CN109866883B - Laying and recovering device of towing sonar for boat - Google Patents

Laying and recovering device of towing sonar for boat Download PDF

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Publication number
CN109866883B
CN109866883B CN201711263785.1A CN201711263785A CN109866883B CN 109866883 B CN109866883 B CN 109866883B CN 201711263785 A CN201711263785 A CN 201711263785A CN 109866883 B CN109866883 B CN 109866883B
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China
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hydraulic
gantry
sonar
hydraulic cylinder
locking
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CN201711263785.1A
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Chinese (zh)
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CN109866883A (en
Inventor
汤哲
王天任
李德隆
朱兴华
陈冰冰
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中国科学院沈阳自动化研究所
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Priority to CN201711263785.1A priority Critical patent/CN109866883B/en
Publication of CN109866883A publication Critical patent/CN109866883A/en
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Publication of CN109866883B publication Critical patent/CN109866883B/en

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Abstract

The invention belongs to the field of underwater equipment deployment and recovery, in particular to a deployment and recovery device of towed sonar for a boat, wherein a gantry system comprises a primary gantry, a primary hydraulic cylinder, a secondary gantry and a secondary hydraulic cylinder, one end of the primary gantry is hinged on a boat platform, the other end of the primary gantry is hinged with one end of the secondary gantry, the other end of the secondary gantry is connected with a sonar bracket, one end of the primary hydraulic cylinder is hinged on the boat platform, the other end of the primary hydraulic cylinder is hinged with the primary gantry, and two ends of the secondary hydraulic cylinder are respectively hinged on the primary gantry and the secondary gantry; a protective cover is arranged on the deployed and recovered towed sonar, the protective cover is connected with a winch pulley system arranged on the boat platform, and a locking mechanism for locking the protective cover is arranged on the sonar bracket; the locking power source of the primary hydraulic cylinder, the secondary hydraulic cylinder and the locking mechanism is respectively connected with a hydraulic system arranged on the boat platform through hydraulic pipelines. The invention can realize the distribution and recovery of the towing sonar on the water surface, and has safe and reliable structure and easy operation.

Description

Laying and recovering device of towing sonar for boat

Technical Field

The invention belongs to the field of underwater equipment deployment and recovery, and particularly relates to a deployment and recovery device of towing sonar for a boat.

Background

A towed sonar is a device deployed at the trailing end of a carrying platform to detect objects in water. At present, an A-shaped frame structure is mostly adopted for laying and recovering towed sonar; the distribution and recovery mode has the defect that after the sonar is dragged out of the water surface, the sonar can freely rock in the air due to the single-point hoisting mode, so that the sonar can be distributed and recovered only through artificial participation. The device is a relatively traditional and old deployment and recovery mode, and meanwhile, due to the fact that workers work on the small boat, the danger of deployment and recovery when sea conditions are poor is greatly increased.

Disclosure of Invention

In order to solve the problems of the conventional and high-risk distribution and recovery mode of the towing sonar, the invention aims to provide a distribution and recovery device of the towing sonar for the boat. The laying and recovering device adopts the hydraulic drive two-stage gantry to move and utilizes a high-reliability mechanical locking structure to realize the laying and recovering operation of the towing sonar on the water surface, thereby avoiding the sonar from shaking in the air after being lifted, reducing the possibility of manual operation and having safe and reliable structure.

The purpose of the invention is realized by the following technical scheme:

the invention comprises a gantry system, a sonar bracket, a protective cover, a winch pulley system and a hydraulic system, wherein the gantry system comprises a primary gantry, a primary hydraulic cylinder, a secondary gantry and a secondary hydraulic cylinder; a protective cover is arranged on the deployed and recovered towed sonar and is connected with a winch pulley system arranged on the boat platform, and a locking mechanism for locking the protective cover is arranged on the sonar bracket; the primary hydraulic cylinder, the secondary hydraulic cylinder and the locking power source of the locking mechanism are respectively connected with a hydraulic system arranged on the boat platform through hydraulic pipelines;

wherein: the sonar bracket comprises a hinge frame and a saddle-shaped frame, the upper end of the hinge frame is hinged with the other end of the secondary gantry, and the lower end of the hinge frame is connected with the saddle-shaped frame for preventing towed sonar from shaking in the process of laying and recovering; the locking mechanism is arranged on the saddle-shaped frame;

