CN112224344A

CN112224344A - Submersible lifting system

Info

Publication number: CN112224344A
Application number: CN202011062871.8A
Authority: CN
Inventors: 程俊; 陈雷阳; 朱晓俊; 卞晓磊
Original assignee: CSSC Nanjing Luzhou Machine Co Ltd
Current assignee: CSSC Nanjing Luzhou Machine Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-01-15

Abstract

The invention relates to a submersible lifting system which comprises a driving portal, a photoelectric cable winding and unwinding winch and a hydraulic pump station, wherein the photoelectric cable winding and unwinding winch is connected with a submersible through an armored photoelectric composite cable, the submersible is hung on the rotatable driving portal in a swinging mode, and the driving portal and the optical cable winding and unwinding winch are respectively connected with the hydraulic pump station through hoses. The invention has the advantage that the safe storage and fixation of the hoisting system and the unmanned submersible can be realized when the scientific investigation ship sails under severe sea conditions. Meanwhile, the hoisting system has the advantages of compact structure, simple operation and convenient maintenance, and is provided with a larger submersible vehicle storage area to facilitate the maintenance of a submersible vehicle deck.

Description

Submersible lifting system

Technical Field

The invention relates to a submersible lifting system, and belongs to the technical field of ship machinery.

Background

The submersible is a movable deep diving device with underwater observation and operation capabilities, and is mainly used for performing tasks such as underwater investigation, submarine exploration, submarine development and salvage, rescue and the like. The existing domestic and foreign scientific research ship generally carries a submersible vehicle to carry out underwater scientific research tasks, so that the laying and recovery operation of the submersible vehicle has great significance to the scientific research ship. In the existing submersible lifting system, a submersible is lifted to the water surface through a cable in the submersible laying stage, and the submersible is lifted and recovered to a deck of a scientific investigation ship through the cable in the submersible recovery stage. In the process of laying and recovering the submersible, the submersible is connected with the scientific investigation ship through a cable, and the scientific investigation ship is subjected to the action of sea wind and waves, so that various unfavorable working conditions such as pitching, rolling, heaving and the like can be generated. In severe sea conditions, especially above 5 th sea, the scientific investigation vessel shakes violently and even damages the submersible. Therefore, the scientific research ship urgently needs a hoisting and placing system with high operation reliability.

Disclosure of Invention

The invention aims to: aiming at the defects in the prior art, the system capable of quickly, efficiently, safely and reliably lifting the submersible is provided, the system can effectively realize that a scientific investigation ship carries the submersible to carry out scientific investigation tasks, has the functions of laying, connecting and recovering the submersible under a 5-level sea condition, has the transfer capacity of 12-ton load, has the capabilities of laying in and laying out on board and carrying out various types of submersible, and does not change the surface of the ship deck when the lifting system is arranged on the ship deck.

In order to achieve the purpose, the invention provides a submersible lifting system which comprises a driving portal, an optical cable winding and unwinding winch and a hydraulic pump station, wherein the optical cable winding and unwinding winch is connected with a submersible through an armored photoelectric composite cable, the submersible is hung on the rotatable driving portal in a swinging mode, and the driving portal and the optical cable winding and unwinding winch are respectively connected with the hydraulic pump station through hoses.

The invention adopts a detachable installation mode, and the hoisting system is installed at the side position of the mother ship deck. The driving portal frame, the optical cable retracting winch and the hydraulic pump station are fixed on the shipboard side of the scientific investigation ship, the control system is integrated in a control room, and the control room is anchored on a deck of the scientific investigation ship in a 20-foot standard container mode. The electric power supply of the driving portal frame, the optical cable winding and unwinding winch, the hydraulic pump station and the control room is provided by ship electricity, and the electric power supply and the electric signals of the whole hoisting and unwinding system are connected through cables. In a word, the submersible vehicle carried on the deck of the scientific investigation ship is generally hoisted to the water surface from the deck and recovered to the deck from the water surface through the driving gantry to carry out scientific investigation tasks, so that the laying and recovery operation of the submersible vehicle of the scientific investigation ship is effectively realized.

The invention further adopts the following technical scheme:

further, the driving portal frame comprises a base, a supporting arm, a swing frame, a supporting oil cylinder, a variable amplitude oil cylinder and a butt joint device, wherein the base is used for supporting the whole driving portal frame and is fixedly connected with a ship deck base through bolts, the swing frame and the supporting arm are hinged to a front support of the base, the supporting oil cylinder is connected between the front support and the supporting arm and drives the supporting arm to swing, the variable amplitude oil cylinder is connected between the supporting arm and the swing frame and drives the swing frame to swing, and the butt joint device is hinged to the upper portion of the swing frame.

