CN113212669A

CN113212669A - Overwater operation platform for ROV

Info

Publication number: CN113212669A
Application number: CN202110637367.4A
Authority: CN
Inventors: 付先平; 王珏; 袁国良; 王非
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-08-06

Abstract

The invention provides an above-water work platform for an ROV, comprising: the device comprises a body, a bidirectional stretching device, a recycling and distributing device and an ROV; the bidirectional stretching device comprises a winch, a cable, a first pulley, a first pinch roller and a second pinch roller, wherein one end of the cable is connected with the ROV after passing around the first pulley and between the first pinch roller and the second pinch roller, the first pinch roller is connected with a first motor, and the first pulley is connected with a first elastic piece; the recycling and laying device comprises a lifting frame, a first connecting part and a third connecting part, the first connecting part is connected with the second connecting part on the frame body, and the third connecting part is connected with the fourth connecting part on the ROV. The invention carries the ROV to sail to a designated operation area, then releases the ROV, and recovers the ROV after the operation of the ROV is finished, so that the operation area of the ROV is expanded to a distance from a water area close to the coast. In addition, in the process of recovery and laying, the cable connected with the ROV can be kept in a tensioning state, so that the cable is prevented from being twisted together to influence the retraction and the laying of the ROV.

Description

Overwater operation platform for ROV

Technical Field

The invention relates to the field of ROV design, in particular to an overwater operation platform for an ROV.

Background

ROVs, i.e., remotely operated unmanned submersibles, are underwater robots used for underwater observation, inspection, and construction. With the rapid development of ocean development technology and the deep excavation and utilization of ocean resources, the application of ROV is increasingly wide.

However, the ROV is limited by its characteristics such as volume, and is difficult to work in a water area far off the shore, which greatly limits the range of use of the ROV.

Disclosure of Invention

The invention provides an overwater operation platform for an ROV (remote operated vehicle), which aims to solve the problems.

An offshore work platform for an ROV, comprising: the device comprises a body, a bidirectional stretching device, a recycling and distributing device and an ROV;

the body comprises a buoyancy raft, and the buoyancy raft is provided with a power device and a frame body;

the bidirectional stretching device comprises a winch, a cable, a first pulley, a first pinch roller and a second pinch roller, wherein one end of the cable is wound on the winch, the other end of the cable rounds the first pulley, penetrates through a space between the first pinch roller and the second pinch roller and then is connected with the ROV, the first pinch roller is connected with a first motor, and the first pulley is a movable pulley and is connected with a first elastic piece;

the recycling and laying device comprises a lifting frame arranged on the frame body, and a first connecting part and a third connecting part which are arranged at the lower end of the lifting frame, wherein the first connecting part is used for being connected with a second connecting part on the frame body, and the third connecting part is used for being connected with a fourth connecting part on the ROV;

the first pinch roller and the second pinch roller are both arranged at the lower end of the lifting frame.

Further, the buoyancy rafts are provided with two buoyancy rafts, and the stern parts of the two buoyancy rafts are provided with connecting rods;

the power device comprises a propeller and an installation rod, one end of the installation rod is fixed on the stern part of the buoyancy raft, and the other end of the installation rod is provided with the propeller;

the support body is including locating vertical portion on the buoyancy raft and locating horizontal portion between the vertical portion.

Further, the frame body comprises vertical parts and transverse parts arranged between the vertical parts, and the winch is arranged below the transverse parts;

be equipped with the crossbeam between the vertical portion, be equipped with the mount on the crossbeam, be equipped with the portal on the mount, the portal includes the portal stand and locates portal crossbeam between the portal stand, first pulley pass through first elastic component connect in on the portal crossbeam, first elastic component with be equipped with force sensor between the portal, the portal stand is equipped with the portal spout, first pulley is followed the motion of portal spout.

Further, the fixing frame comprises a fixing top frame and a fixing bottom frame, a second pulley is arranged on the fixing top frame, a third pulley is arranged on the fixing bottom frame, the first pulley, the second pulley and the third pulley are arranged in the same plane, and the mooring rope passes through the space between the second pulley and the third pulley and then bypasses the first pulley.

