartridge valve; the spring cavity is connected with an oil return tank through an electromagnetic valve I via an overflow valve and is connected with the oil return tank through an electromagnetic valve II via a proportional overflow valve to form a multifunctional control hydraulic module which is used for a winch motor to realize a non-constant tension working condition or a constant tension working condition. By adding or modifying the multifunctional control hydraulic module, an adjustable constant tension control function of a large-flow system required when the heavy manned submersible is hoisted and released is realized, a constant tension system protection mechanism is solved, accidental activation of constant tension or low tension caused by factors such as system pollution and power loss of control power is avoided, and the service life of the heavy manned submersible is prolonged. The submersible falls accidentally; and the hydraulic motor is prevented from being damaged due to long-time oil shortage work under constant tension and emergency release working conditions.

Description

Technical Field

[0001] The invention relates to a control hydraulic system for hoisting and placing a manned submersible, in particular to a multifunctional control hydraulic module. Background Art

[0002] Deep-sea science is one of the important directions at the forefront of science, and deep-sea scientific research relies on technical means and equipment support. Manned submersibles, as a particularly important deep-diving equipment, can be used to perform underwater surveys, geological exploration, sample collection, pipeline maintenance, salvage and rescue tasks. A safe and reliable submersible hoisting system is one of the core equipment of the submersible surface support system. The constant tension function of the submersible hoisting winch is one of the important functions of the submersible, and it is a key function to ensure the stability of the submersible in the floating state. The constant tension function is generally achieved by setting a certain pressure value through the overflow valve. When the motor load exceeds the set pressure value, the motor is reversed to make the motor a pump condition. Based on this principle, the motor may be damaged due to lack of oil and suction under constant tension conditions; this function is strictly prohibited to be turned on during the lifting or lowering process. If this function is abnormally turned on due to various factors during the lifting and lowering process, it will cause the load to fall and cause serious consequences. On the other hand, during the lowering process of a manned submersible, if the submersible is in mid-air and cannot be lifted / lowered due to various faults in the lowering system, it is very dangerous for both the submersible and the submariner. At this time, not only is it required to be able to be lowered in an emergency, but the sea must also ensure that the equipment lands smoothly and safely during the lowering process to ensure the safety of the submersible and the submariner.

[0003] At present, there is no public description or case of emergency lowering function of submersible hoisting devices at home and abroad.

[0004] Patent publication number CN1119244739A discloses a multifunctional lifting winch for manned submersible recovery operations. This principle is the same as the hydraulic principle of most current submersible lifting devices. It uses a proportional relief valve to achieve constant tension control, and does not have a tension protection function for overflow valve failure, a load emergency lowering function, or a motor reverse drag instant oil replenishment function (the oil replenishment mentioned in the patent is set at the motor load port, and is mainly used for balance valve oil replenishment during normal lifting). Summary of the invention

[0005] The present invention is to provide a multifunctional control hydraulic module for manned submersible hoisting, which adopts two-way cartridge valve technology and inverse proportional control technology, so that the module integrates stepless adjustment constant tension function, constant tension condition instant oil replenishment function, multiple constant tension fault protection function, submersible emergency release function, emergency release motor oil replenishment function, and achieves the following purposes through the installation or modification of the multifunctional control hydraulic module:

[0006] 1. Solve the problem of large flow system adjustable constant tension control function required for the lifting of heavy manned submersibles

[0007] 2. Solve the protection mechanism of the constant tension system to avoid accidental activation of constant tension or low tension due to system pollution, power failure of control power, etc., which may cause the submersible to fall unexpectedly;

[0008] 3. The present invention provides a set of stable, safe and reliable submersible emergency lowering solutions, which can lower a submersible in mid-air in a stable and safe manner.

[0009] 4. Avoid damage to the hydraulic motor due to long-term lack of oil under constant tension conditions and emergency lowering conditions.

[0010] To achieve the above-mentioned purpose, the technical scheme of the present invention is: a multifunctional control hydraulic module for hoisting and lowering a manned submersible, comprising: solenoid valve 1, solenoid valve 2, an overflow valve, a proportional overflow valve, a pressure reducing valve A, a pressure reducing valve B, a check valve A, a hydraulically controlled reversing valve, a check valve B, an accumulator, a balancing valve, a main reversing valve, a shuttle valve A, a shuttle valve B, a brake, a winch motor, a two-way cartridge valve, and a shuttle valve C. A two-way cartridge valve is connected between the A chamber and the B chamber of the winch motor. The pressure on the B chamber side of the winch motor acts on the bottom chamber of the two-way cartridge valve and enters the spring chamber through the throttle hole of the two-way cartridge valve. The spring chamber is connected back to the oil tank through the solenoid valve 1 via the overflow valve and is connected back to the oil tank through the solenoid valve 2 via the proportional overflow valve to form a multifunctional control hydraulic module, which is used for the submersible hoisting and lowering winch to realize the adjustable constant tension function under large flow conditions, the constant tension failure anti-fall protection function, the submersible emergency release function, and the motor automatic oil replenishment function.