Furthermore, the swing frame comprises two swing arms and a crossbeam, the one end of swing arm articulates on the anterior support of base, and the crossbeam is connected to the other end of two swing arms, the middle part of crossbeam is equipped with the ear seat, it has interfacing apparatus to articulate on the ear seat, makes interfacing apparatus hang perpendicularly in the crossbeam below.

Further, the butt joint device comprises a swing frame, an umbilical cable pulley, a pitching oscillation prevention oil cylinder, a rolling oscillation prevention oil cylinder and a guide joint, the swing frame is connected with the cross beam, the umbilical cable pulley is installed on the swing frame, the pitching oscillation prevention oil cylinder is arranged between the cross beam and the swing frame, the rolling oscillation prevention oil cylinder is arranged between the swing frame and the guide joint, and the guide joint is connected with the swing frame.

Furthermore, a first lifting lug is arranged at the upper end of the swinging frame and connected with an ear seat of the cross beam through a bolt, a pulley support is arranged on one side of the swinging frame, an umbilical cable pulley is mounted on the pulley support through a pulley shaft and can rotate around the pulley shaft, an armored photoelectric composite cable is wound on the umbilical cable pulley, the pitching oscillation-stopping oil cylinder is hinged between the ear seat of the cross beam and the lower part of the swinging frame, the rolling oscillation-stopping oil cylinder is hinged between the lower part of the swinging frame and the upper part of the guide joint, and the guide joint is hung at the bottom end of the swinging frame and connected with a submersible.

Thus, the armored photoelectric composite cable is connected with the submersible below by passing through the umbilical cable pulley. The armored photoelectric composite cable is a novel access mode suitable for a communication access network system, integrates a power transmission copper wire and optical fibers together, and can synchronously solve the problems of equipment power supply and signal access at one time.

Further, optical cable receive and releases winch includes base assembly, reel device and rope arranging device, reel device, rope arranging device all install on base assembly, and when armor photoelectric composite cable twined on the reel device, the rope arranging device was put in the lateral part of reel device, made the output of armor photoelectric composite cable imbed reel device and rope arranging device simultaneously, guaranteed that wire rope's output is in the state that compresses tightly, when making wire rope twine on the reel, was arranging in proper order all the time, has avoided the chaotic winding of armor photoelectric composite cable, and the winch possesses the constant tension function in the hoist is put. The reel device comprises a reel installed on a base assembly and a reel motor driving the reel to rotate, an armored photoelectric composite cable processed through rope arrangement of the rope arrangement device can be wound on the reel, the reel is connected with a planetary reducer with a hydraulic brake through a rotating shaft, the planetary reducer is connected with the output end of the reel motor, and a photoelectric slip ring used for signal transfer is installed on a central rotating shaft at one end of the reel.

Further, the rope arranging device comprises a rope arranging device quantitative motor, a screw, a sliding block, a guide shaft and a supporting seat, wherein the rope arranging device quantitative motor is installed at one end of the screw and can drive the screw to rotate, the sliding block is installed on the screw and the guide shaft and can move along the screw and the guide shaft, and the screw and the guide shaft are sequentially installed on the supporting seat.

In the structure, the rope arranging device is driven by the rope arranging device quantitative motor and has the function of detecting and correcting the deflection angle of the cable rope in real time, so that the angle of the armored photoelectric composite cable entering the winding drum is ensured, the cable rope is ensured to be arranged rapidly and neatly, and the rope arranging operation is finished. The armored photoelectric composite cable is wound on a winding drum of the photoelectric cable winding and unwinding winch.

Furthermore, a guide rod hole and a screw rod hole which penetrate through the upper end of the sliding block are formed in the upper end of the sliding block, a guide rod capable of moving along the guide rod hole is arranged in the guide rod hole, a screw rod capable of moving along the screw rod hole is arranged in the screw rod hole, the guide rod is connected with the screw rod through a connecting plate, an angle sensor is arranged on the connecting plate and above the screw rod, the angle sensor is connected with an encoder, and the encoder is used for detecting the deviation angle of the armored photoelectric composite cable.

