CN111362164A - Device for laying and recovering deep-sea towed sonar system - Google Patents
Device for laying and recovering deep-sea towed sonar system Download PDFInfo
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- CN111362164A CN111362164A CN202010240642.4A CN202010240642A CN111362164A CN 111362164 A CN111362164 A CN 111362164A CN 202010240642 A CN202010240642 A CN 202010240642A CN 111362164 A CN111362164 A CN 111362164A
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- cable
- oil cylinder
- arm
- folding arm
- cable guide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/02—Davits, i.e. devices having arms for lowering boats by cables or the like
- B63B23/04—Davits, i.e. devices having arms for lowering boats by cables or the like with arms pivoting on substantially horizontal axes, e.g. gravity type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
Abstract
The invention relates to a device for deploying and recovering a deep sea towed sonar system, which comprises a towing winch, a guide cable assembly and a folding arm crane, wherein the towing winch is connected with the guide cable assembly; the towing winch mainly comprises a support, a winding drum arranged on the support, a towing cable wound on the winding drum and a cable arrangement mechanism arranged on the support, wherein one end of the winding drum is connected with a cable winding and unwinding driving mechanism, and the other end of the winding drum is provided with a photoelectric slip ring; the cable guide assembly comprises a cable guide bracket, the cable guide bracket is connected to the deck through a linear guide rail pair and a roller screw, a cable guide pulley is installed in the cable guide bracket, a cable guide piece with a spiral cable guide groove is arranged at the end close to the stern, and two pneumatic supporting rods are connected between the cable guide piece and the cable guide bracket; the folding arm crane mainly comprises a base, a main arm rotatably connected to the base, a folding arm connected to the upper end of the main arm, a folding arm oil cylinder arranged between the folding arm and a support arm, a telescopic arm arranged in the folding arm, and a telescopic oil cylinder connected with the telescopic arm and the folding arm, wherein an earring used for hanging a release is arranged at the outer end of the telescopic arm. The invention is easy to control, saves manpower and has high reliability.
Description
Technical Field
The invention relates to the technical field of ocean investigation and marine target search, relates to a towed sonar system for searching a black box, and particularly relates to a device for deploying and recovering a deep sea towed sonar system.
Background
The searching and positioning of the deep sea wreck airplane and the sunken ship are difficult to overcome internationally, and the black box searching success rate under the complex sea condition is extremely low because the equipped acoustic beacon has low emission source level, high working frequency, large absorption loss, complex aquatic channel environment and limited duration. The deep sea underwater vehicle is carried with sonar searching technology, has the advantages of saving a large amount of manpower, monitoring signals at any time, and having the defects of low searching speed and need of timing salvage and charging. The deep-sea towed sonar underwater target searching technology greatly compensates a short plate of a deep-sea underwater vehicle carrying the sonar searching technology. The deep-sea towed sonar underwater target searching technology has the characteristics of continuous searching, wide searching range and real-time monitoring.
However, since the complexity of sea conditions is unpredictable, a successful deployment and recovery of the acoustic beacon positioning system becomes a primary prerequisite for the deep-sea towed sonar underwater target searching technology. Towed sonar deployment system needs to guarantee the safety of sonar equipment to it is not injured to protect the towed cable in the search process.