[0011] Furthermore, the main reversing valve is connected to the B chamber of the winch motor through a balancing valve, and the A chamber of the motor is directly connected to the main reversing valve. The winch motor is provided with a brake, which is connected to the main reversing valve through shuttle valves B and shuttle valves A. It is used for the normal lifting and lowering conditions of the manned submersible, and when the power source fails, braking is performed under the action of the brake spring to prevent the load from being lifted or lowered.

[0012] Furthermore, under normal lifting and lowering conditions, the multifunctional control hydraulic module does not participate in the work, and the winch motor performs normal lifting or lowering operations under the control of the main reversing valve.

[0013] Furthermore, a shuttle valve C is connected between the solenoid valve 1 and the solenoid valve 2, and the shuttle valve C is connected to the hydraulically controlled reversing valve. The pressure oil in the accumulator is replenished to the A chamber of the winch motor through the hydraulically controlled reversing valve, the pressure reducing valve B, and the one-way valve A respectively.

[0014] Furthermore, the relief valve has an internal spring adjustability to achieve smooth and controllable lowering for different loads, and an automatic oil replenishment circuit is added for protection.

[0015] Furthermore, when the constant tension mode is not entered, all solenoid valves are not energized, and the load pressure, i.e., the pressure on the B chamber side of the winch motor, acts on the bottom chamber of the two-way cartridge valve and enters the spring chamber through the throttle hole of the two-way cartridge valve. At this time, the spring chamber forms a closed chamber under the action of solenoid valve one and solenoid valve two, and the bottom chamber pressure P1 of the two-way cartridge valve core is equal to the spring chamber pressure P2. The two-way cartridge valve core is closed under the action of the spring, and the bottom chamber and the side chamber are blocked. The hydraulic oil in the B chamber of the winch motor will not pass through the two-way cartridge valve core into the A chamber of the winch motor 16, and the winch motor will not be dragged back by the load, and will not enter the constant tension working condition.

[0016] Furthermore, when the constant tension working condition is turned on: the second solenoid valve is energized, and the proportional relief valve is set to a pressure of P4. At this time, the spring chamber pressure P2 is equal to the proportional relief valve set pressure P4, that is, P2 = P4.

[0017] Furthermore, if the load pressure P1 is greater than the set pressure of the proportional relief valve, the two-way cartridge valve opens, and the hydraulic oil in the B chamber of the winch motor enters the A port of the winch motor through the side chamber of the two-way cartridge valve. At this time, the winch motor is dragged by the load to run the motor variable pump condition, and the hydraulic oil entering the A port of the winch motor is re-absorbed by the winch motor to maintain operation; if the motor load pressure P1 is less than the set pressure of the proportional relief valve, the two-way cartridge valve is closed, the winch motor is lifted normally, and the tension at the load end is always determined by the set pressure of the proportional relief valve 4, thereby realizing the constant tension function; the proportional relief valve adopts an inverse proportional design. When the system fails to power on or other faults causing the proportional relief valve to lose its signal, the proportional relief valve is automatically set to a high pressure value to avoid accidental activation of low tension under normal working conditions, causing the load to fall. Solenoid valve 2 will also automatically cut off the oil circuit when the system loses power, further protecting against accidental activation of constant tension.

[0018] Furthermore, when a power source failure occurs and the manned submersible is just suspended in mid-air and cannot be released, the load of the manned submersible is borne by the balance valve, that is, the oil pressure generated by the torque of the load acting on the winch motor is borne by the oil pressure P1 between the B of the winch motor and the balance valve. At the same time, the brake is braked by the spring, and the load can neither be lifted nor lowered; if emergency lowering is required, a UPS switching power supply is used to turn on the solenoid valve. At this time, the pressure of the B port of the winch motor will be determined by the relief valve. According to the load size, the relief valve is set to a pressure value less than the load. The pressure oil of the B port of the winch motor will pass through the two-way cartridge valve to the A port of the winch motor. The winch motor rotates clockwise under the action of the load, so that the load is passively lowered in an emergency.

