An ROV hoist and method of use thereof

Abstract

The application discloses a ROV hoisting device and a use method thereof, and belongs to the technical field of ROV (Remotely Operated Vehicle) equipment. The ROV hoisting device comprises a hoisting frame, a lifting appliance, a driving member and a posture detection device. The hoisting frame is used for being installed on a work platform. The lifting appliance is connected with the hoisting frame through a multi-arm linkage mechanism. The driving member is connected with the multi-arm linkage mechanism and is used for driving the multi-arm linkage mechanism to move, so that the lifting appliance moves along a preset track. The posture detection device is used for detecting the posture of the multi-arm linkage mechanism and guiding the driving member to act. The bottom of the lifting appliance is provided with a supporting part. The multi-arm linkage mechanism comprises a main arm hinged with the hoisting frame and a secondary arm hinged with the main arm. The lifting appliance is hinged with the secondary arm. The application can realize unmanned automatic deployment and recovery of the ROV under four-stage sea conditions, and can be installed on an existing work platform as a modular additional device.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to an ROV lifting device and its usage method. Background Technology

[0002] Unmanned Surface Vehicle (USV) is short for Unmanned Surface Vehicle. In terms of mission objectives, it includes tasks such as marine mapping, sedimentary environment investigation, and underwater target detection. Underwater operational devices, such as Remotely Operated Vehicles (ROVs), are crucial equipment for unmanned diving. The safe deployment and recovery of ROVs are critical aspects of offshore operations, directly impacting operational efficiency and equipment safety.

[0003] However, in the offshore operating environment, due to irregular wave disturbances, it is impossible for the ROV to maintain a stable relative position with the hull. Many operations that can be performed in a manned environment are difficult to achieve in an unmanned environment. Specifically, existing technologies have the following main drawbacks: (1) Under the irregular wave disturbance at sea, the ROV and the hull cannot maintain a stable relative position, making it difficult to complete reliable deployment and recovery in an unmanned environment.

[0004] (2) Existing lifting devices are mostly rigid structures, which make recovery difficult when the ROV is unstable in windy and wavey conditions, and are prone to collision damage. (3) During ROV operation, cables are prone to getting tangled with deck objects, affecting operational safety. (4) Existing dedicated mother ship deployment and recovery systems are bulky and cannot be installed as additional devices on existing operating platforms, resulting in high implementation costs.

[0005] In view of the above technical problems, there is an urgent need for an ROV lifting device that can achieve unmanned automatic deployment and retrieval of ROVs under different sea conditions, has flexible adaptive retrieval capabilities, can effectively prevent cable entanglement, and can be installed as a modular add-on on existing operating platforms. Summary of the Invention

[0006] In view of this, this application provides an ROV lifting device and its method of use. The main purpose is to solve the technical problem that existing technologies cannot achieve the deployment and recovery of ROVs under sea state 4.

[0007] According to a first aspect of the present invention, an ROV lifting device is provided, comprising: a lifting frame for mounting on a work platform; and a lifting device connected to the lifting frame via a multi-arm linkage mechanism. The drive unit is connected to the multi-arm linkage mechanism and is used to drive the multi-arm linkage mechanism to move, so that the lifting device moves along a preset trajectory. An attitude detection device is used to detect the attitude of a multi-arm linkage mechanism and guide the movement of the driving components. The bottom of the lifting device is equipped with a support section.

[0008] Furthermore, the multi-arm linkage mechanism includes a main arm hinged to the lifting frame and a secondary arm hinged to the main arm, with the lifting device hinged to the secondary arm.

[0009] Furthermore, the driving component is a hydraulic rod, and the main boom is hinged to the lifting frame base via a first rotating shaft; The auxiliary boom and the main boom are hinged together via a third connecting shaft; One end of the hydraulic rod is hinged to the main boom or auxiliary boom, and the other end is hinged to the base of the drive component; The hydraulic rod extends and retracts, driving the auxiliary boom to move in conjunction with the main boom, causing the lifting device to move along a preset trajectory.

