Underwater equipment laying and recovery system and control method thereof

Abstract

The invention discloses an underwater equipment laying and recycling system and a control method thereof, the system is driven by a stop motor group, a swing motor group and a telescopic motor group which are equal in specification to realize laying and recycling actions of underwater operation equipment, and the system is controlled by a distributed controller and a centralized control box. The swing motor set drives the swing driving gear to rotate, so that the swing cam with the outer gear ring rotates, the swing connecting rod is driven, and the main arm is driven to complete the swing action. The telescopic motor group drives the telescopic screw rod to rotate so as to drive the auxiliary arm to complete telescopic motion; the anti-oscillation motor set drives the anti-oscillation butt joint rotating shaft to enable the anti-oscillation butt joint device to rotate so as to reduce oscillation of the operation equipment in the butt joint process. All-electric work is achieved, the requirement for system spare parts is reduced, the maintenance cost is greatly reduced, environmental protection benefits are better achieved, operation and maintenance are more convenient, and operation state monitoring and remote control can be achieved. The system is of an integral structure, the deck space utilization rate is increased, and the equipment delivery period is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment and peripheral supporting facilities thereof, and in particular to an underwater equipment deployment and recovery system and a control method thereof. Background Art

[0002] With the increase in ocean exploration, the demand for environmental protection has gradually increased during the exploration activities. At the same time, the equipment is required to have good integration, less deck utilization space, lower maintenance costs, and more flexible control strategies to achieve real-time monitoring of system status and full life cycle management.

[0003] For the current underwater equipment deployment and recovery system, the hydraulic system is mainly used to realize the operation of the underwater equipment deployment and recovery system. It requires regular maintenance operations such as replacing hoses and filters, and there is also a risk of hydraulic oil leakage, which cannot meet the needs of clean operations. In terms of spatial layout, a separate hydraulic pump station needs to be set up, occupying deck space, and the overall layout of the system cannot be achieved to meet the short equipment delivery cycle required for ship construction. In addition, the control integration and control accuracy of the hydraulic system are low, which is not conducive to achieving high-precision real-time status monitoring and offshore remote operation. Directly using electric cylinders to replace hydraulic cylinders will complicate the system layout, and cannot meet the needs of heavy-load operations, nor can it achieve good control accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater equipment deployment and recovery system to solve the problems existing in the above-mentioned prior art. It adopts motor drive, reduces spare parts requirements, saves maintenance costs, reduces pollution caused by hydraulic oil leakage, and has greater environmental benefits.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides an underwater equipment deployment and recovery system, comprising a support and:

[0007] A frame unit, the A frame unit comprises a main arm, a secondary arm, a swing link and a swing motor group, one end of the main arm is connected to the support for rotation, and the other end of the main arm is connected to the secondary arm slidably; one end of the swing link is connected to the support for rotation, and the other end of the swing link is connected to one end of the main arm close to the secondary arm for rotation, and the rotation axis of the swing link and the support is parallel to the rotation axis of the main arm and the support; the swing motor group is arranged in the swing motor compartment of the support, and the swing motor group is used to drive the swing link;

[0008] The anti-swing unit comprises an anti-swing motor group and an anti-swing docking device, the anti-swing docking device is rotatably connected to the auxiliary arm, and the output end of the anti-swing motor group is drivingly connected to the anti-swing docking device;

[0009] A winch unit, the winch unit includes a drum, a cable and a drum motor group, the drum is rotatably arranged on the support and driven by the drum motor group, one end of the cable is connected to the drum, and the other end of the cable is connected to the underwater equipment after passing through the A-frame unit and the anti-swing docking device; the winch unit is located on the side of the A-frame unit away from the water surface.

[0010] Preferably, the main arm is rotatably connected to the support by a main arm shaft, and the swing link is rotatably connected to the support by a link support shaft.

[0011] Preferably, the A frame unit also includes a swing driving gear, a swing cam and a swing outer gear ring. The swing motor group is arranged in the swing motor compartment of the support. The output end of the swing motor group is connected to the swing driving gear. The connecting rod bracket shaft is hinged to the protruding end of the swing cam. The camshaft of the swing cam is connected to the swing outer gear ring, and the swing outer gear ring is meshed with the swing driving gear.

