CN111362164B - Device for deploying and recovering deep sea towed sonar system - Google Patents
Device for deploying and recovering deep sea towed sonar system Download PDFInfo
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- CN111362164B CN111362164B CN202010240642.4A CN202010240642A CN111362164B CN 111362164 B CN111362164 B CN 111362164B CN 202010240642 A CN202010240642 A CN 202010240642A CN 111362164 B CN111362164 B CN 111362164B
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- 238000004804 winding Methods 0.000 claims abstract description 48
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- 238000004064 recycling Methods 0.000 description 2
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Classifications
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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
-
- 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
-
- 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
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a device for deploying and recovering a deep sea towed sonar system, which comprises a towing winch, a cable guiding assembly and a folding arm crane; 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 arranging mechanism arranged on the support, 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 guiding component comprises a cable guiding bracket which is connected to the deck through a linear guide rail pair and a roller screw, a cable guiding pulley is arranged in the cable guiding bracket, a cable guiding piece with a volute cable guiding groove is arranged near the stern end of the ship, and two pneumatic supporting rods are connected between the cable guiding piece and the cable guiding 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 the 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 for hanging a release is arranged at the outer end of the telescopic arm. The invention is easy to operate, saves labor and has high reliability.
Description
Technical Field
The invention relates to the technical field of marine investigation and offshore target search, in particular to a towed sonar system for searching a black box, and specifically relates to a device for deploying and recovering a deep-sea towed sonar system.
Background
The searching and positioning of the deep sea accident plane and the sunken ship are all the time a technical problem that is difficult to solve internationally, the success rate of searching the black box is extremely low under the complex sea conditions, and the prepared acoustic beacon emission source is low in level, high in working frequency, large in absorption loss, complex in aquatic channel environment and limited in duration. The deep sea submarine is carried with a sonar searching technology, so that a great deal of manpower is saved, signals can be monitored constantly, the searching speed is low, and the submarine needs to be salvaged and charged regularly. The deep sea towed sonar underwater target searching technology is largely intended to complement the short plate of the sonar searching technology carried by the deep sea submarine. The deep sea towed sonar underwater target searching technology has the characteristics of uninterrupted searching, wide searching range and real-time monitoring.
However, the complexity of sea conditions is unpredictable, so that a successful deployment and recovery acoustic beacon positioning system becomes a primary precondition for a deep sea towed sonar underwater target searching technology. The towed sonar deployment system needs to ensure the safety of sonar equipment and protect towing cables from injury during searching.
By searching in 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 provide the device for deploying and recovering the deep sea towed sonar system, which is easy to operate, saves labor and has high reliability.
The technical scheme adopted for solving the technical problems is as follows:
A device for deploying and retrieving a deep sea towed sonar system, characterized in that: comprises a towing winch, a cable guiding component and a folding arm crane; the cable guide assembly and the folding arm crane are arranged on a stern deck along the left-right direction, and the towing winch is arranged on the deck at a position which is opposite to the cable guide assembly in front-back direction;
The towing winch comprises a support, the support is fixed on the deck, a winding drum which is horizontally arranged is arranged on the support, a towing cable is wound on the winding drum, the end head of an inner ring 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 hood is arranged outside the end of the winding drum, an electric cabinet is arranged on the inner wall of the hood, and an oil tank, a hydraulic pump driving motor and a servo valve are arranged in the hood; the other end of the winding drum is provided with an 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; a cable arranging mechanism is also arranged on the support;
the cable guiding assembly comprises a cable guiding bracket, the lower end of the cable guiding bracket is connected with a linear guide rail fixed on the deck through a sliding block, a ball screw is arranged in parallel on one side of the linear guide rail, one end of the ball screw is connected with a cable guiding servo motor, and a nut of the ball screw is connected with the lower end of the cable guiding 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 volute cable guide groove is arranged near the stern end of the ship, and the cable guide piece is connected with a cable guide bracket through a connecting plate; a plurality of groups of anti-drop baffle wheels are correspondingly arranged on the two sides of the spiral cable guiding groove on the cable guiding piece, two sides below the cable guiding piece are respectively connected with a pneumatic supporting rod, and the other ends of the pneumatic supporting rods are connected with two side surfaces of the cable guiding bracket; the towing rope is led out, and the towing winch sequentially passes through the rope guiding pulley and the worm type rope guiding groove to enter 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 support 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 support 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 shaft; the telescopic arm is arranged in the folding arm and is in linear sliding fit with the folding arm, and an earring for hanging the release is arranged at the outer end of the telescopic arm; a telescopic oil cylinder is arranged in the telescopic arm, the cylinder barrel end of the telescopic oil cylinder is connected with the folding arm through a pin shaft, and a pin shaft avoiding groove is formed in the corresponding side surface of the inner end of the telescopic arm; the end of the telescopic cylinder rod of the telescopic 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 fixedly connected with the winding drum coaxially through a bolt.