the locking mechanism comprises a square plate, a push-pull plate, a locking hydraulic cylinder, a saddle frame lower platform and a saddle frame upper platform, the saddle frame lower platform and the saddle frame upper platform are respectively arranged on the saddle frame in an up-down mode, and an upright column at the lower part of the square plate is connected to the protective cover; the locking hydraulic cylinder is arranged on the saddle frame lower platform and is connected with a hydraulic system through a hydraulic pipeline, one end of the push-pull plate is connected with the output end of the locking hydraulic cylinder, the other end of the push-pull plate is in a concave shape, the push-pull plate is driven by the locking hydraulic cylinder to reciprocate between the saddle frame upper platform and the saddle frame lower platform, and the upright post is locked or unlocked through the other end in the concave shape; the upper surface of the square plate is provided with a lifting ring connected with a winch pulley system;

damping rubber pads for reducing impact on the saddle frame in the butt joint process are arranged at the front end and the rear end of the saddle frame;

the non-working stations on the boat platform are respectively provided with a first-stage gantry supporting seat for supporting a first-stage gantry, a second-stage gantry supporting seat for supporting a second-stage gantry and a sonar supporting seat for supporting towed sonar, and the laying and recycling stations of the boat platform are provided with limiting seats for limiting the second-stage gantry; the lower end of the limiting seat is installed on the boat platform, the upper end of the limiting seat is an inclined plane, and the secondary portal is abutted to the inclined plane at the laying and recovery station;

the winch pulley system comprises a winch, a fixed pulley and a cable, the winch is installed on the boat platform and connected with the hydraulic system through a hydraulic pipeline, the fixed pulley is connected to the secondary portal, and the cable wound on the winch penetrates through the fixed pulley, penetrates through the sonar bracket and is connected with the protective cover;

the hydraulic system comprises a motor hydraulic pump module, a hydraulic valve body, a hydraulic lock and a hydraulic motor, wherein an inlet of a hydraulic pump in the motor hydraulic pump module is connected with a hydraulic oil tank, an outlet of the hydraulic pump module is divided into four paths and is respectively connected with a first-stage hydraulic cylinder, a second-stage hydraulic cylinder, a locking power source of a locking mechanism and the hydraulic motor through hydraulic pipelines, the hydraulic pipelines of all the paths are respectively provided with the hydraulic valve body and the hydraulic lock, and the hydraulic motor is connected with a winch in a winch pulley system;

in the four hydraulic pipelines connected with the outlet of the hydraulic pump, a proportional valve is arranged on the hydraulic pipeline connected with the hydraulic motor, and the other three hydraulic pipelines are provided with an electromagnetic directional valve, a one-way throttle valve and a hydraulic lock; the inlet of the overflow valve is connected with the outlet of the hydraulic pump through a hydraulic pipeline, and the outlet of the overflow valve is connected with the hydraulic oil tank.

The invention has the advantages and positive effects that:

1. the invention can realize that the speed and the axis of the surface boat are consistent with the speed and the axis of the surface boat by towing and towing the sonar through the cables during recovery, thereby effectively reducing the influence of wind waves on the recovery of the sonar, reducing the butt joint difficulty of the sonar and the saddle-shaped frame and reducing the risk of recovery.

2. The two-stage gantry structure adopted by the invention has large swing amplitude, can realize the distribution and recovery of the towed sonar on the water surface, reduces the possibility of manual operation, and reduces the risk of distribution and recovery.

3. The invention adopts a hydraulic system to realize the movement of the gantry and the locking mechanism, and simultaneously drives the hydraulic motor to provide power for the winch, thereby having high structural reliability and reducing the risk of laying and recycling.

4. The damping rubber pad is arranged on the bottom side of the saddle frame and used for reducing the impact of towing sonar and the saddle frame in the hoisting process, avoiding damage to the protective cover, improving the safety of laying and recycling and improving the reliability in butt joint.

5. The invention has compact structure, reasonable arrangement, safety, reliability and easy operation, and is suitable for the laying and the recovery of the towing sonar by the small surface boat.