Through the search of the prior art, the technical scheme similar to the patent is not searched.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the device for deploying and recovering the deep sea towed sonar system, which is easy to operate and control, saves manpower and has high reliability.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a device for laying retrieve deep sea towed sonar system which characterized in that: the device comprises a towing winch, a guide cable assembly and a folding arm crane; the guide cable assembly and the knuckle boom crane are arranged on a stern deck along the left-right direction, and the towing winch is arranged on the deck and is in a front-back opposite position with the guide cable assembly;
the towing winch comprises a support, the support is fixed on a deck, a horizontally arranged winding drum is mounted on the support, a towing cable is wound on the winding drum, the inner ring end of the towing cable is fixedly connected with the winding drum, one end of the winding drum is connected with a cable winding and unwinding driving mechanism, a machine cover is mounted outside the end of the winding drum, an electric cabinet is mounted on the inner wall of the machine cover, and an oil tank, a hydraulic pump driving motor and a servo valve are mounted in the machine cover; the other end of the winding drum is provided with a photoelectric slip ring, the rotating part of the photoelectric slip ring is connected with the end head of the inner ring of the towing cable and is fixed with the winding drum, and the fixed part of the photoelectric slip ring is fixed on the support and is connected with a signal receiver on a ship through an optical cable; the support is also provided with a cable arrangement mechanism;
the cable guide assembly comprises a cable guide bracket, the lower end of the cable guide bracket is connected with a linear guide rail fixed on a deck through a sliding block, a ball screw is arranged on one side of the linear guide rail in parallel, one end of the ball screw is connected with a cable guide servo motor, and a nut of the ball screw is connected with the lower end of the cable guide bracket; a cable guide pulley is arranged in the cable guide bracket through a wheel shaft, and a plurality of cable pressing guide wheels are arranged at the top of the cable guide bracket; a cable guide piece with a worm-shaped cable guide groove is arranged at the end close to the stern, and the cable guide piece is connected with the cable guide bracket through a connecting plate; a plurality of groups of anti-falling catch wheels are correspondingly arranged on the two sides of the spiral cable guide groove on the cable guide piece, two sides below the cable guide piece are respectively connected with a pneumatic supporting rod, and the other end of the pneumatic supporting rod is connected to two side surfaces of the cable guide support; leading out the towing winch by the towing cable, and sequentially passing through the cable guide pulley and the volute cable guide groove into the sea;
the folding arm crane comprises a base, wherein the base is fixed on a stern deck, a main arm is connected above the base through a rotary supporting bearing, the lower end part of the main arm is connected with a rotary driving mechanism, the upper end part of the main arm is connected with a folding arm through a pin shaft, a folding arm oil cylinder is arranged between the folding arm and a supporting arm, one end of the folding arm oil cylinder is connected with the main arm through a pin shaft, and the other end of the folding arm oil cylinder is connected with the folding arm through a pin; a telescopic arm is arranged in the folding arm, the telescopic arm is in linear sliding fit with the folding arm, and an earring for hanging a release is arranged at the outer end of the telescopic arm; a telescopic oil cylinder is arranged in the telescopic arm, the cylinder end of the telescopic oil cylinder is connected with the folding arm through a pin shaft, and a pin shaft avoiding groove is arranged on the corresponding side surface of the inner end of the telescopic arm; the cylinder rod end of the telescopic oil cylinder is connected with the outer end part of the telescopic arm through a pin shaft;
the output end of the hydraulic pump driving motor is connected with a hydraulic pump, the oil inlet and the oil outlet of the hydraulic pump are respectively connected with an oil tank and a servo valve through oil pipes, and the servo valve is connected with a folding arm oil cylinder and a telescopic oil cylinder through oil pipes.
Further: the cable winding and unwinding driving mechanism comprises a hydraulic motor and a speed reducer, wherein the output end of the speed reducer is inserted into the winding drum and is coaxially and fixedly connected with the winding drum through a bolt.
Further: the cable arrangement mechanism comprises a cable arrangement lead screw and an cable arrangement feed bar which are arranged in parallel, two ends of the cable arrangement lead screw and the cable arrangement feed bar are supported by a support, and one end of the cable arrangement lead screw is connected with a cable arrangement servo motor; the cable arranging device comprises a cable arranging lead screw, a cable arranging polished rod, a cable arranging device assembly, a cable arranging support and a cable arranging device, wherein the cable arranging device assembly is connected to the cable arranging lead screw and the cable arranging polished rod and comprises a cable arranging pulley and a cable arranging support, the lower end of the cable arranging support is connected with the cable arranging polished rod through a sliding block and is connected with the cable arranging lead screw through a nut, the cable arranging pulley is supported on the cable arranging support through a wheel shaft, and a cable arranging control sensor is mounted on each of two sides of a wheel groove, located on the cable arranging pulley.
Further: the rotary driving mechanism comprises four rotary action oil cylinders, wherein a first rotary action oil cylinder and a second rotary action oil cylinder are arranged on one side, a third rotary action oil cylinder and a fourth rotary action oil cylinder are arranged on the other side, the first rotary action oil cylinder and the fourth rotary action oil cylinder are arranged oppositely, and the second rotary action oil cylinder and the third rotary action oil cylinder are arranged oppositely; the first rotation action oil cylinder and the fourth rotation action oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, the second rotation action oil cylinder and the third rotation action oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, and tooth shapes are arranged on the inner sides of the two shared cylinder rods or the inner sides of the two connecting rods to form two racks; the lower end part of the main arm is inserted into the inner cavity of the base from top to bottom, a fluted disc is coaxially or fixedly arranged on the lower end part of the main arm, and the fluted disc is in tooth meshing with the racks on two sides.
