| With the further exploration of ocean,the submerged depth of underwater operation,detecting and recording instrument are becoming deeper and deeper.At the same time,the objective is becoming more and more diversity,including marine core drill,sediment corer,ocean bottom station,ROV/AUV,biological sampler,etc.In order to have a stability in water and smooth recovery for underwater operation device,we need a whole set of launch and recovery system to realize.Domestic hoists are mainly dependent on overseas leasing,and Domestic hoists commonly focus on the large door-frame fixed in the ship stern.For change this situation,this paper has designed a compact A-frame launch and recovery system which is easy to transport.This system is composed of steel-frame structure,telescopic hydraulic cylinder and hydraulic winch,they are used for A-frame and cable launch and recovery.Steel-frame structure is divided into A-frame and Base-frame,fixed pulley is installed on the A-frame and a rope which is respectively connect the load and winch pass through the fixed pulley.Base-frame is mainly used for fixation and protection,the cylinder,winch,cable arrangement,antiskid plate,hydraulic components,operation panel,tool box and so on are all installed on the Base-frame.Because of this launch and recovery system is applied to 3000 deep-sea ocean,Waves heave up and down will influence the launch and recovery of cable,this paper choose the controlled winch by comparing the commonly used five compensation methods.Meanwhile we make a mathematical modeling for the cable force and get the result of winch cable speed limit.Combined with the rated load and wire diameter we could make sure the selection of winch.This paper has established the equation of motion about the process of A-frame working and determine the ideal installation location of hydraulic cylinder.And we have a selection of hydraulic cylinder combined with working conditions.At the same time,this paper gives the detailed design of pulley,steel structure and pin shaft,and we also have described the relevant fit system and welding problems.We have a assessment about feasibility of design.We have an analysis regarding beam shear force and bending moment by ForceEffect on dangerous cross sections and we replace with higher allowable stress in the failure structure.And we make a finite element analysis regarding the overall steel frame and pin shaft by HyperMesh and Ansys to ensure that the design has enough stiffness,strength and stability.In the end,We have a hydraulic system design including compensation circuit,winch circuit and synchronous double-hydraulic cylinder system circuit.Among them,compensation circuit is integrated in the controlled winch,and this circuit can reduce negative effects caused by heave fluctuation.Winch circuit has two functions,including winch release and brake.Synchronous double-hydraulic cylinder system circuit has the effect of adjusting A-frame angle,and A-frame can have a stable movement within and outside of the ship’s rail.We have a detailed feasibility analysis to all circuits and we verify the double-hydraulic synchronism by AMESim.This paper expounds the principle of the hydraulic control and the control sequence of electromagnet,and we have confirmed the main selection of hydraulic components,including oil hydraulic pump,electromotor,reflux valve,magnetic exchange valve,balance valve,throttle valve,oil tube,oil tank,etc.At the same time,In this paper,the control panel of winch and door-frame is installed in the back of launch and recovery system.Control panel can display various oil pressure and has automatic/manual control function.By connecting control box,we also can realize remote control of the winch and the hydraulic cylinder. |
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