Follow-up underwater equipment anti-collision device
By designing follow-up underwater equipment anti-collision devices, using components such as rope coilers and pulley assembly, the airbags are lifted and avoided, solving the problem of easy breakage of the bow rudder of the underwater equipment and ensuring the safe recycling and layout of the equipment.
Patent Information
- Application Number
- CN202422272757.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-08-22
- Estimated Expiration
- 2034-09-18
AI Technical Summary
When underwater equipment is recycled and deployed through the moon pool, the bow rudder is prone to breaking, and the prior art is difficult to effectively prevent collisions.
A follow-up underwater equipment anti-collision device is designed, using components such as rope coilers, pulley assembly, tensioning cylinders and lifting cylinders to achieve lifting and avoiding airbags through the cooperation of ropes and airbags, and protect the bow rudder of the underwater equipment.
During the process of underwater equipment entering or exiting the moon pool, timely avoidance of the bow rudder is achieved, collision avoidance, and safe recycling and deployment of the equipment is ensured.
Smart Images
Figure CN223253234U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of ship engineering, in particular to a follow-up type anti-collision device for underwater equipment. Background Art
[0002] Underwater equipment is recovered and deployed through the moon pool. A pair of bow rudders are installed at the bow of the underwater equipment to improve the maneuverability when reversing or to overcome the yaw effect of strong winds and rapids on the ship. The bow rudders are protruding from the hull and are prone to breakage during impact or collision. Therefore, we provide a follow-up underwater equipment anti-collision device and a recovery and deployment method to solve this problem. Utility Model Content
[0003] The purpose of the utility model is to overcome the defects in the prior art and provide a follow-up type underwater equipment anti-collision device and a recovery and deployment method.
[0004] To achieve the above-mentioned purpose, the technical solution of the present invention is to design a follow-up type underwater equipment anti-collision device, including an anti-collision device, the anti-collision device including a rope reel, a first pulley assembly is provided on one side of the rope reel, a vertically arranged tensioning oil cylinder is provided at a lower position between the rope reel and the first pulley assembly, the piston rod of the tensioning oil cylinder is vertically downward, the end of the piston rod is provided with a second pulley assembly, a third pulley assembly is provided on a side of the tensioning oil cylinder away from the first pulley assembly, a vertically arranged lifting oil cylinder is provided on a side of the third pulley assembly away from the tensioning oil cylinder, the piston rod of the lifting oil cylinder is vertically upward, the end of the piston rod is provided with a fourth pulley assembly, and a fifth pulley assembly is provided above the lifting oil cylinder;
[0005] The rope reel has a rope, and the free end of the rope passes through the first pulley assembly, the second pulley assembly, the third pulley assembly, the fourth pulley assembly, and the fifth pulley assembly in sequence and is connected to the airbag.
[0006] A further preferred technical solution includes four groups of anti-collision devices, each group of anti-collision devices includes two stacked anti-collision devices.
[0007] A further preferred technical solution also includes a moon pool, wherein a guide rail is provided on each side of the moon pool, and a carriage is provided across the guide rail. The carriage is driven along the guide rail by a servo motor, and anti-collision devices are provided on each side of the carriage.
[0008] A further preferred technical solution is that the lower portion of the airbag cooperates with an airbag support seat, and the airbag floats up and down in a direction defined by the airbag support seat.
[0009] A further preferred technical solution also includes a moon pool, an airbag support seat with a through hole is provided on the inner wall of the moon pool, and a sixth pulley assembly is provided on the inner wall of the moon pool below the airbag support seat.
[0010] A further preferred technical solution also includes a lifting platform, and the airbag support seat is arranged on the lifting platform.