Furthermore, a fourth pulley and a fifth pulley are arranged on the fixing frame, the first pulley, the fourth pulley and the fifth pulley are arranged in the same plane, the fourth pulley is connected with a second motor, and the cable passes through the space between the fourth pulley and the fifth pulley and the space between the first pinch roller and the second pinch roller in sequence after passing around the first pulley.

Furthermore, the lifting frame comprises a lifting frame body and a connecting frame arranged at the bottom end of the lifting frame body, and the first connecting part is arranged on the connecting frame;

the first connecting part comprises a first connecting rod and a first circular ring, the first circular ring is arranged on the connecting frame through the first connecting rod, the frame body is provided with a cross beam, the second connecting part comprises a second connecting rod and a second circular ring, the second circular ring is arranged below the cross beam through the second connecting rod, and the first circular ring can be coaxial with the second circular ring through lifting;

an electric push rod is arranged below the cross beam, and the push rod of the electric push rod is coaxial with the second circular ring.

Further, the third connecting portion include drive division, connecting rod and tongs, the fourth connecting portion include the ROV connecting rod with locate the connection ball of ROV connecting rod one end, the hawser pass connect the ball and with connect ball fixed connection, the tongs includes two curved tongs portions, tongs portion articulates under the link, connecting rod one end articulate in tongs portion, the other end articulate in the drive division, the hawser passes two between the tongs portion.

Further, the driving part comprises an electric cylinder, and a piston end of the electric cylinder is hinged with the connecting rod.

Further, the lifting frame body comprises a first lifting frame, a second lifting frame and a third lifting frame, the first lifting frame is fixed on the frame body, the second lifting frame is connected with the first lifting frame through a guide rail and a sliding block, the third lifting frame is connected with the second lifting frame through a guide rail and a sliding block, and the lower end of the third lifting frame is provided with the connecting frame.

Furthermore, a bank machine communication box is arranged on the frame body and connected with the ROV through the cable.

The invention discloses an overwater operation platform for an ROV, which can be used for recovering and laying the ROV. The overwater operation platform can drive the ROV in a recovery state to sail to a designated operation area, then release the ROV, and recover the ROV after the ROV operation is finished, so that the operation area of the ROV is expanded to a distance from a water area close to the coast. In addition, in the process of recovery and laying, the cable connected with the ROV can be kept in a tensioning state, so that the cable is prevented from being twisted together to influence the retraction and the laying of the ROV.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of the present invention illustrating a marine platform for an ROV;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic cross-sectional view of an embodiment of the present invention illustrating a marine platform for ROV;

FIG. 4 is an enlarged view of portion B of FIG. 3;

FIG. 5 is a schematic front view of an embodiment of the invention in use with an ROV on water work platform;

FIG. 6 is an enlarged view of portion C of FIG. 5;

fig. 7 is a schematic structural diagram of a bidirectional stretching device in an embodiment of the present invention.

In the figure:

1. a body; 11. a buoyant raft; 12. a power plant; 13. a frame body; 101. a connecting rod; 102. a propeller; 103. mounting a rod; 104. a vertical portion; 105. a transverse portion; 106. a cross beam; 107. a fixed mount; 108. a gantry; 109. a portal column; 110. a gantry beam; 111. a gantry chute; 112. fixing the underframe; 113. fixing the top frame; 114. a second motor;

2. a bi-directional bracing device; 21. a winch; 22. a cable; 23. a first pulley; 24. a first pinch roller; 25. a second pinch roller; 26 a first motor; 27. a first elastic member; 28. a tension sensor; 201. a second pulley; 202 a third pulley; 203. a fourth pulley; 204. a fifth pulley;