Drawings

FIG. 1 is a schematic illustration of the invention in a non-operating position;

FIG. 2 is a schematic structural view of the present invention at a deployment and retrieval station;

fig. 3 is a schematic structural diagram of a sonar protection cover of the present invention;

FIG. 4 is a schematic structural view of the hinge bracket of the present invention;

FIG. 5 is a schematic structural view of the locking mechanism of the present invention;

FIG. 6 is a schematic diagram of the hydraulic system of the present invention;

wherein: the device comprises a towing sonar device 1, a sonar supporting seat 2, a second-stage gantry limiting seat 3, a 4-position first-stage gantry, a first-stage hydraulic cylinder 5, a first-stage gantry supporting seat 6, a hydraulic system 7, a winch 8, a protective cover 9, a hinge frame 10, a fixed pulley 11, a second-stage gantry supporting seat 12, a second-stage hydraulic cylinder 13, a second-stage gantry 14, a cable 15, a waterline position 16, a hydraulic cylinder seat 17, a boat platform 18, a lifting ring 19, a damping rubber pad 20, a pin shaft 21, a saddle-shaped frame 22, a square plate 23, a push-pull plate 24, a locking hydraulic cylinder 25, a saddle-shaped frame lower platform 26, a saddle-shaped frame upper platform 27, an oil tank 28, an electric motor 29, a hydraulic pump 30, an electromagnetic reversing valve 31, a one-way throttle valve 32, a hydraulic lock 33, a hydraulic motor 34, a proportional valve 35, an overflow valve 36 and a stand column 37.

Detailed Description

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

As shown in fig. 1-2, the invention comprises a gantry system, a sonar bracket, a protective cover 9, a winch pulley system and a hydraulic system 7, wherein the gantry system comprises a primary gantry 4, a primary hydraulic cylinder 5, a secondary gantry 14, a secondary hydraulic cylinder 13, a primary gantry supporting seat 6, a secondary gantry supporting seat 12 and a limiting seat 3, one end of the primary gantry 4 is connected with a boat platform 18 through a hydraulic cylinder seat 17, the other end of the primary gantry 4 is hinged with one end of the secondary gantry 14, and the other end of the secondary gantry 14 is connected with the sonar bracket; a push lug is arranged on the outer side of the first-level portal frame 4, one end of the first-level hydraulic cylinder 5 is hinged on the boat platform 18, and the other end of the first-level hydraulic cylinder is hinged with the push lug on the outer side of the first-level portal frame 4; the inner side of the first-stage gantry 4 and the inner side of the second-stage gantry 14 are both provided with a push lug, and two ends of the second-stage hydraulic cylinder 13 are respectively hinged to the push lug on the inner side of the first-stage gantry 4 and the push lug on the inner side of the second-stage gantry 14; the large-amplitude swing of the two-stage gantry is realized through the first-stage hydraulic cylinder 5 and the second-stage hydraulic cylinder 13, so that the dragging sonar 1 is recovered to the boat platform 18 at the position of the waterline 16. And a first-stage gantry supporting seat 6 for supporting a first-stage gantry 4, a second-stage gantry supporting seat 12 for supporting a second-stage gantry 14 and a sonar supporting seat 2 for supporting a towed sonar 1 are respectively arranged at non-working stations on the boat platform 18, so that the reliability of the distribution and recovery device is ensured. A secondary portal limiting seat 3 is arranged at a distribution and recovery station on the boat platform 18 for mechanically limiting the secondary portal 14; the lower end of the limiting seat 3 is fixed on the boat platform 18, the upper end of the limiting seat is an inclined plane, and the secondary portal 14 is abutted to the inclined plane at the distribution and recovery station, so that the safety of the distribution and recovery device at the distribution and recovery station is greatly improved.

As shown in fig. 3 to 5, the sonar bracket comprises a hinge frame 10, a saddle 22 and a shock-absorbing rubber pad 20, the upper end of the hinge frame 10 is hinged to the other end of the second-stage gantry 14 through a pin 21, so that the hinge frame 10 can be always kept horizontal due to the action of gravity in the movement process of the second-stage gantry 14, and the attitude level of the towed sonar 1 is controlled. The lower end of the articulated frame 10 is provided with a saddle frame 22, and the saddle frame and the articulated frame are reliably connected through bolts. During the laying and recovery process, the towed sonar 1 leans against the saddle-shaped frame 22, so that the towed sonar 1 is prevented from shaking during the laying and recovery process. The lower part of saddle frame 22 is the arc, and both ends all are equipped with shock-absorbing rubber pad 20, reduce the impact of butt joint process to saddle frame 22. A locking mechanism for locking the protective cover 9 is provided on the upper portion of the saddle frame 22.