Further: the servo valve is of a five-linkage type, wherein a first linkage of the servo valve is connected with a hydraulic pump through an oil pipe, a second linkage of the servo valve is connected with a hydraulic motor of the cable retracting and releasing driving mechanism through an oil pipe, and a third linkage, a fourth linkage and a five-linkage of the servo valve are respectively connected with a rotary acting oil cylinder, a folding arm oil cylinder and a telescopic oil cylinder of the folding arm crane through oil pipes; the second, third, fourth and fifth joints of the servo valve are respectively provided with a handle for controlling the opening and closing of the corresponding valve core.
Further: the four surfaces at the upper end of the telescopic arm are externally fixed with follow-up sliding blocks, and the follow-up sliding blocks at the periphery are in friction contact with the inner cavity surface of the folding arm; the four sides of the inner cavity of the folding arm are provided with fixed sliding blocks close to the extending port of the telescopic arm, and the fixed sliding blocks are in sliding contact with the outer side surface of the telescopic arm; the follow-up sliding block and the fixed sliding block are both made of nylon materials.
The invention has the advantages and positive effects that:
1. the invention is composed of three parts of a towing winch, a guide cable assembly and a folding arm crane, wherein the towing winch is mainly used for storing and retracting the towing cable, the folding arm crane is mainly used for hoisting and recovering a sonar towed body, a guide cable pulley is mainly used for guiding and protecting the towing cable, and the sonar towed body can reach a preset depth at a preset navigation speed through the matching motion of the three parts, so that the sonar towed body can be smoothly and safely laid. When the search task is completed, the sonar towed body can be successfully and safely recovered through the matching motion of the three parts, and the reliability is high.
2. The invention can drive the winding drum to take in and pay off the cable by controlling the servo valve, can control the rotary oil cylinder to drive the main arm to rotate, can control the folding arm oil cylinder to drive the folding arm to pitch, and can control the telescopic oil cylinder to drive the telescopic arm to stretch, thereby having the advantages of easy control and labor saving.
3. According to the invention, the controller can simultaneously drive the cable arrangement servo motor and the cable guide servo motor to synchronously act according to the feedback of the cable arrangement control sensor, so that the cable arrangement regularity is ensured.
4. Due to the complex sea condition and the change of course, the angle of the towing cable is changed constantly, and the cable guide piece with the worm-shaped cable guide groove can be self-adjusted up and down, left and right within a certain range under the support of the pneumatic supporting rod, so that the towing cable is not extremely bent to cause signal interruption, and the reliability and the continuity of the searching work are ensured; a plurality of cable pressing guide wheels above the cable guide pulley can limit the dragging cable from disengaging from the cable guide pulley, and the safety of the dragging cable is guaranteed.
5. All control systems and power systems of the invention are centralized in the towing winch, all operations can be realized by 4 control handles, and the invention has the advantage of high integration.
Drawings
FIG. 1 is a deck installation view of the present invention;
FIG. 2 is a perspective view of the towing winch of the present invention, schematically illustrated in FIG. 1;
FIG. 3 is a perspective view of the towing winch of the present invention, schematically illustrated in FIG. 2;
FIG. 4 is a schematic perspective view of the folding arm crane of the present invention;
fig. 5 is a cross-sectional view of the mating portion of the base and the lower end portion of the main arm of fig. 4;
FIG. 6 is a schematic perspective view of a fairlead assembly according to the present invention;
fig. 7 is a hydraulic schematic of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative, not restrictive, and the scope of the invention is not limited thereto.
As shown in figures 1-7, the device for deploying and recovering the deep sea towed sonar system comprises a towing winch 1, a folding arm crane 3 and a guide cable assembly 2. The towing winch is mainly used for storing and retracting the towing cables, the folding arm crane is mainly used for hoisting and recovering the sonar towing bodies 4, and the guide cable assembly is mainly used for guiding cables and protecting the towing cables.