[0011] A follow-up underwater equipment recovery method, wherein the piston rods of all lifting cylinders of four sets of anti-collision devices are retracted, and the air bags are located at designated underwater positions to protect the underwater equipment;
[0012] 1) When the underwater equipment is at a distance X0 from the top of the moonpool and at a speed of V, entering the moonpool from the stern to the top of the moonpool, the piston rods of the lifting cylinders in the first two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder;
[0013] 2) When the underwater equipment is at a distance of X1 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the first set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position via ropes to protect the underwater equipment. At the same time, the piston rods of the lifting cylinders in the second set of two anti-collision devices retract and extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder;
[0014] 3) When the underwater equipment is at a distance of X2 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the second set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position via ropes to protect the underwater equipment. At the same time, the piston rods of the lifting cylinders in the third set of two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder;
[0015] 4) When the underwater equipment is at a distance of X3 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the third set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position via ropes to protect the underwater equipment. At the same time, the piston rods of the lifting cylinders in the fourth set of two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder;
[0016] When the bow rudder passes the fourth set of anti-collision devices, the piston rods of the lifting cylinders in the fourth set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position through ropes to protect the underwater equipment, and the underwater equipment enters the moon pool;
[0017] The underwater equipment completely enters the moon pool and reaches the designated position along the bow and stern of the mother ship. The lifting platform is raised, and the piston rods of all the tensioning cylinders in the synchronous control device are extended to ensure that the lower end rope is always in a tensioned state, keeping the airbag and the underwater equipment relatively stationary along the water depth direction;
[0018] When the underwater equipment is out of water, the excess lower end rope is wound into the rope reel by the rope reel, thereby preventing the lower end rope from being entangled with other objects.
[0019] A method for deploying a follow-up underwater equipment, wherein the piston rods of all lifting cylinders of four sets of anti-collision devices are retracted, and the air bags are located at designated underwater positions to protect the underwater equipment;
[0020] 1) When the underwater equipment is at a distance of X3 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the fourth set of two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder.
[0021] 2) When the underwater equipment is at a distance of X2 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the fourth set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position via ropes to protect the underwater equipment. At the same time, the piston rods of the lifting cylinders in the third set of two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder.
[0022] 3) When the underwater equipment is at a distance of X1 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the third set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position via ropes to protect the underwater equipment. At the same time, the piston rods of the lifting cylinders in the second set of two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder.
[0023] 4) When the underwater equipment is at a distance of X2 from the top of the moon pool and the operating speed is V, the piston rods of the lifting cylinders in the second set of two anti-collision devices retract, and the airbags are pulled into the designated underwater position via ropes to protect the underwater equipment. At the same time, the piston rods of the lifting cylinders in the first set of two anti-collision devices extend, and the airbags rise under the action of buoyancy to prepare for avoiding the bow rudder.
[0024] When the bow rudder passes the first set of anti-collision devices, the underwater equipment leaves the moon pool.
[0025] The advantages and benefits of this utility model lie in its design, which allows for timely avoidance of the bow rudder and effective collision avoidance of underwater equipment once it enters the moonpool. Similarly, during the lifting of the elevating deck, the airbags of this device maintain relative stationary motion with the equipment along the water depth, effectively resolving the collision avoidance engineering challenges currently unaddressed in towed deployment and recovery systems. This allows for the safe deployment and recovery of underwater equipment, a feasibility verified through testing. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 This is the main view of the utility model;
[0027] Figure 2 This is a top view of the utility model;
[0028] Figure 3 This is a schematic diagram of the lifting platform of the utility model;
[0029] Figure 4 This is a schematic diagram of the lifting platform of the utility model;
[0030] Figure 5 This is a schematic diagram of another embodiment of the present utility model;
[0031] Figure 6 This is a front view of the utility model's multi-group follow-up anti-collision device for underwater equipment.
[0032] In the figure: 1. Rope winder; 2. Tensioning cylinder; 3. First pulley assembly; 4. Rope; 5. Sensor; 6. Second pulley assembly; 7. Third pulley assembly; 8. Fifth pulley assembly; 9. Lifting cylinder; 10. Fourth pulley assembly; 11. Airbag; 12. Airbag support seat; 13. Lifting platform; 14. Underwater equipment; 15. Moon pool; 16. Sixth pulley assembly; 17. Servo motor; 18. Crane; 19. Guide rail. DETAILED DESCRIPTION
[0033] The following embodiments are used to further describe the specific embodiments of the present invention in conjunction with the accompanying drawings and examples. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.