[0010] Furthermore, the lifting frame base includes a main base plate, and the drive unit base includes a drive base plate. The main base plate and the drive base plate are respectively fixedly connected to the deck of the work platform, so that the device can be installed on the existing work platform as a modular additional device.

[0011] Furthermore, the spreader is hinged to the jib via a pivot.

[0012] Furthermore, the ROV lifting device also includes: a cable guide device, which is mounted on the lifting device to guide the cable and prevent the cable from detaching; The cable guiding device includes two baffles, a rotating wheel, a connecting flange, a limiting plate, a guide plate, and a support plate; The baffle is connected to the rotating shaft by bolts via a connecting flange; The rotating wheel is positioned between two baffles and maintains a gap with each baffle to allow it to rotate freely. The limiting plate is detachable and can be assembled and disassembled. After the cable is inserted, it forms a closed loop with the baffle and the rotating wheel. The guide plate uses its own curve to guide the cable and prevent the cable from bending too much during operation; The support plate is bolted to each component to ensure the overall structural strength.

[0013] Furthermore, the attitude detection device includes an encoder, which is connected to the multi-arm linkage mechanism through a D-hole at the end of the rotating shaft, for real-time reading of the attitude data of the main arm and / or the auxiliary arm, the attitude data including at least the rotation angle.

[0014] Furthermore, the encoder includes a second encoder and a first encoder; The second encoder is connected to the first rotating shaft through the D hole on the end face of the first rotating shaft to read the rotation angle of the main arm; The first encoder is connected to the third connecting shaft through the D hole on the end face of the third connecting shaft to read the rotation angle of the auxiliary arm; The hydraulic rods are guided to move according to the rotation angle of the main boom and / or auxiliary boom. The movement can be paused at any point and restarted with one key based on the posture data to maintain the same motion trajectory.

[0015] Furthermore, the drive component base includes a drive support plate, a second rotating shaft, a reinforcing plate, and a drive base plate; The second rotating shaft connects the two drive support plates, and a reinforcing plate is provided between the two drive support plates to prevent the base from deforming.

[0016] Furthermore, a method of using an ROV lifting device, based on the ROV lifting device described in the above-mentioned invention, includes the following steps: S1. Place the underwater operation device in the lifting device, drive the multi-arm linkage mechanism through the drive component to make the lifting device move along the preset trajectory and deploy the underwater operation device into the water; S2. Submerge the lifting device in the water. Once the underwater work device enters the support area, lift the lifting device using the drive mechanism to retrieve the underwater work device to the work platform.

[0017] Beneficial effects: In this application, the auxiliary boom is driven by hydraulic linkage with the main boom, which drives the spreader to follow a preset trajectory. With the help of encoder closed-loop control, the unmanned automatic deployment and recovery of ROV can be achieved in sea state 4. This solves the technical problem in the prior art that requires personnel to operate the ROV from a workboat and poses a high risk to personnel safety in harsh sea conditions.

[0018] Because the support section is used as the bottom of the lifting device, and the adaptive capability of the net is utilized, the ROV can be safely retrieved even when its position and attitude cannot be stabilized in windy and wavy environments, effectively improving the reliability of automatic deployment and retrieval. In addition, the flexible support section of this application fundamentally avoids the risk of collision damage between the ROV and the cage.

[0019] Because of the cable guiding device installed on the lifting device, which includes a rotating wheel to ensure the minimum turning radius of the cable, a guide plate to prevent the cable from bending too much, and a limiting plate to form a closed loop to prevent the cable from detaching, the cable position can be guided in all directions during operation, effectively preventing the ROV from getting tangled with other equipment during operation and improving overall safety; compared with the cable guide or winding device fixed pulley of the existing towing system, the cable guiding device of the present invention has different structure, installation position and function.

[0020] Thanks to its modular add-on installation design, the lifting frame base and drive unit base are fixedly connected to the working platform deck. The size can be adjusted and installed on the existing working platform according to the actual situation, which significantly reduces the implementation cost.