Furthermore, the hydraulic pump station is respectively connected with the plate type multi-way valve bank, the plate type superposition valve bank, the winch driving motor safety valve bank, the portal support control valve bank and the portal amplitude control valve bank through hoses.

The hydraulic design of the hoisting system adopts an open hydraulic system which mainly comprises a hydraulic pump station, a plate type multi-way valve bank, a plate type superposed valve bank, a winch driving motor safety valve bank, a gantry supporting control valve bank, a gantry amplitude-variable control valve bank and the like. The optical cable winding and unwinding winch is powered by a hydraulic pump station and drives a planetary reducer to transmit through a hydraulic motor, so that a winding drum is driven to work.

The invention also comprises a control system which mainly comprises a PLC cabinet, an MCC cabinet, an operating platform and a portable wireless remote controller, wherein the portable wireless remote controller is connected with the operating platform, the operating platform is respectively connected with the PLC cabinet and the MCC cabinet, the PLC cabinet is respectively connected with a hydraulic pump station, an encoder of a winding drum device, an angle sensor of a rope arranging device, a safety valve bank of a winch driving motor, an angle sensor of a driving door frame and an electric control valve bank of the driving door frame, and the MCC cabinet is also connected with the hydraulic pump station.

The invention has the advantage that the safe storage and fixation of the hoisting system and the unmanned submersible can be realized when the scientific investigation ship sails under severe sea conditions. Meanwhile, the hoisting system has the advantages of compact structure, simple operation and convenient maintenance, and is provided with a larger submersible vehicle storage area to facilitate the maintenance of a submersible vehicle deck.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of the submersible hoist system of the present invention.

Fig. 2 is a schematic structural view of the driving gantry of the present invention.

FIG. 2a is a schematic structural view of a base according to the present invention; FIG. 2b is a schematic view of the support arm of the present invention; FIG. 2c is a schematic structural view of a swing arm according to the present invention; FIG. 2d is a schematic structural view of a cross beam according to the present invention; FIG. 2e is a schematic structural diagram of the docking device of the present invention; FIG. 2f is a schematic structural view of a swing frame according to the present invention; FIG. 2g is a schematic diagram of the umbilical cord pulley of the present invention; FIG. 2h is a schematic structural view of the adapter of the present invention.

FIG. 3 is a schematic structural diagram of the winch for retracting and releasing the optical cable according to the present invention.

Fig. 3a is a schematic structural view of the rope guiding device of the present invention.

Fig. 4 is a schematic structural diagram of the hydraulic pump station in the invention.

Fig. 5 is a schematic view of an electric control system of the hoist system of the present invention.

FIG. 6 is a functional block diagram of a hoist system of the present invention.

FIG. 7 is a resting state diagram of the submersible vehicle pick-up and drop-off system of the present invention.

FIG. 8 is a diagram of the initial operation of the submersible vehicle pick-up and drop-off system of the present invention.

FIG. 9 is a diagram of the maximum luffing operation of the submersible hoist system of the present invention.

In the figure: 1. driving door frame, 101, base, 1011, front bracket, 1012, first hinge hole, 1013, second hinge hole, 102, supporting cylinder, 103, supporting arm, 1031, third hinge hole, 1032, fourth hinge hole, 104, luffing cylinder, 105, swing arm, 1051, fifth hinge hole, 1052, sixth hinge hole, 106, cross beam, 1061, ear seat, 107, docking device, 1071, swing frame, 1071a, first lifting lug, 1071b, pulley bracket, 1071c, second lifting lug, 1071d, third lifting lug, 1071e, fourth lifting lug, 1072, pitch sway damping cylinder, 1073, roll sway damping cylinder, 1074, guide joint, 1074a, fifth lifting lug, 1074b, sixth lifting lug, 1075, umbilical cable pulley, 2, armored optical-electrical composite cable, 3, optical-electrical cable winch, 301, base assembly, 302, reel device, 303, rope discharger device, 3031, 3033, slider, 103, 3033, 3034. the device comprises a guide shaft, a screw 3035, a guide rod 3036, a lead screw 3037, a lead screw 3038, a connecting plate 3039, an angle deviation detection device 304, a photoelectric slip ring, a hydraulic pump station 4 and a control system 5.