[0012] Preferably, the main arm is a T-shaped columnar structure, the top of the main arm has a sliding channel allowing the auxiliary arm to pass through, and one end of the auxiliary arm can slide through the sliding channel;

[0013] The cross section of the sliding channel is rectangular.

[0014] Preferably, the A-frame unit also includes a telescopic motor group, a screw bracket, a telescopic screw and a threaded tube, the output end of the telescopic motor group is connected to the telescopic screw, the screw bracket is connected to the auxiliary arm, the threaded tube is connected to the main arm, the telescopic screw can be rotatably passed through the screw bracket and then threadedly connected to the threaded tube, and the telescopic screw and the threaded tube are arranged parallel to the sliding channel.

[0015] Preferably, the auxiliary arm is an inverted U-shaped structure, and the auxiliary arm includes a crossbeam and two arms symmetrically arranged on both sides of the crossbeam, the main arm corresponds to the arms one by one, and the anti-swing docking device is rotatably arranged on the crossbeam.

[0016] Preferably, the anti-swing unit further comprises an anti-swing docking shaft, the anti-swing docking shaft is connected to the auxiliary arm, and the anti-swing docking device is rotatably connected to the anti-swing docking shaft.

[0017] Preferably, the underwater equipment deployment and recovery system further includes a control unit, and the A-frame unit, the anti-swing unit and the winch unit are all communicatively connected to the control unit.

[0018] Preferably, the A-frame unit, the anti-sway unit and the winch unit all include a controller, the control unit includes an integrated control box and a machine-side control console, the integrated control box is arranged on the support, the machine-side control console is arranged on the integrated control box, and the controller is connected to the integrated control box by a communication cable, and the communication cable is arranged in a cable collection channel.

[0019] The present invention also provides a control method for an underwater equipment deployment and recovery system, using the above-mentioned underwater equipment deployment and recovery system, comprising the following steps:

[0020] S1. Operation equipment is transferred to the operating sea surface

[0021] The swing motor group moves, and the swing motor group drives the position change of one end of the swing connecting rod, thereby making The position of the other end of the swing link and the hinge of the main arm changes, thereby driving the main arm to complete the swing action; While swinging, the jib is driven to complete the telescopic movement, driving the operating equipment to swing and telescope to the operating sea. noodle ;

[0022] S2. Action of the anti-swing docking device during deployment and recovery

[0023] The anti-sway docking device can adjust the orientation of the operating equipment to adapt to a suitable operating position, and when the operation starts, it works in conjunction with the winch unit to start the deployment and recovery operation of the equipment;

[0024] The anti-swing motor group connected to the auxiliary arm drives the anti-swing docking device to rotate to reduce the swing of the operating equipment during the docking process.

[0025] Compared with the prior art, the present invention has achieved the following technical effects: the underwater equipment deployment and recovery system of the present invention comprises a support and an A-frame unit, a swing-stop unit and a winch unit arranged on the support, wherein the A-frame unit comprises a main arm, a secondary arm, a swing connecting rod and a swing motor group, one end of the main arm is rotatably connected to the support, and the other end of the main arm is slidably connected to the secondary arm; one end of the swing connecting rod is rotatably connected to the support, and the other end of the swing connecting rod is rotatably connected to an end of the main arm close to the secondary arm, and the rotation axis of the swing connecting rod and the support is parallel to the rotation axis of the main arm and the support; the swing The motor group is arranged in the swing motor cabin of the support, and the swing motor group is used to drive the swing connecting rod; the anti-swing unit includes the anti-swing motor group and the anti-swing docking device, the anti-swing docking device is rotatably connected to the auxiliary arm, and the output end of the anti-swing motor group is transmission-connected to the anti-swing docking device; the winch unit includes a rotating drum, a cable and a drum motor group, the rotating drum is rotatably arranged on the support and driven by the drum motor group, one end of the cable is connected to the rotating drum, and the other end of the cable is connected to the underwater equipment after passing around the A-frame unit and the anti-swing docking device; the winch unit is located on the side of the A-frame unit away from the water surface.