[0021] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0022] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0023] In the attached diagram: Figure 1 This diagram illustrates a structural schematic of an ROV lifting device retracting to the deck according to an embodiment of the present invention. Figure 2 This diagram illustrates a structural schematic of an ROV lifting device released to the water surface according to an embodiment of the present invention. Figure 3 This diagram illustrates the structure of a lifting device for an ROV lifting apparatus according to an embodiment of the present invention. Figure 4 This diagram illustrates the structure of a cable guide device for an ROV lifting device according to an embodiment of the present invention. Figure 5 This diagram illustrates the structure of the auxiliary boom in an ROV lifting device according to an embodiment of the present invention. Figure 6 This diagram illustrates the structure of the main boom in an ROV lifting device according to an embodiment of the present invention. Figure 7 This diagram illustrates the structure of the lifting frame base in an ROV lifting device according to an embodiment of the present invention. Figure 8 This diagram illustrates the structure of the drive unit base in an ROV lifting device according to an embodiment of the present invention. Figure 9 A flowchart illustrating a method of using an ROV lifting device provided in an embodiment of the present invention is shown.

[0024] Icon labels: 1. Lifting device, 2. Cable guide device, 3. Auxiliary boom, 4. Main boom, 5. Lifting frame base, 6. Drive unit base, 7. Working platform, 1-1. Rotary shaft, 1-2. Lifting device body, 1-3. Retaining ring, 1-4. Reinforcing rib, 1-5. Support part, 2-1. Baffle, 2-2. Rotary wheel, 2-3. Connecting flange, 2-4. Limiting plate, 2-5. Guide plate, 2-6. Support plate, 3-1. T-shaped crossbeam, 3-2. X-shaped reinforcing frame, 3-3. First fixed seat, 3-4. First connecting shaft, 3-5. First Main rod, 3-6. First crossbeam, 3-7. First fixed seat, 4-1. Diagonal support beam, 4-2. Second crossbeam, 4-3. Second main rod, 4-4. Second fixed seat, 4-5. Second connecting shaft, 4-6. Third connecting shaft, 4-7. First encoder, 5-1. Main support plate, 5-2. Copper sleeve, 5-3. First rotating shaft, 5-4. End cover, 5-5. Second encoder, 5-6. Main base plate, 6-1. Drive support plate, 6-2. Second rotating shaft, 6-3. Reinforcing plate, 6-4. Drive base plate.

[0025] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0027] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Example 1 In this embodiment, in the description of the present invention, ROV is broadly understood to refer to an autonomous underwater working device, for example, it can be applied to AUV equipment.

[0030] In one feasible implementation, the ROV lifting device includes: a lifting frame for mounting on a work platform; a lifting device 1 connected to the lifting frame via a multi-arm linkage mechanism; a drive unit connected to the multi-arm linkage mechanism for driving the multi-arm linkage mechanism to move, causing the lifting device 1 to move along a preset trajectory; and a posture detection device for detecting the posture of the multi-arm linkage mechanism and guiding the drive unit's movement; wherein, the bottom of the lifting device 1 is provided with a flexible support portion. The multi-arm linkage mechanism includes a main arm 4 hinged to the lifting frame and a secondary arm 3 hinged to the main arm 4, with the lifting device 1 hinged to the secondary arm 3.

[0031] In this embodiment, such as Figures 1-8 As shown, the spreader 1 is connected to the cable guide device 2 and the auxiliary boom 3 via a through-type pivot 1-1. The pivot 1-1 is fixedly connected to the spreader body 1-2 by a flange and bolts, facilitating disassembly and assembly as well as attitude control of the spreader 1. A retaining ring 1-3 is provided between the pivot 1-1 and the auxiliary boom 3 to limit the relative axial position. The spreader body 1-2 is a welded hollow square aluminum frame, reinforced with solid aluminum strips as reinforcing ribs 1-4 at locations that do not affect the equipment's inlet and outlet. Below the spreader 1, a sturdy rope-woven mesh net serves as a support 1-5, providing flexible support for the equipment while preventing excessive water from being carried onto the vessel.

