An underwater equipment deployment and recovery system and a control method thereof

Abstract

This invention discloses an underwater equipment deployment and retrieval system and its control method. The system is driven by equal-sized anti-sway motors, swing motors, and telescopic motors to achieve the deployment and retrieval of underwater equipment, and is controlled by a distributed controller and a centralized control box. Specifically, the swing motor drives the swing drive gear to rotate, causing the swing cam with an external gear ring to rotate, which in turn drives the swing linkage to drive the main boom to complete the swinging motion. The telescopic motor drives the telescopic screw to rotate, thereby driving the auxiliary boom to complete the telescopic movement. The anti-sway motor drives the anti-sway docking shaft, causing the anti-sway docking device to rotate, thus reducing the swaying of the equipment during docking. This system achieves fully electric operation, reduces system spare parts requirements, significantly lowers maintenance costs, is more environmentally friendly, and is easier to operate and maintain. It also enables operational status monitoring and remote control. The system has an integrated structure, improving deck space utilization and shortening equipment delivery time.

Description

Technical Field

[0001] This invention relates to the technical field of marine equipment and its peripheral facilities, and in particular to an underwater equipment deployment and recovery system and its control method. Background Technology

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

[0003] Current underwater equipment deployment and recovery systems primarily utilize hydraulic systems for operation. This requires regular maintenance, such as hose and filter replacements, and carries the risk of hydraulic oil leaks, failing to meet cleanliness requirements. Spatially, a separate hydraulic pump station is needed, occupying deck space and hindering the ability to integrate the system into a cohesive layout to meet the tight equipment delivery cycles required by shipbuilding. Furthermore, the low integration and precision of hydraulic systems make them unsuitable for high-precision real-time status monitoring and remote offshore operation. Replacing hydraulic cylinders with electric cylinders results in a complex system layout, cannot meet heavy-duty operational requirements, and lacks sufficient control precision. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater equipment deployment and recovery system to solve the problems existing in the 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 objectives, the present invention provides the following solution:

[0006] This invention provides an underwater equipment deployment and recovery system, comprising a support and a component disposed on the support:

[0007] The A-frame unit includes a main boom, a secondary boom, a swing linkage, and a swing motor assembly. One end of the main boom is rotatably connected to the support, and the other end of the main boom is slidably connected to the secondary boom. One end of the swing linkage is rotatably connected to the support, and the other end of the swing linkage is rotatably connected to the end of the main boom near the secondary boom. The rotation axis of the swing linkage and the support is parallel to the rotation axis of the main boom and the support. The swing motor assembly is disposed in the swing motor compartment of the support and is used to drive the swing linkage.

[0008] The anti-sway unit includes an anti-sway motor assembly and an anti-sway docking device. The anti-sway docking device is rotatably connected to the auxiliary arm, and the output end of the anti-sway motor assembly is drive-connected to the anti-sway docking device.

[0009] The winch unit includes a drum, a cable, and a drum motor assembly. The drum is rotatably mounted on the support and driven by the drum motor assembly. One end of the cable is connected to the drum, and the other end of the cable passes around the A-frame unit and the anti-sway docking device and is connected to the underwater equipment. The winch unit is located on the side of the A-frame unit away from the water surface.

[0010] Preferably, the main boom is rotatably connected to the support via a main boom shaft, and the swing link is rotatably connected to the support via a link bracket shaft.

[0011] Preferably, the A-frame unit further includes a swing drive gear, a swing cam, and a swing external gear ring. The swing motor assembly is disposed in the swing motor compartment of the support. The output end of the swing motor assembly is connected to the swing drive gear. The connecting rod support shaft is hinged to the protruding end of the swing cam. The cam shaft of the swing cam is connected to the swing external gear ring. The swing external gear ring meshes with the swing drive gear.

[0012] Preferably, the main arm is a T-shaped columnar structure, and the top of the main arm has a sliding channel that allows the auxiliary arm to pass through, with one end of the auxiliary arm slidably passing through the sliding channel;

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

[0014] Preferably, the A-frame unit further includes a telescopic motor unit, a screw support, a telescopic screw, and a threaded tube. The output end of the telescopic motor unit is connected to the telescopic screw, the screw support is connected to the auxiliary arm, the threaded tube is connected to the main arm, and the telescopic screw rotatably passes through the screw support and is threadedly connected to the threaded tube. The telescopic screw and the threaded tube are arranged parallel to the sliding channel.