[0026] The underwater equipment deployment and recovery system of the present invention has an A-frame unit, an anti-swing unit and a winch unit which are all driven by motors, achieving full electric operation, reducing system spare parts requirements, and eliminating the need to regularly replace hoses and filters, greatly reducing maintenance costs. Compared with hydraulic systems, maintenance work is significantly reduced, and pollution caused by hydraulic oil leakage is significantly reduced, which is more environmentally friendly. The equipment delivery cycle is shorter. The underwater equipment deployment and recovery system of the present invention is an integrated structure, which reduces the hydraulic pump station and optimizes the utilization of the deck space.

[0027] The present invention also provides a control method for an underwater equipment deployment and recovery system. The underwater equipment deployment and recovery system is used to monitor the operating status of the entire system, and to implement status monitoring and remote control, thereby improving control efficiency and maintenance convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the structure of the underwater equipment deployment and recovery system disclosed in an embodiment of the present invention;

[0030] Figure 2 It is a front view schematic diagram of the underwater equipment deployment and recovery system disclosed in an embodiment of the present invention;

[0031] Figure 3 A schematic top view of an underwater equipment deployment and recovery system disclosed in an embodiment of the present invention;

[0032] Figure 4 A side view schematic diagram of an underwater equipment deployment and recovery system disclosed in an embodiment of the present invention;

[0033] Figure 5 A schematic diagram of the swing of the A-frame unit of the underwater equipment deployment and recovery system disclosed in an embodiment of the present invention.

[0034] In the figure: 100, underwater equipment deployment and recovery system;

[0035] 1. Support; 2. Main arm; 3. Swing connecting rod; 4. Jib; 5. Main arm shaft; 6. Connecting rod bracket shaft; 7. Anti-swing docking shaft; 8. Threaded pipe; 9. Telescopic screw; 10. Screw bracket; 11. Telescopic motor unit; 12. Anti-swing docking device; 13. Anti-swing motor unit; 14. Swing motor compartment; 15. Swing cam; 16. External gear ring; 17. Swing driving gear; 18. Cable collection channel; 19. Controller; 20. Winch unit; 21. Integrated control box; 22. Machine side control console; 23. A frame unit. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The purpose of the present invention is to provide an underwater equipment deployment and recovery system to solve the problems existing in the above-mentioned prior art. It adopts motor drive, reduces spare parts requirements, saves maintenance costs, reduces pollution caused by hydraulic oil leakage, and has greater environmental benefits.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Embodiment 1

[0040] The present embodiment provides an underwater equipment deployment and recovery system 100, including a support 1 and an A-frame unit 23, an anti-sway unit and a winch unit 20 arranged on the support 1. The system is driven by an anti-sway motor group 13, a swing motor group and a telescopic motor group 11 of equal specifications to realize the deployment and recovery of underwater operation equipment, and is controlled by a distributed controller 19 and a centralized control box 21. Please refer to Figure 1-Figure 5 The A-frame unit 23 includes a main arm 2 and a jib 4, one end of the main arm 2 is rotatably connected to the support 1, and the other end of the main arm 2 is slidably connected to the jib 4, and both the main arm 2 and the jib 4 are driven by a motor; the anti-swing unit includes an anti-swing docking device 12, which is rotatably connected to the jib 4 and driven by a motor; the winch unit 20 includes a drum and a cable, the drum is rotatably arranged on the support 1 and driven by a motor, one end of the cable is connected to the drum, and the other end of the cable is connected to the underwater equipment after passing through the A-frame unit 23 and the anti-swing docking device 12; the winch unit 20 is located on the side of the A-frame unit 23 away from the water surface.

