Passive wave-compensated ROV umbilical winch system

Abstract

A passive wave-compensated ROV umbilical cable winch system includes a passive wave compensation device comprising a compensation frame and upper and lower rotating shafts. The upper rotating shaft has an upper axis, and the lower rotating shaft has a lower axis. The upper and lower axes form a first angle and are both horizontal. A pair of hydraulic cylinders are connected at one end to the compensation frame and at the other end to the end of the lower rotating shaft, allowing the lower rotating shaft to rise and fall relative to the upper rotating shaft. An accumulator group is connected to the oil chamber of the hydraulic cylinders. Multiple fixed pulleys are coaxially mounted on the upper rotating shaft. At least one movable pulley, one less than the number of fixed pulleys, is located below the fixed pulleys and coaxially mounted on the lower rotating shaft. The angle between the rotation surfaces of the fixed pulleys and the movable pulleys is a second angle. The first and second angles are equal. The vertical projection of the groove of one movable pulley lies between the vertical projections of the grooves of two adjacent fixed pulleys and is connected end-to-end in a Z-shape, thereby extending the service life of the wound portion of the umbilical cable.

Description

Technical Field

[0001] This invention relates to the field of marine equipment cable auxiliary devices, and in particular to a passive wave-compensated ROV umbilical cable winch system. Background Technology

[0002] With the booming development of the domestic underwater robot industry, the demand for wave compensation functions in some work-class ROV winches has been increasing in recent years. Although passive wave compensation winches have lower compensation efficiency compared to active wave compensation winches, passive compensation devices combine compensation cylinders and accumulator groups. Multiple accumulator groups address the high flow rate required for rapid displacement of the compensation device, reducing the system's drive power requirements. The accumulator group uses gas-liquid conversion to achieve rapid extension and retraction of the cylinder, driving the pulley up and down to compensate for cable displacement. The overall cost and required drive power of passive wave compensation are far lower than those of active wave compensation winches, offering a certain economic advantage.

[0003] Passive compensation devices are typically installed on vessels operating on the water. Two sets of pulleys move vertically relative to each other, causing the winding length of the umbilical cable on the pulleys to change, thereby achieving the effect of compensating for cable displacement. However, during use, the winding part of the umbilical cable may be damaged due to frequent expansion and contraction, reducing the lifespan of the umbilical cable. Summary of the Invention

[0004] In response to the shortcomings of the existing production technology, the applicant provides a passive wave-compensated ROV umbilical cable winch system, thereby extending the service life of the wound portion of the umbilical cable.

[0005] The technical solution adopted in this invention is as follows: A passive wave-compensated ROV umbilical cable winch system includes, A cable storage winch, located on the mother ship, is used to wind the umbilical cable to form a cable shaft; A passive wave compensation device, installed on the mother ship, located on one side of the cable storage winch, includes a compensation frame and... An upper rotating shaft is mounted on a compensation frame, and the axis of the upper rotating shaft is the upper axis. The lower rotating shaft has a lower axis line, and the upper axis line forms a first angle with the lower axis line and both are horizontal. A pair of hydraulic cylinders, one end of which is fixedly connected to the compensation frame and the other end of which is connected to the end of the lower rotating shaft, so that the lower rotating shaft can be raised and lowered relative to the upper rotating shaft; An accumulator assembly is connected to the oil chamber of the hydraulic cylinder; Multiple fixed pulleys are coaxially mounted on the upper rotating shaft; At least one movable pulley, one less than the number of fixed pulleys, is located below the fixed pulleys. The movable pulleys are coaxially mounted on the lower rotating shaft. The angle between the rotating surface of the fixed pulley and the rotating surface of the movable pulley is a second angle. The first angle and the second angle are equal. The vertical projection of the groove of one movable pulley is located between the vertical projections of the grooves of two adjacent fixed pulleys, and they are connected end to end in a Z-shape. The umbilical cable on the cable shaft starts from the fixed pulley at one end of the upper rotating shaft and is alternately wound around the fixed pulley and the movable pulley in sequence, and extends outward from the fixed pulley at the other end of the upper rotating shaft to connect to the ROV.

