A multi-functional control hydraulic module for manned submersible hoisting

Abstract

The present application relates to a kind of multifunctional control hydraulic module for manned submersible sling, two-way cartridge valve is connected between the A cavity and B cavity of winch motor, the bottom cavity of two-way cartridge valve is acted on by B cavity side pressure of winch motor, and enter spring cavity through the throttle hole of two-way cartridge valve, spring cavity is connected back to oil tank by overflow valve through solenoid valve one and by overflow valve through solenoid valve two, to constitute multifunctional control hydraulic module, for winch motor to realize non-constant tension working condition or constant tension working condition.The present application realizes the large-flow system adjustable constant tension control function required when heavy manned submersible is sling by the installation or modification of multifunctional control hydraulic module, solves constant tension system protection mechanism, avoids constant tension or low tension accidental activation caused by system pollution, control electricity failure and other factors, leading to submersible accidental drop;Avoid damage due to long time lack of oil work of hydraulic motor under constant tension and emergency release working condition.

Description

Technical Field

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

[0002] Deep-sea science is a key area of ​​scientific research at the forefront, relying on technological means and equipment. Manned submersibles, as a particularly important deep-sea operation tool, can be used for underwater surveys, geological exploration, sample collection, pipeline repair, and salvage and rescue missions. A safe and reliable submersible hoisting and lowering system is a core component of a submersible's surface support system. The constant tension function of the submersible hoisting and lowering winch is a crucial feature of the submersible, ensuring the submersible's stable position while afloat. This function is typically achieved by setting a pressure value in a relief valve. When the motor load exceeds the set pressure, the motor is reversed, operating in a pumping mode. Based on this principle, the motor may suffer damage due to oil depletion and cavitation during constant tension operation. This function must not be activated during the lifting or lowering process. If it is abnormally activated due to various factors during the lifting and lowering process, the load may drop, resulting in 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 failures 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. It does not have a relief valve failure tension protection function, does not have a load emergency lowering function, and does not have a motor reverse drag instant oil replenishment function (the oil replenishment mentioned in the patent is set at the motor load port, mainly used for balance valve oil replenishment during normal lifting). Summary of the Invention

[0005] The present invention provides a multifunctional hydraulic control module for manned submersibles. The module utilizes two-way cartridge valve technology and inverse proportional control technology to integrate a stepless constant tension function, an instantaneous oil replenishment function under constant tension conditions, multiple constant tension fault protection functions, a submersible emergency release function, and an emergency release motor oil replenishment function. By adding or modifying the multifunctional hydraulic control module, the following objectives are achieved:

[0006] 1. Solve the large flow system adjustable constant tension control function required when heavy manned submersible is hoisted

[0007] 2. Solve the constant tension system protection mechanism, avoid the constant tension or low tension accidental activation caused by system pollution, control power failure and other factors, resulting in the submersible falling accidentally;

[0008] 3. The present application provides a set of stable, safe and reliable submersible emergency solution. The submersible in the air can be safely and stably released.

[0009] 4. Avoid the damage of hydraulic motor caused by long time lack of oil under constant tension working condition and emergency release working condition.

[0010] In order to achieve the above purpose, the technical scheme of the present application is: a multifunctional control hydraulic module for manned submersible hoisting, comprising: solenoid valve one, solenoid valve two, overflow valve, proportional overflow valve, pressure reducing valve A, pressure reducing valve B, check valve A, hydraulic control reversing valve, check valve B, accumulator, balance valve, main reversing valve, shuttle valve A, shuttle valve B, brake, winch motor, two-way cartridge valve, shuttle valve C, the A cavity and the B cavity of the winch motor are connected with the two-way cartridge valve, the B cavity side pressure of the winch motor acts on the bottom cavity of the two-way cartridge valve, and enters the spring cavity through the throttle hole of the two-way cartridge valve, the spring cavity is connected back to the oil tank through the overflow valve of the solenoid valve one and the proportional overflow valve of the solenoid valve two, and constitutes a multifunctional control hydraulic module, which is used for realizing the adjustable constant tension function, the constant tension fault anti-falling protection function, the submersible emergency release function and the motor automatic oil supplement function of the winch under large flow working condition.

[0011] Further, the main reversing valve is connected with the B cavity of the winch motor through the balance valve, the A cavity of the motor is directly connected with the main reversing valve, the brake is arranged on the winch motor, the brake is connected with the main reversing valve through the shuttle valve B and the shuttle valve A, which is used for normal lifting and lowering of the manned submersible, and when the power source fails, the brake is driven by the brake spring, so that the load cannot be lifted or lowered.