[0019] Furthermore, during emergency lowering, the brake is turned on. Once the solenoid valve is energized, pressure P acts on the hydraulically controlled reversing valve, causing the hydraulically controlled reversing valve to switch. At this time, the pressure oil stored in the accumulator is released through the hydraulically controlled reversing valve. One path of the pressure oil passes through pressure reducing valve A and then enters the brake spring chamber through shuttle valve B to turn on the brake. The other path of the pressure oil passes through pressure reducing valve B to reduce the pressure to pressure value P and then passes through check valve A to enter chamber A of the winch motor, thereby replenishing oil and preventing the motor from being sucked into air.

[0020] The beneficial effects of the present invention are:

[0021] The present invention can achieve the following by adding or modifying a multifunctional control hydraulic module:

[0022] 1. Solve the constant tension control function of the large flow system required for the lifting and lowering of heavy manned submersibles;

[0023] 2. The constant tension system protection mechanism has been solved to avoid accidental activation of constant tension or low tension due to system contamination and other factors, which may cause the submersible to fall unexpectedly;

[0024] 3. Solve the problem of suspension system failure and realize the emergency, smooth and safe lowering of manned submersibles;

[0025] 4. Avoid damage to the hydraulic motor due to long-term lack of oil under constant tension and emergency release conditions.

[0026] 5. Provides a hydraulic solution that meets various working conditions of submersible lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a principle diagram of a multifunctional control hydraulic module for hoisting and placing a manned submersible according to the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1 As shown, the double-dotted line frame is a schematic diagram of the multifunctional module. An embodiment of the present invention provides a multifunctional control hydraulic module for hoisting a manned submersible. The module adopts a two-way cartridge valve technology and an inverse proportional control technology, so that the module integrates a stepless constant tension function, an instantaneous oil replenishment function under constant tension conditions, and multiple constant tension fault protection functions, and specifically includes: solenoid valve 1, solenoid valve 2, relief valve 3, proportional relief valve 4, pressure reducing valve A5, pressure reducing valve B6, check valve A7, hydraulically controlled reversing valve 8, check valve B9, accumulator 10, balance valve 11, main reversing valve 12, shuttle valve A13, shuttle valve B14, brake 15, winch motor 16, two-way cartridge valve 17, shuttle valve C18, etc.

[0030] The main reversing valve 12 is connected to the B chamber of the winch motor 16 through the balance valve 11, and the A chamber of the motor 16 is directly connected to the main reversing valve 12. The winch motor 16 is provided with a brake 15, which is connected to the main reversing valve 12 through the shuttle valve B14 and the shuttle valve A13, and is used for the normal lifting and lowering of the manned submersible, and when the power source fails, the brake is applied under the action of the brake 15 spring, so that the load cannot be lifted or lowered. A two-way cartridge valve 17 is also connected between the A chamber and the B chamber of the winch motor 16. The pressure of the B chamber side of the winch motor 16 acts on the bottom chamber of the two-way cartridge valve 17, and enters the spring chamber 17-2 through the throttle hole 17-1 of the two-way cartridge valve 17. The spring chamber is connected back to the oil tank through the solenoid valve 1 through the overflow valve 3 and through the solenoid valve 2 through the proportional overflow valve 4, which is used for the winch motor 16 to achieve non-constant tension working conditions or constant tension working conditions.

[0031] A shuttle valve C18 is also connected between the solenoid valve 1 and the solenoid valve 2. The shuttle valve C18 is connected to the accumulator 10 through the hydraulic control reversing valve 8. The pressure oil in the accumulator 10 is replenished to the A chamber of the winch motor 16 through the hydraulic control reversing valve 8, the pressure reducing valve B6, and the one-way valve A7. The overflow valve 3 has the adjustability of the spring and the proportional linear characteristics to realize the stable and controllable lowering of the load and increase the oil replenishment circuit for protection.