Detailed Description

Example one

As shown in figure 1, the submersible lifting system comprises a driving portal 1, an optical cable winding and unwinding winch 3, a hydraulic pump station 4 and a control system 5, wherein the optical cable winding and unwinding winch 3 is connected with the submersible through an armored photoelectric composite cable 2, the submersible is hung on the rotatable driving portal 1 in a swinging mode, and hydraulic driving parts of the driving portal 1 and the optical cable winding and unwinding winch are connected with the hydraulic pump station 4 through hoses respectively.

As shown in fig. 2, the driving gantry 1 includes a base 101, a support arm 103, a swing frame, a support cylinder 102, a luffing cylinder 104 and a docking device 107, the base 101 is used for supporting the entire driving gantry 1, the base 101 is fixedly connected with a ship deck base through a high-strength bolt, one end of the base 101 is provided with a front bracket 1011, the swing frame and the support arm 103 are hinged on the front bracket 1011, the support cylinder 102 is connected between the front bracket 1011 and the support arm 103, the support cylinder 102 drives the support arm 103 to swing the support arm 103, the luffing cylinder 104 is connected between the support arm 103 and the swing frame, the luffing cylinder 104 drives the swing frame to swing the swing frame, and the docking device 107 is hinged on the upper portion of the swing. The swing frame comprises two swing arms 105 and a cross beam 106, one end of each swing arm 105 is hinged to a front support 1011 of the base 101, the other ends of the two swing arms 105 are connected with the cross beam 106, an ear seat 1061 (see fig. 2 d) is arranged in the middle of the cross beam 106, and a docking device 107 is hinged to the ear seat 1061, so that the docking device 107 is vertically suspended below the cross beam 106. The front bracket 1011 has a first hinge hole 1012 at the lower end and a second hinge hole 1013 at the upper end (see fig. 2 a); the support arm 103 is L-shaped, and one end of the long side of the support arm 103 has a third hinge hole 1031, and the other end has a fourth hinge hole 1032 (see fig. 2 b); the swing arm 105 has a fifth hinge hole 1051 at a lower end thereof and a sixth hinge hole 1052 (see fig. 2 c) at an upper end thereof. Thus, the first hinge hole 1012 of the base front bracket 1011 is hinged to the lower end of the support cylinder 102 by a first hinge bolt, the second hinge hole 1013 of the base front bracket 1011 is connected to the third hinge hole 1031 of the support arm 103 and the fifth hinge hole 1051 of the swing arm 105 by a second hinge bolt, the fourth hinge hole 1032 of the support arm 103 is hinged to the upper end of the support cylinder 102 and the lower end of the luffing cylinder 104 by a third hinge bolt, and the sixth hinge hole 1052 of the swing arm 105 is hinged to the upper end of the luffing cylinder 104 by a fourth hinge bolt.

The lifting system of the embodiment provides power through the hydraulic pump station 4 to drive the driving portal frame 1 to swing from the inboard to the outboard or from the outboard to the inboard, and the driving portal frame 1 can stay at different swing angle positions and control the swing speed. A supporting arm 103 is designed below the swing frame of the driving gantry 1, the supporting arm 103 can change the amplitude through an amplitude cylinder 104, and the swing frame can be lifted at a certain angle through the amplitude of the supporting arm 103, so that a submersible vehicle can be loaded conveniently. When the submersible vehicle is not loaded, the support arm 103 continues to be driven by the support cylinder 102 to move inwards, and the swing frame moves downwards along with the support cylinder and finally reaches the resting position.