[0034] Reference Figure 1-6 As shown, the underwater equipment 14 is recovered and deployed through the moon pool. A pair of bow rudders are provided at the bow position of the underwater equipment 14 to improve the maneuverability when reversing or to overcome the yaw effect of strong winds and rapids on the ship. The bow rudder is protruding from the hull and is prone to breakage during impact or collision. Therefore, when the underwater equipment 14 enters or exits the moon pool 15, a follow-up underwater equipment anti-collision device is used to protect the underwater equipment 14. The follow-up underwater equipment anti-collision device includes a rope reel 1, and a first pulley assembly 3 is provided on one side of the rope reel 1. A vertically arranged tensioning cylinder 2 is provided at the lower position between the rope winder 1 and the first pulley assembly 3, the piston rod of the tensioning cylinder 2 is vertically downward, and a second pulley assembly 6 is provided at the end of the piston rod, and a third pulley assembly 7 is provided on the side of the tensioning cylinder 2 away from the first pulley assembly 3, and a vertically arranged lifting cylinder 9 is provided on the side of the third pulley assembly 7 away from the tensioning cylinder 2, the piston rod of the lifting cylinder 9 is vertically upward, and a fourth pulley assembly 10 is provided at the end of the piston rod, and a fifth pulley assembly 8 is provided above the lifting cylinder 9.
[0035] The rope reel 1 has a rope 4, the free end of which passes through the first pulley assembly 3, the second pulley assembly 6, the third pulley assembly 7, the fourth pulley assembly 10, and the fifth pulley assembly 8 in sequence and is connected to the airbag 11. The airbag 11 can be pulled down to a specified position by the lifting cylinder 9, and the airbag 11 can automatically float in the water.
[0036] In one embodiment, the lower part of the airbag 11 cooperates with the airbag support seat 12, and the airbag 11 floats up and down in the direction defined by the airbag support seat 12. Specifically, an airbag support seat 12 with a through hole is provided on the inner wall of the moon pool 15, and the airbag support seat 12 is located below the waterline. The airbag 11 floats on the airbag support seat 12, wherein the upper end of the airbag 11 can be located above the waterline under the action of buoyancy, and the lower end of the airbag 11 is connected to the free end of the rope 4. In order to make the rope 4 have better guidance, a sixth pulley assembly 16 is provided on the inner wall of the moon pool 15 below the airbag support seat 12.
[0037] The rope 4 is reeled and released by the rope reel 1 so that the rope 1 has a certain length to adapt to different drafts, so that the position of the airbag 11 at different drafts can be adjusted. When the adjustment is completed, the piston rod is extended by the lifting cylinder 9 to pull the rope 4, and the airbag 11 is pulled from the position above the waterline to the position below the waterline. In this way, when the underwater equipment 14 enters the moon pool 15, the airbag is prevented from colliding with the bow rudder of the underwater equipment 14, causing damage to the underwater equipment.
[0038] In one embodiment, multiple sets of follow-up underwater equipment anti-collision devices are provided in the moon pool 15. By sequentially controlling the raising and lowering of the airbags 11, the airbags 11 are automatically floated by buoyancy. The airbags 11 can protect the underwater equipment 14 from collision. The rising of the airbags 11 can also be used to allow the bow rudder of the underwater equipment 14 to pass over the airbags 11 in sequence, thereby protecting the periphery of the underwater equipment 14 from collision. Specifically, four anti-collision devices are arranged on each of the port and starboard sides of the underwater equipment 14, for a total of eight anti-collision devices, which are symmetrically distributed.