The whole support by support 1.2 of towing winch, the reel 1.3 of installation level setting on the support, the aircraft bonnet 1.1 of installing outward of one end of reel, the aircraft bonnet is used for the protection to install in the electric cabinet 1.17 of inner wall, install hydraulic pump driving motor 1.12, oil tank 1.14 etc. on the support, and the electric cabinet passes through the power cord and links to each other with hydraulic pump driving motor to for hydraulic pump driving motor provides electric power, the oil tank provides the oil supply. The output end of a hydraulic pump driving motor is connected with a hydraulic pump 1.13, the hydraulic pump is driven to provide power for the whole hydraulic system, the oil inlet and the oil outlet of the hydraulic pump are respectively connected with an oil tank and a servo valve 1.16 through oil pipes, the servo valve adopts a quintuplet type, wherein the first communication of the servo valve is connected with the hydraulic pump through an oil pipe, the second communication of the servo valve is connected with a hydraulic motor 1.15.1 of a cable winding and unwinding driving mechanism 1.15 through the oil pipes, and the third, fourth and quintuplet of the servo valve are respectively connected with a rotary acting oil cylinder, a folding arm oil cylinder and a telescopic oil cylinder. The servo valve is provided with four control handles, extends out from the front side wall of the hood, and respectively controls the opening and closing of a hydraulic motor connected with the cable laying driving mechanism, a rotary action oil cylinder of the folding arm crane, a folding arm oil cylinder and a four-way servo valve core of the telescopic oil cylinder, so that the forward and reverse rotation and the rotating speed of the cable laying driving mechanism can be controlled, namely the speed of winding drums for laying and laying the towing cables is controlled, and the rotating angle of the folding arm crane, the pitching of the folding arms and the stretching of the telescopic arms are controlled. The cable winding and unwinding driving mechanism is formed by connecting a hydraulic motor and a speed reducer, the output end of the speed reducer is inserted into the winding drum, a transverse connecting plate is fixed on the inner wall of the winding drum, a connecting flange is fixed on the output end of the speed reducer, and the output end of the speed reducer is coaxially and fixedly connected with the winding drum through bolts for connecting the transverse connecting plate and the connecting flange. Neatly store on the reel and pull cable 1.4, pull cable inner race end and reel fixed and the rotating part of photoelectricity sliding ring 1.5, the rotating part and the reel of photoelectricity sliding ring are fixed, and the fixed part of photoelectricity sliding ring is fixed on the support to signal receiver on the ship is handled through the signal transmission that the optical cable was come with the sonar through pulling the transmission of cable, pulls the cable other end and passes the cable arrangement ware subassembly and connect the sonar towed body. The cable arrangement screw rod 1.10 and the cable arrangement light rod 1.6 are supported by a support, and one end of the cable arrangement screw rod is connected with a cable arrangement servo motor 1.11. The cable arranging device assembly is connected to the cable arranging polished rod and the cable arranging lead screw, the cable arranging device assembly is composed of a cable arranging pulley 1.9 and a cable arranging support 1.8, the lower end of the cable arranging support is connected with the cable arranging polished rod through a sliding block and is connected with the cable arranging lead screw through a nut, the cable arranging pulley is supported on the cable arranging support through a wheel shaft, and a cable arranging control sensor 1.7 is arranged on each of two sides of a wheel groove, located on the cable arranging pulley, of the cable arranging support. Can trigger the sensor when the declination of dragging the cable surpasses certain angle, give the controller in the electric cabinet with signal feedback, the controller sends pulse signal control row cable servo motor and drives ball and rotate simultaneously, and ball drives row cable ware subassembly and follows the position side to side movement of dragging the cable along the polished rod to guarantee to drag the regularity of cable.
The arm folding crane comprises a base 3.1, the base is fixed on a stern deck through a welding mode, two rotary action oil cylinders 3.2 are respectively installed on two sides of the base, specifically, a first rotary action oil cylinder 3.2.1 and a second rotary action oil cylinder 3.2.2 are arranged on one side, a third rotary action oil cylinder 3.2.3 and a fourth rotary action oil cylinder 3.2.4 are arranged on the other side, the first rotary action oil cylinder and the fourth rotary action oil cylinder are arranged relatively, and the second rotary action oil cylinder and the third rotary action oil cylinder are arranged relatively. A rod cavity of the first rotary action oil cylinder and a rod cavity of the third rotary action oil cylinder are communicated with a rodless cavity of the second rotary action oil cylinder and a rodless cavity of the fourth rotary action oil cylinder and are connected to an A port of a third branch of the servo valve through oil pipes; the rodless cavity of the first rotary acting oil cylinder and the rodless cavity