Oscillation stopper and laying and recovery system

Abstract

The utility model relates to a swing stopper and a laying recovery system, which comprises a frame mechanism, a guide wheel mechanism, a swimming lock winch mechanism and a swimming lock, the guide wheel mechanism is connected to one end of the frame mechanism, the swimming lock winch mechanism is connected to one end of the frame mechanism opposite to the guide wheel mechanism, a steel wire rope is wound on the swimming lock winch mechanism, and the swimming lock is connected to the steel wire rope. According to the utility model, one swimming lock winch is changed into two, and each swimming lock winch is driven by one motor, so that the two swimming lock winches can be simultaneously controlled to rotate, and one of the swimming lock winches can be independently controlled to rotate, and the aim of adjusting the swimming lock to be always in a vertical state is fulfilled.

Description

Technical Field

[0001] The utility model relates to the technical field of deployment and recovery of underwater robots, and in particular to an anti-oscillation device and a deployment and recovery system. Background Art

[0002] With the continuous development of deepwater oil and gas exploration and development technology, the application of underwater robots (ROVs) has developed rapidly, among which cable-controlled unmanned underwater robots are particularly prominent and are currently the most widely used underwater robots in the world.

[0003] Among them, the cables that provide power and signal feedback for underwater robots are divided into two categories: flexible cables and armored cables. There is no steel wire outside the flexible cable, and the flexible cable cannot bear too much load tension (usually not more than 1.5t), and cannot bear the weight of the underwater robot in the air. The armored cable has a steel wire armor layer on the outside, and the armored cable can play the role of a steel wire rope and can bear the weight of the underwater robot in the air. The underwater robot weighs about 4-6t in the air. Since the underwater robot carries a buoyancy block, the weight of the underwater robot in water is about zero.

[0004] Therefore, when using a flexible cable to retract and release an underwater robot, an auxiliary steel cable winch is required to complete the movement of the underwater robot in the air. This patent integrates the auxiliary steel cable winch into the anti-swing device, which is called a floating lock winch. The anti-swing device is equipped with a floating lock mechanism, and the floating lock winch can drive the floating lock to move up and down. Whether the floating lock is in a vertical state during the up and down movement is critical, which is related to whether the floating lock can smoothly enter the anti-swing device and whether it can be smoothly unlocked.

[0005] The patent CN112758256B retrieved so far has one winch for the floating lock, which is driven by one motor. The two steel wire ropes rotate with the drum of the floating lock winch, and theoretically they can be retracted and released synchronously. However, in reality, the two steel wire ropes will be retracted and released to different lengths even though the drum of the floating lock winch rotates the same number of times due to the asynchronous cable arrangement. Over time, the error will accumulate and become larger, causing the floating lock to change from a vertical state to an inclined state, and eventually causing the floating lock to be unable to enter the stopper, or the underwater robot lock head to be unable to detach from the floating lock and unlock. Utility Model Content

[0006] The purpose of the present invention is to solve at least one of the above-mentioned technical problems to a certain extent.

[0007] To this end, the first purpose of the utility model is to propose a swing stopper. By changing the number of the loose lock winches from one to two, and each loose lock winch is driven by a motor, it is possible to control the rotation of the two loose lock winches at the same time, and to control the rotation of one of the loose lock winches individually, thereby achieving the purpose of adjusting the loose lock to always be in a vertical state.

[0008] The second purpose of the utility model is to provide a deployment and recovery system.

[0009] In order to achieve the above-mentioned object, the first embodiment of the utility model provides an anti-oscillation device, and the anti-oscillation device comprises:

[0010] Frame mechanism, guide wheel mechanism, free-lock winch mechanism and free-lock;

[0011] Wherein, the guide wheel mechanism is connected to one end of the frame mechanism, the floating lock winch mechanism is connected to the frame mechanism at the end opposite to the guide wheel mechanism, a steel wire rope is wound around the floating lock winch mechanism, and the floating lock is connected to the steel wire rope.

[0012] According to one embodiment of the utility model, the frame mechanism comprises:

[0013] Guide columns, pulleys and cable stoppers;

[0014] The guide column comprises: a first guide column, a second guide column and a hollow connecting column; the first guide column and the second guide column are parallel to each other, and the first guide column and the second guide column are vertically connected to the hollow connecting column;

[0015] The pulleys include at least two, and the two pulleys are respectively connected to the top of the first guide column and the top of the second guide column, and are configured to guide the wire rope;

[0016] The cable segment limiters include at least two, and the two cable segment limiters are respectively connected to the bottom ends of the first guide column and the second guide column, and are configured to longitudinally limit the free lock.