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

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

[0017] Preferably, the underwater equipment deployment and recovery system further includes a control unit, wherein the A-frame unit, the anti-sway 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 local control console. The integrated control box is mounted on the support, and the local control console is mounted on the integrated control box. The controller is connected to the integrated control box via a communication cable, which is located within the hub channel.

[0019] The present invention also provides a control method for an underwater equipment deployment and recovery system, which includes the following steps:

[0020] S1. Transfer the operating equipment to the operating sea surface.

[0021] The swing motor unit is activated, driving a change in the position of one end of the swing linkage, thereby causing... The position of the other end of the swing link and the hinge point of the main arm changes, thereby driving the main arm to complete the swinging action; While swinging, the auxiliary boom extends and retracts, driving the work equipment to swing and extend simultaneously to the work area. noodle ;

[0022] S2. The anti-sway docking device operates during the deployment and retrieval process.

[0023] The anti-sway docking device can adjust the orientation of the working equipment to adapt to a suitable working position, and at the start of the operation, it works in conjunction with the winch unit to begin the deployment and retrieval of the equipment.

[0024] The anti-sway motor unit connected to the auxiliary arm drives the anti-sway docking device to rotate, thereby reducing the swaying of the working equipment during the docking process.

[0025] This invention achieves the following technical advantages over existing technologies: The underwater equipment deployment and recovery system of this invention includes a support and an A-frame unit, an anti-sway unit, and a winch unit mounted on the support. The A-frame unit includes a main boom, a secondary boom, a swing linkage, and a swing motor assembly. One end of the main boom is rotatably connected to the support, and the other end is slidably connected to the secondary boom. One end of the swing linkage is rotatably connected to the support, and the other end is rotatably connected to the end of the main boom near the secondary boom. The rotation axis of the swing linkage and the support is parallel to the rotation axis of the main boom and the support. The motor unit is located in the swing motor compartment of the support, and the swing motor unit is used to drive the swing linkage; the anti-sway unit includes an anti-sway motor unit and an anti-sway docking device. The anti-sway docking device is rotatably connected to the auxiliary arm, and the output end of the anti-sway motor unit is connected to the anti-sway docking device; the winch unit includes a drum, a cable, and a drum motor unit. The drum is rotatably mounted on the support and driven by the drum motor unit. One end of the cable is connected to the drum, and the other end of the cable passes around the A-frame unit and the anti-sway docking device and is connected to the underwater equipment; 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 this invention features an A-frame unit, anti-sway unit, and winch unit all driven by electric motors, achieving fully electric operation. This reduces the system's spare parts requirements, eliminates the need for regular hose and filter replacements, significantly lowers maintenance costs, and substantially reduces maintenance work compared to hydraulic systems. Pollution caused by hydraulic oil leaks is also significantly reduced, resulting in greater environmental benefits. The equipment delivery cycle is also shorter. Furthermore, the underwater equipment deployment and recovery system of this invention has an integrated structure, reducing the need for hydraulic pump stations and optimizing the utilization of deck space.

[0027] The present invention also provides a control method for an underwater equipment deployment and recovery system. By utilizing the above-mentioned underwater equipment deployment and recovery system, the operating status of the entire system can be monitored, and status monitoring and remote control can be realized, thereby improving control efficiency and maintenance convenience. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0030] Figure 2 This 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 This is a top view schematic diagram of the underwater equipment deployment and recovery system disclosed in the embodiments of the present invention;

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

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

[0034] In the diagram: 100, Underwater equipment deployment and recovery system;

[0035] 1. Support; 2. Main boom; 3. Swing link; 4. Auxiliary boom; 5. Main boom shaft; 6. Linkage bracket shaft; 7. Anti-sway docking shaft; 8. Threaded pipe; 9. Telescopic screw; 10. Screw bracket; 11. Telescopic motor assembly; 12. Anti-sway docking device; 13. Anti-sway motor assembly; 14. Swing motor compartment; 15. Swing cam; 16. External gear ring; 17. Swing drive gear; 18. Cable conduit; 19. Controller; 20. Winch unit; 21. Integrated control box; 22. Machine-side control console; 23. A-frame unit. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The purpose of this invention is to provide an underwater equipment deployment and recovery system to solve the problems existing in the 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] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Example 1