Further: the cable arranging mechanism comprises a cable arranging screw rod and a cable arranging optical lever which are arranged in parallel, wherein two ends of the cable arranging screw rod and the cable arranging optical lever are supported by a support, and one end of the cable arranging screw rod is connected with a cable arranging servo motor; the cable arranging device comprises a cable arranging screw rod, a cable arranging support, a cable arranging pulley, a cable arranging control sensor, a cable arranging control device and a cable arranging control device.
Further: the rotary driving mechanism comprises four rotary acting cylinders, wherein the first rotary acting cylinder and the second rotary acting cylinder are arranged on one side, the third rotary acting cylinder and the fourth rotary acting cylinder are arranged on the other side, the first rotary acting cylinder and the fourth rotary acting cylinder are oppositely arranged, and the second rotary acting cylinder and the third rotary acting cylinder are oppositely arranged; the first rotary acting oil cylinder and the fourth rotary acting oil cylinder share a cylinder rod or a connecting rod is arranged between the cylinder rods, the second rotary acting oil cylinder and the third rotary acting oil cylinder share a cylinder rod or a connecting rod is arranged between the cylinder rods, and teeth are formed 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 of the main arm is inserted into the inner cavity of the base from top to bottom, a fluted disc is coaxially arranged or fixedly arranged on the lower end of the main arm, and the fluted disc is meshed with racks positioned on two sides.
Further: the servo valve is of a quintuplet type, wherein a first communication of the servo valve is connected with a hydraulic pump through an oil pipe, a second coupling of the servo valve is connected with a hydraulic motor of a cable winding and unwinding driving mechanism through an oil pipe, and a third coupling, a fourth coupling and a fifth coupling 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 links of the servo valve are respectively provided with a handle for controlling the opening and closing of the corresponding valve core.
Further: the four sides of the upper end of the telescopic arm are externally fixed with follow-up sliding blocks, and the four sides of the upper end of the telescopic arm 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 ports of the telescopic arms, and the fixed sliding blocks are in sliding contact with the outer side surfaces of the telescopic arms; 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 a towing winch, a cable guiding component and a folding arm crane, wherein the towing winch is mainly used for storing and winding and unwinding towing cables, the folding arm crane is mainly used for hoisting and unwinding and recycling sonar towed bodies, the cable guiding pulley is mainly used for guiding and protecting the towing cables, and the sonar towed bodies can reach a preset depth under a preset navigational speed through the matched movement of the three parts, so that the sonar towed bodies can be smoothly and safely distributed. After the searching task is completed, the sonar towed body can be smoothly and safely recovered through the matched movement of the three parts, and the sonar towed body has higher reliability.
2. According to the invention, the servo valve is controlled to drive the winding drum to wind and unwind the cable, the rotary oil cylinder can be controlled to drive the main arm to rotate, the folding arm oil cylinder can be controlled to drive the folding arm to pitch, and the telescopic oil cylinder can be controlled to drive the telescopic arm to stretch and retract, so that the telescopic device has the advantages of easiness in operation and control and labor saving.
3. According to the invention, the controller can drive the cable arranging servo motor and the cable guiding servo motor to synchronously act according to the feedback of the cable arranging control sensor, so that the uniformity of cable arranging is ensured.
4. Because the sea condition is complex and the heading is changed, the angle of the towing cable is changed at any time, and the cable guide with the worm-shaped cable guide groove can be automatically adjusted up and down and left and right in a certain range under the support of the pneumatic supporting rod, so that the towing cable is prevented from being extremely bent to cause signal interruption, and the reliability and the continuity of searching work are ensured; the plurality of cable guide wheels above the cable guide pulley can limit the pull cable to be disconnected from the cable guide pulley, so that the safety of the cable guide pulley is ensured.
5. All control systems and power systems of the invention are concentrated in the towing winch, and all operations can be realized through 4 control handles, thus having the advantage of high integration.