[0006] As a further improvement to the above technical solution: The number of movable pulleys is greater than or equal to two. The intersection of the vertical projections of the upper axis and the lower axis is point O. The upper axis is perpendicular to the rotation surface of the fixed pulley, and the lower axis is perpendicular to the rotation surface of the movable pulley.

[0007] When the number of movable pulleys is odd, point O coincides with the vertical projection of the center of the rotation surface of one of the movable pulleys, and the vertical projection of the outermost fixed pulley is symmetrical about point O.

[0008] When the number of movable pulleys is even, point O coincides with the vertical projection of the center of the rotation surface of one of the fixed pulleys, and the vertical projection of the outermost fixed pulley is symmetrical about point O.

[0009] It also includes a cable laying device, which is located above the cable storage winch and is used to guide the umbilical cable on the cable shaft into the groove of the outermost fixed pulley at one end along the upper axis.

[0010] The cable laying device includes: A bracket is fixed above the cable storage winch; The guide frame is slidably mounted on the bracket in a horizontal direction; A guide pulley is rotatably mounted on the guide frame and is used to guide the umbilical cable between the cable shaft and the fixed pulley. The rotation surface of the fixed pulley is coplanar with the rotation surface of the guide pulley. The drive mechanism synchronously changes the position of the guide pulley and the guide frame, so that the umbilical cable entering and exiting the guide pulley is at a 90-degree angle.

[0011] The drive mechanism includes: A lead screw is rotatably mounted on the bracket, and the lead screw is threadedly connected to the guide frame; A drive motor is fixed on the bracket and connected to the lead screw drive to drive the lead screw to rotate, thereby synchronously changing the position of the guide pulley and the guide frame.

[0012] It also includes a sensor for measuring the tension of the umbilical cable between the cable reel and the fixed pulley.

[0013] The sensor is a pin-type load cell, and the guide pulley is rotatably mounted on the guide frame via the sensor.

[0014] The beneficial effects of this invention are as follows: This invention features a compact and reasonable structure, and is easy to operate. The umbilical cable between the cable storage winch and the ROV is partially wound around the upper fixed pulley and lower movable pulley of the passive wave compensation device. The fixed and movable pulleys are spaced vertically, with their axes of rotation forming a first included angle α. Matching the diameters of adjacent fixed and movable pulleys ensures that the vertical projection of the groove of one movable pulley lies between the vertical projections of the grooves of two adjacent fixed pulleys, forming a Z-shape. This keeps the umbilical cable between the fixed and movable pulleys vertical, positioned in the center of the groove when entering or exiting, avoiding unilateral contact and stress with the groove, thereby extending the service life of the wound portion of the umbilical cable.

[0015] The present invention also includes the following advantages: (1) By increasing the number of movable and fixed pulleys, the height of the passive wave compensation device can be reduced while the compensation length of the umbilical cable remains unchanged. This reduces the overall height of the winch system, making the structure of the winch system more compact and increasing the safety of the system on the mother ship.

[0016] (2) Regardless of whether the number of movable pulleys is odd or even, by setting the relative positions of the most central movable pulley and fixed pulley with respect to point O, the vertical projections of all fixed pulleys and movable pulleys are centrally symmetrical with point O as the center. This not only facilitates the selection of fixed pulley and movable pulley specifications, but also makes the force on the two hydraulic cylinders more balanced during the up and down movement, thus improving the smoothness of the passive wave compensation device.

[0017] (3) By setting up a cable laying device that is synchronously controlled with the cable storage winch directly above the cable storage winch, the umbilical cable passes through the guide pulley and is guided at ninety degrees before entering the wave compensation device in a horizontal direction, making the winch system layout compact.

[0018] (4) A pivot-type load cell is set on the cable laying device as the rotating shaft of the guide pulley. Combined with the right-angle cable laying structure, the tension monitoring of the umbilical cable is realized. It can not only realize the tension detection during the cable laying process, but also realize the tension detection of the umbilical cable during the independent operation of the passive wave compensation device after the cable storage winch stops laying the cable, thus ensuring the safety of the system. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the winch system of the present invention.

[0020] Figure 2 This is a front view of the winch system of the present invention.