3. a recycling and laying device; 31. a lifting frame; 32. a first connection portion; 33. a third connecting portion; 34. a second connecting portion; 301. a lifting frame body; 302. a connecting frame; 303. a first connecting rod; 304. a first circular ring; 305. a second link; 306. a second circular ring; 307. an electric push rod; 308. a drive section; 309. a connecting rod; 310. a grip portion; 311. a first lifting frame; 312. a second lifting frame; 313. a third lifting frame;

4. an ROV; 41. a fourth connecting portion; 401. an ROV connecting rod; 402. a connecting ball;

5. bank machine communication box.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a marine work platform for an ROV comprises: the device comprises a body 1, a bidirectional stretching device 2, a recovery and distribution device 3 and an ROV 4;

the body 1 comprises a buoyancy raft 11, and the buoyancy raft 11 is provided with a power device 12 and a frame body 13;

the bidirectional tension device 2 comprises a winch 21, a cable 22, a first pulley 23, a first pinch roller 24 and a second pinch roller 25, wherein one end of the cable 22 is wound on the winch 21, the other end of the cable passes through the first pulley 23, passes through a space between the first pinch roller 24 and the second pinch roller 25 and then is connected with the ROV4, the first pinch roller 24 is connected with a first motor 26, and the first pulley 23 is a movable pulley and is connected with a first elastic piece 27;

the recycling and distributing device 3 comprises a lifting frame 31 arranged on the frame body 13, and a first connecting part 32 and a third connecting part 33 which are arranged at the lower end of the lifting frame 31, wherein the first connecting part 32 is used for being connected with a second connecting part 34 on the frame body 13, and the third connecting part 33 is used for being connected with a fourth connecting part 41 on the ROV 4.

The overwater operation platform for the ROV can recover and arrange the ROV. The overwater operation platform can drive the ROV in a recovery state to sail to a designated operation area, then release the ROV, and recover the ROV after the ROV operation is finished, so that the operation area of the ROV is expanded to a distance from a water area close to the coast. In addition, in the process of recovery and laying, the cable connected with the ROV can be kept in a tensioning state, so that the cable is prevented from being twisted together to influence the retraction and the laying of the ROV.

As shown in fig. 2, when going out of the sea, the ROV is connected with the crane 31 through the third connecting portion 33 and the fourth connecting portion 41, and the crane is connected with the frame body through the first connecting portion 32 and the second connecting portion 34, so that the frame body bears the weight of the ROV, the weight of the ROV is prevented from being borne by the winch and the cable for a long time, on one hand, the ROV is suspended by the driving and the cable to run with poor stability and is very easy to rock, on the other hand, the winch and the cable are in a working state for a long time, and faults are easy to occur. When the ROV is deployed, the first connection 32 is disconnected from the second connection 34, the third connection 33 is disconnected from the fourth connection 41, and the winch releases the cable, allowing the ROV to enter the water.

The first pinch roller 24 and the second pinch roller 25 are both arranged at the lower end of the lifting frame 31, and the ROV is in a non-working state, namely when not separated from the operation platform, the lifting frame is lifted to a high position, so that the ROV is separated from the water surface. When the ROV is released, the winch works to release the cable, meanwhile, the first motor 26 drives the first pinch roller 24 to rotate, and the first pinch roller 24 is matched with the second pinch roller 25 to keep the tension state of the cable between the winch and the pinch rollers. The crane lower extreme descends, makes the hawser stretch out the back between first pinch roller 24 and the second pinch roller 25, gets into the aquatic promptly, and the hawser is in the aquatic, under the effect of the resistance of water, can not take place the winding.

In this embodiment, there are two buoyancy rafts 11, and the stern parts of the two buoyancy rafts 11 are provided with connecting rods 101; the connecting rod 101 is a high-strength square steel pipe, and connects the two buoyancy rafts 11 together.

The power device 12 comprises a propeller 102 and a mounting rod 103, one end of the mounting rod 103 is fixed on the stern part of the buoyancy raft 11, and the propeller is arranged at the other end of the mounting rod 103; a battery and a motor are provided in the buoyant raft for driving the propeller 102.