[0017] According to an embodiment of the utility model, the anti-oscillation device further comprises: a telescopic mechanism;

[0018] The telescopic mechanism comprises:

[0019] Circular connecting plate, telescopic cylinder, limit cylinder, limit pin, rotary motor and slewing support;

[0020] A first free lock hole for accommodating the free lock is formed in the middle of the circular connecting plate, and a first extension frame and a second extension frame are extended from both ends of the circular connecting plate;

[0021] The telescopic oil cylinders include at least two, and the two telescopic oil cylinders are respectively connected to one side of the first guide column and the second guide column;

[0022] The limit oil cylinder is connected to the limit pin shaft, and the limit oil cylinder and the limit pin shaft each include two, and the two limit oil cylinders and the limit pin shafts are respectively connected to the first extension frame and the second extension frame, and are configured to perform lateral limit on the floating lock;

[0023] The rotary motor is mounted on the circular connecting plate and is configured to drive the rotary support to rotate;

[0024] The slewing support is installed at the edge of the first free locking hole, contacts the turntable mechanism, and is configured to drive the turntable mechanism to rotate.

[0025] According to one embodiment of the utility model, the anti-oscillation device further comprises: a rotating disk mechanism;

[0026] The turntable mechanism comprises:

[0027] The first rotating disk, the air bag and the pressing disk;

[0028] The first rotary disc cover is disposed on the pressing disc and is in contact with the rotary support;

[0029] The airbag is installed between the first rotating disk and the pressing disk, and is configured to press down the pressing disk;

[0030] After the downward pressure provided by the airbag, the lower surface of the compression plate is pressed against the upper surface of the transportation management system.

[0031] According to an embodiment of the utility model, a second free lock hole capable of accommodating the free lock is opened in the middle of the first rotating disk and the pressing disk.

[0032] According to one embodiment of the utility model, the guide wheel mechanism comprises:

[0033] Guide wheel, guide wheel fixing frame and anti-jump structure;

[0034] The guide wheel is mounted on the guide wheel fixing frame, and the guide wheel has a guide wheel groove;

[0035] The guide wheel fixing frame is installed between the two pulleys;

[0036] The anti-jump structure is fan-shaped, installed on the top of the guide wheel, and has a certain gap with the guide wheel.

[0037] According to one embodiment of the utility model, the floating lock winch mechanism comprises:

[0038] A first winch, a second winch, a first motor, and a second motor;

[0039] The first winch and the second winch are arranged side by side;

[0040] The first motor is mounted at one end close to the first winch and is configured to drive the first winch;

[0041] The second motor is mounted at one end close to the second winch and is configured to drive the second winch;

[0042] The first winch and the second winch may rotate synchronously, or the first winch may rotate alone, or the second winch may rotate alone.

[0043] According to one embodiment of the utility model, the floating lock comprises:

[0044] The outside of the travel lock and the inside of the travel lock;

[0045] The exterior of the travel lock includes: a travel lock frame, and a cable segment hinged to the travel lock frame;

[0046] The cable segment and the steel wire rope are cast;

[0047] Pin holes are provided on both sides of the floating lock frame, and the pin holes match the limit pin shafts;

[0048] The movable lock includes: a lock body, a lock head, a lock block and a telescopic rod;

[0049] The middle part of the lock body is a through structure, and the side of the lock body has an opening;

[0050] The lock head passes through the through structure;

[0051] The locking block passes through the opening and is hinged to the lock body;

[0052] The first end of the telescopic rod is hinged to the locking block, and the second end of the telescopic rod is hinged to the lock body.

[0053] According to one embodiment of the utility model, an indicator plate is installed on the locking block;

[0054] The indicator panel is configured to determine whether the free lock is in a locked state or an unlocked state.