of the third rotary acting oil cylinder are communicated with the rod cavity of the second rotary acting oil cylinder and the rod cavity of the fourth rotary acting oil cylinder, and are connected to a port B of a third block of the servo valve through oil pipes. The first rotary action oil cylinder and the fourth rotary action oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, the second rotary action oil cylinder and the third rotary action oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, and the inner sides of the two shared cylinder rods or the inner sides of the two connecting rods are provided with tooth shapes to form two racks 3.13. The lower end of the main arm 3.4 is inserted into the inner cavity of the base from top to bottom, a fluted disc 3.12 is coaxially or fixedly arranged on the lower end of the main arm, and the fluted disc is in tooth meshing with the racks on two sides. Therefore, the main arm is driven to rotate by the synchronous action of the four rotary action oil cylinders. The main arm is connected to the base through a rotary supporting bearing 3.3, the upper end of the main arm is connected with a folding arm 3.6 through a pin shaft, one end of a folding arm oil cylinder 3.5 is connected with the main arm through a pin shaft, the other end of the folding arm oil cylinder is connected with the folding arm through a pin shaft to form an irregular triangle, two oil ports of the folding arm oil cylinder are respectively connected with an A port and a B port of a fourth joint of the servo valve through two oil pipes, the folding arm oil cylinder can be controlled to stretch by controlling a corresponding control handle, and the purpose of folding arm pitching is achieved. The inside flexible arm 3.8 that is equipped with of knuckle arm is supported by follow-up slider 3.7 and fixed slider 3.10 between, and follow-up slider and fixed slider are made by the nylon material, play the effect of reducing wear, and follow-up slider fixes outside the upper end four sides of flexible arm, with knuckle arm inner chamber face friction contact, and fixed slider fixes and stretches out the position of port, with the lateral surface sliding contact of flexible arm on knuckle arm inner chamber four sides near flexible arm. The telescopic oil cylinder 3.9 is arranged in the telescopic arm, the cylinder end of the telescopic oil cylinder is connected with the folding arm through a pin shaft, a pin shaft avoiding groove is formed in the corresponding side face of the inner end of the telescopic arm, and the cylinder rod end of the telescopic oil cylinder is connected with the outer end portion of the telescopic arm through a pin shaft. Two oil ports of the telescopic oil cylinder are respectively connected with the port A and the port B of the fifth joint of the servo valve through two oil pipes, the telescopic oil cylinder can be controlled to drive the telescopic arm to stretch by controlling the corresponding operating handle, and the outer end of the telescopic arm is provided with an earring 3.11 for hanging the release 5.
The cable guide assembly is laid on a ship deck by a linear guide rail 2.1 and is parallel to a towing winch polished rod, two ends of the guide rail are fixed by pressing blocks 2.8, meanwhile, a ball screw 2.2 parallel to the linear guide rail is installed on the pressing blocks, one end of the ball screw is connected with a cable guide servo motor 2.7, the cable guide servo motor is connected to an electric cabinet of the towing winch through an electric wire, a pulse signal sent by a controller in the electric cabinet can simultaneously reach the cable arrangement servo motor and the cable guide servo motor, and simultaneously the ball screw is driven to drive the cable arrangement assembly and the cable guide assembly to move left and right, so that the cable guide pulley and the cable arrangement assembly act synchronously, the towing cable is guaranteed to be level and straight when the towing cable is guided in or guided out, and the cable arrangement is guaranteed not to be influenced by sea conditions. Specifically, the chock subassembly includes chock support 2.10, and the chock support lower extreme is connected with linear guide through the slider to be connected with ball screw's nut, install chock pulley 2.6 through shaft 2.9 on the chock support, a plurality of pressure cable guide pulleys 2.11 are installed to the chock support top, are used for pushing down and drag the cable and prevent that it from breaking away from the chock pulley. A cable guide part 2.3 with a worm-shaped cable guide groove is arranged near the stern end, and the cable guide part is connected with the cable guide bracket through a connecting plate 2.12 and used for guiding a cable. The both sides that lie in the snail type fairlead groove on the fairlead correspond and are provided with multiunit anticreep fender wheel 2.13, prevent to drag the cable and deviate from snail type fairlead groove, and fairlead below both sides respectively connect a pneumatic branch 2.4, and pneumatic branch's the other end is connected at the both sides face of fairlead support, and pneumatic branch can support the snail type fairlead groove and follow the income sea angle of dragging the cable and carry out automatic adjustment, and the protection is dragged the cable and does not take place extremely and buckle. The towing cable is led out of the towing winch and then passes through the cable guide pulley and the worm-shaped cable guide groove to enter the sea.