[0032] Here’s how it works:

[0033] Under normal lifting and lowering conditions, this module does not participate in the work, and the winch motor 16 performs normal lifting or lowering operations under the control of the main reversing valve 12. During normal lifting and lowering, the oil circuit principle is as follows: the electromagnet a of the main reversing valve 12 is energized, and the solenoid valve switches to the left position (cross position) to work. The pressure oil from the P port enters the right oil circuit through the main reversing valve 12 and enters the B chamber of the winch motor 16 after passing through the balance valve 11, driving the winch motor 16 to rotate counterclockwise. At the same time, the pressure oil enters the brake 15 through the shuttle valve A13 and the shuttle valve B14 to open the brake, thereby lifting the load. The low-pressure oil coming out of the A port of the winch motor 16 returns to the T port through the main reversing valve 12. The electromagnet b of the main reversing valve 12 is energized, and the main reversing valve 12 is switched to the right position (parallel position) to work. The pressure oil from the P port enters the left oil circuit through the main reversing valve 12 and enters the A chamber of the winch motor 16, driving the winch motor 16 to rotate clockwise, thereby lowering the load. At the same time, the pressure oil enters the brake 15 through the shuttle valve A13 and the shuttle valve B14 to open the brake 15. At the same time, the high-pressure oil in the left oil circuit will enter the control port of the balance valve 11, and open the balance valve 11 with a certain opening. The low-pressure oil coming out of the B port of the winch motor 16 returns to the T port through the balance valve 11 and the main reversing valve 12.

[0034] When the constant tension mode is not entered, all solenoid valves are not energized, and the load pressure, i.e., the pressure on the B chamber side of the winch motor 16, acts on the bottom chamber of the two-way cartridge valve 17, and enters the spring chamber 17-2 through the throttle hole 17-1 of the two-way cartridge valve 17. At this time, the spring chamber 17-2 is a closed chamber under the action of the solenoid valve 1 and the solenoid valve 2. The bottom chamber pressure P1 of the two-way cartridge valve 17 is equal to the spring chamber pressure P1. The two-way cartridge valve core 17 is closed under the action of the spring, and the bottom chamber and the side chamber are blocked. The hydraulic oil in the B chamber of the winch motor 16 will not enter the A chamber of the winch motor 16 through the two-way cartridge valve 17, and the winch motor 16 will not be dragged backward by the load, and will not enter the constant tension working condition.

[0035] When the constant tension working condition is turned on: the solenoid valve 2 is energized, the proportional relief valve 4 is given a corresponding electrical control signal, and the set pressure is P4. At this time, the pressure P2 in the spring chamber 17-2 is equal to the set pressure P4 of the proportional relief valve 4, that is, P2=P4. At this time, if the load pressure P1 is greater than the set pressure of the proportional relief valve 4, the two-way cartridge valve 17 will be opened, and the hydraulic oil in the B chamber of the winch motor 16 enters the A port of the winch motor 16 through the side chamber of the two-way cartridge valve 17. At this time, the winch motor 16 is reversed by the load to run the motor variable pump working condition, and the hydraulic oil entering the A port of the winch motor 16 is re-absorbed by the winch motor 16 to maintain operation; conversely, if the motor load pressure P1 is less than the set pressure of the proportional relief valve 4, the two-way cartridge valve 17 will be closed, the winch motor 16 will be lifted normally, and the tension at the load end is always determined by the set pressure of the proportional relief valve 4, thereby realizing the constant tension function. Since the winch motor 16 has certain internal and external leakage, the flow of the B chamber of the winch motor 16 entering the A port of the winch motor 16 through the side chamber of the two-way cartridge valve 17 during the load lowering process may not be sufficient to meet the flow required for the winch motor 16 to absorb oil, thereby causing the winch motor 16 to be damaged by air suction. To solve this problem, in this control module, the pressure oil where P4 is located opens the hydraulically controlled reversing valve 8 through the shuttle valve C18, so that the pressure oil stored in the accumulator 10 is replenished to the A chamber of the winch motor 16 through the hydraulically controlled reversing valve 8, the pressure reducing valve B6, and the one-way valve A7, thereby avoiding the motor from being damaged by air suction.

[0036] The principle of the conventional constant tension control proportional relief valve is that as the electrical control signal increases, the proportional valve pressure setting value will also increase, and the constant tension setting pressure will also increase. When the electrical control signal decreases, the proportional relief valve setting pressure decreases. If the electrical control signal is accidentally lost due to an electrical fault or a line fault, the proportional relief valve pressure setting value will directly become the minimum value, which is equivalent to the proportional signal being set to 0. If a similar electrical fault or line fault occurs during the normal hoisting process of a manned submersible, the manned submersible will accidentally open a low tension because the proportional relief valve setting value is too low, causing the submersible to fall, and causing danger to equipment and personnel. In response to the above hidden dangers, the present invention has developed an inverse proportional relief valve through a proportional valve structure design, that is, the larger the electrical signal, the lower the relief valve pressure value is set. When there is no control signal, the proportional relief valve pressure setting value automatically becomes the maximum, avoiding the operational risks caused by the above electrical faults.