[0055] To achieve the above-mentioned purpose, the second embodiment of the utility model provides a deployment and recovery system, which is used to deploy and recover a transportation management system and / or an underwater robot;

[0056] The deployment and recovery system comprises:

[0057] An umbilical winch, an umbilical cable, an A-frame, and any one embodiment of the oscillator of the first aspect;

[0058] Wherein, the umbilical cable includes: an armored umbilical cable or a flexible umbilical cable;

[0059] When using an armored umbilical cable;

[0060] The umbilical cable winch is connected to the armored umbilical cable, the A frame is connected to the hollow connecting column of the anti-sway device, the armored umbilical cable is wound in the guide wheel groove, and is connected to the wire rope through the floating lock winch mechanism, driving the floating lock to move up and down, and the floating lock moves up and down to drive the transportation management system and the underwater robot to move;

[0061] When using a flexible umbilical cable;

[0062] The umbilical cable winch is connected to the flexible umbilical cable, the A frame is connected to the hollow connecting column of the stabilizer, the flexible umbilical cable is wound in the guide wheel groove, and is connected to the wire rope through the floating lock winch mechanism, driving the floating lock to move up and down, and the up and down movement of the floating lock drives the underwater robot to move.

[0063] Additional aspects and advantages of the present invention will be given in part in the following description and in part will become apparent from the following description or will be learned through the practice of the present invention.

[0064] Compared with the prior art, the beneficial effects of the embodiments of the present application are:

[0065] The utility model provides a sway stopper and a deployment and recovery system, which effectively solves or improves to a certain extent the traditional method of driving two steel wire ropes with a motor and rotating the drum of a floating lock winch, which can theoretically achieve synchronous retraction and release. However, in practice, due to the asynchronous cable arrangement, the two steel wire ropes will rotate the same number of turns of the floating lock winch drum, but the two steel wire ropes will be retracted and released to different lengths. Over time, the error will accumulate and become larger, and then the floating lock will change from a vertical state to an inclined state, and finally the floating lock will be unable to enter the sway stopper, or the lock head of the underwater robot will be unable to be released from the floating lock.

[0066] The utility model provides a swing stopper, which can control the rotation of two traveling lock winches simultaneously or control the rotation of one traveling lock winch individually by changing one traveling lock winch into two traveling lock winches, and each traveling lock winch has a motor drive. The two traveling lock winches move synchronously during normal retraction and release. When one of the steel wire ropes has a significant difference in length, causing the traveling lock to tilt, the traveling lock is adjusted to be vertical by individually controlling the other traveling lock winch, thereby achieving the purpose of being able to adjust the traveling lock to always be in a vertical state.

[0067] The utility model provides a deployment and recovery system. When an armored umbilical cable is used, the umbilical cable winch is connected to the armored umbilical cable, the A frame is connected to the hollow connecting column of the stopper, the armored umbilical cable is wound in the guide wheel groove, and is connected to the wire rope through a floating lock winch mechanism, driving the floating lock to move up and down, and the floating lock up and down movement drives the transportation management system and the underwater robot to move. When a flexible umbilical cable is used, the umbilical cable winch is connected to the flexible umbilical cable, the A frame is connected to the hollow connecting column of the stopper, the flexible umbilical cable is wound in the guide wheel groove, and is connected to the wire rope through a floating lock winch mechanism, driving the floating lock to move up and down, and the floating lock up and down movement drives the underwater robot to move.

[0068] In order to more clearly understand the technical means of the utility model, which can be implemented according to the contents of the specification, and to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with the accompanying drawings. Other features and advantages of the utility model will be explained in the subsequent description, and part of them will become obvious from the description, or be reflected by implementing the utility model. The purposes and other advantages of the utility model can be achieved and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solution in the utility model, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0070] Figure 1 A schematic diagram of the overall structure of a sway stopper provided in one embodiment of the utility model;

[0071] Figure 2 Another overall structural schematic diagram of the anti-oscillation device provided by one embodiment of the utility model;

[0072] Figure 3 A schematic diagram of the overall structure of a frame mechanism provided by an embodiment of the utility model;

[0073] Figure 4a A schematic diagram of the overall structure of a telescopic mechanism provided by an embodiment of the utility model;

[0074] Figure 4b Another overall structural schematic diagram of the telescopic mechanism provided by one embodiment of the utility model;

[0075] Figure 5 A schematic diagram of the overall structure of a turntable mechanism provided by an embodiment of the utility model;

[0076] Figure 6 A schematic diagram of the overall structure of a guide wheel mechanism provided in one embodiment of the utility model;