[0041] The underwater equipment deployment and recovery system 100 of the present invention comprises an A-frame unit including a main arm 2 and a jib 4, wherein the main arm 2 is rotatably connected to the support 1, and the main arm 2 and the jib 4 are slidably connected, so that the height and the swing angle of the A-frame unit 23 can be adjusted, and both the main arm 2 and the jib 4 are driven by a motor; the anti-swing docking device 12 of the anti-swing unit is connected to the jib 4, and can adjust its position along with the A-frame unit 23, and the anti-swing docking device 12 itself is rotatable driven by a motor to reduce or eliminate the shaking of the equipment caused by external factors such as waves and currents, thereby ensuring the safety and stability of the equipment; the winch unit 20 utilizes a rotating drum to realize the retraction and release of the cable, and can realize precise and stable deployment and recovery operations through speed control, torque control, etc., and the rotating drum is also driven by a motor. The underwater equipment deployment and recovery system 100 of the present invention, the A-frame unit 23, the anti-sway unit and the winch unit 20 are all driven by motors, achieving full electric operation, reducing the system spare parts requirements, and eliminating the need to regularly replace hoses and filters, greatly reducing maintenance costs. Compared with hydraulic systems, maintenance work is significantly reduced, and pollution caused by hydraulic oil leakage is significantly reduced, which is more environmentally friendly. The equipment delivery cycle is shorter. The underwater equipment deployment and recovery system 100 of the present invention is an integrated structure, which reduces the hydraulic pump station and optimizes the utilization of the deck space.

[0042] Specifically, the A-frame unit 23 further includes a swing link 3, one end of which is rotatably connected to the support 1, and the other end of the swing link 3 is rotatably connected to one end of the main arm 2 close to the auxiliary arm 4, and the rotation axis of the swing link 3 and the support 1 is parallel to the rotation axis of the main arm 2 and the support 1. The A-frame unit 23 is provided with the swing link 3, and the swing link 3 is used to drive the main arm 2 to swing, thereby improving the structural stability of the A-frame unit 23, and further improving the working reliability of the underwater equipment deployment and recovery system 100.

[0043] In this specific embodiment, the main arm 2 is rotatably connected to the support 1 using the main arm shaft 5, and the swing link 3 is rotatably connected to the support 1 using the link support shaft 6, thereby ensuring the reliability of the swinging movement of the main arm 2 and the swing link 3, while facilitating the disassembly, assembly and maintenance of the main arm 2 and the swing link 3, and improving the operational convenience of the system.

[0044] More specifically, the A frame unit 23 also includes a swing motor group, a swing driving gear 17, a swing cam 15 and a swing outer gear ring 16. The swing motor group is arranged in the swing motor compartment 14 of the support 1. The output end of the swing motor group is connected to the swing driving gear 17. The connecting rod bracket shaft 6 is hinged to the protruding end of the swing cam 15. The camshaft of the swing cam 15 is connected to the swing outer gear ring 16. The swing outer gear ring 16 is meshed with the swing driving gear 17. For details, see Figure 5The swing motor group drives the swing driving gear 17 to rotate, and the swing driving gear 17 is meshed with the swing outer gear ring 16, and the swing outer gear ring 16 is connected to the swing cam 15, thereby driving the swing cam 15 to rotate, and the swing cam 15 drives the connecting rod bracket shaft 6 hinged thereto to rotate, thereby achieving the purpose of driving the swing connecting rod 3 to rotate, and the swing connecting rod 3 swings, thereby driving the main arm 2 to swing, adjusting the angle of the A frame unit 23 to meet the requirements of the deployment and recovery of underwater equipment.

[0045] In order to ensure the structural strength of the A-frame unit 23, the main arm 2 is a T-shaped columnar structure to ensure that the A-frame unit 23 can provide stable support for the anti-sway unit. The top of the main arm 2 has a sliding channel that allows the auxiliary arm 4 to pass through. One end of the auxiliary arm 4 can slide through the sliding channel. The auxiliary arm 4 uses the sliding channel to achieve sliding connection with the main arm 2, avoiding problems such as slippage and dislocation during the reciprocating sliding process, improving the reciprocating sliding accuracy of the auxiliary arm 4, and improving the telescopic movement reliability of the A-frame unit 23. The auxiliary arm 4 reciprocates relative to the main arm 2 to achieve the telescopic movement of the A-frame unit 23 to meet the requirements of the deployment and recovery of underwater equipment and improve the working reliability of the system.

[0046] In this specific embodiment, the cross section of the sliding channel is rectangular, which avoids rotational dislocation during the reciprocating sliding of the auxiliary arm 4, and further ensures the reliability of the telescopic movement of the A frame unit 23. In other specific embodiments that can be realized by the present invention, the cross-sectional shape of the sliding channel can also be polygonal or special-shaped, and the cross-sectional shape of the auxiliary arm 4 matches the cross-sectional shape of the sliding channel, effectively avoiding rotational dislocation during the reciprocating sliding of the auxiliary arm 4 and improving the movement accuracy of the auxiliary arm 4.