[0039] Specifically, a first set of anti-collision devices is provided at a position X0 away from the top of the moon pool, which includes a rope reel 1, a first pulley assembly 3 is provided on one side of the rope reel 1, and a vertically arranged tensioning cylinder 2 is provided at a lower position between the rope reel 1 and the first pulley assembly 3, the piston rod of the tensioning cylinder 2 is vertically downward, and a second pulley assembly 6 is provided at the end of the piston rod, a third pulley assembly 7 is provided on the side of the tensioning cylinder 2 away from the first pulley assembly 3, and a vertically arranged lifting cylinder 9 is provided on the side of the third pulley assembly 7 away from the tensioning cylinder 2, the piston rod of the lifting cylinder 9 is vertically upward, and a fourth pulley assembly 10 is provided at the end of the piston rod, and a fifth pulley assembly 8 is provided above the lifting cylinder 9.
[0040] The rope reel 1 has a rope 4 , the free end of which passes through the first pulley assembly 3 , the second pulley assembly 6 , the third pulley assembly 7 , the fourth pulley assembly 10 , and the fifth pulley assembly 8 in sequence and is connected to the airbag 11 .
[0041] A second set of anti-collision devices is provided at a position X1 away from the top of the moon pool 15. The positions of the rope reel 1 and the first pulley assembly 3 in the second set of anti-collision devices are adjusted, and the first pulley assembly 3 is placed vertically to the first pulley assembly 3 in the first set of anti-collision devices.
[0042] A third set of anti-collision devices is provided at a position X2 away from the top of the moon pool 15. In the third set of anti-collision devices, the position of the tensioning cylinder 2 is adjusted on the basis of the second set of anti-collision devices, and the tensioning cylinder 2 is set in reverse. In the initial state, the piston rod of the tensioning cylinder 2 is extended.
[0043] A fourth anti-collision device is provided at a position X3 away from the top of the moon pool 15. The fourth anti-collision device is arranged in the opposite direction to the third anti-collision device. In the fourth anti-collision device, the position of the lifting cylinder 9 is higher than that of the tensioning cylinder 2.
[0044] Reference Figure 5 As shown, in one embodiment, a guide rail 19 is provided on each side of the moon pool 15, and the guide rail 19 is provided with a trolley 18 that spans the guide rail. The trolley 18 is driven along the guide rail by a servo motor 17, and anti-collision devices are provided on both sides of the trolley 18. By arranging the anti-collision device on the trolley 18, the traveling speed of the trolley 18 is synchronized with the underwater equipment 14, so that the anti-collision device can protect the periphery of the underwater equipment 14. The lifting and lowering of the airbag 11 can also be controlled so that the airbag 11 automatically floats up by buoyancy, and the lifting of the airbag 11 can be used to prevent the bow rudder of the underwater equipment 14 from colliding with the anti-collision device.
[0045] It also includes a lifting platform 13 , and the airbag support seat 12 is arranged on the lifting platform 13 .
[0046] The underwater equipment 14 has completely entered the moon pool 15 and has reached the designated position along the bow and stern direction of the mother ship. The lifting platform 13 is lifted, and the piston rod of the tensioning cylinder 2 is synchronously controlled to extend. The stroke of the tensioning cylinder 2 is controlled by the sensor 5 to ensure that the rope 4 is always in a tensioned state, keeping the airbag 11 and the underwater equipment 14 relatively stationary along the water depth direction, thereby achieving a good anti-collision effect.
[0047] When entering or exiting the moon pool 15, the airbag 11 in the device performs heave and sink movements based on the position and speed signals of the underwater equipment 14, effectively avoiding the equipment's bow rudder. During the ascent of the lifting platform 13, the airbag 11 and the lifting platform 13 maintain a follow-up state, providing cushioning protection for the equipment. The anti-collision device is composed of several modules, with modules arranged symmetrically on both port and starboard sides. Each module primarily comprises a rope reel 1, a first pulley assembly 3, a second pulley assembly 6, a third pulley assembly 7 (the number of pulleys can be increased based on actual guidance requirements), an airbag support 12, an airbag 11, a lifting cylinder 9, and a tensioning cylinder 2.