[0037] Emergency lowering function: The principle is as follows:

[0038] When the power source fails, including the failure of the hydraulic pump station, the main pressure pipeline of the hydraulic system bursts and cannot be repaired in time, and the manned submersible is just suspended in the air and cannot be released. At this time, the load of the manned submersible is borne by the balance valve 11, that is, the oil pressure generated by the torque of the load acting on the winch motor 16 is borne by the oil pressure P1 between the B of the winch motor 16 and the balance valve 11, and the brake 15 is also braked under the action of the spring, and the load cannot be lifted or lowered. If emergency release is required, only a UPS switch power supply is needed to turn on the electromagnetic valve 1, similar to the constant tension principle. At this time, the pressure of the B port of the winch motor 16 will be determined by the relief valve 3. It is only necessary to set the relief valve 3 to a pressure value slightly less than the load according to the load size, and the pressure oil of the B port of the winch motor 16 will pass through the two-way cartridge valve 17 to the A port of the winch motor 16. The winch motor 16 rotates clockwise under the action of the load, so that the load is passively released in an emergency. Due to the existence of the brake 15, the brake 15 needs to be turned on during emergency lowering. When the solenoid valve 1 is energized, the pressure P3 acts on the hydraulically controlled reversing valve 8, causing the hydraulically controlled reversing valve 8 to switch. At this time, the pressure oil stored in the accumulator 10 is released through the hydraulically controlled reversing valve 8. One path of the pressure oil passes through the pressure reducing valve A5 and then enters the spring chamber of the brake 15 through the shuttle valve B14 to open the brake 15. The other path is reduced to a suitable pressure value P through the pressure reducing valve B6 and then passes through the one-way valve A7 to enter the A chamber of the winch motor 16 to achieve oil replenishment and prevent the motor from sucking air. Compared with the emergency lowering method of using a throttle valve to directly conduct the AB chamber of the winch motor 16, the difference of the present invention is that the adjustable overflow valve is used to utilize the adjustability of the internal spring of the overflow valve and the proportional linear characteristics to achieve a stable and controllable load lowering, and to increase the oil replenishment circuit for protection.

[0039] The present invention can be installed in the form of a control module in the winch circuit of the submersible hoisting device of Tan Tan No. 3 to meet various working conditions of the submersible hoisting. The present invention can not only be installed in newly developed equipment, but also be made into a retrofit module, and the existing equipment can be simply retrofitted directly through the installation method of pipeline connection to achieve the effect of the invention.

Claims

1. A multifunctional control hydraulic module for manned submersible hoisting, characterized in that: include: Solenoid valve 1, solenoid valve 2, overflow valve, proportional overflow valve, pressure reducing valve A, pressure reducing valve B, check valve A, hydraulically controlled reversing valve, check valve B, accumulator, balancing valve, main reversing valve, shuttle valve A, shuttle valve B, brake, winch motor, two-way cartridge valve, shuttle valve C, a two-way cartridge valve is connected between chamber A and chamber B of the winch motor, the pressure on the chamber B side of the winch motor acts on the bottom chamber of the two-way cartridge valve, and enters the spring chamber through the throttle hole of the two-way cartridge valve, the spring chamber is connected back to the oil tank through solenoid valve 1 via the overflow valve and through solenoid valve 2 via the proportional overflow valve to form a multifunctional control hydraulic module, which is used for the submersible hoisting winch to realize adjustable constant tension function under large flow conditions, constant tension failure anti-fall protection function, submersible emergency release function, and motor automatic oil replenishment function.

2. The multifunctional control hydraulic module for placing a manned submersible according to claim 1, characterized in that: The main reversing valve is connected to the B chamber of the winch motor through a balancing valve, and the A chamber of the motor is directly connected to the main reversing valve. The winch motor is provided with a brake, which is connected to the main reversing valve through shuttle valves B and A. It is used for the normal lifting and lowering of the manned submersible, and when the power source fails, the brake is applied under the action of the brake spring to prevent the load from being lifted or lowered.

3. The multifunctional control hydraulic module for placing a manned submersible according to claim 2, characterized in that: Under normal lifting and lowering conditions, the multifunctional control hydraulic module does not participate in the work, and the winch motor performs normal lifting or lowering operations under the control of the main reversing valve.