The working principle of the invention is as follows:
the electric cabinet provides electric power for entire system behind the switch on, starts hydraulic pump driving motor and drives the hydraulic pump and rotate and inhale oil extraction from the oil tank and provide power for whole hydraulic pressure, and the hydraulic pump is closed variable displacement pump, can adjust discharge capacity adaptation system pressure by oneself. The hydraulic pump outputs pressure oil to the first servo valve, and then the pressure oil is communicated to the other four-way valve through the internal flow passage, and at the moment, the other four-way valve is in a closed state. The first control handle is started to control the servo valve to be in second connection, the pressure oil is communicated with the cable take-up and pay-off driving mechanism to drive the winding drum to pay off the cable, the towing cable penetrates through the cable arranging device assembly at the moment, the cable continues to be paid off and penetrates through the cable guide pulley, and the end of the towing cable is connected with the sonar towing body at the moment. Starting a second control handle to control a third link of the servo valve, connecting pressure oil with a rotary oil cylinder to drive a main arm, a folding arm and a telescopic arm to rotate to a certain angle, starting a third control handle to control a fourth link of the servo valve, connecting the pressure oil with the folding arm oil cylinder to drive the folding arm to tilt upwards to a certain angle, starting a fourth control handle to control a fifth link of the servo valve, connecting the pressure oil with the telescopic oil cylinder, extending the telescopic arm to enable a tripper to just reach the upper part of a sonar towing body, hooking the tripper on a hoisting point of the sonar towing body, starting a third control handle to control the folding arm to lift the sonar towing body upwards, starting a fourth control handle to control the telescopic arm to continue extending, enabling the hoisted sonar towing body to be far away from the folding arm to avoid touching the folding arm hoist due to shaking, starting the second control handle to control the main arm to rotate, enabling the sonar towing body to extend out of a stern, and starting the third control handle to control the folding arm to bow downwards, make the sonar towed body be close the surface of water, the release makes the sonar towed body go into water, control the handle and make the arm folding hang back to the recovery state, start first brake valve control at this moment and pull the winch and put the cable, the skew angle that cable sensor can real-time supervision pull the cable when letting the cable, can trigger the cable sensor when the skew angle is too big, the sensor gives the controller of control box with the signal ship, the controller can send pulse signal control cable servo motor and lead cable pulley servo motor and follow the action about pulling the cable simultaneously, guarantee to pull the smooth and easy of cable play, reach the predetermined degree of depth until the sonar towed body at predetermined navigational speed, begin to carry out the search work of sound beacon this moment, and handle signal transmission to the signal receiver on the ship through pulling cable and photoelectricity slip ring.
The system does not need to be laid in sonar working process to work, so can close the hydraulic pump driving motor power after finishing laying, the operation of the stop system, receive and release the inside auto-lock of cable actuating mechanism this moment, prevent that the reel from unreeling the cable passively, and guide cable pulley servo motor has braking system, can lock automatically after having a power failure and die, prevents that the guide cable pulley from following the hull horizontal slip. Because the degree of impurity generation of sea conditions can not be predicted, the towing cable can swing up and down and left and right along with the sonar towing body, at the moment, the guide cable piece swings along with the towing cable under the support of the pneumatic supporting rod, so that extreme bending is avoided, and the plurality of cable pressing guide wheels above the guide cable pulley can limit the towing cable to be separated from the guide cable pulley, thereby ensuring the safety of the towing cable.
After the search task of the black box is completed, the sonar towed body is required to be recovered, the hydraulic pump driving motor is started firstly, the whole system is in a standby state, the first control handle is started to control the towing winch to retract the cable, the cable arranging device assembly and the cable guide pulley move along with the position of the towed cable when the cable is retracted, and the cable arranging and neatness are guaranteed. When the sonar towed body is towed to the water surface, the first control handle is released to stop the cable collection, the tripper suspended at the top end of the folding arm crane hooks the hoisting point of the sonar towed body again by controlling the second control handle, the third control handle and the fourth control handle, and the sonar towed body is hoisted and recovered and is placed on a deck. And disconnecting the connecting end of the towing cable and the sonar towing body, passing through the guide cable pulley again, and recovering to the towing winch.
Although the embodiments and figures of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and figures.