As shown in fig. 2e, the docking device 107 includes a swing frame 1071, an umbilical pulley 1075 (the structure of which is shown in fig. 2 g), a pitch anti-sway cylinder 1072, a roll anti-sway cylinder 1073 and a docking head 1074, the swing frame 1071 is connected with the cross beam 106, the umbilical pulley 1075 is mounted on the swing frame 1071, the pitch anti-sway cylinder 1072 is arranged between the cross beam 106 and the swing frame 1071, the roll anti-sway cylinder 1073 is arranged between the swing frame 1071 and the docking head 1074, the docking head 1074 is connected with the swing frame 1071, and the hydraulic pump station 4 supplies flow and oil pressure to the pitch anti-sway cylinder 1072 and the roll anti-sway cylinder 1073 to prevent the submersible from swinging too large amplitude value when lifting the submersible. A first lifting lug 1071a is arranged at the upper end of the swinging frame 1071, the first lifting lug 1071a is connected with an ear seat 1061 of the cross beam 106 through a bolt, a pulley support 1071b is arranged at one side of the swinging frame 1071, an umbilical cable pulley 1075 is mounted on the pulley support 1071b through a pulley shaft and can rotate around the pulley shaft, an armored photoelectric composite cable 2 is wound on the pulley support, a pitch oscillation-preventing cylinder 1072 is hinged between the ear seat 1061 of the cross beam 106 and the lower part of the swinging frame 1071, second lifting lugs 1071c are respectively arranged at four corners of the bottom of the swinging frame 1071, the second lifting lug 1071c is hinged with the lower end of the pitch oscillation-preventing cylinder 1072, the upper end of the pitch oscillation-preventing cylinder 1072 is hinged with the ear seat 1061 of the cross beam 106, a pitch oscillation-preventing cylinder 1073 is hinged between the lower part of the swinging frame 1071 and the upper part of the guide joint 4, third lifting lugs 1071d are respectively arranged at two sides of the bottom of the swinging frame 1071, and the third lifting lugs 1071d are hinged, the lower end of the roll oscillation-stopping cylinder 1073 is hinged to a fifth lifting lug 1074a located at the upper part of the guide joint 1074, and two fourth lifting lugs 1071e are provided on the bottom surface of the swing frame 1071 (see fig. 2 f). The guide joint 1074 is hung at the bottom end of the swing frame 1071 and connected with the submersible, the guide joint 1074 is in a stepped cylinder shape, a cable through hole for guiding the armored photoelectric composite cable 2 is arranged in the middle of the guide joint 1074, two sixth lifting lugs 1074b are arranged on the upper end surface of the first step, the sixth lifting lugs 1074b are connected with the fourth lifting lugs 1071e of the swing frame 1071 through bolts, two fifth lifting lugs 1074a (see figure 2 h) are arranged on the second step, a locking cylinder is arranged on the guide joint 1074, a hook which can be connected with the submersible is arranged at the lower end of the locking cylinder, the locking cylinder is driven by a hydraulic pump station 4, the hook can be interlocked or released from the submersible, and the expansion and contraction speed of the cylinder is adjusted through a throttle valve. The armored photoelectric composite cable 2 is connected with a submersible under the cable by winding the umbilical cable pulley 1075. The armored photoelectric composite cable 2 is a novel access mode suitable for a communication access network system, integrates a power transmission copper wire and optical fibers together, and can synchronously solve the problems of equipment power supply and signal access at one time.

As shown in fig. 3, the optical cable reeling and unreeling winch 3 includes a base assembly 301, a winding drum device 302 and a rope arranging device 303, the winding drum device 302 and the rope arranging device 303 are both installed on the base assembly 301, when the armored optical-electrical composite cable 2 is wound on the winding drum device 302, the rope arranging device 303 is placed at a side portion of the winding drum device 302, so that an output end of the armored optical-electrical composite cable 2 is simultaneously embedded into the winding drum device 302 and the rope arranging device 303, it is ensured that the output end of the armored optical-electrical composite cable 2 is in a compressed state, when the armored optical-electrical composite cable 2 is wound on a winding drum of the winding drum device 302, the optical-electrical composite cable is always arranged in sequence, thereby avoiding disordered winding of the armored optical-electrical composite cable 2, and the winch during hoisting has a constant tension function. The winding drum device 302 comprises a winding drum installed on the base assembly 301 and a winding drum motor (the winding drum motor adopts a variable hydraulic motor) for driving the winding drum to rotate, the winding drum can be wound with the armored photoelectric composite cable 2 which is subjected to rope arrangement processing through the rope arrangement device 303, the winding drum is connected with a planetary reducer with a hydraulic brake through a rotating shaft, the planetary reducer is connected with the output end of the winding drum motor, and in addition, a photoelectric slip ring 304 for signal transfer is installed on the central rotating shaft at one end of the winding drum.

As shown in fig. 3a, the rope guiding device 303 includes a rope guiding device fixed-amount motor 301, a screw 305, a slider 303, a guide shaft 304, and a support base 302, wherein the rope guiding device fixed-amount motor 301 is installed at one end of the screw 305 and can drive the screw 305 to rotate, the slider 303 is installed on the screw 305 and the guide shaft 304 and can move along the screw 305 and the guide shaft 304, and the screw 305 and the guide shaft 304 are installed on the support base 302 in turn. In addition, a guide rod hole and a screw rod hole are formed at the upper end of the sliding block 303, the guide rod hole is internally provided with a guide rod 306 capable of moving along the guide rod hole, the screw rod hole is internally provided with a screw rod 307 capable of moving along the screw rod hole, the guide rod 306 is connected with the screw rod 307 through a connecting plate 308, a deflection angle detection device 309 with an angle sensor is arranged above the screw rod 307 on the connecting plate 308, the deflection angle detection device 309 is provided with an encoder, the angle sensor is connected with the encoder, and the encoder is used for detecting the deflection angle of the armored photoelectric composite cable 2.