4. The multifunctional control hydraulic module for placing a manned submersible according to claim 1, characterized in that: A shuttle valve C is connected between the solenoid valve 1 and the solenoid valve 2, and the shuttle valve C is connected to the hydraulically controlled reversing valve. The pressure oil in the accumulator is replenished to the A chamber of the winch motor through the hydraulically controlled reversing valve, the pressure reducing valve B and the one-way valve A respectively.

5. The multifunctional control hydraulic module for placing a manned submersible according to claim 1, characterized in that: The relief valve has an internal spring adjustability to achieve smooth and controllable lowering for different loads, and an automatic oil replenishment circuit is added for protection.

6. The multifunctional control hydraulic module for placing a manned submersible according to claim 1, characterized in that: Before entering the constant tension mode, all solenoid valves are not energized, and the load pressure, i.e., the pressure on the B chamber side of the winch motor, acts on the bottom chamber of the two-way cartridge valve and enters the spring chamber through the throttle hole of the two-way cartridge valve. At this time, the spring chamber forms a closed chamber under the action of solenoid valve one and solenoid valve two, and the bottom chamber pressure P1 of the two-way cartridge valve core is equal to the spring chamber pressure P2. The valve core of the two-way cartridge valve is closed under the action of the spring, and the bottom chamber and the side chamber are blocked. The hydraulic oil in the B chamber of the winch motor will not enter the A chamber of the winch motor through the two-way cartridge valve core, and the winch motor will not be dragged back by the load, and will not enter the constant tension working condition.

7. The multifunctional control hydraulic module for placing a manned submersible according to claim 1, characterized in that: When the constant tension condition is turned on: solenoid valve 2 is energized, and the proportional relief valve is set to pressure P4. At this time, the spring chamber pressure P2 is equal to the proportional relief valve set pressure P4, that is, P2 = P4.

8. The multifunctional control hydraulic module for placing a manned submersible according to claim 7, characterized in that: If the load pressure P1 is greater than the set pressure of the proportional relief valve, the two-way cartridge valve opens, and the hydraulic oil in the B chamber of the winch motor enters the A port of the winch motor through the side chamber of the two-way cartridge valve. At this time, the winch motor is dragged by the load to run the motor pump condition, and the hydraulic oil entering the A port of the winch motor is re-absorbed by the winch motor to maintain operation; if the motor load pressure P1 is less than the set pressure of the proportional relief valve, the two-way cartridge valve is closed, and the winch motor is lifted normally. The tension at the load end is always determined by the set pressure of the proportional relief valve, thereby realizing the constant tension function; the proportional relief valve adopts a special inverse proportional form, that is, the larger the electrical signal, the lower the pressure value of the relief valve is set. When the control signal is lost, the pressure setting value of the proportional relief valve automatically becomes the maximum value, thereby avoiding the hidden danger of the submersible falling due to the excessive low setting value of the proportional relief valve due to an accidental power failure during the normal lifting and lowering of the manned submersible.

9. The multifunctional control hydraulic module for placing a manned submersible according to claim 1, characterized in that: When a power source failure occurs and the manned submersible is just suspended in mid-air and cannot be released, the load of the manned submersible is borne by the balance valve, that is, the oil pressure generated by the torque of the load acting on the winch motor is borne by the oil pressure P1 between the B of the winch motor and the balance valve. At the same time, the brake is braked by the spring, and the load can neither be lifted nor lowered; if emergency lowering is required, use a UPS switch power supply to turn on the solenoid valve. At this time, the pressure of the B port of the winch motor will be determined by the relief valve. According to the load size, the relief valve is set to a pressure value less than the load. The pressure oil of the B port of the winch motor will pass through the two-way cartridge valve to the A port of the winch motor. The winch motor rotates clockwise under the action of the load, so that the load is passively lowered in an emergency.

10. The multifunctional control hydraulic module for placing a manned submersible according to claim 9, characterized in that: During emergency lowering, the brake is turned on. Once the solenoid valve is energized, pressure P acts on the hydraulically controlled reversing valve, causing the hydraulically controlled reversing valve to switch. At this time, the pressure oil stored in the accumulator is released through the hydraulically controlled reversing valve. One path of the pressure oil passes through pressure reducing valve A and then enters the brake spring chamber through shuttle valve B to turn on the brake. The other path of the pressure oil passes through pressure reducing valve B to reduce the pressure to pressure value P and then passes through check valve A to enter chamber A of the winch motor to replenish oil and prevent the motor from being sucked into air.

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