[0012] Further, under normal lifting and lowering working condition, the multifunctional control hydraulic module does not participate in work, and the winch motor is controlled by the main reversing valve to perform normal lifting or lowering operation.

[0013] Further, the shuttle valve C is connected between the solenoid valve one and the solenoid valve two, the shuttle valve C is connected with the hydraulic control reversing valve, and the pressure oil in the accumulator is supplemented to the A cavity of the winch motor through the hydraulic control reversing valve, the pressure reducing valve B and the check valve A.

[0014] Further, the overflow valve has the adjustability of the spring inside, which realizes stable and controllable lowering for different loads, and increases the automatic oil supplement circuit 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. 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 solenoid valve 2 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 backward 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 closes, 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 operate due to power failure or other faults, causing the proportional relief valve to lose 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 hanging in the 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 cannot be raised or lowered; if emergency lowering is required, a UPS switching power supply is used to energize the solenoid valve and open it. 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 the pressure reducing valve A and then through the shuttle valve B into the brake spring chamber to open the brake. The other path of the pressure oil passes through the pressure reducing valve B to reduce the pressure to the pressure value P and then passes through the one-way valve A into the A chamber of the winch motor to replenish oil and prevent 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 placement 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 factors such as system contamination, 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 oil shortage under constant tension and emergency release conditions.

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

[0027] Figure 1 This is a schematic diagram of the 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 with reference to 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 and lowering a manned submersible. The module adopts two-way cartridge valve technology and inverse proportional control technology, so that the module integrates a stepless adjustment constant tension function, an instantaneous oil replenishment function under constant tension conditions, and multiple constant tension fault protection functions. The module specifically includes: solenoid valve 1, solenoid valve 2, relief valve 3, proportional relief valve 4, pressure reducing valve A5, pressure reducing valve B6, non-return valve A7, hydraulically controlled reversing valve 8, non-return valve B9, accumulator 10, balancing 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] Main reversing valve 12 is connected to chamber B of winch motor 16 via balancing valve 11. Chamber A of motor 16 is directly connected to main reversing valve 12. Winch motor 16 is equipped with brake 15, which is connected to main reversing valve 12 via shuttle valves B14 and A13. Brake 15 is used for normal lifting and lowering of the manned submersible. In the event of a power source failure, brake 15's spring acts to prevent the load from being lifted or lowered. A two-way cartridge valve 17 is also connected between chambers A and B of winch motor 16. Pressure from chamber B of winch motor 16 acts on the bottom chamber of two-way cartridge valve 17 and enters spring chamber 17-2 through orifice 17-1 of two-way cartridge valve 17. The spring chamber is then connected back to the oil tank via solenoid valve 11, relief valve 3, and via solenoid valve 2, proportional relief valve 4. This allows winch motor 16 to operate under either non-constant tension or constant tension conditions.

[0031] A shuttle valve C18 is connected between solenoid valve 1 and solenoid valve 2. This shuttle valve C18 is connected to accumulator 10 via hydraulically controlled reversing valve 8. The pressurized oil in accumulator 10 is replenished to chamber A of winch motor 16 via hydraulically controlled reversing valve 8, pressure reducing valve B6, and check valve A7. Relief valve 3 features an internal spring with adjustable and proportional linear characteristics, enabling smooth and controlled load lowering and adding an 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 passes through the main reversing valve 12 and returns to the T port. The electromagnet b of the main reversing valve 12 is energized, and the main reversing valve 12 switches 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 balancing valve 11, opening the balancing valve 11 with a certain opening. The low-pressure oil coming out of the B port of the winch motor 16 passes through the balancing valve 11 and the main reversing valve 12 and returns to the T port.

[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 pressure P1 of the spring chamber 17-2. 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 back 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 open, 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 dragged back by the load to run the motor 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; on the contrary, 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. Because 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 damage to the motor due to air suction.