The structure of the hydraulic pump station 4 is shown in fig. 4, and the hydraulic pump station 4 is connected with the plate type multi-way valve bank, the plate type superposition valve bank, the winch driving motor safety valve bank, the gantry supporting control valve bank and the gantry amplitude-changing control valve bank through hoses respectively. The hydraulic pump station 4, the plate type multi-way valve bank, the plate type superposition valve bank, the winch driving motor safety valve bank, the gantry supporting control valve bank, the gantry amplitude variation control valve bank and the optical cable winding and unwinding winch 3 are integrated together. The winch driving motor safety valve group comprises a winch electric control valve group and a cable arranger electric control valve group, the winch electric control valve group comprises a motor displacement one-way control valve connected with a drum motor and an electro-hydraulic proportional reversing valve connected with a hydraulic brake, and the cable arranger electric control valve group is an electro-hydraulic proportional reversing valve connected with a rope arranger fixed-displacement motor 301. Therefore, the winch driving motor safety valve group is respectively connected with a winch driving motor (namely a drum motor) and a hydraulic brake of the planetary reducer through a hydraulic pipeline, and the hydraulic pump station 4 drives the optical cable winding and unwinding winch 3 through the drum motor and the rope arranger quantitative motor 301, so that the optical cable winding and unwinding winch 3 realizes positive and negative rotation, a cable with certain tension is retracted and discharged, and the purpose of winding and unwinding the submersible is achieved. The gantry supporting control valve set is connected with a supporting oil cylinder for driving the gantry 1 through a hydraulic pipeline, and the gantry amplitude-changing valve set is connected with an amplitude-changing oil cylinder for driving the gantry 1 (see figure 6). In addition, the sheet type multi-way valve bank is fixed on the hydraulic pump station 4 and is respectively connected with the optical cable winding and unwinding winch 3, the rope arranging device 303, the gantry supporting cylinder 102 and the luffing cylinder 104 through hydraulic hoses. The plate type superposition valve group is respectively connected with the locking oil cylinder, the pitching buffering oil cylinder 1072 and the rolling buffering oil cylinder 1073 through hydraulic hoses.

As shown in fig. 5, the control system 5 mainly comprises a PLC cabinet, an MCC cabinet, an operation desk and a portable wireless remote controller, the portable wireless remote controller is connected with the operation desk, the operation desk is respectively connected with the PLC cabinet and the MCC cabinet, the PLC cabinet is respectively connected with the hydraulic pump station 4, an encoder of the drum device 302, an angle sensor of the rope arranging device 303, a safety valve bank of a winch driving motor, an angle sensor of the driving gantry 1, and an electric control valve bank of the driving gantry, and the MCC cabinet is also connected with the hydraulic pump station 4. The angle sensor of the driving gantry 1 is arranged on a supporting pin shaft of a base 101 and a swing frame of the driving gantry 1, and the driving gantry electric control valve bank comprises a gantry supporting control valve bank and a gantry amplitude-change control valve bank.