[0040] This embodiment provides an underwater equipment deployment and retrieval system 100, including a support 1 and an A-frame unit 23, an anti-sway unit, and a winch unit 20 mounted on the support 1. The system is driven by an anti-sway motor unit 13, a swing motor unit, and a telescopic motor unit 11 of equal specifications to achieve the deployment and retrieval of underwater equipment. It is controlled by a distributed controller 19 and a centralized control box 21. Please refer to [reference needed]. Figures 1-5 The A-frame unit 23 includes a main boom 2 and a secondary boom 4. One end of the main boom 2 is rotatably connected to the support 1, and the other end of the main boom 2 is slidably connected to the secondary boom 4. Both the main boom 2 and the secondary boom 4 are driven by a motor. The anti-sway unit includes an anti-sway docking device 12, which is rotatably connected to the secondary boom 4 and is driven by a motor. The winch unit 20 includes a drum and a cable. The drum is rotatably mounted on the support 1 and is driven by a motor. One end of the cable is connected to the drum, and the other end of the cable passes around the A-frame unit 23 and the anti-sway docking device 12 and is connected to the underwater equipment. 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 includes an A-frame unit 23 comprising a main arm 2 and a secondary arm 4. The main arm 2 is rotatably connected to a support 1, and the main arm 2 and the secondary arm 4 are slidably connected. The height and swing angle of the A-frame unit 23 can be adjusted, and both the main arm 2 and the secondary arm 4 are driven by motors. The anti-sway docking device 12 of the anti-sway unit is connected to the secondary arm 4 and can adjust its position with the A-frame unit 23. The anti-sway docking device 12 itself is driven by a motor and can rotate to reduce or eliminate equipment swaying caused by external factors such as waves and currents, ensuring the safety and stability of the equipment. The winch unit 20 uses a rotating drum to realize the release and winding of the cable. It can achieve precise and stable deployment and recovery operations through speed control, torque control, etc. The rotating drum is also driven by a motor. The underwater equipment deployment and recovery system 100 of this invention features an A-frame unit 23, an anti-sway unit, and a winch unit 20, all driven by electric motors, achieving fully electric operation. This reduces the need for spare parts, eliminates the need for periodic hose and filter replacements, significantly lowers maintenance costs, and substantially reduces maintenance work compared to hydraulic systems. Pollution caused by hydraulic oil leaks is also significantly reduced, resulting in greater environmental benefits. The equipment delivery cycle is also shorter. Furthermore, the underwater equipment deployment and recovery system 100 of this invention has an integrated structure, reducing the need for hydraulic pump stations and optimizing the utilization of deck space.

[0042] Specifically, the A-frame unit 23 also includes a swing link 3. One end of the swing link 3 is rotatably connected to the support 1, and the other end of the swing link 3 is rotatably connected to the end of the main arm 2 near the auxiliary arm 4. 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 equipped with a swing link 3, which drives the main arm 2 to swing, thereby improving the structural stability of the A-frame unit 23 and thus enhancing the operational reliability of the underwater equipment deployment and recovery system 100.

[0043] In this specific embodiment, the main boom 2 is rotatably connected to the support 1 via the main boom shaft 5, and the swing link 3 is rotatably connected to the support 1 via the link bracket shaft 6, which ensures the reliability of the swing motion of the main boom 2 and the swing link 3, while facilitating the disassembly and maintenance of the main boom 2 and the swing link 3, and improving the ease of operation of the system.

[0044] More specifically, the A-frame unit 23 also includes a swing motor assembly, a swing drive gear 17, a swing cam 15, and a swing external gear ring 16. The swing motor assembly is housed within the swing motor compartment 14 of the support 1. The output end of the swing motor assembly is connected to the swing drive gear 17. The connecting rod support 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 external gear ring 16. The swing external gear ring 16 meshes with the swing drive gear 17. See details... Figure 5The oscillating motor unit drives the oscillating drive gear 17 to rotate. The oscillating drive gear 17 meshes with the oscillating external gear ring 16. The oscillating external gear ring 16 is connected to the oscillating cam 15, thereby driving the oscillating cam 15 to rotate. The oscillating cam 15 drives the connecting rod support shaft 6, which is hinged to it, to rotate, thereby driving the oscillating connecting rod 3 to rotate. The oscillating connecting rod 3 oscillates, thereby driving the main arm 2 to oscillate and adjust the angle of the A-frame unit 23 to adapt to the deployment and recovery requirements of underwater equipment.