Install safety cover 9 on the towed sonar 1 of being laid out and retrieving, safety cover 9 is the arc, the upper surface is equipped with square board 23, this square board 23's lower surface be equipped with safety cover 9 upper surface connection's stand 37, square board upper surface is equipped with rings 19, safety cover 9's lower surface and towed sonar 1 realization bolted connection.

The sonar carriage is connected to the protective cover 9 by a locking mechanism. The locking mechanism comprises a square plate 23, a push-pull plate 24, a locking hydraulic cylinder 25, a saddle frame upper platform 27 and a saddle frame lower platform 26, the saddle frame lower platform 26 and the saddle frame upper platform 27 are respectively arranged on the saddle frame 22 in an up-and-down mode, and the push-pull plate 24 is arranged between the saddle frame upper platform 27 and the saddle frame lower platform 26 to achieve planar motion of the push-pull plate 24. The locking hydraulic cylinder 25 is fixed on the saddle frame lower platform 26 and is connected with the hydraulic system 7 through a hydraulic pipeline, one end of the push-pull plate 24 is hinged with the locking hydraulic cylinder 25 to provide a power source for the movement of the dragging plate 24, and the other end of the push-pull plate 24 is concave. After the butt joint process is started, when the protective cover 9 leans against the saddle frame 22, the locking hydraulic cylinder 25 starts to act to drive the push-pull plate 24 to move forwards between the saddle frame upper platform 27 and the saddle frame lower platform 26, and the upright post 37 is clamped in the concave shape at the other end of the push-pull plate 24; after the locking hydraulic cylinder 25 stops moving, the square plate 23 just falls on the push-pull plate 24, and the sonar protection cover 9 is locked.

The winch pulley system comprises a winch 8, a fixed pulley 11 and a cable 15, the fixed pulleys 11 are mounted at two ends of the secondary gantry 14, one end of the cable 15 penetrates through the hinged frame 10 and the saddle frame 22 and then is connected with a lifting ring 19 on the protective cover 9, and the other end of the cable is connected with the winch 8 mounted on the boat platform 18 through the fixed pulley 11. The winch 8 is driven by a hydraulic motor 34 in connection with the hydraulic system 7.

The primary hydraulic cylinder 5, the secondary hydraulic cylinder 13, the locking hydraulic cylinder 25 and the winch 8 are respectively connected with a hydraulic system 7 arranged on the boat platform 18 through hydraulic pipelines. The hydraulic system 7 provides power for the movement of the two-stage portal frame and the push-pull plate 24 and the rotation of the hydraulic motor 34, as shown in fig. 6, the hydraulic system comprises a motor 29, a hydraulic pump 30, a hydraulic oil tank 28, an electromagnetic directional valve 31, a one-way throttle valve 32, a hydraulic lock 33, the hydraulic motor 34, a proportional valve 35 and an overflow valve 36, wherein the inlet of the hydraulic pump 30 is connected with the hydraulic oil tank 28, and the outlet of the hydraulic pump 30 is divided into four paths and is respectively connected with the first-stage hydraulic cylinder 5, the second-stage hydraulic cylinder 13, the locking hydraulic cylinder 25 and the; in the four hydraulic pipelines connected with the outlet of the hydraulic pump 30, a proportional valve 35 is arranged on the hydraulic pipeline connected with the hydraulic motor 34, and the other three hydraulic pipelines are provided with an electromagnetic directional valve 31, a one-way throttle valve 32 and a hydraulic lock 33; namely, the hydraulic pipeline connected with the three hydraulic cylinders, the outlet of the electromagnetic directional valve 31 is connected with the inlet of the one-way throttle valve 32 through the hydraulic pipeline, the outlet of the one-way throttle valve 32 is connected with the inlet of the hydraulic lock 33, and the outlet of the hydraulic lock 33 is connected with the primary hydraulic cylinder 5, the secondary hydraulic cylinder 13 or the locking hydraulic cylinder 25. The one-way throttle valve 32 is used for adjusting the movement speed of the primary hydraulic cylinder 5, the secondary hydraulic cylinder 13 and the locking hydraulic cylinder 25, and the hydraulic lock 33 is used for controlling the action and the stop of the branch. The outlet of the proportional valve 35 is connected to a hydraulic motor 34, the hydraulic motor 34 is connected to the winch 8, and the rotation speed of the hydraulic motor 34 can be precisely controlled by controlling the proportional valve 35. The inlet of the overflow valve 36 is connected to the outlet of the hydraulic pump 30 via a hydraulic line, and the outlet of the overflow valve 36 is connected to the tank 28 for regulating the pressure of the hydraulic system. The hydraulic cylinder and the winch 8 are controlled by controlling the hydraulic valve body, so that the whole cloth laying and recovering device is automatically controlled.