The PLC cabinet is a core unit cabinet for ensuring the whole hanging control system 5. The PLC is used as a central control unit, and the control function of the system is completed through the programming of the PLC in the PLC cabinet. The PLC controller is installed in the PLC switch board, and the design has the display screen on the switch board, can the current operating parameter of display device and running state, through control button, change over switch and the knob on the operating panel, can select hydraulic pump motor open stop position, hydraulic pump discharge capacity and scram etc. control. The MCC cabinet is an abbreviation of a motor control center and is a control cabinet specially used for controlling a motor, a plurality of drawers are provided, each drawer is a control loop of the motor, the positive and negative start and stop, the state indication is carried out, and all main loops are in the drawers. The low-voltage switch equipment is a combination consisting of one or more low-voltage switch equipment and related control, measurement, signal, protection, regulation and the like, and is formed by taking charge of all internal electrical and mechanical connection by a manufacturer and integrally assembling structural components together. The operating platform can carry out full-function operation on the whole hoisting system, the whole operating panel adopts a modular design, and the whole operating interface is divided into an HMI display module and an operation operating module. The locking mechanism is controlled to act through two states of 'engagement' and 'disengagement'; the control handles or buttons of the driving gantry 1 and the umbilical cable winch are provided with enabling locking switches, so that the operation of the corresponding actuating mechanism can be independently completed, and meanwhile, the control signals of the handles have a complete interlocking function. The console and the console seat are arranged in the control room, and the console panel is provided with a touch screen and an operating handle. The operation panel is provided with a portable wireless remote controller, so that the operation of the deck of an operator is facilitated. After the main pump motor is started on the console, the control part is switched to remote control, and remote control operation can be carried out. The wireless receiver of the portable remote controller exchanges data with the control room thereof by adopting a communication cable, and the receiving unit communicates with the PLC control station by a Profibus bus to complete the issuing processing of the instruction by the portable wireless receiver. The portable remote controller has an LED display function, and an LED display area consists of two independent LED display units. Wherein the left screen displays the pressure of two main pumps of the hydraulic system, and the right screen displays the related alarm information of the system.

The hoisting system of the embodiment adopts electro-hydraulic integrated control, and can realize the comprehensive control of the driving gantry 1, the docking device 107, the winch and the like by utilizing a controller, a sensor and an electromagnetic valve. The submersible is hoisted and placed according to the wave resistance test data of the ship carrying the mother ship, the motion characteristics of components such as the hoisting driving gantry 1, the docking device 107 and the guide joint 1074 which are arranged on the gantry beam are dynamically simulated according to the control effect under the condition of different control parameters, and the optimal buffering and anti-shaking effect is obtained. The influence of the existence of the buffer on the motion of the unmanned submersible is contrastively analyzed to obtain the motion and stress conditions of each component and the submersible under different sea conditions, so as to provide input conditions for a core electro-hydraulic system, guide the model selection design of components, optimize parameters, finally enable the electro-hydraulic system to meet the functional requirements and simultaneously enable the dynamic characteristics to be optimal. And aiming at different sea conditions, under different carrying mother ship conditions, the stress conditions of all parts are analyzed so as to ensure the structural safety of the stress piece of the submersible lifting system.

In the absence of a submersible on the submersible lifting system, the support cylinder 102 is retracted to an initial state, the swing arm 105 of the drive gantry 1 is luffed inboard to a resting state under the action of the support arm 103 and its own weight, and the docking device 107 on the gantry is dropped onto the base platform to rest and secure. When the submersible is arranged on the submersible lifting system, the supporting cylinder 102 extends to the limit state, the swing arm 105 is subjected to amplitude variation from outboard to inboard under the action of the amplitude variation cylinder 104 to reach the initial working state, and the submersible is placed and fixed on the base platform. When the submersible is laid, the amplitude variation oil cylinder 104 of the driving swing arm 105 extends to the limit position, and the swing arm 105 is subjected to amplitude variation outwards to the maximum amplitude under the action of the amplitude variation oil cylinder 104. The design of the laying device is also convenient for installing the submersible, when the submersible needs to be installed, the supporting cylinder 102 extends to the limit, the supporting arm 103 supports the swing arm 105 to the initial working state, the amplitude variation cylinder 104 extends, the swing arm 105 outwards amplitudes to the outboard and stops, and a hoisting space of the submersible is reserved. When the crane lifts the submersible onto the base 101 mounting location, the swing arm 105 is swung inward over the unmanned submersible, the umbilical on the winch is coupled to the submersible, the unmanned submersible is lifted, and the latch of the docking head 1074 is latched. After the submersible finishes working, the swing arm 105 is inwardly swung to a resting state to rest the unmanned submersible.

In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

Claims

1. A submersible lifting system is characterized in that: the optical cable winding and unwinding winch is connected with a submersible through an armored photoelectric composite cable, the submersible swings and is hoisted on the rotatable driving portal, and the driving portal and the optical cable winding and unwinding winch are connected with the hydraulic pump station through hoses respectively.