[0077] Figure 7 A schematic diagram of the overall structure of a free-lock winch mechanism provided by an embodiment of the utility model;

[0078] Figure 8a A schematic diagram of the overall structure of a free lock provided by an embodiment of the utility model;

[0079] Figure 8b Another overall structural diagram of a free lock provided by an embodiment of the utility model;

[0080] Figure 8c A schematic diagram of the positional relationship between a lock block and a lock head of a free lock provided in one embodiment of the utility model;

[0081] Figure 9a A schematic diagram of the composition of an armored umbilical cable deployment and recovery system provided for one embodiment of the utility model;

[0082] Figure 9b A schematic diagram of a first angle of an armored umbilical cable deployment and recovery system provided by an embodiment of the utility model;

[0083] Fig.9c A second angle schematic diagram of an armored umbilical cable deployment and recovery system provided by an embodiment of the utility model;

[0084] Fig.10a A schematic diagram of the composition of a flexible umbilical cable deployment and recovery system provided for one embodiment of the utility model;

[0085] Fig.10b A third angle schematic diagram of a flexible umbilical cable deployment and recovery system provided by an embodiment of the utility model;

[0086] Fig.10c A fourth angle schematic diagram of a flexible umbilical cable deployment and recovery system provided by an embodiment of the utility model;

[0087] Reference numerals:

[0088] 100-Stop device;

[0089] 1-Frame mechanism;

[0090] 11-guide column; 111-first guide column 112-second guide column; 113-hollow connecting column; 12-pulley; 13-cable segment stopper;

[0091] 2- telescopic mechanism;

[0092] 21-circular connecting plate; 211-first locking hole; 212-first extension frame; 213-second extension frame; 22-telescopic cylinder; 23-limiting cylinder; 24-limiting pin; 25-rotating motor; 26-slewing support;

[0093] 3- Turntable mechanism;

[0094] 31-first rotating disk; 32-air bag; 33-pressing disk; 34-second locking hole;

[0095] 4-guide wheel mechanism;

[0096] 41-guide wheel; 411-guide wheel groove; 42-guide wheel fixing frame; 43-anti-jumping structure;

[0097] 5-Travel lock winch mechanism;

[0098] 51-first winch; 52-second winch; 53-first motor; 54-second motor;

[0099] 6-Travel lock;

[0100] 61-exterior of the travel lock; 611-frame of the travel lock; 6111-pin hole; 612-cable knot;

[0101] 62-interior of the movable lock; 621-lock body; 6211-opening; 622-lock head; 623-lock block; 6231-indicator plate; 624-telescopic rod;

[0102] 7-Wire rope;

[0103] 200-Umbilical winch;

[0104] 300-armored umbilical cable;

[0105] 400-Flexible umbilical cable;

[0106] 500-A frame;

[0107] 600-Transportation Management System;

[0108] 700 - Underwater robot. DETAILED DESCRIPTION

[0109] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0110] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0111] Please refer to Figure 1-Figure 2 This embodiment provides an oscillator, the oscillator 100 includes:

[0112] A frame mechanism 1, a telescopic mechanism 2, a turntable mechanism 3, a guide wheel mechanism 4, a floating lock winch mechanism 5 and a floating lock 6; wherein the frame mechanism 1 is connected to the telescopic mechanism 2, the telescopic mechanism 2 is connected to the turntable mechanism 3, the guide wheel mechanism 4 is connected to one end of the frame mechanism 1, the floating lock winch mechanism 5 is connected to the frame mechanism 1 at the end opposite to the guide wheel mechanism 4, a steel wire rope 7 is wound around the floating lock winch mechanism 5, the floating lock 6 is connected to the steel wire rope 7, and the floating lock 6 connected to the steel wire rope 7 is also placed in the telescopic mechanism 2 and the turntable mechanism 3.

[0113] The utility model provides a kind of anti-swing device 100, which effectively solves or improves to a certain extent the traditional method of driving two steel wire ropes 7 with a motor and rotating with the floating winch drum, which can theoretically achieve synchronous retraction and release. However, in reality, the two steel wire ropes 7 will rotate the floating winch drum the same number of times due to the asynchronous cable arrangement, but the two steel wire ropes will be retracted and released to different lengths. Over time, the error will accumulate and become larger, and then the floating lock 6 will change from a vertical state to an inclined state, and finally the floating lock 6 cannot enter the anti-swing device 100, or the lock head of the underwater robot 700 (ROV) cannot be released from the floating lock 6.