Drawings
FIG. 1 is a deck installation view of the present invention;
FIG. 2 is a schematic perspective view of the towing winch of the present invention 1;
FIG. 3 is a schematic perspective view of the towing winch of the present invention 2;
FIG. 4 is a schematic perspective view of a folding arm crane according to the present invention;
FIG. 5 is a cross-sectional view of the mating portion of the base and lower end of the main arm of FIG. 4;
Fig. 6 is a schematic perspective view of the cable guide assembly of the present invention;
Fig. 7 is a hydraulic schematic of the present invention.
Detailed Description
The invention will now be further described by way of the following examples, which are intended to be illustrative and not limiting, and are not intended to limit the scope of the invention.
As shown in fig. 1-7, a device for deploying and recovering a deep sea towed sonar system is composed of a towing winch 1, a folding arm crane 3 and a cable guiding assembly 2. The towing winch is mainly used for storing and winding and unwinding towing cables, the folding arm crane is mainly used for hoisting and unwinding and recycling sonar towed bodies 4, and the cable guiding assembly is mainly used for guiding and protecting the towing cables.
The towing winch is integrally supported by a support 1.2, a winding drum 1.3 which is horizontally arranged is arranged on the support, a hood 1.1 is arranged outside one end of the winding drum, the hood is used for protecting an electric cabinet 1.17 which is arranged on the inner wall, a hydraulic pump driving motor 1.12 which is arranged on the support, an oil tank 1.14 and the like, the electric cabinet is connected with the hydraulic pump driving motor through a power line and provides power for the hydraulic pump driving motor, and the oil tank provides an oil supply source. 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 five-link type, wherein a first communication of the servo valve is connected with the hydraulic pump through the oil pipes, a second link 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 a third link, a fourth link and a fifth link of the servo valve are respectively connected with a rotary action oil cylinder, a folding arm oil cylinder and a telescopic oil cylinder of the folding arm crane through the oil pipes. The servo valve is provided with four control handles which extend out from the front side wall of the hood, and respectively control the opening and closing of the valve core of the four-way servo valve, which is connected with the hydraulic motor for receiving the cable-releasing driving mechanism, the rotary action oil cylinder of the folding arm crane, the folding arm oil cylinder and the telescopic oil cylinder, so that the forward and reverse rotation and the rotating speed of the cable-releasing driving mechanism, namely the speed of winding and releasing the towing cable by the winding drum, are controlled, and the rotating angle of the folding arm crane, the pitching of the folding arm and the telescopic of the telescopic arm are controlled. The cable winding and unwinding driving mechanism is formed by connecting a hydraulic motor and a speed reducer, wherein 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 at 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 connecting the transverse connecting plate and the connecting flange. The towing cable 1.4 is orderly stored on the winding drum, the end head of the inner ring of the towing cable is fixed with the winding drum and is connected with the rotating part of the photoelectric slip ring 1.5, the rotating part of the photoelectric slip ring is fixed with the winding drum, the fixed part of the photoelectric slip ring is fixed on the support, signals transmitted by the towing cable through the optical cable are transmitted to a signal receiver on a ship for processing, and the other end of the towing cable penetrates through the cable arranging device assembly and is connected with the sonar towed body. The cable arranging screw rod 1.10 and the cable arranging feed rod 1.6 are supported by a support, and one end of the cable arranging screw rod is connected with the cable arranging servo motor 1.11. The cable arranging device component is connected to the cable arranging light bar and the cable arranging screw rod, the cable arranging device component is composed of cable arranging pulleys 1.9 and cable arranging supports 1.8, the lower end of each cable arranging support is connected with the cable arranging light bar through a sliding block and connected with the cable arranging screw rod through a nut, the cable arranging pulleys are supported on the cable arranging supports through wheel shafts, and one cable arranging control sensor 1.7 is respectively arranged on two sides of a wheel groove of each cable arranging pulley on each cable arranging support. When the deflection angle of the towing cable exceeds a certain angle, the sensor is triggered, signals are fed back to the controller in the electric cabinet, the controller sends pulse signals to control the cable arranging servo motor to drive the ball screw to rotate simultaneously, and the ball screw drives the cable arranging device assembly to move left and right along the position of the towing cable along the optical lever so as to ensure the uniformity of the towing cable.