Claims (6)
1. The utility model provides a device for laying retrieve deep sea towed sonar system which characterized in that: the device comprises a towing winch, a guide cable assembly and a folding arm crane; the guide cable assembly and the knuckle boom crane are arranged on a stern deck along the left-right direction, and the towing winch is arranged on the deck and is in a front-back opposite position with the guide cable assembly;
the towing winch comprises a support, the support is fixed on a deck, a horizontally arranged winding drum is mounted on the support, a towing cable is wound on the winding drum, the inner ring end of the towing cable is fixedly connected with the winding drum, one end of the winding drum is connected with a cable winding and unwinding driving mechanism, a machine cover is mounted outside the end of the winding drum, an electric cabinet is mounted on the inner wall of the machine cover, and an oil tank, a hydraulic pump driving motor and a servo valve are mounted in the machine cover; the other end of the winding drum is provided with a photoelectric slip ring, the rotating part of the photoelectric slip ring is connected with the end head of the inner ring of the towing cable and is fixed with the winding drum, and the fixed part of the photoelectric slip ring is fixed on the support and is connected with a signal receiver on a ship through an optical cable; the support is also provided with a cable arrangement mechanism;
the cable guide assembly comprises a cable guide bracket, the lower end of the cable guide bracket is connected with a linear guide rail fixed on a deck through a sliding block, a ball screw is arranged on one side of the linear guide rail in parallel, one end of the ball screw is connected with a cable guide servo motor, and a nut of the ball screw is connected with the lower end of the cable guide bracket; a cable guide pulley is arranged in the cable guide bracket through a wheel shaft, and a plurality of cable pressing guide wheels are arranged at the top of the cable guide bracket; a cable guide piece with a worm-shaped cable guide groove is arranged at the end close to the stern, and the cable guide piece is connected with the cable guide bracket through a connecting plate; a plurality of groups of anti-falling catch wheels are correspondingly arranged on the two sides of the spiral cable guide groove on the cable guide piece, two sides below the cable guide piece are respectively connected with a pneumatic supporting rod, and the other end of the pneumatic supporting rod is connected to two side surfaces of the cable guide support; leading out the towing winch by the towing cable, and sequentially passing through the cable guide pulley and the volute cable guide groove into the sea;
the folding arm crane comprises a base, wherein the base is fixed on a stern deck, a main arm is connected above the base through a rotary supporting bearing, the lower end part of the main arm is connected with a rotary driving mechanism, the upper end part of the main arm is connected with a folding arm through a pin shaft, a folding arm oil cylinder is arranged between the folding arm and a supporting arm, one end of the folding arm oil cylinder is connected with the main arm through a pin shaft, and the other end of the folding arm oil cylinder is connected with the folding arm through a pin; a telescopic arm is arranged in the folding arm, the telescopic arm is in linear sliding fit with the folding arm, and an earring for hanging a release is arranged at the outer end of the telescopic arm; a telescopic oil cylinder is arranged in the telescopic arm, the cylinder end of the telescopic oil cylinder is connected with the folding arm through a pin shaft, and a pin shaft avoiding groove is arranged on the corresponding side surface of the inner end of the telescopic arm; the cylinder rod end of the telescopic oil cylinder is connected with the outer end part of the telescopic arm through a pin shaft;
the output end of the hydraulic pump driving motor is connected with a hydraulic pump, the oil inlet and the oil outlet of the hydraulic pump are respectively connected with an oil tank and a servo valve through oil pipes, and the servo valve is connected with a folding arm oil cylinder and a telescopic oil cylinder through oil pipes.
2. The device for deploying and retrieving the deep sea towed sonar system according to claim 1, characterized in that: the cable winding and unwinding driving mechanism comprises a hydraulic motor and a speed reducer, wherein the output end of the speed reducer is inserted into the winding drum and is coaxially and fixedly connected with the winding drum through a bolt.
3. The device for deploying and retrieving the deep sea towed sonar system according to claim 2, characterized in that: the cable arrangement mechanism comprises a cable arrangement lead screw and an cable arrangement feed bar which are arranged in parallel, two ends of the cable arrangement lead screw and the cable arrangement feed bar are supported by a support, and one end of the cable arrangement lead screw is connected with a cable arrangement servo motor; the cable arranging device comprises a cable arranging lead screw, a cable arranging polished rod, a cable arranging device assembly, a cable arranging support and a cable arranging device, wherein the cable arranging device assembly is connected to the cable arranging lead screw and the cable arranging polished rod and comprises a cable arranging pulley and a cable arranging support, the lower end of the cable arranging support is connected with the cable arranging polished rod through a sliding block and is connected with the cable arranging lead screw through a nut, the cable arranging pulley is supported on the cable arranging support through a wheel shaft, and a cable arranging control sensor is mounted on each of two sides of a wheel groove, located on the cable arranging pulley.
4. The device for deploying and retrieving the deep sea towed sonar system according to claim 3, characterized in that: the rotary driving mechanism comprises four rotary action oil cylinders, wherein a first rotary action oil cylinder and a second rotary action oil cylinder are arranged on one side, a third rotary action oil cylinder and a fourth rotary action oil cylinder are arranged on the other side, the first rotary action oil cylinder and the fourth rotary action oil cylinder are arranged oppositely, and the second rotary action oil cylinder and the third rotary action oil cylinder are arranged oppositely; the first rotation action oil cylinder and the fourth rotation action oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, the second rotation action oil cylinder and the third rotation action oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, and tooth shapes are arranged on the inner sides of the two shared cylinder rods or the inner sides of the two connecting rods to form two racks; the lower end part of the main arm is inserted into the inner cavity of the base from top to bottom, a fluted disc is coaxially or fixedly arranged on the lower end part of the main arm, and the fluted disc is in tooth meshing with the racks on two sides.