The working principle of the invention is as follows:

first, a procedure of laying out the towed sonar 1 will be described: the distribution and recovery device is arranged on the boat platform 18, before the distribution action is started, the first-stage hydraulic cylinder 5, the second-stage hydraulic cylinder 13, the locking hydraulic cylinder 25 and the winch 8 are all in a non-working state, the two-stage portal is arranged in a Z shape, and the towed sonar 1 is locked with the sonar bracket through the locking mechanism, as shown in figure 1. When the distribution starts, a motor 29 of the hydraulic system 7 is started to drive a secondary hydraulic cylinder 13 to act, a secondary gantry 14 drives a hinge frame 10 and the towed sonar 1 to lift up together, then a primary hydraulic cylinder 5 is driven to act by controlling a hydraulic valve body, and the towed sonar 1 is swung to the position of the water surface by the aid of the two-stage hydraulic cylinder in a cooperative action manner; and simultaneously, the proportional valve 35 is controlled to drive the winch 8 to work, and the cable 15 is released. Because the hinged frame 10 is hinged with the second-stage portal 14, the hinged frame 10 and the towed sonar 1 are always kept horizontal due to the action of gravity in the whole laying process, and the safety of the laying and recovering device in the laying process is guaranteed. When the secondary gantry 14 swings to the extreme position, the limiting seat 3 supports the secondary gantry 14; at the moment, the hydraulic valve body is controlled, the first-stage hydraulic cylinder 5 and the second-stage hydraulic cylinder 13 are locked through the hydraulic lock 33, and the two stages of door frames are kept at the distribution and recovery station. The locking hydraulic cylinder 25 is then controlled to pull the push-pull plate 24, releasing the locking of the protective cover 9 and releasing the towed sonar 1. After the towed sonar 1 is released, the first-stage hydraulic cylinder 5 and the second-stage hydraulic cylinder 13 are controlled to act, and the two-stage portal frame is retracted into the range of the boat platform 18. The towed sonar 1 starts underwater operation, and at this time, the length of the cable 15 is controlled by controlling the winch 8, thereby controlling the distance between the towed sonar 1 and the mother ship.

The process of recovering the towed sonar 1 is the reverse of the deployment process, in that the towed sonar 1 is recovered within the confines of the boat platform 18. At the start of recovery, winch 8 is controlled to retract cable 15 so that towed sonar 1 slowly approaches the mother vessel. And (4) continuing sailing by the mother ship, keeping the axes and the speeds of the mother ship and the towed sonar 1 consistent until the protection cover 9 of the towed sonar 1 is exposed out of the water surface, and stopping the action of the winch 8 at the moment. And then, the first-stage hydraulic cylinder 5 and the second-stage hydraulic cylinder 13 are controlled to act, the first-stage door frame 4 and the second-stage door frame 4 are swung to a laying and recycling operation station, at the moment, the saddle-shaped frame 22 hinged to the second-stage door frame 14 leans against the back of the protection cover 9, the locking hydraulic cylinder 25 is controlled, and the push-pull plate 24 is pulled to lock the protection cover 9. After the locking action is finished, the hydraulic valve body is controlled to realize the cooperative work of the two stages of gantries, and the dragging sonar 1 is recovered. Before the recovery work is finished, the first-stage gantry 4 is in place firstly, the first-stage gantry supporting seat 6 is used for positioning the first-stage gantry, then the second-stage gantry 14 is in place and is supported by the second-stage gantry supporting seat 12, meanwhile, the towed sonar 1 is recovered to the designated position of the boat platform 18 and is supported by the sonar supporting seat 2, and in the process, the winch 8 is matched to act to achieve cable collection.