[0032] Preferably, the support part 1-5 is made of high-strength polyethylene rope. For example, the support part 1-5 can have a mesh size of 100mm×100mm, an unfolded size of 2m×1.5m, and a depth of 0.8m, which can accommodate an underwater ROV with an external dimension of 1.5m×1m×0.6m. The edge of the net bag is detachably connected to the main body 1-2 of the lifting device via stainless steel retaining rings, facilitating replacement and maintenance. Under simulated sea state 4 conditions, such as a wave height of 1.5m and a period of 6s, the device using the support part 1-5 of this invention has completed multiple ROV deployment and recovery tests with a success rate of 95%, and has avoided collisions between the underwater ROV and the lifting device, as well as cable entanglement.

[0033] In one feasible embodiment, the cable guiding device 2 includes two baffles 2-1, a rotating wheel 2-2, a connecting flange 2-3, a limiting plate 2-4, a guide plate 2-5, and a support plate 2-6. The baffles 2-1 are bolted to the rotating shaft 1-1 via the connecting flange 2-3. The rotating wheel 2-2, between the two baffles 2-1, has a certain gap with the baffles and can rotate freely, reducing friction with the cable. The rotating wheel 2-2 has a diameter of 250mm, and the gap between the rotating wheel and the two side baffles is 5-10mm, ensuring free rotation of the rotating wheel while preventing the cable from getting stuck in the gap. The limiting plate 2-4 can be installed and removed with bolts, forming a closed loop with the baffles 2-1 and the rotating wheel 2-2 after the cable is inserted to prevent the cable from detaching during operation. The guide plate 2-5 guides the cable through its own curve, preventing excessive bending of the cable during operation.

[0034] In this embodiment, the auxiliary boom 3 includes a T-shaped crossbeam 3-1, an X-shaped reinforcing frame 3-2, a first fixed seat 3-3, a first connecting shaft 3-4, a first main rod 3-5, a first crossbeam 3-6, and a first fixed seat 3-7. The T-shaped crossbeam 3-1, the first main rod 3-5, and the first crossbeam 3-6 are fixedly connected (e.g., by welding) or integrally formed to form the overall frame of the auxiliary boom 3. The X-shaped reinforcing frame 3-2 is a pyramid-like structure with a central protrusion, used to increase the overall equivalent thickness. After the first fixed seat 3-3 is welded to the first main rod 3-5, it is connected to a hydraulic rod via the first connecting shaft 3-4. The first fixed seat 3-7 is fixedly connected to the first main rod 3-5. Preferably, a brake can be installed on the first fixed seat 3-7 to control the rotation of the spreader 1 and prevent the spreader 1 from swaying excessively with the waves.

[0035] In one feasible implementation, the main boom 4 includes a diagonal support beam 4-1, a second crossbeam 4-2, a second main rod 4-3, a second fixed seat 4-4, a second connecting shaft 4-5, a third connecting shaft 4-6, and a first encoder 4-7. The diagonal support beam 4-1, the second crossbeam 4-2, and the second main rod 4-3 are fixedly connected to form the overall frame of the main boom 4. All fixed connections mentioned here and below include, but are not limited to, welding and integral molding. The second main rod 4-3 is fixedly connected to the second fixed seat 4-4 at a suitable position, and the second connecting shaft 4-5 passes through the second fixed seat 4-4 and is connected to the hydraulic rod. The third connecting shaft 4-6 connects the second main rod 4-3 and the first main rod 3-5, and restricts relative rotation with the first main rod 3-5 by through bolts. The end face of the third connecting shaft 4-6 has a D-hole connected to the first encoder 4-7, which can read the rotation angle of the first main rod 3-5 on the auxiliary boom 3, thereby guiding the movement of the hydraulic rod.