[0114] The present invention changes the number of the traveling lock winch from one to two, and each traveling lock winch is driven by a motor, so that the two traveling lock winches can be controlled to rotate simultaneously, and one of the traveling lock winches can be controlled to rotate separately. During normal retraction and release, the two traveling lock winches move synchronously. When one of the steel wire ropes 7 has a significant difference in length, causing the traveling lock 6 to tilt, the other traveling lock winch is controlled separately to adjust the traveling lock 6 to be in a vertical state, thereby achieving the purpose of being able to adjust the traveling lock 6 to always be in a vertical state.

[0115] In one embodiment of the present invention, please refer to Figure 3 , the framework mechanism 1 comprises:

[0116] Guide column 11, pulley 12 and cable segment stopper 13;

[0117] The guide column 11 includes: a first guide column 111, a second guide column 112 and a hollow connecting column 113; the first guide column 111 and the second guide column 112 are parallel to each other, and the first guide column 111 and the second guide column 112 are vertically connected to the hollow connecting column 113;

[0118] The pulleys 12 include at least two pulleys 12, which are respectively connected to the top ends of the first guide column 111 and the second guide column 112, and are configured to guide the steel wire rope 7;

[0119] The cable segment limiters 13 include at least two, and the two cable segment limiters 13 are respectively connected to the bottom ends of the first guide column 111 and the second guide column 112, and are configured to longitudinally limit the free lock 6 to ensure that the free lock 6 will not continue to rise after rising to a certain height.

[0120] As an embodiment of the present invention, please refer to Figure 4a-4b , the telescopic mechanism 2 comprises:

[0121] Circular connecting plate 21, telescopic oil cylinder 22, limit oil cylinder 23, limit pin shaft 24, rotary motor 25 and slewing support 26;

[0122] A first free lock hole 211 for accommodating the free lock 6 is formed in the middle of the circular connecting plate 21, and a first extension frame 212 and a second extension frame 213 are extended from both ends of the circular connecting plate 21;

[0123] The telescopic oil cylinders 22 include at least two, and the two telescopic oil cylinders 22 are respectively connected to one side of the first guide column 111 and the second guide column 112;

[0124] The limiting oil cylinder 23 is connected to the limiting pin shaft 24. The limiting oil cylinder 23 and the limiting pin shaft 24 each include two, and the two limiting oil cylinders 23 and the limiting pin shaft 24 are respectively connected to the first extension frame 212 and the second extension frame 213, and are configured to perform lateral limiting on the floating lock 6 to prevent the floating lock 6 from moving up and down;

[0125] The rotary motor 25 is mounted on the circular connecting plate 21 and is configured to drive the rotary support 26 to rotate;

[0126] The slewing support 26 is installed at the edge of the first free locking hole 211 , contacts the turntable mechanism 3 , and is configured to drive the turntable mechanism 3 to rotate.

[0127] The telescopic mechanism 2 described above can provide great convenience for the transportation management system 600 (TMS) and the underwater robot 700 (ROV) during combination and disassembly.

[0128] As an embodiment of the present invention, please refer to Figure 5 , the turntable mechanism 3 comprises:

[0129] The first rotating disk 31, the air bag 32 and the pressing disk 33;

[0130] The first rotary disc 31 is covered on the pressing disc 33 and is in contact with the rotary support 26;

[0131] The airbag 32 is installed between the first rotating disk 31 and the pressing disk 33, and when the airbag 32 is inflated, it is configured to press down the pressing disk 33;

[0132] After the downward pressure provided by the airbag 32, the lower surface of the pressure plate 33 is pressed together with the upper surface of the transportation management system 600 (TMS), so that the transportation management system 600 (TMS) and the stabilizer 100 form a steel body, reducing the impact of wind and waves.

[0133] It should be noted that a second free lock hole 34 for accommodating the free lock 6 is provided in the middle of the first rotating disk 31 and the pressing disk 33 .