[0047] Furthermore, the A-frame unit 23 also includes a telescopic motor group 11, a screw bracket 10, a telescopic screw 9 and a threaded tube 8. The output end of the telescopic motor group 11 is connected to the telescopic screw 9, the screw bracket 10 is connected to the auxiliary arm 4, the threaded tube 8 is connected to the main arm 2, and the telescopic screw 9 can be rotatably passed through the screw bracket 10 and then threadedly connected to the threaded tube 8. The telescopic screw 9 and the threaded tube 8 are arranged parallel to the sliding channel. The telescopic motor group 11 drives the telescopic screw 9 to rotate, the telescopic screw 9 rotates relative to the screw bracket 10, and the telescopic screw 9 is threadedly matched with the threaded tube 8, and the threaded tube 8 is fixed on the main arm 2, so as to achieve the purpose of using the telescopic screw 9 to drive the auxiliary arm 4 to slide relative to the main arm 2. During the operation of the system, the telescopic and retracting of the A-frame unit 23 is smoothly realized, and the deployment and recovery of the underwater equipment are completed. The telescopic screw 9 of the present invention cooperates with the screw bracket 10 and the threaded tube 8, and while smoothly transmitting the force, it provides an additional guide for the reciprocating sliding of the auxiliary arm 4, further improving the sliding movement reliability of the auxiliary arm 4.

[0048] It should also be noted that in order to further improve the structural stability and working reliability of the system, the auxiliary arm 4 is an inverted U-shaped structure. The auxiliary arm 4 includes a crossbeam and two arms symmetrically arranged on both sides of the crossbeam. The main arm 2 corresponds to the arm one by one to ensure the stability of the telescopic and swinging movements of the A-frame unit 23. The anti-swing docking device 12 is rotatably arranged on the crossbeam, which improves the force uniformity of the A-frame unit 23 and further ensures the working stability of the system.

[0049] Correspondingly, the anti-swing unit also includes an anti-swing docking shaft 7 and an anti-swing motor group 13. The anti-swing docking shaft 7 is connected to the auxiliary arm 4. The anti-swing docking device 12 is rotatably connected to the anti-swing docking shaft 7. The output end of the anti-swing motor group 13 is transmission-connected to the anti-swing docking device 12. The anti-swing motor group 13 can drive the anti-swing docking device 12 to rotate around the anti-swing docking shaft 7 to reduce the swaying of the equipment during the deployment and recovery process. The anti-swing docking device 12 has a buffer device composed of a spring structure to reduce the impact of the equipment on the system during the docking process; and has a cable guide structure with a pulley structure to achieve cable guidance during the deployment and recovery process. The end of the cable away from the drum passes around the cable guide structure with a pulley structure and is connected to the underwater equipment.

[0050] The underwater equipment deployment and recovery system 100 of this embodiment also includes a control unit, and the A-frame unit 23, the anti-sway unit and the winch unit 20 are all connected to the control unit in communication. The provision of the control unit is conducive to improving the controllability of the system and improving the control integration. In practical applications, real-time monitoring of the system status, automated operation, offshore remote control, etc. can be achieved. When one or more electrical components are damaged, an alarm can also be issued to ensure the continuous operation of the system to the greatest extent.

[0051] In this specific embodiment, the A-frame unit 23, the anti-swing unit and the winch unit 20 all include a controller 19, and each controller 19 can control the swing motor group, the telescopic motor group 11, the anti-swing motor group 13 and the drum motor group respectively to control the working state of the system. The control unit includes an integrated control box 21 and a machine-side control console 22. The integrated control box 21 is arranged on the support 1, and the machine-side control console 22 is arranged on the integrated control box 21. The machine-side control console 22 can display the system operation state. The machine-side control console 22 can also be used to input control instructions, which is convenient for operators to monitor the system operation state in real time and operate the system. Each controller 19 is connected to the integrated control box 21 by a communication cable, and the communication cable is arranged in the line collection channel 18, which effectively protects the communication cable, ensures the stability of the system operation, and extends the service life of the communication cable.