5. The device for deploying and retrieving the deep sea towed sonar system according to claim 4, characterized in that: the servo valve is of a five-linkage type, wherein a first linkage of the servo valve is connected with a hydraulic pump through an oil pipe, a second linkage of the servo valve is connected with a hydraulic motor of the cable retracting and releasing driving mechanism through an oil pipe, and a third linkage, a fourth linkage and a five-linkage of the servo valve are respectively connected with a rotary acting oil cylinder, a folding arm oil cylinder and a telescopic oil cylinder of the folding arm crane through oil pipes; the second, third, fourth and fifth joints of the servo valve are respectively provided with a handle for controlling the opening and closing of the corresponding valve core.
6. The device for deploying and retrieving the deep sea towed sonar system according to claim 1, characterized in that: the four surfaces at the upper end of the telescopic arm are externally fixed with follow-up sliding blocks, and the follow-up sliding blocks at the periphery are in friction contact with the inner cavity surface of the folding arm; the four sides of the inner cavity of the folding arm are provided with fixed sliding blocks close to the extending port of the telescopic arm, and the fixed sliding blocks are in sliding contact with the outer side surface of the telescopic arm; the follow-up sliding block and the fixed sliding block are both made of nylon materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240642.4A CN111362164A (en) | 2020-03-31 | 2020-03-31 | Device for laying and recovering deep-sea towed sonar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240642.4A CN111362164A (en) | 2020-03-31 | 2020-03-31 | Device for laying and recovering deep-sea towed sonar system |
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| Publication Number | Publication Date |
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| CN111362164A true CN111362164A (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010240642.4A Pending CN111362164A (en) | 2020-03-31 | 2020-03-31 | Device for laying and recovering deep-sea towed sonar system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406605A (en) * | 2021-06-22 | 2021-09-17 | 国家海洋技术中心 | Container of integrated towed detection sonar system |
| CN113968524A (en) * | 2020-07-24 | 2022-01-25 | 中国船舶重工集团公司第七一九研究所 | Umbilical cable winding and unwinding devices for ROV |
| CN114803734A (en) * | 2022-04-01 | 2022-07-29 | 威海中远海运重工科技有限公司 | Ship shore power cable management system and method |
| CN114920074A (en) * | 2022-05-05 | 2022-08-19 | 之江实验室 | Unpowered self-adaptive laying and recycling track device for non-uniform cable towing array |
| CN115159377A (en) * | 2022-07-12 | 2022-10-11 | 海南银升海洋工程科技有限公司 | Stepless speed change winch and intelligent meter counter |
| WO2023279784A1 (en) * | 2021-07-06 | 2023-01-12 | 珠海云洲智能科技股份有限公司 | Disengagement mechanism, lifting apparatus, and navigation device |
| CN116588829A (en) * | 2023-06-02 | 2023-08-15 | 青岛晨明海洋装备技术有限公司 | Sonar hanging device |
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2020
- 2020-03-31 CN CN202010240642.4A patent/CN111362164A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968524A (en) * | 2020-07-24 | 2022-01-25 | 中国船舶重工集团公司第七一九研究所 | Umbilical cable winding and unwinding devices for ROV |
| CN113406605A (en) * | 2021-06-22 | 2021-09-17 | 国家海洋技术中心 | Container of integrated towed detection sonar system |
| WO2023279784A1 (en) * | 2021-07-06 | 2023-01-12 | 珠海云洲智能科技股份有限公司 | Disengagement mechanism, lifting apparatus, and navigation device |
| CN114803734A (en) * | 2022-04-01 | 2022-07-29 | 威海中远海运重工科技有限公司 | Ship shore power cable management system and method |
| CN114803734B (en) * | 2022-04-01 | 2024-04-16 | 威海中远海运重工科技有限公司 | Ship shore power cable management system and method |
| CN114920074A (en) * | 2022-05-05 | 2022-08-19 | 之江实验室 | Unpowered self-adaptive laying and recycling track device for non-uniform cable towing array |
| CN114920074B (en) * | 2022-05-05 | 2023-10-03 | 之江实验室 | Unpowered self-adaptive deployment and recovery track device for non-uniform cable dragging array |
| CN115159377A (en) * | 2022-07-12 | 2022-10-11 | 海南银升海洋工程科技有限公司 | Stepless speed change winch and intelligent meter counter |
| CN116588829A (en) * | 2023-06-02 | 2023-08-15 | 青岛晨明海洋装备技术有限公司 | Sonar hanging device |
| CN116588829B (en) * | 2023-06-02 | 2023-10-20 | 青岛晨明海洋装备技术有限公司 | Sonar hanging device |
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