[0045] To ensure the structural strength of the A-frame unit 23, the main arm 2 is a T-shaped column structure, providing stable support for the oscillation unit. The top of the main arm 2 has a sliding channel allowing the auxiliary arm 4 to pass through. One end of the auxiliary arm 4 slidably passes through this channel, enabling it to connect with the main arm 2. This avoids slippage and misalignment during reciprocating sliding, improving the accuracy of the auxiliary arm 4's reciprocating sliding and enhancing the reliability of the A-frame unit 23's telescopic movement. The auxiliary arm 4 reciprocates relative to the main arm 2, enabling the telescopic movement of the A-frame unit 23 to adapt to the deployment and recovery requirements of underwater equipment, thus improving the system's operational reliability.

[0046] In this specific embodiment, the cross-section of the sliding channel is rectangular to avoid rotational misalignment during the reciprocating sliding of the auxiliary arm 4, further ensuring the reliability of the telescopic movement of the A-frame unit 23. In other specific embodiments achievable by this invention, the cross-sectional shape of the sliding channel can also be polygonal or irregular, etc., and the cross-sectional shape of the auxiliary arm 4 matches the cross-sectional shape of the sliding channel, effectively avoiding rotational misalignment 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 assembly 11, a screw support 10, a telescopic screw 9, and a threaded tube 8. The output end of the telescopic motor assembly 11 is connected to the telescopic screw 9, the screw support 10 is connected to the auxiliary arm 4, and the threaded tube 8 is connected to the main arm 2. The telescopic screw 9 rotatably passes through the screw support 10 and is 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 assembly 11 drives the telescopic screw 9 to rotate, and the telescopic screw 9 rotates relative to the screw support 10. The telescopic screw 9 is threadedly engaged with the threaded tube 8, which is fixed to the main arm 2. This achieves the purpose of using the telescopic screw 9 to drive the auxiliary arm 4 to slide relative to the main arm 2. During system operation, the telescopic movement of the A-frame unit 23 is successfully realized, completing the deployment and retrieval of underwater equipment. The telescopic screw 9 of this invention, in cooperation with the screw support 10 and the threaded tube 8, provides an additional layer of guidance for the reciprocating sliding of the auxiliary arm 4 while smoothly transmitting force, further improving the reliability of the sliding motion of the auxiliary arm 4.

[0048] It should also be noted that, in order to further improve the structural stability and operational reliability of the system, the auxiliary arm 4 has 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 one-to-one with the arms to ensure the stability of the telescopic and swinging motion of the A-frame unit 23. The anti-sway docking device 12 is rotatably arranged on the crossbeam, which improves the uniformity of the force on the A-frame unit 23 and further ensures the operational stability of the system.

[0049] Correspondingly, the anti-sway unit also includes an anti-sway docking shaft 7 and an anti-sway motor assembly 13. The anti-sway docking shaft 7 is connected to the auxiliary arm 4, and the anti-sway docking device 12 is rotatably connected to the anti-sway docking shaft 7. The output end of the anti-sway motor assembly 13 is connected to the anti-sway docking device 12 via a transmission. The anti-sway motor assembly 13 can drive the anti-sway docking device 12 to rotate around the anti-sway docking shaft 7, reducing equipment swaying during deployment and retrieval. The anti-sway docking device 12 has a buffer device composed of a spring structure to reduce the impact of the equipment on the system during docking; and it has a cable guide structure with a pulley structure to guide the cable during deployment and retrieval. The end of the cable away from the rotating 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. The A-frame unit 23, the anti-sway unit, and the winch unit 20 are all communicatively connected to the control unit. The inclusion of a control unit improves the system's controllability and integration. In practical applications, it enables real-time monitoring of system status, automated operation, and remote control from offshore. Furthermore, it can issue an alarm when one or more electrical components fail, maximizing the system's continuous operation.