[0048] Set the distance between the head of the underwater equipment 14 and the top of the moon pool 15 to X0 and the running speed to V. The piston rods of the lifting cylinders 9 in the two modules on the left and right sides closest to the stern of the moon pool 15 are extended. Under the action of buoyancy, the airbags 11 rise to prepare for avoiding the bow rudder. Then set the distance between the head of the underwater equipment 14 and the top of the moon pool 15 to X1. The piston rods of the lifting cylinders 9 in the two anti-collision devices on the left and right sides closest to the stern of the moon pool 15 are retracted. The airbags 11 are pulled into the designated underwater position by the rope 4 to protect the underwater equipment 14. Similarly, set X2 and X3 respectively to control the lifting and lowering of the airbags in the corresponding underwater equipment to achieve the bow rudder avoidance function.
[0049] A method for recovering a follow-up underwater device:
[0050] The piston rods of all lifting cylinders 9 of the 8 anti-collision devices are retracted, and the air bags 11 are located at designated positions underwater to protect the underwater equipment 14;
[0051] 1) When the underwater equipment 14 is at a distance X0 from the top of the moonpool 15 and at a speed V, entering the moonpool 15 from the stern to the top of the moonpool, the piston rods of the lifting cylinders 9 in the first set of two anti-collision devices extend, and the airbags 11 rise under the action of buoyancy to prepare for avoiding the bow rudder;
[0052] 2) When the underwater equipment 14 is at a distance X1 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the first set of two anti-collision devices retract, and the airbag 11 is pulled into the designated underwater position via the rope 4 to protect the underwater equipment 14. At the same time, the piston rods of the lifting cylinders 9 in the second set of two anti-collision devices retract and extend, and the airbag 11 rises under the action of buoyancy to prepare for avoiding the bow rudder;
[0053] 3) When the underwater equipment 14 is at a distance X2 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the second set of two anti-collision devices retract, and the airbag 11 is pulled into the designated underwater position via the rope 4 to protect the underwater equipment 14. At the same time, the piston rods of the lifting cylinders 9 in the third set of two anti-collision devices extend, and the airbag 11 rises under the action of buoyancy to prepare for avoiding the bow rudder;
[0054] 4) When the underwater equipment 14 is at a distance X3 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the third set of two anti-collision devices retract, and the airbag 11 is pulled into the designated underwater position via the rope 4 to protect the underwater equipment 14. At the same time, the piston rods of the lifting cylinders 9 in the fourth set of two anti-collision devices extend, and the airbag 11 rises under the action of buoyancy to prepare for avoiding the bow rudder.
[0055] When the bow rudder passes the fourth set of anti-collision devices, the piston rods of the lifting cylinders 9 in the fourth set of two anti-collision devices retract, and the airbags 11 are pulled into a designated underwater position via the ropes 4 to protect the underwater equipment 14, and the underwater equipment 14 enters the moon pool 15;
[0056] The underwater equipment 14 completely enters the moon pool 15 and reaches the designated position along the bow and stern direction of the mother ship. The lifting platform 13 is lifted, and the height of the lifting platform 13 from the main deck is H0. The piston rods of all the tensioning cylinders 2 in the synchronous control device are extended to ensure that the lower end rope is always in a tensioned state, keeping the airbag and the underwater equipment relatively stationary along the water depth direction.
[0057] When the lifting platform rises to the height from the main deck, the piston rod of the tensioning cylinder has extended to the maximum stroke. When the lifting platform continues to rise, the airbag rises. At this time, depending on the length of the airbag body and its matching with the waterline, it still moves to protect the underwater equipment until the equipment is seated on the bracket. When the underwater equipment is out of water, the excess rope 4 is wound into the rope reel 1 by the rope reel 1, thereby preventing the rope 4 from being entangled with other objects.