[0021] Figure 3 This is a top view of the winch system of the present invention.

[0022] Figure 4 This is a front view of a passive wave compensation device according to an embodiment of the present invention.

[0023] Figure 5 This is a perspective view of a passive wave compensation device according to an embodiment of the present invention.

[0024] Figure 6 This is a top view of a passive wave compensation device according to an embodiment of the present invention.

[0025] Figure 7 This is a bottom view of a passive wave compensation device according to an embodiment of the present invention.

[0026] Figure 8 This is a simplified structural diagram of a passive wave compensation device according to an embodiment of the present invention.

[0027] Figure 9 This is a simplified structural diagram of a passive wave compensation device according to another embodiment of the present invention.

[0028] Figure 10 This is a simplified structural diagram of a passive wave compensation device according to another embodiment of the present invention.

[0029] Figure 11 This is a simplified structural diagram of a passive wave compensation device according to another embodiment of the present invention.

[0030] Figure 12 This is a front view of the passive wave compensation device of the cable laying device of the present invention.

[0031] Figure 13 This is a top view of the passive wave compensation device of the cable laying device of the present invention.

[0032] in: 1. Cable laying device; 11. Drive motor; 12. Guide pulley; 121. Sensor; 13. Guide frame; 14. Lead screw; 15. Bracket; 151. Smooth rod; 16. Guide structure; 2. Cable storage winch; 3. Cable reel; 4. Frame; 5. Umbilical cable; 6. Compensation frame; 7. Fixed pulley; 70. Upper pivot; 700. Upper axis; 8. Hydraulic cylinder; 9. Movable pulley; 90. Lower pivot; 900. Lower axis. Detailed Implementation

[0033] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0034] Example 1: like Figures 1-7 As shown, the passive wave-compensated ROV umbilical cable winch system of this embodiment includes a cable storage winch 2 and a passive wave compensation device.

[0035] Cable storage winch 2, located on the mother ship, is used to wind the umbilical cable 5 to form the cable shaft 3.

[0036] The passive wave compensation device is located on the mother ship, on one side of the cable storage winch 2, and includes a compensation frame 6 fixed on the mother ship, an upper rotating shaft 70, a lower rotating shaft 90, a pair of hydraulic cylinders 8, an accumulator group, multiple fixed pulleys 7 and at least one movable pulley 9.

[0037] The upper rotating shaft 70 is mounted on the compensation frame 6, and the axis of the upper rotating shaft 70 is the upper axis 700; The lower rotating shaft 90 has a lower axis 900 as its axis, and the upper axis 700 forms a first angle α with the lower axis 900 and both are horizontal. A pair of hydraulic cylinders 8, one end of which is fixedly connected to the compensation frame 6, and the other end of which is connected to the end of the lower rotating shaft 90, so that the lower rotating shaft 90 can be raised or lowered relative to the upper rotating shaft 70. The accumulator assembly is connected to the oil chamber of the hydraulic cylinder 8; Multiple fixed pulleys 7 are coaxially mounted on the upper rotating shaft 70; At least one movable pulley 9, one less than the number of fixed pulleys 7, is located below the fixed pulley 7. The movable pulley 9 is coaxially mounted on the lower rotating shaft 90. The angle between the rotating surface of the fixed pulley 7 and the rotating surface of the movable pulley 9 is the second included angle β. The first included angle α is equal to the second included angle β. The vertical projection of the groove of one movable pulley 9 is located between the vertical projections of the grooves of two adjacent fixed pulleys 7, and they are connected end to end in a Z-shape. Among them, the umbilical cable 5 on the cable shaft 3 starts from the fixed pulley 7 at one end of the upper rotating shaft 70 and is alternately wound around the fixed pulley 7 and the movable pulley 9 in sequence, and extends outward from the fixed pulley 7 at the other end of the upper rotating shaft 70 to connect to the ROV.

[0038] Specifically, such as Figures 8-11 As shown, the green line represents the center line of the groove of the fixed pulley 7, and the red line represents the center line of the groove of the movable pulley 9. The vertical projections of the grooves are aligned end-to-end, meaning the center lines of the grooves are aligned end-to-end. This ensures that the umbilical cable 5 extending from the fixed pulley 7 to the movable pulley 9 enters the groove of the next movable pulley 9 in a vertical direction. Figure 4 As shown.