[0052] It should also be noted that, in this specific embodiment, the telescopic motor group 11 and the anti-swing motor group 13 are both provided with protective shells to ensure the safety of the motors during operation and extend the service life of the system. In addition, the swing motor group, the telescopic motor group 11, the anti-swing motor group 13 and the reel motor group can all adopt the same specifications to facilitate spare parts maintenance, save operation and maintenance costs, and improve operation and maintenance efficiency.

[0053] Embodiment 2

[0054] The present embodiment provides an offshore operation vessel, including the underwater equipment deployment and recovery system 100 of the first embodiment, wherein the support 1 is fixedly arranged on the deck. The underwater equipment deployment and recovery system 100 adopts a fully electric working mode, which reduces the hydraulic pump station. In addition, the support 1 adopts an integrated structure, which optimizes the utilization rate of the deck space. In this specific embodiment, the support 1 can be fixed on the deck by bolt connection or welding, and the A frame unit 23, the anti-sway unit and the winch unit 20 are all arranged on the support 1, and one side of the A frame unit 23 faces the sea surface. The entire deployment and recovery system is an integrated structure and can be transported and installed as a whole.

[0055] The underwater equipment deployment and recovery system 100 of the present invention realizes the rotation of the main arm 2 by a motor-driven cam connecting rod structure, and realizes the extension and retraction of the auxiliary arm 4 by a motor-driven threaded screw structure, as well as the fully electric anti-swing docking device 12 and the winch unit 20, to realize the full electric control of the entire deployment and recovery system. The system of the present invention reduces the spare parts requirements, does not need to regularly replace hoses and filters, greatly reduces maintenance costs, significantly reduces maintenance work compared to hydraulic systems, significantly reduces pollution caused by hydraulic oil leakage, and has more environmental benefits. And the equipment delivery cycle is shorter.

[0056] Embodiment 3

[0057] This embodiment provides a control method for an underwater equipment deployment and recovery system, based on the underwater equipment deployment and recovery system 100 of the first embodiment, comprising the following steps:

[0058] S1: Operation equipment is transferred to the operating sea surface

[0059] The swing motor group is in motion, driving the swing motor group to drive the swing driving gear 17 to rotate, so that the swing cam 15 fixedly connected to the outer gear ring 16 rotates, and the protruding end of the swing cam 15 drives the position of one end of the swing link 3 to change, thereby changing the position of the other end of the swing link 3 and the hinge of the main arm 2, thereby driving the main arm 2 to complete the swing action. While the swing action is in progress, the telescopic motor group 11 drives the telescopic screw 9 to rotate, so that the distance between the threaded tube 8 fixedly connected to the main arm 2 and the screw bracket 10 fixedly connected to the auxiliary arm 4 changes, thereby driving the auxiliary arm 4 to complete the telescopic movement, driving the operating equipment to swing and telescopically transfer to the operating sea surface.

[0060] S2: The swing-stop docking device 12 operates during the deployment and recovery process

[0061] The anti-swing docking device 12 can adjust the orientation of the operating equipment to adapt to a suitable operating position, and at the start of the operation, it is combined with the winch unit 20 to start the equipment deployment and recovery operation.

[0062] The anti-swing motor group 13 arranged on the auxiliary arm 4 drives the anti-swing docking shaft 7 to rotate the anti-swing docking device 12 to reduce the swing of the operating equipment during the docking process.

[0063] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An underwater equipment deployment and recovery system, characterized in that: It includes a support and: A frame unit, the A frame unit comprises a main arm, a secondary arm, a swing link and a swing motor group, one end of the main arm is connected to the support for rotation, and the other end of the main arm is connected to the secondary arm slidably; one end of the swing link is connected to the support for rotation, and the other end of the swing link is connected to one end of the main arm close to the secondary arm for rotation, and the rotation axis of the swing link and the support is parallel to the rotation axis of the main arm and the support; the swing motor group is arranged in the swing motor compartment of the support, and the swing motor group is used to drive the swing link; The anti-swing unit comprises an anti-swing motor group and an anti-swing docking device, the anti-swing docking device is rotatably connected to the auxiliary arm, and the output end of the anti-swing motor group is drivingly connected to the anti-swing docking device; A winch unit, the winch unit includes a drum, a cable and a drum motor group, the drum is rotatably arranged on the support and driven by the drum motor group, one end of the cable is connected to the drum, and the other end of the cable is connected to the underwater equipment after passing through the A-frame unit and the anti-swing docking device; the winch unit is located on the side of the A-frame unit away from the water surface.