The folding arm crane comprises a base 3.1, the base is fixed on a stern deck in a welding mode, two rotary action oil cylinders 3.2 are respectively arranged 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 oppositely arranged, and the second rotary action oil cylinder and the third rotary action oil cylinder are oppositely arranged. The rod cavity of the first rotary acting oil cylinder and the rod cavity of the third rotary acting oil cylinder are communicated with the rod-free cavity of the second rotary acting oil cylinder and the rod-free cavity of the fourth rotary acting oil cylinder and are connected to an A port of a third link of the servo valve through an oil pipe; the rodless cavity of the first rotary acting cylinder and the rodless cavity of the third rotary acting cylinder are communicated with the rod cavity of the second rotary acting cylinder and the rod cavity of the fourth rotary acting cylinder and are connected to the port B of the third link of the servo valve through oil pipes. The first rotary acting oil cylinder and the fourth rotary acting oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, the second rotary acting oil cylinder and the third rotary acting oil cylinder share one cylinder rod or a connecting rod is arranged between the cylinder rods, and teeth are formed on the inner sides of the two shared cylinder rods or the inner sides of the two connecting rods to form two racks 3.13. The lower end part of the main arm 3.4 is inserted into the inner cavity of the base from top to bottom, the lower end part of the main arm is coaxially provided with or fixedly provided with a fluted disc 3.12, and the fluted disc is meshed with racks positioned at two sides. In this way, the main arm is driven to rotate through the synchronous action of the four rotary action oil cylinders. The base is connected with a main arm through a rotary support 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 link of a servo valve through two oil pipes, and the expansion and the contraction of the folding arm oil cylinder can be controlled through controlling a corresponding control handle, so that the aim of folding arm pitching is achieved. The telescopic boom 3.8 is arranged in the folding boom, the telescopic boom 3.8 is supported by the follow-up sliding block 3.7 and the fixed sliding block 3.10, both the follow-up sliding block and the fixed sliding block are made of nylon materials, the abrasion reducing effect is achieved, the follow-up sliding block is fixed outside four sides of the upper end of the telescopic boom and in friction contact with the inner cavity surface of the folding boom, and the fixed sliding block is fixed at the position, close to the stretching port of the telescopic boom, on four sides of the inner cavity of the folding boom and in sliding contact with the outer side surface of the telescopic boom. The telescopic arm is internally provided with a telescopic oil cylinder 3.9, the cylinder end of the telescopic oil cylinder is connected with the folding arm through a pin shaft, the corresponding side surface of the inner end of the telescopic arm is provided with a pin shaft avoiding groove, and the cylinder rod end of the telescopic oil cylinder is connected with the outer end part of the telescopic arm through a pin shaft. Two oil ports of the telescopic oil cylinder are respectively connected with an opening A and an opening B of a fifth link of the servo valve through two oil pipes, the telescopic oil cylinder can be controlled to drive the telescopic arm to stretch through controlling the corresponding operating handle, and an earring 3.11 is arranged at the outer end of the telescopic arm and used for hanging the release 5.
The cable guiding assembly is paved on a ship deck by a linear guide rail 2.1 and is parallel to a towing winch feed beam, 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 each pressing block, one end of each ball screw is connected with a cable guiding servo motor 2.7, each cable guiding servo motor is connected to an electric cabinet of the towing winch through a wire, pulse signals sent by a controller in the electric cabinet can reach a cable arranging servo motor and the cable guiding servo motor at the same time, and meanwhile, the ball screw is driven to drive the cable arranging assembly and the cable guiding assembly to move left and right, so that a cable guiding pulley can act synchronously with the cable arranging assembly forever, the towing cable is ensured to be horizontal and straight when being led in or led out of the towing winch, and the cable arranging is ensured not to be influenced by sea conditions. Specifically, the cable guide assembly comprises a cable guide support 2.10, the lower end of the cable guide support is connected with the linear guide rail through a sliding block and is connected with a nut of a ball screw, a cable guide pulley 2.6 is arranged on the cable guide support through a wheel shaft 2.9, and a plurality of cable guide wheels 2.11 are arranged at the top of the cable guide support and used for pressing a towing cable to prevent the towing cable from being separated from the cable guide pulley. A cable guide piece 2.3 with a volute type cable guide groove is arranged near the stern end of the ship, and the cable guide piece is connected with a cable guide bracket through a connecting plate 2.12 and is used for guiding cables. The two sides of the spiral cable guiding groove on the cable guiding piece are correspondingly provided with a plurality of groups of anti-falling baffle wheels 2.13, so that the towing cable is prevented from falling out of the spiral cable guiding groove, two sides below the cable guiding piece are respectively connected with a pneumatic supporting rod 2.4, the other ends of the pneumatic supporting rods are connected to two side surfaces of the cable guiding support, and the pneumatic supporting rods can support the spiral cable guiding groove to automatically adjust along with the sea-going angle of the towing cable, so that the towing cable is prevented from extremely bending. The towing rope is led out and the towing winch passes through the rope guiding pulley and the volute type rope guiding groove in sequence to enter the sea.