[0039] All fixed pulleys 7 have parallel rotating surfaces, and all movable pulleys 9 have parallel rotating surfaces. Multiple fixed pulleys 7 are coaxially mounted on an upper rotating shaft 70, with the rotating surfaces of the fixed pulleys 7 perpendicular to the upper axis 700, and the upper axis 700 passing through the center of the fixed pulleys 7. Movable pulleys 9 are coaxially mounted on a lower rotating shaft 90, with the rotating surfaces of the movable pulleys 9 perpendicular to the lower axis 900, and the lower axis 900 passing through the center of the movable pulleys 9. Specifically, the fixed pulleys 7 are rotatably mounted on the upper rotating shaft 70, and the movable pulleys 9 are rotatably mounted on the lower rotating shaft 90.

[0040] The grooves of the fixed pulley 7 and the movable pulley 9 are adapted to the thickness of the umbilical cable 5, and the diameter is adapted to the appropriate bending size of the umbilical cable 5, so as to avoid excessive bending of the umbilical cable 5.

[0041] The two ends of the lower rotating shaft 90 can be slidably connected to the compensation frame 6 through a guide rail slider structure.

[0042] The accumulator assembly is connected to the oil chamber of the hydraulic cylinder 8 to provide pressure variation space for the oil chamber of the hydraulic cylinder 8. When the ROV is in operation, the tension of the umbilical cable 5 increases, the hydraulic cylinder 8 shortens, the pressure in the oil chamber increases, and the oil flows into the accumulator. The pressure of the accumulator and the extension and retraction of the cylinder are related to the wave height. This part of the structural parameters is designed as existing technology and will not be described in detail here.

[0043] In the passive wave compensation device, the length of the umbilical cable 5 wound around the hydraulic cylinder 8 changes with the extension and retraction of the hydraulic cylinder 8, thus buffering the tension changes of the umbilical cable 5 caused by the mother ship sinking with the waves.

[0044] When the passive wave compensation device is working, the cable storage winch 2 stops working, and the length of the umbilical cable 5 released by the cable storage winch 2 is fixed. When the mother ship rises with the waves, the tension of the umbilical cable 5 increases, pressing the movable pulley 9 upward. The piston rod of the hydraulic cylinder 8 retracts, forcing hydraulic oil into the accumulator group, releasing the umbilical cable 5, and increasing the tension on the umbilical cable 5. Conversely, when the mother ship descends with the waves, the tension on the umbilical cable 5 decreases, the accumulator group releases energy, pushing the hydraulic oil back into the hydraulic cylinder 8. The piston rod of the hydraulic cylinder 8 extends, the movable pulley 9 moves downward, the umbilical cable 5 tightens, and the tension on the umbilical cable 5 is restored.

[0045] In the prior art, the fixed pulley 7 and the movable pulley 9 of the passive wave compensation device have parallel shafts and are staggered vertically. The two ends of the umbilical cable 5 transitioning from the fixed pulley 7 to the movable pulley 9 are in contact with the groove of the pulley on one side. Therefore, the winding part of the umbilical cable 5 may be damaged due to frequent expansion and contraction during use, reducing the life of the umbilical cable 5.

[0046] In this embodiment, the umbilical cable 5 between the cable storage winch 2 and the ROV is partially wound on the upper fixed pulley 7 and the lower movable pulley 9 of the passive wave compensation device. The fixed pulley 7 and the movable pulley 9 are arranged vertically at intervals, and the rotation axes of the fixed pulley 7 and the movable pulley 9 form a first included angle α. The diameters of adjacent fixed pulleys 7 and movable pulleys 9 are matched so that the vertical projection of the groove of one movable pulley 9 is located between the vertical projections of the grooves of two adjacent fixed pulleys 7, and they are connected end to end in a Z-shape. This makes the umbilical cable 5 between the fixed pulleys 7 and the movable pulley 9 vertical, and it is located in the center of the groove when entering and exiting the groove, avoiding contact with one side of the groove and thus extending the service life of the wound portion of the umbilical cable 5.