The laying and recovery process is realized by the cooperative action of the two-stage portal, the two-stage portal 14 acts firstly when the laying starts, and the one-stage portal 4 acts later; before recovery, the first-stage gantry 4 is located first, and the second-stage gantry 14 is located later. And in the process of deployment and recovery, the towed sonar 1 is ensured not to interfere with the cable 15, and the safety of the system is ensured.

Before the recovery work starts, the towed sonar 1 and the mother ship sail at the same speed, and the towed sonar 1 and the mother ship are ensured to keep the axial consistency, so that the influence of wind waves on the recovery can be effectively reduced, and the butt joint difficulty of the towed sonar 1 and the saddle 22 is reduced. Meanwhile, a two-stage gantry structure is adopted, the swing amplitude is large, sonar can be distributed and recovered on the water surface, the possibility of human intervention is reduced, and the danger during operation is greatly reduced.

Claims (8)

1. The utility model provides a recovery unit is put with cloth of towing sonar to ship which characterized in that: the system comprises a gantry system, a sonar bracket, a protective cover (9), a winch pulley system and a hydraulic system (7), wherein the gantry system comprises a primary gantry (4), a primary hydraulic cylinder (5), a secondary gantry (14) and a secondary hydraulic cylinder (13), one end of the primary gantry (4) is hinged to a boat platform (18), the other end of the primary gantry is hinged to one end of the secondary gantry (14), the other end of the secondary gantry (14) is connected with the sonar bracket, one end of the primary hydraulic cylinder (5) is hinged to the boat platform (18), the other end of the primary hydraulic cylinder is hinged to the primary gantry (4), and two ends of the secondary hydraulic cylinder (13) are hinged to the primary and secondary gantries (4 and 14) respectively; a protective cover (9) is arranged on the deployed and recovered towed sonar (1), the protective cover (9) is connected with a winch pulley system arranged on a boat platform (18), and a locking mechanism for locking the protective cover (9) is arranged on the sonar bracket; the primary hydraulic cylinder (5), the secondary hydraulic cylinder (13) and a locking power source of the locking mechanism are respectively connected with a hydraulic system (7) arranged on the boat platform (18) through hydraulic pipelines;
the sonar bracket comprises a hinged frame (10) and a saddle-shaped frame (22), the upper end of the hinged frame (10) is hinged with the other end of the secondary gantry (14), and the lower end of the hinged frame is connected with the saddle-shaped frame (22) for preventing the towed sonar (1) from shaking in the process of laying and recovering; the locking mechanism is arranged on the saddle-shaped frame (22);
the locking mechanism comprises a square plate (23), a push-pull plate (24), a locking hydraulic cylinder (25), a saddle frame lower platform (26) and a saddle frame upper platform (27), the saddle frame lower platform (26) and the saddle frame upper platform (27) are respectively arranged on the saddle frame (22) in an up-down mode, and an upright post (37) at the lower part of the square plate (23) is connected to the protective cover (9); the locking hydraulic cylinder (25) is arranged on the saddle frame lower platform (26) and is connected with the hydraulic system (7) through a hydraulic pipeline, one end of the push-pull plate (24) is connected with the output end of the locking hydraulic cylinder (25), the other end of the push-pull plate is concave, the push-pull plate (24) is driven by the locking hydraulic cylinder (25) to reciprocate between the saddle frame upper platform (27) and the saddle frame lower platform (26), and the upright post (37) is locked or unlocked through the concave-shaped other end.
2. The deployment and retrieval apparatus for towed sonar according to claim 1, wherein: and the upper surface of the square plate (23) is provided with a lifting ring (19) connected with a winch pulley system.
3. The deployment and retrieval apparatus for towed sonar according to claim 1, wherein: and damping rubber pads (20) for reducing impact on the saddle-shaped frame (22) in the butt joint process are mounted at the front end and the rear end of the saddle-shaped frame (22).
4. The deployment and retrieval apparatus for towed sonar according to claim 1, wherein: the non-working stations on the boat platform (18) are respectively provided with a first-stage gantry supporting seat (6) for supporting a first-stage gantry (4), a second-stage gantry supporting seat (12) for supporting a second-stage gantry (14) and a sonar supporting seat (2) for supporting a towed sonar (1), and the laying and recycling stations of the boat platform (18) are provided with limiting seats (3) for limiting the second-stage gantry (14).
5. The deployment and retrieval device of towed sonar according to claim 4, wherein: the lower end of the limiting seat (3) is installed on the boat platform (18), the upper end of the limiting seat is an inclined plane, and the secondary gantry (14) abuts against the inclined plane at the laying and recovery station.
6. The deployment and retrieval apparatus for towed sonar according to claim 1, wherein: the winch pulley system comprises a winch (8), a fixed pulley (11) and a cable (15), the winch (8) is installed on the boat platform (18) and connected with the hydraulic system (7) through a hydraulic pipeline, the fixed pulley (11) is connected to the secondary portal (14), and the cable (15) wound on the winch (8) penetrates through the fixed pulley (11) and then penetrates through the sonar bracket to be connected with the protective cover (9).
7. The deployment and retrieval apparatus for towed sonar according to claim 1, wherein: the hydraulic system (7) comprises a motor hydraulic pump module, a hydraulic valve body, a hydraulic lock (33) and a hydraulic motor (34), wherein an inlet of a hydraulic pump (30) in the motor hydraulic pump module is connected with a hydraulic oil tank (28), an outlet of the motor hydraulic pump module is divided into four paths, the motor hydraulic pump module is respectively connected with a locking power source of a first-stage hydraulic cylinder (5), a second-stage hydraulic cylinder (13) and a locking mechanism and the hydraulic motor (34) through hydraulic pipelines, the hydraulic pipelines of the paths are respectively provided with the hydraulic valve body and the hydraulic lock (33), and the hydraulic motor (34) is connected with a winch (8) in the winch pulley system.
8. The deployment and retrieval apparatus for towed sonar according to claim 7, wherein: in four hydraulic pipelines connected with the outlet of the hydraulic pump (30), a proportional valve (35) is arranged on a hydraulic pipeline connected with the hydraulic motor (34), and the rest three hydraulic pipelines are respectively provided with an electromagnetic directional valve (31), a one-way throttle valve (32) and a hydraulic lock (33); the inlet of the overflow valve (36) is connected with the outlet of the hydraulic pump (30) through a hydraulic pipeline, and the outlet of the overflow valve (36) is connected with the hydraulic oil tank (28).
CN201711263785.1A 2017-12-05 2017-12-05 Laying and recovering device of towing sonar for boat CN109866883B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711263785.1A CN109866883B (en) 2017-12-05 2017-12-05 Laying and recovering device of towing sonar for boat