[0036] The principle of a conventional constant tension controlled 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 will decrease. 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 lowest 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 the low tension because the proportional relief valve setting value is too low, causing the submersible to fall, and endangering equipment and personnel. In response to the above hidden dangers, the present invention has developed an inverse proportional relief valve through the design of a proportional valve structure, 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 a power source failure occurs, including a complete failure of the hydraulic pump station or a rupture in the hydraulic system's main pressure line that cannot be repaired in time, the manned submersible is suspended in mid-air and cannot be released. At this point, the submersible's load is borne by the counterbalance valve 11. Specifically, the oil pressure generated by the load's torque acting on the winch motor 16 is borne by the oil pressure P1 between the winch motor 16's port B and the counterbalance valve 11. Simultaneously, the brake 15 is also applied by the spring, preventing the load from being raised or lowered. If emergency lowering is necessary, simply power on the solenoid valve 1 using a UPS power supply. Similar to the constant tension principle, the pressure at port B of the winch motor 16 is determined by the relief valve 3. By simply setting the relief valve 3 to a pressure slightly lower than the load's pressure, the pressure oil at port B of the winch motor 16 will flow through the two-way cartridge valve 17 to port A of the winch motor 16. The winch motor 16 rotates clockwise under the load, allowing the load to be passively lowered in an emergency. Due to the presence of brake 15, brake 15 must also be activated during emergency lowering. When solenoid valve 1 is energized, pressure P3 acts on hydraulically controlled reversing valve 8, causing it to switch. At this point, the pressure oil stored in accumulator 10 is released through hydraulically controlled reversing valve 8. One path of pressure oil passes through pressure reducing valve A5 and then through shuttle valve B14 into the spring chamber of brake 15, unlocking brake 15. The other path of pressure oil is reduced to an appropriate pressure value P by pressure reducing valve B6 and then passes through check valve A7 into chamber A of winch motor 16, replenishing oil and preventing the motor from absorbing air. Compared to the emergency lowering method that uses a throttle valve to directly connect chambers AB of winch motor 16, the present invention differs in that it uses an adjustable relief valve, leveraging the adjustability and proportional linear characteristics of the relief valve's internal spring to achieve smooth and controllable load lowering, while also adding an oil replenishment circuit for protection.

[0039] The present invention can be installed as a control module in the winch circuit of the Tanshu-3 submersible launch system, meeting various submersible launch conditions. The present invention can be installed not only in newly developed equipment but also as a retrofit module, allowing existing equipment to be simply retrofitted via piping for operational effectiveness.

Claims

1. A multifunctional control hydraulic module for manned submersible hoisting, characterized in that: include: Solenoid valve 1, solenoid valve 2, relief valve, proportional relief 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 the A and B chambers 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 relief valve and back to the oil tank through the solenoid valve 2 via the proportional relief valve to form a multi-function It can control the hydraulic module and is used for the submersible hoisting winch to achieve adjustable constant tension function under high flow conditions, constant tension failure anti-fall protection function, submersible emergency release function, and motor automatic oil replenishment function; the main reversing valve is connected to the B chamber of the winch motor through the balance valve, and the A chamber of the motor is directly connected to the main reversing valve. The winch motor is equipped with a brake, which is connected to the main reversing valve through shuttle valves B and shuttle valves A. It is used for normal lifting and lowering conditions 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; A shuttle valve C is connected between solenoid valve 1 and solenoid valve 2, and shuttle valve C is connected to the hydraulically controlled reversing valve. The pressure oil in the accumulator is divided into two paths through the hydraulically controlled reversing valve. One path is used to replenish oil to the A chamber of the winch motor through the pressure reducing valve B and the one-way valve A, and the other path is used to enter the brake spring chamber through the pressure reducing valve A and the shuttle valve B. The oil inlet end of the accumulator is connected to the pressurized oil replenishment pipeline through the one-way valve B.

2. The multifunctional control hydraulic module for deploying a manned submersible according to claim 1, 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.

3. The multifunctional control hydraulic module for deploying a manned submersible according to claim 1, characterized in that: The relief valve has an internal spring that is adjustable, enabling smooth and controlled lowering for different loads, and an automatic oil replenishment circuit is added for protection.

4. The multifunctional control hydraulic module for deploying 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 1 and solenoid valve 2. 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.

5. The multifunctional control hydraulic module for deploying a manned submersible according to claim 1, characterized in that: When the constant tension working 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.

6. The multifunctional control hydraulic module for deploying a manned submersible according to claim 5, 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 backward 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 closes, 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 relief valve pressure value is set. When the control signal is lost, the proportional relief valve pressure setting value automatically becomes the maximum value, thereby avoiding the hidden danger of the manned submersible falling due to an accidental power failure during the normal lifting and lowering of the manned submersible due to the proportional relief valve setting value being too low.

7. The multifunctional control hydraulic module for deploying a manned submersible according to claim 1, characterized in that: When a power source failure occurs and the manned submersible is just hanging in the 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 cannot be raised or lowered; if emergency lowering is required, use a UPS switching 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.

8. The multifunctional control hydraulic module for deploying a manned submersible according to claim 7, 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 it 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 is reduced in pressure by the pressure reducing valve A and then enters the brake spring chamber through the shuttle valve B to open the brake. The other path of the pressure oil is reduced in pressure by the pressure reducing valve B to pressure value P and then enters the A chamber of the winch motor through the one-way valve A to replenish oil and prevent the motor from being sucked into the air.

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