[0047] Example 2: Compared to the swing-arm type passive wave compensation device, the conventional three-pulley wave compensation device has a higher overall height. In addition, in order to adapt to the higher cable exit height of the passive compensation device winch, this winch system does not meet the requirements for some situations where the height of shipboard equipment is high. Therefore, it is necessary to propose a passive wave compensation ROV umbilical cable winch system with a lower overall height and a more compact structure.

[0048] In this embodiment of the passive wave-compensated ROV umbilical cable winch system, based on Embodiment 1, the number of movable pulleys 9 is greater than or equal to two, the intersection of the vertical projections of the upper axis 700 and the lower axis 900 is point O, the upper axis 700 is perpendicular to the rotation surface of the fixed pulley 7, and the lower axis 900 is perpendicular to the rotation surface of the movable pulley 9.

[0049] Increasing the number of movable pulleys 9 and fixed pulleys 7, while keeping the compensation length of the umbilical cable 5 unchanged, can reduce the height of the passive wave compensation device, thereby reducing the overall height of the winch system, making the structure of the winch system more compact, and increasing the safety of the system on the mother ship.

[0050] Furthermore, because the number of pulleys increases while the compensation length remains constant, the relative travel distance between the fixed pulley 7 and the movable pulley 9 is shortened, allowing for a shorter hydraulic cylinder 8. This eliminates the need for the sliding connection structure between the two ends of the lower rotating shaft 90 and the compensation frame 6, simplifying the structure of the passive wave compensation device. Figure 4 As shown.

[0051] When the number of movable pulleys 9 is odd, point O coincides with the vertical projection of the center of the rotation surface of one movable pulley 9, and the vertical projection of the outermost fixed pulley 7 is symmetrical about point O.

[0052] like Figure 8 As shown, there is one movable pulley 9 and two fixed pulleys 7. Figure 10As shown, there are three movable pulleys 9, with the middle one having the largest diameter. There are four fixed pulleys 7, and the center of the rotation surface of the middle movable pulley 9 coincides with the vertical projection of point O.

[0053] When the number of movable pulleys 9 is even, point O coincides with the vertical projection of the center of the rotation surface of a fixed pulley 7, and the vertical projection of the outermost fixed pulley 7 is symmetrical about point O.

[0054] like Figure 9 As shown, there are two movable pulleys 9 with equal diameters, and three fixed pulleys 7. The center of the rotation surface of the middle fixed pulley 7 coincides with the vertical projection of point O, and it has the largest diameter. Figure 11 As shown, there are four movable pulleys 9 and five fixed pulleys 7. The center of the rotating surface of the middle movable pulley 9 coincides with the vertical projection of point O, and has the largest diameter.

[0055] Regardless of whether the number of movable pulleys 9 is odd or even, by setting the relative positions of the most central movable pulley 9 and fixed pulley 7 with point O, the vertical projections of all fixed pulleys 7 and movable pulleys 9 are centrally symmetrical with point O as the center. This not only facilitates the selection of the specifications of fixed pulleys 7 and movable pulleys 9, but also makes the force on the two hydraulic cylinders 8 more balanced during the up and down movement, thus improving the smoothness of the passive wave compensation device.

[0056] Example 3: like Figures 1-3 The passive wave-compensated ROV umbilical cable winch system of this embodiment, based on the above embodiments, also includes a cable laying device 1. The cable laying device 1 is disposed above the cable storage winch 2 and is used to guide the umbilical cable 5 on the cable shaft 3 into the groove of the outermost fixed pulley 7 at one end along the upper axis 700, thereby guiding the umbilical cable 5.

[0057] like Figure 12 , Figure 13 As shown, the cable laying device 1 includes a bracket 15, a guide frame 13, a guide pulley 12, and a drive mechanism.