The frame body 13 comprises vertical parts 104 arranged on the buoyancy raft 11 and transverse parts 105 arranged between the vertical parts 104, and the winch 21 is arranged below the transverse parts 105;

as shown in fig. 3 to 7, a cross beam 106 is disposed between the vertical portions 104, a fixing frame 107 is disposed on the cross beam 106, a door frame 108 is disposed on the fixing frame 107, the door frame 108 includes door frame columns 109 and door frame cross beams 110 disposed between the door frame columns 109, the first pulley 23 is connected to the door frame cross beams 110 through the first elastic member 27, a tension sensor 28 is disposed between the first elastic member 27 and the door frame 108, the door frame columns 109 are disposed with door frame sliding slots 111, and the first pulley 23 moves along the door frame sliding slots 111.

First elastic component 27 is the spring, and when the winch work, release or when retrieving the cable rope, the spring sends deformation, keeps the tensioning state of hawser, and the pulling force changes simultaneously, and tension sensor 28 detects the pulling force change, gives the control unit with signal transmission, and the control unit sends the signal and gives first motor 26, and first motor drive pinch roller rotates, avoids the deformation of spring to exceed the scope, appears the damage of spring or hawser, perhaps the unable tensioning of hawser, takes place to entangle.

The fixed frame 107 comprises a fixed top frame 113 and a fixed bottom frame 112, a second pulley 201 is arranged on the fixed top frame 111, a third pulley 202 is arranged on the fixed bottom frame 112, the first pulley 23, the second pulley 201 and the third pulley 202 are arranged on the same plane, and the cable 22 passes through the second pulley 201 and the third pulley 202 and then bypasses the first pulley 23.

A fourth pulley 203 and a fifth pulley 204 are arranged on the fixed underframe 112, the first pulley 23, the second pulley 201, the third pulley 202, the fourth pulley 203 and the fifth pulley 204 are all arranged on the same plane, the fourth pulley 203 is connected with the second motor 114, and the cable 22 passes through the space between the fourth pulley 203 and the fifth pulley 204, and the space between the first pinch roller 24 and the second pinch roller 25 after passing around the first pulley 23.

After the cable 22 is extended from the winch and wound around the second pulley 201, the third pulley 202 is engaged with the second pulley 201 to compress the cable, and then the cable is wound around the first pulley 23, and the first pulley 23 is a movable pulley, so that the tension state of the cable can be adjusted within a certain range along with the movement of the first pulley. The cable then passes around the fourth pulley 203 and the fifth pulley 204 engages the fourth pulley 203, compressing the cable. The fifth pulley 204 is connected with the second motor 114, and the second motor 114 drives the fifth pulley to rotate, so that the excessive resistance of the cable between the pulleys is avoided, and the movement of the cable is smoother. A spring is arranged between the fourth pulley 203 and the fixed underframe 112, so that the situation that the cable is damaged due to large tension generated on the cable when the winch acts instantaneously is avoided, and a buffering effect is achieved. After the cable extends out of the space between the fourth pulley and the fifth pulley, the cable enters the space between the first pinch roller and the second pinch roller and moves under the traction of the first pinch roller and the second pinch roller.

The lifting frame 31 comprises a lifting frame body 301 and a connecting frame 302 arranged at the bottom end of the lifting frame body 301, and the first connecting part 32 is arranged on the connecting frame 302;

the first connecting portion 32 includes a first connecting rod 303 and a first ring 304, the first ring 304 is disposed on the connecting frame 302 through the first connecting rod 303, the frame body 13 is provided with a cross beam 106, the second connecting portion 34 includes a second connecting rod 305 and a second ring 306, the second ring 306 is disposed under the cross beam 106 through the second connecting rod 305, and the first ring 304 can be coaxial with the second ring 306 by being lifted;

an electric push rod 307 is arranged below the cross beam 106, and a push rod of the electric push rod 307 is coaxial with the second circular ring 306.