[0036] In this embodiment, the ROV lifting device also includes a lifting frame base 5. The lifting frame base 5 includes a main support plate 5-1, a copper sleeve 5-2, a first rotating shaft 5-3, end caps 5-4, a second encoder 5-5, and a main base plate 5-6. The first rotating shaft 5-3 is lubricatedly fitted to the main support plate 5-1 via the copper sleeve 5-2. End caps 5-4 are provided at both ends of the first rotating shaft 5-3 for limiting movement. A D-hole is provided at the end of the first rotating shaft 5-3 for connecting the second encoder 5-5. The second encoder 5-5 can read the rotation angle of the second main rod 4-3 on the main boom 4, thereby guiding the movement of the hydraulic rod. The main support plate 5-1 and the main base plate 5-6 are connected by bolts, facilitating welding connection with the work platform 7.

[0037] In one feasible embodiment, the ROV lifting device further includes a drive base 6. The drive base 6 includes a drive support plate 6-1, a second rotating shaft 6-2, a reinforcing plate 6-3, and a drive bottom plate 6-4. The ROV lifting device of the work platform is a lever that requires considerable effort; therefore, when lifting heavy equipment, the drive base 6 must withstand a force several times the weight of the equipment, requiring a robust structure. The second rotating shaft 6-2 connects the two drive support plates 6-1, and a reinforcing plate 6-3 is laterally fixed between the drive support plates 6-1 with bolts to prevent deformation of the drive base 6. The drive support plate 6-1 and the drive bottom plate 6-4 are fixedly connected by bolts, facilitating welding to the work platform 7.

[0038] In one feasible implementation, the auxiliary boom 3 and the main boom 4 form a multi-arm linkage mechanism, and their linkage relationship satisfies kinematic coupling. When the driving component, i.e., the hydraulic rod, extends or retracts, the auxiliary boom 3 and the main boom 4 are linked, driving the spreader 1 to move along a preset trajectory. The second encoder 5-5 and the first encoder 4-7 read the rotation angles of the main boom 4 and the auxiliary boom 3 in real time, and the controller calculates the target extension / retraction length of the driving component and drives the action, so that the spreader 1 moves along the preset trajectory. At any point in time, the operator can pause the action through the controller, and the second encoder 5-5 and the first encoder 4-7 record the current posture data, including the reading of the rotation angles of the main boom 4 and the auxiliary boom 3; when restarting, the controller resumes the action of the hydraulic rod according to the recorded reading of the rotation angles of the main boom 4 and the auxiliary boom 3, maintaining the same motion trajectory.

[0039] Example 2 like Figure 9 As shown, this embodiment also discloses a method of using the ROV lifting device as described in Embodiment 1. It includes the following steps: S1, placing the underwater operation device in the lifting device 1, driving the multi-arm linkage mechanism through the drive component to make the lifting device 1 move along the preset trajectory and deploy the underwater operation device in the water, wherein the multi-arm linkage mechanism includes the main arm 4 and the auxiliary arm 3. S2. Submerge the lifting device 1 in the water. After the underwater working device enters the containment range of the support section 1-5, lift the lifting device 1 through the drive component and retrieve the underwater working device to the working platform.

[0040] In this embodiment, the ROV lifting device can be installed on an existing work platform. Before operation, the cable is installed in the cable guide device 2. During operation, the hydraulic rod extends and retracts, driving the auxiliary boom 3 and the main boom 4 in tandem, causing the spreader 1 to follow a preset trajectory, lifting the underwater work device (ROV) from the deck into the water. After the underwater work device leaves the deck, the spreader is raised above the horizontal line. At this time, the cable guide device 2 is located outside the stern deck of the vessel carrying the underwater work device, effectively guiding the cable to avoid entanglement with objects on the deck. After the underwater work device completes its operation, the spreader 1 is submerged in the water. Once the underwater work device reaches the vicinity of the designated position, the support portion 1-5 at the bottom of the spreader 1 is used to retrieve it back to the deck, completing the operation.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A ROV lifting device, characterized in that, include: Lifting frame, used for installation on the work platform; The lifting device (1) is connected to the lifting frame through a multi-arm linkage mechanism; The driving component is connected to the multi-arm linkage mechanism and is used to drive the multi-arm linkage mechanism to move, so that the lifting device (1) moves according to the preset trajectory. An attitude detection device is used to detect the attitude of a multi-arm linkage mechanism and guide the movement of the driving components. Among them, the bottom of the lifting device (1) is provided with a support part.