[0058] Support 15 is fixed above the cable storage winch 2; The guide frame 13 is slidably mounted on the bracket 15 in a horizontal direction; The guide pulley 12 is rotatably mounted on the guide frame 13 and is used to guide the umbilical cable 5 between the cable shaft 3 and the fixed pulley 7. The rotating surface of the fixed pulley 7 is coplanar with the rotating surface of the guide pulley 12. The drive mechanism synchronously changes the position of the guide pulley 12 and the guide frame 13, so that the umbilical cable 5 entering and exiting the guide pulley 12 is at a 90-degree angle.

[0059] By setting a cable laying device 1 that is synchronously controlled with the cable storage winch 2 directly above the cable storage winch 2, the umbilical cable 5 is guided upward through the guide pulley 12 and then guided at a 90-degree angle to enter the wave compensation device in a horizontal direction, making the winch system layout compact.

[0060] Specifically, the guide pulley 12 of the cable laying device 1 is at the same height as the outermost fixed pulley 7 of the passive wave compensation device. The overall height of the umbilical cable winch system is limited by the bending radius of the umbilical cable 5. Since the guide pulley 12 of the cable laying device 1 of the winch is at the same height as the fixed pulley 7 of the compensation device, the overall height of the equipment is limited by the bending radius of the umbilical cable 5. This allows for a regular winch layout and facilitates modular assembly while maintaining the same compensation structure.

[0061] The aforementioned drive mechanism includes a lead screw 14 and a drive motor 11.

[0062] The lead screw 14 is rotatably mounted on the bracket 15, and the lead screw 14 is threadedly connected to the guide frame 13. The drive motor 11 is fixed on the bracket 15 and is connected to the lead screw 14 for driving the lead screw 14 to rotate, thereby synchronously changing the position of the guide pulley 12 and the guide frame 13.

[0063] Specifically, the bracket 15 is equipped with a smooth rod 151, and the guide frame 13 is equipped with a guide sleeve that slides with the smooth rod 151. The bracket 15 is fixedly installed on the frame 4 of the cable storage winch 2 by bolts. The drive motor 11 drives the lead screw 14 to rotate forward and backward, which drives the guide frame 13 to move the guide pulley 12. The cable laying speed is synchronized with the cable winding speed of the cable storage winch 2 through the synchronous control of the drive motor 11 and the cable storage winch 2, so as to achieve a 90-degree cable laying. This technology is existing technology and will not be described in detail here.

[0064] Specifically, a guide structure 16 is installed on the guide frame 13 to guide the umbilical cable 5 into the guide pulley 12 to be coplanar with the rotating surface of the guide pulley 12.

[0065] It also includes a sensor 121 for measuring the tension of the umbilical cable 5 between the cable shaft 3 and the fixed pulley 7.

[0066] Sensor 121 is a pin-type load cell, and guide pulley 12 is rotatably mounted on guide frame 13 via sensor 121.

[0067] Specifically, the pivot-type load cell is used to detect the pressure exerted by the umbilical cable 5 on the guide pulley 12. Since the umbilical cable 5 entering and exiting the guide pulley 12 is at a 90-degree angle, the magnitude of the measured force output by the pivot-type load cell is F. 测 Then the tension F of the umbilical cable 5 is ×F 测 .

[0068] A pivot-type load cell is installed on the cable laying device 1 as the rotating shaft of the guide pulley 12. Combined with the right-angle cable laying structure, the tension of the umbilical cable 5 can be monitored. This not only enables tension detection during the cable laying process, but also enables tension detection of the umbilical cable 5 when the cable storage winch 2 stops laying the cable and the passive wave compensation device operates independently, thus ensuring system safety.

[0069] When excessive tension is detected in the umbilical cable 5, the ROV operation can be stopped, or the cable storage winch 2 can be started to release the cable.