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Application Number Priority Date Filing Date Title
CN201711263785.1A CN109866883B (en) 2017-12-05 2017-12-05 Laying and recovering device of towing sonar for boat

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CN109866883B true CN109866883B (en) 2020-10-09

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Publication number Priority date Publication date Assignee Title
CN110745215B (en) * 2019-10-09 2020-11-13 中国石油大学(北京) Deep sea operation equipment lowering system and method

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IT1316771B1 (en) * 2000-02-18 2003-05-12 Calzoni Spa Self-propelled equipment for gripping, locking and handling underwater vehicles and the like
FR2986498B1 (en) * 2012-02-03 2014-02-14 Thales Sa Navigant engine receiving assembly and system for recovering and deploying to the sea of such an equipment
CN104943825A (en) * 2014-03-25 2015-09-30 孙玉清 Mechanical anti-sway method for marine weight lifting
US9630812B1 (en) * 2014-09-30 2017-04-25 The United States Of America As Represented By The Secretary Of The Navy Load transfer accessory for diminishing unwanted motion of cylindrical cargo during loading operations
CN205256590U (en) * 2015-11-24 2016-05-25 捷胜海洋装备股份有限公司 Scientific investigation ship receive and releases safety limiting mechanism of equipment
CN206243395U (en) * 2016-11-25 2017-06-13 大连华锐重工集团股份有限公司 Underwater robot extension and retraction system

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