In this embodiment, the number of the first rings 304 is two, the number of the second rings 306 is four, the two first rings 304 can move to between the four second rings 306, and the push rod of the electric push rod 307 extends into the first rings and the second rings, so that the crane is connected to the frame body through the first rings, the second rings and the push rod, and the crane is prevented from being stressed for a long time.

The third connecting portion 33 comprises a driving portion 308, a connecting rod 309 and a hand grip, the fourth connecting portion 41 comprises an ROV connecting rod 401 and a connecting ball 402 arranged at one end of the ROV connecting rod 401, the cable 22 passes through the connecting ball 402 and is fixedly connected with the connecting ball 402, the hand grip comprises two arc-shaped hand grip portions 310, the hand grip portions 310 are hinged under the connecting frame 302, one end of the connecting rod 309 is hinged to the hand grip portions 310, the other end of the connecting rod 309 is hinged to the driving portion 308, and the cable 22 passes through a space between the two hand grip portions 310.

The driving portion 308 includes an electric cylinder, and a piston end of the electric cylinder is hinged to the connecting rod 309. The driving unit 308 is not limited to an electric cylinder, and may be a device capable of driving in a straight line.

The driving portion 308 drives one end of the connecting rod 309 to move, the other end of the connecting rod 309 moves along with the connecting rod, and at the same time, the two arc-shaped hand grips 310 are driven to open or close, and the connecting ball 402 can enter or leave the space between the two hand grips 310, so as to complete the action of releasing or gripping the ROV.

The lifting frame body 301 comprises a first lifting frame 311, a second lifting frame 312 and a third lifting frame 313, the first lifting frame 311 is fixed on the frame body 13, the second lifting frame 312 is connected with the first lifting frame 311 through a guide rail and a sliding block, the third lifting frame 313 is connected with the second lifting frame 312 through a guide rail and a sliding block, and the lower end of the third lifting frame 313 is provided with the connecting frame 302.

And a shore power communication box 5 is arranged on the frame body 13, and the shore power communication box 5 is connected with the ROV through the cable 22.

The bank machine communication box is positioned at the top of the frame body, mainly comprises a master control platform, communication equipment, an industrial personal computer, navigation equipment, sonar and a radar, and is mainly used for connecting the communication between the overwater operation platform and a bank ground station and used as a platform information processing center for controlling the whole recycling and laying platform and performing semi-autonomous control by bank operators. The GPS mainly enables longitude and latitude information of the recycling and laying platform to be mastered by shoreside operators in real time during man-machine cooperative operation or semi-autonomous operation so as to control the overwater operation platform to return to the shore through control or autonomous after operation is completed, and the ROV can return to the vicinity of the platform autonomously through a navigation algorithm according to positioning information of the recycling and laying platform after diving operation.

The invention discloses a working process of an overwater operation platform for an ROV, which comprises the following steps:

the ground station comprehensive monitoring system integrates a recycling and laying control system, an ROV control system and a water surface unmanned ship control system, and the water surface unmanned ship control system is used for controlling the buoyancy raft and is an information center of the whole recycling and laying platform on the ground. The shore-based communication box is used as a signal receiving and transmitting center of an information processing center on the boat, is a ground station and a signal receiving and transmitting center of the unmanned surface boat, and simultaneously provides signal transmission of the ROV and remote control. When the ROV needs to go out of the sea for operation, the overwater operation platform carries the ROV to rapidly drive to an operation area, the ROV is fixed on the frame body in the driving process of the unmanned surface vehicle, the mooring rope is not loaded at the moment, two ways are available for the ROV to reach the operation area, one way is that a ground operator drives the ROV to a designated area through the unmanned surface vehicle control system and the navigation system to work, and the other way is that the ground operator sets a designated terminal point in a semi-autonomous mode and then starts the unmanned surface vehicle to automatically drive to the designated area through a key. After the rope reaches a designated working area, the winch is started through the recycling and laying control system, the winch rotates clockwise for 1 degree and stops, the electric push rod retracts, the push rod slowly moves out of the circular ring, the whole ROV falls on the cable rope, the winch is started again to rotate anticlockwise, the ROV slowly descends, the lifting frame simultaneously moves downwards along with the ROV, the ROV descends and enters the water until the upper surface of the ROV is parallel to the water surface, the ROV violently shakes due to the influence of waves on the unmanned surface vehicle in the whole descending process, the whole lifting device plays a role in reducing the ROV shaking through the flexible connection of the spherical lock and the ROV spherical hook, the ROV is ensured to be kept in a synchronous state with the unmanned surface vehicle in the descending process as far as possible, after the lifting device stops descending, the ROV is slowly opened under the control of the horizontal hemispherical traction devices at the two sides, the ROV at the moment is only kept connected with the recycling and laying platform through the cable rope, then the winch in the recycling and laying control system is controlled to rotate anticlockwise to loosen the rope, and finally, the ROV is controlled to carry out offshore operation through an ROV control system, the cable at the moment is used for carrying out signal transmission and power supply tasks of the ROV and a recovery platform, after the ROV finishes the operation, the ROV can drive to the recovery platform by utilizing a self-mounted GPS automatic navigation system to reach a circular area range with the radius of 2 meters taking the recovery platform as a circle center, after the ROV returns to a monitoring area, a shore machine communication box automatically sends a signal to a ground station comprehensive monitoring system to prompt that the ROV returns to a homing area, then a winch is started through a recovery and arrangement system, the rope is wound clockwise, the rope winding process can be divided into two modes, one mode is that a camera carried by a ground operator through an overwater operation platform observes and winds the rope while the rope is wound until a connecting ball of the ROV enters a grip part, the other mode is that the winch automatically rotates to a corresponding angle through calculation of the length of the released cable and then stops, and finally the connecting ball on the ROV is locked by the grip part, the winch clockwise rotation euphroe drives the crane and rises, the hawser drives the crane and rises, when making first ring and second ring coaxial, the winch stop work, electric putter inserts in the ring, the winch restarts anticlockwise rotation 1 degree stops, the weight of ROV is whole to drop on the push rod this moment, from this bank machine communication box for ground station integrated monitoring system send signal recovery operation finish, the surface of water unmanned ship gets back to the bank under unmanned ship control system controls, two kinds of return modes are the same with the operation of going out the sea.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An offshore work platform for an ROV, comprising: the device comprises a body (1), a bidirectional stretching device (2), a recycling and distributing device (3) and an ROV (4);

the body (1) comprises a buoyancy raft (11), and the buoyancy raft (11) is provided with a power device (12) and a frame body (13);

the bidirectional stretching device (2) comprises a winch (21), a cable (22), a first pulley (23), a first pinch roller (24) and a second pinch roller (25), one end of the cable (22) is wound on the winch (21), the other end of the cable (22) rounds the first pulley (23), penetrates through a space between the first pinch roller (24) and the second pinch roller (25), and then is connected with the ROV (4), the first pinch roller (24) is connected with a first motor (26), and the first pulley (23) is a movable pulley and is connected with a first elastic piece (27);

the recycling and distributing device (3) comprises a lifting frame (31) arranged on the frame body (13), a first connecting part (32) and a third connecting part (33) arranged at the lower end of the lifting frame (31), wherein the first connecting part (32) is used for being connected with a second connecting part (34) on the frame body (13), and the third connecting part (33) is used for being connected with a fourth connecting part (41) on the ROV (4);

the first pinch roller (24) and the second pinch roller (25) are arranged at the lower end of the lifting frame (31).

2. An offshore operation platform for an ROV according to claim 1, wherein the buoyant rafts (11) have two, the stern parts of the two buoyant rafts (11) being provided with a connecting rod (101);

the power device (12) comprises a propeller (102) and a mounting rod (103), one end of the mounting rod (103) is fixed at the stern part of the buoyancy raft (11), and the propeller is arranged at the other end of the mounting rod;

the frame body (13) comprises vertical parts (104) arranged on the buoyancy raft (11) and transverse parts (105) arranged between the vertical parts (104).