2. The ROV lifting device according to claim 1, characterized in that, The multi-arm linkage mechanism includes a main boom (4) hinged to the lifting frame and a secondary boom (3) hinged to the main boom (4). The lifting device (1) is hinged to the secondary boom (3).

3. The ROV lifting device according to claim 2, characterized in that, The driving component is a hydraulic rod. The main boom (4) and the lifting frame base (5) are hinged together via the first rotating shaft (5-3); The auxiliary boom (3) and the main boom (4) are hinged together via a third connecting shaft (4-6); One end of the hydraulic rod is hinged to the main arm (4) or the auxiliary arm (3), and the other end is hinged to the drive unit base (6); The hydraulic rod extends and retracts, driving the auxiliary boom (3) to work in conjunction with the main boom (4), so that the lifting device (1) moves along a preset trajectory.

4. The ROV lifting device according to claim 3, characterized in that, The lifting frame base (5) includes a main base plate (5-6), and the drive component base (6) includes a drive base plate (6-4). The main base plate (5-6) and the drive base plate (6-4) are respectively fixedly connected to the deck of the working platform (7).

5. The ROV lifting device according to claim 4, characterized in that, The lifting device (1) is hinged to the auxiliary boom (3) via a pivot (1-1).

6. The ROV lifting device according to claim 3, characterized in that, It also includes: a cable guide device, which is installed on the lifting device (1) to guide the cable and prevent the cable from detaching; The cable guiding device (2) includes two baffles (2-1), a rotating wheel (2-2), a connecting flange (2-3), a limiting plate (2-4), and a guide plate (2-5); The two baffles (2-1) are respectively bolted to the rotating shaft (1-1) via connecting flanges (2-3); The rotating wheel (2-2) is positioned between the two baffles (2-1) and maintains a gap with each of the two baffles (2-1); The limiting plate (2-4) is detachable and can be assembled to form a closed loop with the baffle (2-1) and the rotating wheel (2-2) after the cable is inserted; The guide plate (2-5) is used to guide the cable by its own curve.

7. The ROV lifting device according to claim 1, characterized in that, The attitude detection device includes an encoder, which is connected to the multi-arm linkage mechanism through a D-hole at the end of the rotating shaft. The encoder is used to read the attitude data of the main arm (4) and / or the auxiliary arm (3) in real time. The attitude data includes at least the rotation angle.

8. The ROV lifting device according to claim 7, characterized in that, The encoder includes a second encoder 5-5 and a first encoder 4-7; The second encoder 5-5 is connected to the first rotating shaft 5-3 through the D hole on the end face of the first rotating shaft 5-3 to read the rotation angle of the main arm 4; The first encoder 4-7 is connected to the third connecting shaft 4- through the D hole on the end face of the third connecting shaft 4-6, and reads the rotation angle of the auxiliary arm 3; The hydraulic rods are guided to move according to the rotation angle of the main boom 4 and / or the auxiliary boom 3. The movement can be paused at any time and restarted with one key based on the posture data to maintain the same motion trajectory.

9. The ROV lifting device according to claim 4, characterized in that, The drive base (6) includes a drive support plate (6-1), a second rotating shaft (6-2), a reinforcing plate (6-3), and a drive base plate (6-4). The second rotating shaft (6-2) connects the two driving support plates (6-1) on both sides, and a reinforcing plate (6-3) is provided between the two driving support plates (6-1).

10. A method of using an ROV lifting device, implemented based on the ROV lifting device described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Place the underwater operation device in the lifting device (1), drive the multi-arm linkage mechanism through the drive component, so that the lifting device (1) moves along the preset trajectory and deploys the underwater operation device into the water; S2. Submerge the lifting device (1) in the water. After the underwater working device enters the containment range of the support part (1-5), lift the lifting device (1) through the drive component and retrieve the underwater working device to the working platform.

Images