[0134] Through the above structure, when the transportation management system 600 (TMS) is locked, the gap between the pressing plate 33 and the transportation management system 600 (TMS) can be reduced to zero through the turntable mechanism 3. The transportation management system 600 (TMS) and the anti-sway device 100 are integrated, which reduces the impact of wind and waves on the transportation management system 600 (TMS) and the underwater robot 700 (ROV).

[0135] As an embodiment of the present invention, please refer to Figure 6 , the guide wheel mechanism 4 includes:

[0136] Guide wheel 41, guide wheel fixing frame 42 and anti-jump structure 43;

[0137] The guide wheel 41 is mounted on the guide wheel fixing frame 42 and is used to guide the cable. The guide wheel 41 has a guide wheel groove 411;

[0138] The guide wheel fixing frame 42 is installed between the two pulleys 12, wherein the guide wheel fixing frame 42 can rotate around the vertical center line of the bottom turntable mechanism 3 of the anti-swing device 100, and is used to offset the lateral force generated by the cable and the edge of the guide wheel groove 411 when the cable is on both sides of the free-lock winch drum, thereby protecting the guide wheel 41;

[0139] The anti-jump structure 43 is fan-shaped, installed on the top of the guide wheel 41, and has a certain gap with the guide wheel 41, so as to ensure that the cable does not jump out of the guide wheel groove 411 when in a relaxed state.

[0140] As an embodiment of the present invention, please refer to Figure 7 , the free-lock winch mechanism 5 comprises:

[0141] A first winch 51, a second winch 52, a first motor 53 and a second motor 54;

[0142] The first winch 51 and the second winch 52 are arranged side by side;

[0143] The first motor 53 is installed at one end close to the first winch 51 and is configured to drive the first winch 51;

[0144] The second motor 54 is mounted at one end close to the second winch 52 and is configured to drive the second winch 52;

[0145] The first winch 51 and the second winch 52 may rotate synchronously, or the first winch 51 may rotate alone, or the second winch 52 may rotate alone.

[0146] As an example, the rotation of the first winch 51 and the second winch 52 drives the steel wire rope 7 to be freely retracted and released. When the steel wire rope 7 is normally retracted and released, the two floating lock winches move synchronously. When one of the steel wire ropes 7 has a significant difference in length, causing the floating lock to tilt, the floating lock 6 is adjusted to be vertical by controlling the other floating lock winch alone, thereby achieving the purpose of adjusting the floating lock 6 to always be in a vertical state.

[0147] As an embodiment of the present invention, please refer to Figure 8a , Figure 8b and Figure 8c , Yousuo 6 includes:

[0148] The outer part 61 of the movable lock and the inner part 62 of the movable lock;

[0149] The outer portion 61 of the travel lock includes: a travel lock frame 611, and a cable knot 612 hinged to the travel lock frame 611;

[0150] The cable segment 612 and the steel wire rope 7 are cast;

[0151] Pin holes 6111 are provided on both sides of the free-lock frame 611, and the pin holes 6111 cooperate with the limiting pin shaft 24 to achieve limiting;

[0152] The inner part 62 of the mobile lock includes: a lock body 621, a lock head 622, a lock block 623 and a telescopic rod 624;

[0153] The middle part of the lock body 621 is a through structure, and the side surface of the lock body 621 has an opening 6211;

[0154] The lock head 622 passes through the through structure;

[0155] The lock block 623 passes through the opening 6211 and is hinged to the lock body 621;

[0156] The first end of the telescopic rod 624 is hinged to the locking block 623 , and the second end of the telescopic rod 624 is hinged to the lock body 621 .

[0157] As an example, when the locking block 623 is fully opened, the lock head 622 can move up and down to achieve unlocking. When the locking block 623 is fully closed, the ring of the lock head 622 will fall onto the locking block 623, thereby achieving locking.

[0158] As an embodiment of the present utility model, an indicator plate 6231 is installed on the locking block 623;

[0159] The indicator plate 6231 is configured to determine whether the floating lock 6 is in a locked state or an unlocked state, that is, by observing the state of the indicator plate 6231, it can be determined whether the floating lock 6 is in a locked state or an unlocked state.