2. The submersible lifting system of claim 1, wherein: the driving gantry comprises a base, a supporting arm, a swinging frame, a supporting oil cylinder, a variable amplitude oil cylinder and a butt joint device, wherein the base is used for supporting the whole driving gantry and is fixedly connected with a ship deck base through a bolt, the swinging frame and the supporting arm are hinged to a front support of the base, the supporting oil cylinder is connected between the front support and the supporting arm, the variable amplitude oil cylinder is connected between the supporting arm and the swinging frame, and the butt joint device is hinged to the upper portion of the swinging frame.

3. A submersible lifting system according to claim 2 wherein: the swing frame comprises two swing arms and a crossbeam, the one end of swing arm articulates on the anterior support of base, and the crossbeam is connected to the other end of two swing arms, the middle part of crossbeam is equipped with the ear seat, it has interfacing apparatus to articulate on the ear seat.

4. A submersible lifting system according to claim 3 wherein: the butt joint device comprises a swing frame, an umbilical cable pulley, a pitching oscillation-preventing oil cylinder, a rolling oscillation-preventing oil cylinder and a guide joint, wherein the swing frame is connected with a cross beam, the umbilical cable pulley is installed on the swing frame, the pitching oscillation-preventing oil cylinder is arranged between the cross beam and the swing frame, the rolling oscillation-preventing oil cylinder is arranged between the swing frame and the guide joint, and the guide joint is connected with the swing frame.

5. The submersible lifting system of claim 4, wherein: the upper end of the swing frame is provided with a first lifting lug, the first lifting lug is connected with an ear seat of the cross beam through a bolt, one side of the swing frame is provided with a pulley support, an umbilical cable pulley is mounted on the pulley support through a pulley shaft and can rotate around the pulley shaft, an armored photoelectric composite cable is wound on the umbilical cable pulley, the pitching oscillation-stopping oil cylinder is hinged between the ear seat of the cross beam and the lower part of the swing frame, the rolling oscillation-stopping oil cylinder is hinged between the lower part of the swing frame and the upper part of the guide joint, and the guide joint is hung at the bottom end of the swing frame and is connected with a submersible vehicle.

6. The submersible lifting system of claim 5, wherein: the optical cable winding and unwinding winch comprises a base assembly, a winding drum device and a rope arranging device, wherein the winding drum device and the rope arranging device are both installed on the base assembly, the winding drum device comprises a winding drum installed on the base assembly and a winding drum motor driving the winding drum to rotate, an armored photoelectric composite cable processed by rope arranging of the rope arranging device can be wound on the winding drum, the winding drum is connected with a planetary reducer with a hydraulic brake through a rotating shaft, the planetary reducer is connected with the output end of the winding drum motor, and a photoelectric slip ring used for signal transfer is installed on a central rotating shaft at one end of the winding drum.

7. The submersible lifting system of claim 6, wherein: the rope arranging device comprises a rope arranging device quantitative motor, a screw rod, a sliding block, a guide shaft and a supporting seat, wherein the rope arranging device quantitative motor is installed at one end of the screw rod and can drive the screw rod to rotate, the sliding block is installed on the screw rod and the guide shaft and can move along the screw rod and the guide shaft, and the screw rod and the guide shaft are sequentially installed on the supporting seat.

8. The submersible lifting system of claim 7, wherein: the upper end of the sliding block is provided with a guide rod hole and a screw rod hole which penetrate through the sliding block, a guide rod capable of moving along the guide rod hole is arranged in the guide rod hole, a screw rod capable of moving along the screw rod hole is arranged in the screw rod hole, the guide rod is connected with the screw rod through a connecting plate, an angle sensor is arranged above the screw rod on the connecting plate and connected with an encoder, and the encoder is used for detecting the deviation angle of the armored photoelectric composite cable.

9. The submersible lifting system of claim 1, wherein: and the hydraulic pump station is respectively connected with the plate type multi-way valve bank, the plate type superposition valve bank, the winch driving motor safety valve bank, the gantry supporting control valve bank and the gantry amplitude variation control valve bank through hoses.

10. The submersible lifting system of claim 1, wherein: still include control system, mainly constitute by PLC cabinet, MCC cabinet, operation panel and portable wireless remote controller, portable wireless remote controller is connected with the operation panel, the operation panel is connected with PLC cabinet, MCC cabinet respectively, the PLC cabinet is connected with hydraulic power unit, the encoder of reel device, the angle sensor of rope arranger, winch drive motor safety valve group, the angle sensor of drive portal, the automatically controlled valves of drive portal respectively, the MCC cabinet also is connected with hydraulic power unit.