[0051] In this specific embodiment, the A-frame unit 23, the anti-sway unit, and the winch unit 20 all include controllers 19. Each controller 19 can control the swing motor group, the telescopic motor group 11, the anti-sway motor group 13, and the drum motor group respectively to control the system's operating status. The control unit includes an integrated control box 21 and a local control console 22. The integrated control box 21 is mounted on the support 1, and the local control console 22 is mounted on the integrated control box 21. The local control console 22 can display the system's operating status and can also input control commands, facilitating real-time monitoring of the system's operating status and operation by the operator. Each controller 19 is connected to the integrated control box 21 via a communication cable. The communication cable is located within the hub channel 18, effectively protecting the communication cable, ensuring system stability, and extending the service life of the communication cable.

[0052] It should also be noted that, in this specific embodiment, both the telescopic motor unit 11 and the anti-sway motor unit 13 are equipped with protective housings to ensure safety during motor operation and extend the system's service life. Furthermore, the swing motor unit, telescopic motor unit 11, anti-sway motor unit 13, and drum motor unit can all use the same specifications to facilitate spare parts maintenance, save on maintenance costs, and improve maintenance efficiency.

[0053] Example 2

[0054] This embodiment provides an offshore work vessel, including the underwater equipment deployment and recovery system 100 of Embodiment 1, wherein the support 1 is fixedly mounted on the deck. The underwater equipment deployment and recovery system 100 adopts a fully electric working mode, reducing the need for hydraulic pump stations. In addition, the support 1 adopts an integrated structure, optimizing the utilization of deck space. In this specific embodiment, the support 1 can be fixed to the deck by bolt connection or welding. The A-frame unit 23, the anti-sway unit, and the winch unit 20 are all mounted on the support 1. One side of the A-frame unit 23 faces the sea surface. The entire deployment and recovery system is an integral structure that can be transported and installed as a whole.

[0055] The underwater equipment deployment and recovery system 100 of this invention achieves full electric control of the entire deployment and recovery system by using a motor-driven cam-linkage structure to rotate the main arm 2, and a motor-driven threaded screw structure to extend and retract the auxiliary arm 4, along with a fully electric anti-sway docking device 12 and winch unit 20. This system reduces spare parts requirements, eliminates the need for regular hose and filter replacements, significantly lowers maintenance costs, and reduces maintenance work significantly compared to hydraulic systems. Pollution caused by hydraulic oil leaks is also significantly reduced, resulting in greater environmental benefits. Furthermore, the equipment delivery cycle is shorter.

[0056] Example 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 Embodiment 1, including the following steps:

[0058] S1: Transfer the operating equipment to the operating sea surface

[0059] When the swing motor unit operates, it drives the swing drive gear 17 to rotate, causing the swing cam 15, which is fixedly connected to the external gear ring 16, to rotate. The protruding end of the swing cam 15 drives a change in the position of one end of the swing connecting rod 3, which in turn causes a change in the position of the other end of the swing connecting rod 3 at the hinge point of the main arm 2, thereby driving the main arm 2 to complete the swinging motion. Simultaneously with the swinging motion, the telescopic motor unit 11 drives the telescopic screw 9 to rotate, causing a change in the distance between the threaded pipe 8 fixedly connected to the main arm 2 and the screw bracket 10 fixedly connected to the auxiliary arm 4, thereby driving the auxiliary arm 4 to complete the telescopic movement. This drives the working equipment to swing while simultaneously telescopically transferring it to the working sea surface.

[0060] S2: During deployment and recovery, the anti-sway docking device 12 operates.

[0061] The anti-sway docking device 12 can adjust the orientation of the working equipment to adapt to a suitable working position, and at the start of the operation, it works in conjunction with the winch unit 20 to begin the deployment and retrieval operation of the equipment.

[0062] The anti-sway motor unit 13, arranged on the auxiliary boom 4, drives the anti-sway docking shaft 7, causing the anti-sway docking device 12 to rotate, thereby reducing the swaying of the working equipment during the docking process.