[0160] In one embodiment of the present invention, please refer to Figure 9a-Figure 10c , a deployment and recovery system is also provided, the deployment and recovery system is used to deploy and recover the transportation management system 600 (TMS) and / or the underwater robot 700 (ROV);

[0161] The deployment and recovery system comprises: an umbilical cable winch 200, an umbilical cable, an A-frame 500, and the oscillator 100 discussed in any one of the above embodiments;

[0162] The umbilical cable includes: an armored umbilical cable 300 or a flexible umbilical cable 400;

[0163] As a preferred embodiment, please refer to Figure 9a , Figure 9b and Fig.9c , when using the armored umbilical cable 300;

[0164] The umbilical winch 200 is connected to the armored umbilical cable 300, the A frame 500 is connected to the hollow connecting column 113 of the anti-swing device 100, the armored umbilical cable 300 is wound in the guide wheel groove 411, and is connected to the wire rope 7 through the floating lock winch mechanism 5, driving the floating lock 6 to move up and down, and the floating lock 6 moves up and down to drive the transportation management system 600 (TMS) and the underwater robot 700 (ROV) to move;

[0165] As a preferred embodiment, please refer to Fig.10a , Fig.10b and Fig.10c , when the flexible umbilical cable 400 is used;

[0166] The umbilical cable winch 200 is connected to the flexible umbilical cable 400, the A frame 500 is connected to the hollow connecting column 113 of the stabilizer 100, the flexible umbilical cable 400 is wound in the guide wheel groove 411, and is connected to the wire rope 7 through the floating lock winch mechanism 5, driving the floating lock 6 to move up and down, and the floating lock 6 moves up and down to drive the underwater robot 700 (ROV) to move.

[0167] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0168] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0169] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0170] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0171] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0172] Finally, it should be noted that the above are only preferred embodiments of the utility model and are not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the scope of the claims of the utility model to be approved.

Claims

1. A sway stopper, characterized in that: The anti-oscillation device (100) comprises: A frame mechanism (1), a guide wheel mechanism (4), a free-lock winch mechanism (5) and a free-lock (6); The guide wheel mechanism (4) is connected to one end of the frame mechanism (1), the floating lock winch mechanism (5) is connected to the frame mechanism (1) at the end opposite to the guide wheel mechanism (4), a steel wire rope (7) is wound around the floating lock winch mechanism (5), and the floating lock (6) is connected to the steel wire rope (7).

2. The anti-oscillation device according to claim 1, characterized in that: The frame mechanism (1) comprises: A guide column (11), a pulley (12) and a cable segment stopper (13); The guide column (11) comprises: a first guide column (111), a second guide column (112) and a hollow connecting column (113); the first guide column (111) and the second guide column (112) are parallel to each other, and the first guide column (111) and the second guide column (112) are vertically connected to the hollow connecting column (113); The pulley (12) comprises at least two pulleys (12), the two pulleys (12) are respectively connected to the top of the first guide column (111) and the top of the second guide column (112), and are configured to guide the steel wire rope (7); The cable segment limiter (13) comprises at least two, and the two cable segment limiters (13) are respectively connected to the bottom ends of the first guide column (111) and the second guide column (112), and are configured to longitudinally limit the free lock (6).

3. The anti-oscillation device according to claim 2, characterized in that: The anti-oscillation device (100) further comprises: a telescopic mechanism (2); The telescopic mechanism (2) comprises: A circular connecting plate (21), a telescopic oil cylinder (22), a limit oil cylinder (23), a limit pin shaft (24), a rotary motor (25) and a slewing support (26); A first free lock hole (211) capable of accommodating the free lock (6) is formed in the middle of the circular connecting plate (21), and a first extension frame (212) and a second extension frame (213) are extended from both ends of the circular connecting plate (21); The telescopic oil cylinders (22) include at least two, and the two telescopic oil cylinders (22) are respectively connected to one side of the first guide column (111) and the second guide column (112); The limiting oil cylinder (23) and the limiting pin shaft (24) are connected, and the limiting oil cylinder (23) and the limiting pin shaft (24) respectively include two, and the two limiting oil cylinders (23) and the limiting pin shaft (24) are respectively connected in the first extension frame (212) and the second extension frame (213), and are configured to perform lateral limiting on the floating lock (6); The rotary motor (25) is mounted on the circular connecting plate (21) and is configured to drive the rotary support (26) to rotate; Wherein, the anti-oscillation device (100) further comprises: a rotating disk mechanism (3); The slewing support (26) is installed on the edge of the first free locking hole (211), is in contact with the turntable mechanism (3), and is configured to drive the turntable mechanism (3) to rotate.