3. A water platform for an ROV according to claim 1, wherein the frame (13) comprises vertical portions (104) and transverse portions (105) arranged between the vertical portions (104), the winch (21) being arranged below the transverse portions (105);

be equipped with crossbeam (106) between vertical portion (104), be equipped with mount (107) on crossbeam (106), be equipped with portal (108) on mount (107), portal (108) include portal stand (109) and locate portal crossbeam (110) between portal stand (109), first pulley (23) pass through first elastic component (27) connect in on portal crossbeam (110), first elastic component (27) with be equipped with tension sensor (28) between portal (108), portal stand (109) are equipped with portal spout (111), first pulley (23) are followed portal spout (111) move.

4. A water platform for ROV according to claim 3, wherein the fixed frame (107) comprises a fixed top frame (113) and a fixed bottom frame (112), the fixed top frame (111) is provided with a second pulley (201), the fixed bottom frame (112) is provided with a third pulley (202), the first pulley (23), the second pulley (201) and the third pulley (202) are arranged in the same plane, and the cable (22) passes through between the second pulley (201) and the third pulley (202) and then passes around the first pulley (23).

5. The above-water work platform for an ROV according to claim 3, wherein a fourth pulley (203) and a fifth pulley (204) are arranged on the fixing frame (107), the first pulley (23), the fourth pulley (203) and the fifth pulley (204) are arranged in the same plane, the fourth pulley (203) is connected with the second motor (114), and the cable (22) passes through the fourth pulley (203) and the fifth pulley (204) and the first pinch roller (24) and the second pinch roller (25) in sequence after passing around the first pulley (23).

6. The above-water work platform for an ROV according to claim 1, wherein the crane (31) comprises a crane body (301) and a connecting frame (302) arranged at the bottom end of the crane body (301), and the connecting frame (302) is provided with the first connecting part (32);

the first connecting part (32) comprises a first connecting rod (303) and a first circular ring (304), the first circular ring (304) is arranged on the connecting frame (302) through the first connecting rod (303), a cross beam (106) is arranged on the frame body (13), the second connecting part (34) comprises a second connecting rod (305) and a second circular ring (306), the second circular ring (306) is arranged below the cross beam (106) through the second connecting rod (305), and the first circular ring (304) can be coaxial with the second circular ring (306) through lifting;

an electric push rod (307) is arranged below the cross beam (106), and the push rod of the electric push rod (307) is coaxial with the second circular ring (306).

7. The water platform of claim 6, wherein the third connecting portion (33) comprises a driving portion (308), a connecting rod (309) and a hand grip, the fourth connecting portion (41) comprises an ROV connecting rod (401) and a connecting ball (402) arranged at one end of the ROV connecting rod (401), the cable (22) passes through the connecting ball (402) and is fixedly connected with the connecting ball (402), the hand grip comprises two arc-shaped hand grips (310), the hand grips (310) are hinged under the connecting frame (302), one end of the connecting rod (309) is hinged to the hand grips (310), the other end of the connecting rod is hinged to the driving portion (308), and the cable (22) passes between the two hand grips (310).

8. The marine work platform for an ROV of claim 7, wherein the drive section (308) comprises an electric cylinder, the piston end of which is articulated with the connecting rod (309).

9. The water work platform for the ROV according to claim 6, wherein the lifting frame body (301) comprises a first lifting frame (311), a second lifting frame (312) and a third lifting frame (313), the first lifting frame (311) is fixed on the frame body (13), the second lifting frame (312) is connected with the first lifting frame (311) through a guide rail and a sliding block, the third lifting frame (313) is connected with the second lifting frame (312) through a guide rail and a sliding block, and the connecting frame (302) is arranged at the lower end of the third lifting frame (313).

10. A water platform for an ROV according to claim 1, wherein a shore-based aircraft communication box (5) is provided on the frame (13), the shore-based aircraft communication box (5) being connected to the ROV by the cable (22).