[0063] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An underwater equipment deployment and recovery system, characterized by, Includes a support and a component mounted on the support: The A-frame unit includes a main boom, a secondary boom, a swing linkage, and a swing motor assembly. One end of the main boom is rotatably connected to the support, and the other end of the main boom is slidably connected to the secondary boom. One end of the swing linkage is rotatably connected to the support, and the other end of the swing linkage is rotatably connected to the end of the main boom near the secondary boom. The rotation axis of the swing linkage and the support is parallel to the rotation axis of the main boom and the support. The swing motor assembly is disposed in the swing motor compartment of the support and is used to drive the swing linkage. The anti-sway unit includes an anti-sway motor assembly and an anti-sway docking device. The anti-sway docking device is rotatably connected to the auxiliary arm, and the output end of the anti-sway motor assembly is drively connected to the anti-sway docking device. The anti-sway docking device can adjust the orientation of the working equipment. The winch unit includes a drum, a cable, and a drum motor assembly. The drum is rotatably mounted on the support and driven by the drum motor assembly. One end of the cable is connected to the drum, and the other end of the cable passes around the A-frame unit and the anti-sway docking device and is connected to the underwater equipment. The winch unit is located on the side of the A-frame unit away from the water surface. The main boom is rotatably connected to the support via the main boom shaft, and the swing link is rotatably connected to the support via the link bracket shaft; The A-frame unit also includes a swing drive gear, a swing cam, and a swing external gear ring. The swing motor assembly is located in the swing motor compartment of the support. The output end of the swing motor assembly is connected to the swing drive gear. The connecting rod support shaft is hinged to the protruding end of the swing cam. The cam shaft of the swing cam is connected to the swing external gear ring. The swing external gear ring meshes with the swing drive gear. The main arm is a T-shaped columnar structure, and the top of the main arm has a sliding channel that allows the auxiliary arm to pass through, with one end of the auxiliary arm slidably passing through the sliding channel; The cross-section of the sliding channel is rectangular; The A-frame unit also includes a telescopic motor unit, a screw support, a telescopic screw, and a threaded tube. The output end of the telescopic motor unit is connected to the telescopic screw, the screw support is connected to the auxiliary arm, and the threaded tube is connected to the main arm. The telescopic screw rotatably passes through the screw support and is threadedly connected to the threaded tube. The telescopic screw and the threaded tube are arranged parallel to the sliding channel. The system is driven by the anti-sway motor group, the swing motor group, and the telescopic motor group of the same specifications to realize the deployment and retrieval of underwater equipment.

2. The underwater equipment launch and recovery system of claim 1, wherein: The auxiliary arm has an inverted U-shaped structure. The auxiliary arm includes a crossbeam and two support arms symmetrically arranged on both sides of the crossbeam. The main arm corresponds one-to-one with the support arms. The anti-sway docking device is rotatably mounted on the crossbeam.

3. The underwater equipment launch and recovery system of claim 1, wherein: The anti-sway unit also includes an anti-sway docking shaft, which is connected to the auxiliary arm, and the anti-sway docking device is rotatably connected to the anti-sway docking shaft.

4. The underwater equipment launch and recovery system of any of claims 1-3, wherein: It also includes a control unit, and the A-frame unit, the anti-sway unit, and the winch unit are all communicatively connected to the control unit.

5. The underwater equipment launch and recovery system of claim 4, wherein: The A-frame unit, the anti-sway unit, and the winch unit all include controllers. The control unit includes an integrated control box and a local control console. The integrated control box is mounted on the support, and the local control console is mounted on the integrated control box. The controller is connected to the integrated control box via a communication cable, which is located within the hub channel.

6. 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 1-5 includes the following steps: S1. Transfer the operating equipment to the operating sea surface. When the swing motor unit is activated, it drives one end of the swing linkage to change position, which in turn causes the other end of the swing linkage and the hinge point of the main arm to change position, thereby driving the main arm to complete the swing motion; at the same time as the swing motion, it drives the auxiliary arm to complete the extension and retraction motion, driving the working equipment to swing and extend and retract to the working sea surface. S2. The anti-sway docking device operates during the deployment and retrieval process. The anti-sway docking device can adjust the orientation of the working equipment to adapt to a suitable working position, and at the start of the operation, it works in conjunction with the winch unit to begin the deployment and retrieval of the equipment. The anti-sway motor unit connected to the auxiliary arm drives the anti-sway docking device to rotate, thereby reducing the swaying of the working equipment during the docking process.

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