4. The anti-oscillation device according to claim 3, characterized in that: The turntable mechanism (3) comprises: A first rotating disk (31), an air bag (32) and a pressing disk (33); The first rotating disk (31) is covered on the pressing disk (33) and is in contact with the rotating support (26); The airbag (32) is installed between the first rotating disk (31) and the pressing disk (33), and is configured to press down the pressing disk (33); After the downward pressure provided by the airbag (32), the lower surface of the compression plate (33) is compressed against the upper surface of the transportation management system (600).

5. The anti-oscillation device according to claim 4, characterized in that: A second free lock hole (34) capable of accommodating the free lock (6) is provided in the middle of the first rotating disk (31) and the pressing disk (33).

6. The anti-oscillation device according to claim 4, characterized in that: The guide wheel mechanism (4) comprises: A guide wheel (41), a guide wheel fixing frame (42) and an anti-jump structure (43); The guide wheel (41) is mounted on the guide wheel fixing frame (42), and the guide wheel (41) has a guide wheel groove (411); The guide wheel fixing frame (42) is installed between the two pulleys (12); The anti-jump structure (43) is fan-shaped, installed on the top of the guide wheel (41), and has a certain gap with the guide wheel (41).

7. The anti-oscillation device according to claim 6, characterized in that: The floating lock winch mechanism (5) comprises: A first winch (51), a second winch (52), a first motor (53) and a second motor (54); The first winch (51) and the second winch (52) are arranged side by side; The first motor (53) is installed at one end close to the first winch (51) and is configured to drive the first winch (51); The second motor (54) is installed at one end close to the second winch (52) and is configured to drive the second winch (52); The first winch (51) and the second winch (52) can rotate synchronously, or the first winch (51) can rotate alone, or the second winch (52) can rotate alone.

8. The anti-oscillation device according to claim 7, characterized in that: The movable lock (6) comprises: A free lock exterior (61) and a free lock interior (62); The outer portion (61) of the movable lock comprises: a movable lock frame (611), and a cable knot (612) hinged to the movable lock frame (611); The cable segment (612) and the steel wire rope (7) are cast; Pin holes (6111) are provided on both sides of the free-locking frame (611), and the pin holes (6111) are matched with the limiting pin shafts (24); The interior of the movable lock (62) includes: a lock body (621), a lock head (622), a lock block (623) and a telescopic rod (624); The middle part of the lock body (621) is a through structure, and the side surface of the lock body (621) has an opening (6211); The lock head (622) passes through the through structure; The locking block (623) passes through the opening (6211) and is hingedly connected to the lock body (621); The first end of the telescopic rod (624) is hinged to the locking block (623), and the second end of the telescopic rod (624) is hinged to the lock body (621).

9. The anti-oscillation device according to claim 8, characterized in that: An indicator plate (6231) is installed on the locking block (623); The indicator plate (6231) is configured to determine whether the floating lock (6) is in a locked state or an unlocked state.

10. A deployment and recovery system, characterized in that: The deployment and recovery system is used to deploy and recover the transportation management system (600) and / or the underwater robot (700); The deployment and recovery system comprises: An umbilical winch (200), an umbilical cable, an A-frame (500), and a sway stopper (100) according to any one of claims 1 to 9; Wherein, the umbilical cable comprises: an armored umbilical cable (300) or a flexible umbilical cable (400); When an armored umbilical cable (300) is used; The umbilical cable winch (200) is connected to the armored umbilical cable (300), the A frame (500) is connected to the hollow connecting column (113) of the stabilizer (100), the armored umbilical cable (300) is wound in the guide wheel groove (411), and is connected to the steel wire rope (7) through the floating lock winch mechanism (5), so as to drive the floating lock (6) to move up and down, and the floating lock (6) moves up and down to drive the transportation management system (600) and the underwater robot (700) to move; When a flexible umbilical cable (400) is used; The umbilical cable winch (200) is connected to the flexible umbilical cable (400), the A frame (500) is connected to the hollow connecting column (113) of the stabilizer (100), the flexible umbilical cable (400) is wound in the guide wheel groove (411), and is connected to the wire rope (7) through the floating lock winch mechanism (5), thereby driving the floating lock (6) to move up and down, and the floating lock (6) moves up and down to drive the underwater robot (700) to move.

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