The working principle of the invention is as follows:
After the electric cabinet is connected with a power supply, the whole system is provided with electric power, the hydraulic pump driving motor is started to drive the hydraulic pump to rotate, oil is absorbed from the oil tank and discharged to provide power for the whole hydraulic pressure, the hydraulic pump is a closed variable pump, and the displacement of the hydraulic pump can be automatically adjusted to adapt to the pressure of the system. The hydraulic pump outputs pressure oil to the first unit of the servo valve, and then is communicated to the other four units through the internal flow passage, and the other four units are in a closed state at the moment. And starting the first control handle to control the second linkage of the servo valve, connecting pressure oil with a cable winding and unwinding driving mechanism to drive the winding drum to unwind the cable, enabling the towing cable to pass through the cable arranging device assembly at the moment, enabling the towing cable to continuously unwind through the cable guiding pulley, and enabling the end head of the towing cable to be connected with the sonar towed body at the moment. The second control handle is started to control the third joint of the servo valve, the pressure oil is connected with the rotary oil cylinder, the main arm, the folding arm and the telescopic arm are driven to rotate to a certain angle, the third control handle is started to control the fourth joint of the servo valve, the pressure oil is connected with the folding arm oil cylinder, the folding arm is driven to tilt up to a certain angle, the fourth control handle is started to control the fifth joint of the servo valve, the pressure oil is connected with the telescopic oil cylinder, the telescopic arm stretches out to enable the release to just reach the position above the sonar towing body, the release hooks the lifting point of the sonar towing body, the third control handle is started to control the folding arm to tilt up to lift the sonar towing body, the fourth control handle is started to control the telescopic arm to extend out, the lifting arm is enabled to be far away from the folding arm crane, so that the sonar towing body extends out of a stern because of shaking the folding arm, at the moment, the second control handle is started to control the main arm to rotate, the release to enable the sonar towing body to enter water, the handle is controlled to enable the folding arm to be hooked over the lifting point, the release the lifting device to enable the lifting tool to catch the first control handle to catch the state, and the lifting cable to be smoothly, when the lifting cable is triggered, the lifting cable is triggered to be pulled down, a signal is enabled to reach a preset, and a signal is sent to a signal to a position corresponding position, and a signal is triggered to be smoothly and a signal is sent to a position, and a signal is enabled to be sent to a high signal, and a signal is enabled.
The working of the laying system is not needed in the sonar working process, so that the hydraulic pump driving motor power supply can be closed after the laying is finished, the operation of the system is stopped, the inner self-locking of the winding and unwinding cable driving mechanism is realized, the winding drum is prevented from being passively laid, the cable guiding pulley servo motor is provided with a braking system, the cable guiding pulley is automatically locked after power failure, and the cable guiding pulley is prevented from sliding left and right along with the ship body. Because the impurity degree of sea condition is unpredictable, so drag the cable and can follow the sonar towed body and swing about from top to bottom, the cable guide piece is followed and is dragged the cable and swing under the support of pneumatic branch this moment, makes it be unlikely to take place extremely buckling, and a plurality of cable guide pulleys of cable guide pulley top can restrict and drag the cable and disconnect from the cable guide pulley, has guaranteed its security.
After the search task of the black box is completed, the sonar towed body is recovered, the hydraulic pump driving motor is started first, the whole system is in a standby state, the first control handle is started at the moment to control the towing winch to retract the cable, and the cable arranging device component and the cable guiding pulley can move along with the position of the towing cable while retracting the cable, so that the uniformity of cable arranging is ensured. When the sonar towed body is towed back to the water surface, the first control handle is released to stop the cable retraction, and the release hung at the suspended end of the folding arm is hooked on the lifting point of the sonar towed body again by controlling the second control handle, the third control handle and the fourth control handle, so that the sonar towed body is hoisted and recovered and is placed on a deck. And disconnecting the connection end of the towing cable and the sonar towing body, passing through the cable guiding 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 embodiments and the disclosure of the drawings.