[0058] A method for deploying a follow-up underwater device:
[0059] The piston rods of all lifting cylinders 9 of the 8 anti-collision devices are retracted, and the air bags 11 are located at designated positions underwater to protect the underwater equipment 14;
[0060] 1) When the underwater equipment 14 is at a distance X3 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the fourth group of two anti-collision devices extend, and the airbags 11 rise under the action of buoyancy to prepare for avoiding the bow rudder.
[0061] 2) When the underwater equipment 14 is at a distance X2 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the fourth group of two anti-collision devices retract, and the airbag 11 is pulled into the designated underwater position via the rope 4 to protect the underwater equipment 14. At the same time, the piston rods of the lifting cylinders 9 in the third group of two anti-collision devices extend, and the airbag 11 rises under the action of buoyancy to prepare for avoiding the bow rudder.
[0062] 3) When the underwater equipment 14 is at a distance X1 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the third set of two anti-collision devices retract, and the airbag 11 is pulled into the designated underwater position via the rope 4 to protect the underwater equipment 14. At the same time, the piston rods of the lifting cylinders 9 in the second set of two anti-collision devices extend, and the airbag 11 rises under the action of buoyancy to prepare for avoiding the bow rudder.
[0063] 4) When the underwater equipment 14 is at a distance X2 from the top of the moon pool 15 and the operating speed is V, the piston rods of the lifting cylinders 9 in the second set of two anti-collision devices retract, and the airbag 11 is pulled into the designated underwater position via the rope 4 to protect the underwater equipment 14. At the same time, the piston rods of the lifting cylinders 9 in the first set of two anti-collision devices extend, and the airbag 11 rises under the action of buoyancy to prepare for avoiding the bow rudder.
[0064] When the bow rudder passes over the first set of anti-collision devices, the underwater equipment 14 leaves the moon pool 15.
[0065] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.
Claims
1. A follow-up underwater equipment anti-collision device, comprising an anti-collision device, characterized in that: The anti-collision device includes a rope reel, a first pulley assembly is provided on one side of the rope reel, a vertically arranged tensioning cylinder is provided at a lower position between the rope reel and the first pulley assembly, the piston rod of the tensioning cylinder is vertically downward, the end of the piston rod is provided with a second pulley assembly, a third pulley assembly is provided on a side of the tensioning cylinder away from the first pulley assembly, a vertically arranged lifting cylinder is provided on a side of the third pulley assembly away from the tensioning cylinder, the piston rod of the lifting cylinder is vertically upward, the end of the piston rod is provided with a fourth pulley assembly, and a fifth pulley assembly is provided above the lifting cylinder; The rope reel has a rope, the free end of which passes through the first pulley assembly, the second pulley assembly, the third pulley assembly, the fourth pulley assembly, and the fifth pulley assembly in sequence and is connected to the airbag.
2. The anti-collision device for follow-up underwater equipment according to claim 1, characterized in that: The utility model comprises four groups of anti-collision devices, and each group of anti-collision devices comprises two stacked anti-collision devices.
3. The anti-collision device for follow-up underwater equipment according to claim 1, characterized in that: The invention also includes a moon pool, wherein a guide rail is provided on each side of the moon pool, and a carriage is provided across the guide rail. The carriage is driven by a servo motor to move along the guide rail, and anti-collision devices are provided on each side of the carriage.
4. The anti-collision device for follow-up underwater equipment according to claim 1, characterized in that: The lower part of the airbag cooperates with the airbag support seat, and the airbag floats up and down in a direction defined by the airbag support seat.
5. The follow-up underwater equipment anti-collision device according to claim 4, characterized in that: It also includes a moon pool, an airbag support seat with a through hole is provided on the inner side wall of the moon pool, and a sixth pulley assembly is provided on the inner side wall of the moon pool below the airbag support seat.
6. A follow-up underwater equipment anti-collision device according to claim 4 or 5, characterized in that: It also includes a lifting platform, and the airbag support seat is arranged on the lifting platform.