2. The underwater equipment deployment and recovery system according to claim 1, characterized in that: The main arm is rotatably connected to the support via a main arm shaft, and the swing connecting rod is rotatably connected to the support via a connecting rod bracket shaft.

3. The underwater equipment deployment and recovery system according to claim 2, characterized in that: The A frame unit also includes a swing driving gear, a swing cam and a swing outer gear ring. The swing motor group is arranged in the swing motor compartment of the support. The output end of the swing motor group is connected to the swing driving gear. The connecting rod bracket shaft is hinged to the protruding end of the swing cam. The camshaft of the swing cam is connected to the swing outer gear ring, and the swing outer gear ring is meshed with the swing driving gear.

4. The underwater equipment deployment and recovery system according to claim 1, characterized in that: The main arm is a T-shaped columnar structure, the top of the main arm has a sliding channel allowing the auxiliary arm to pass through, and one end of the auxiliary arm can slide through the sliding channel; The cross section of the sliding channel is rectangular.

5. The underwater equipment deployment and recovery system according to claim 4, characterized in that: The A-frame unit also includes a telescopic motor group, a screw bracket, a telescopic screw and a threaded tube. The output end of the telescopic motor group is connected to the telescopic screw, the screw bracket is connected to the auxiliary arm, and the threaded tube is connected to the main arm. The telescopic screw can be rotatably passed through the screw bracket and then threadedly connected to the threaded tube. The telescopic screw and the threaded tube are arranged parallel to the sliding channel.

6. The underwater equipment deployment and recovery system according to claim 1, characterized in that: The auxiliary arm is an inverted U-shaped structure, and the auxiliary arm includes a crossbeam and two arms symmetrically arranged on both sides of the crossbeam. The main arm corresponds to the arms one by one, and the anti-swing docking device is rotatably arranged on the crossbeam.

7. The underwater equipment deployment and recovery system according to claim 1, characterized in that: The anti-swing unit also includes an anti-swing docking shaft, the anti-swing docking shaft is connected to the auxiliary arm, and the anti-swing docking device is rotatably connected to the anti-swing docking shaft.

8. The underwater equipment deployment and recovery system according to any one of claims 1 to 7, characterized in that: It also includes a control unit, and the A-frame unit, the anti-swing unit and the winch unit are all communicatively connected to the control unit.

9. The underwater equipment deployment and recovery system according to claim 8, characterized in that: The A-frame unit, the anti-sway unit and the winch unit all include a controller, the control unit includes an integrated control box and a machine-side control console, the integrated control box is arranged on the support, the machine-side control console is arranged on the integrated control box, the controller is connected to the integrated control box by a communication cable, and the communication cable is arranged in a line collection channel.

10. A control method for an underwater equipment deployment and recovery system, characterized in that: The underwater equipment deployment and recovery system according to any one of claims 1 to 9 comprises the following steps: S1. Operation equipment is transferred to the operating sea surface The swing motor group is in motion, and the swing motor group drives the position of one end of the swing connecting rod to change, thereby causing the The position of the other end of the swing link and the main arm hinge changes, thereby driving the main arm to complete the swing action; While the movement is in progress, the jib is driven to complete the telescopic movement, driving the operating equipment to swing and telescope to the operating sea surface at the same time. ； S2. Action of the anti-swing docking device during deployment and recovery The anti-sway docking device can adjust the orientation of the operating equipment to adapt to a suitable operating position, and when the operation starts, it works in conjunction with the winch unit to start the deployment and recovery operation of the equipment; The anti-swing motor group connected to the auxiliary arm drives the anti-swing docking device to rotate to reduce the swing of the operating equipment during the docking process.

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