[0070] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A passive wave-compensated ROV umbilical cable winch system, characterized in that... include, A cable storage winch (2), located on the mother ship, is used to wind the umbilical cable (5) to form a cable shaft (3). A passive wave compensation device, installed on the mother ship, located on one side of the cable storage winch (2), includes a compensation frame (6) and The upper rotating shaft (70) is mounted on the compensation frame (6), and the axis of the upper rotating shaft (70) is the upper axis (700). The lower rotating shaft (90) has a lower axis (900) as its axis, and the upper axis (700) and the lower axis (900) form a first angle (α) and are both horizontal. A pair of hydraulic cylinders (8) are fixedly connected at one end to the compensation frame (6) and at the other end to the end of the lower rotating shaft (90), so that the lower rotating shaft (90) moves up and down relative to the upper rotating shaft (70); The accumulator group is connected to the oil chamber of the hydraulic cylinder (8); Multiple fixed pulleys (7) are coaxially mounted on the upper rotating shaft (70); At least one movable pulley (9) is provided, one less than the number of fixed pulleys (7), and is located below the fixed pulleys (7). The movable pulleys (9) are coaxially mounted on the lower rotating shaft (90). The angle between the rotating surface of the fixed pulley (7) and the rotating surface of the movable pulley (9) is the second angle (β). The first angle (α) and the second angle (β) are equal. The vertical projection of the groove of one movable pulley (9) is located between the vertical projections of the grooves of two adjacent fixed pulleys (7) and they are connected end to end in a Z-shape. Among them, the umbilical cable (5) on the cable shaft (3) starts from the fixed pulley (7) at one end of the upper rotating shaft (70) and alternately winds around the fixed pulley (7) and the movable pulley (9) in sequence, and extends outward from the fixed pulley (7) at the other end of the upper rotating shaft (70) to connect to the ROV.

2. The passive wave-compensated ROV umbilical cable winch system as described in claim 1, characterized in that: The number of movable pulleys (9) is greater than or equal to two. The intersection of the vertical projections of the upper axis (700) and the lower axis (900) is point O. The upper axis (700) is perpendicular to the rotation surface of the fixed pulley (7), and the lower axis (900) is perpendicular to the rotation surface of the movable pulley (9).

3. The passive wave-compensated ROV umbilical cable winch system as described in claim 2, characterized in that: When the number of movable pulleys (9) is odd, point O coincides with the vertical projection of the center of the rotation surface of one of the movable pulleys (9), and the vertical projection of the outermost fixed pulley (7) is symmetrical about point O.

4. The passive wave-compensated ROV umbilical cable winch system as described in claim 2, characterized in that: When the number of movable pulleys (9) is even, point O coincides with the vertical projection of the center of the rotation surface of one of the fixed pulleys (7), and the vertical projection of the outermost fixed pulley (7) is symmetrical about point O.

5. The passive wave-compensated ROV umbilical cable winch system as described in claim 2, characterized in that: It also includes a cable laying device (1), which is located above the cable storage winch (2) and is used to guide the umbilical cable (5) on the cable shaft (3) into the groove of the outermost fixed pulley (7) at one end along the direction of the upper axis (700).

6. The passive wave-compensated ROV umbilical cable winch system as described in claim 5, characterized in that: The cable laying device (1) includes: The bracket (15) is fixed above the cable storage winch (2); The guide frame (13) is slidably mounted on the bracket (15) in the horizontal direction; The guide pulley (12) is rotatably mounted on the guide frame (13) and is used to guide the umbilical cable (5) between the cable shaft (3) and the fixed pulley (7). The rotation surface of the fixed pulley (7) is coplanar with the rotation surface of the guide pulley (12). The drive mechanism synchronously changes the position of the guide pulley (12) and the guide frame (13) so that the umbilical cable (5) entering and exiting the guide pulley (12) is at a 90-degree angle.

7. The passive wave-compensated ROV umbilical cable winch system as described in claim 6, characterized in that: The drive mechanism includes: The lead screw (14) is rotatably mounted on the bracket (15), and the lead screw (14) is threadedly connected to the guide frame (13); A drive motor (11) is fixed on the bracket (15) and is connected to the lead screw (14) for driving the lead screw (14) to rotate, thereby synchronously changing the position of the guide pulley (12) and the guide frame (13).

8. The passive wave-compensated ROV umbilical cable winch system as described in claim 6, characterized in that: It also includes a sensor (121) for measuring the tension of the umbilical cable (5) between the cable shaft (3) and the fixed pulley (7).

9. The passive wave-compensated ROV umbilical cable winch system as described in claim 8, characterized in that: The sensor (121) is a pin-type load cell, and the guide pulley (12) is rotatably mounted on the guide frame (13) through the sensor (121).

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