Claims (4)
1. A device for deploying and retrieving a deep sea towed sonar system, characterized in that: comprises a towing winch, a cable guiding component and a folding arm crane; the cable guide assembly and the folding arm crane are arranged on a stern deck along the left-right direction, and the towing winch is arranged on the deck at a position which is opposite to the cable guide assembly in front-back direction;
The towing winch comprises a support, the support is fixed on the deck, a winding drum which is horizontally arranged is arranged on the support, a towing cable is wound on the winding drum, the end head of an inner ring 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 hood is arranged outside the end of the winding drum, an electric cabinet is arranged on the inner wall of the hood, and an oil tank, a hydraulic pump driving motor and a servo valve are arranged in the hood; the other end of the winding drum is provided with an 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; a cable arranging mechanism is also arranged on the support; the cable arranging mechanism comprises a cable arranging screw rod and a cable arranging optical lever which are arranged in parallel, wherein two ends of the cable arranging screw rod and the cable arranging optical lever are supported by a support, and one end of the cable arranging screw rod is connected with a cable arranging servo motor; the cable arranging device assembly is formed by cable arranging pulleys and cable arranging brackets, the lower end of each cable arranging bracket is connected with the cable arranging polished rod through a sliding block and is connected with the cable arranging screw rod through a nut, the cable arranging pulleys are supported on the cable arranging brackets through wheel shafts, and a cable arranging control sensor is respectively arranged on each side of a wheel groove of each cable arranging pulley on each cable arranging bracket;
the cable guiding assembly comprises a cable guiding bracket, the lower end of the cable guiding bracket is connected with a linear guide rail fixed on the deck through a sliding block, a ball screw is arranged in parallel on one side of the linear guide rail, one end of the ball screw is connected with a cable guiding servo motor, and a nut of the ball screw is connected with the lower end of the cable guiding 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 volute cable guide groove is arranged near the stern end of the ship, and the cable guide piece is connected with a cable guide bracket through a connecting plate; a plurality of groups of anti-drop baffle wheels are correspondingly arranged on the two sides of the spiral cable guiding groove on the cable guiding piece, two sides below the cable guiding piece are respectively connected with a pneumatic supporting rod, and the other ends of the pneumatic supporting rods are connected with two side surfaces of the cable guiding bracket; the towing rope is led out, and the towing winch sequentially passes through the rope guiding pulley and the worm type rope guiding groove to enter 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 support 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 support 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 shaft; the telescopic arm is arranged in the folding arm and is in linear sliding fit with the folding arm, and an earring for hanging the release is arranged at the outer end of the telescopic arm; a telescopic oil cylinder is arranged in the telescopic arm, the cylinder barrel end of the telescopic oil cylinder is connected with the folding arm through a pin shaft, and a pin shaft avoiding groove is formed in the corresponding side surface of the inner end of the telescopic arm; the end of the telescopic cylinder rod of the telescopic cylinder is connected with the outer end part of the telescopic arm through a pin shaft; the four sides of the upper end of the telescopic arm are externally fixed with follow-up sliding blocks, and the four sides of the upper end of the telescopic arm 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 ports of the telescopic arms, and the fixed sliding blocks are in sliding contact with the outer side surfaces of the telescopic arms; the follow-up sliding block and the fixed sliding block are both made of nylon materials;
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 apparatus for deploying and retrieving a deep sea towed sonar system according to claim 1, wherein: 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 fixedly connected with the winding drum coaxially through a bolt.
3. The apparatus for deploying and retrieving a deep sea towed sonar system according to claim 2, wherein: the rotary driving mechanism comprises four rotary acting cylinders, wherein the first rotary acting cylinder and the second rotary acting cylinder are arranged on one side, the third rotary acting cylinder and the fourth rotary acting cylinder are arranged on the other side, the first rotary acting cylinder and the fourth rotary acting cylinder are oppositely arranged, and the second rotary acting cylinder and the third rotary acting cylinder are oppositely arranged; the first rotary acting oil cylinder and the fourth rotary acting oil cylinder share a cylinder rod or a connecting rod is arranged between the cylinder rods, the second rotary acting oil cylinder and the third rotary acting oil cylinder share a cylinder rod or a connecting rod is arranged between the cylinder rods, and teeth are formed 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 of the main arm is inserted into the inner cavity of the base from top to bottom, a fluted disc is coaxially arranged or fixedly arranged on the lower end of the main arm, and the fluted disc is meshed with racks positioned on two sides.
4. A device for deploying and retrieving a deep sea towed sonar system according to claim 3, wherein: the servo valve is of a quintuplet type, wherein a first communication of the servo valve is connected with a hydraulic pump through an oil pipe, a second coupling of the servo valve is connected with a hydraulic motor of a cable winding and unwinding driving mechanism through an oil pipe, and a third coupling, a fourth coupling and a fifth coupling 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 links of the servo valve are respectively provided with a handle for controlling the opening and closing of the corresponding valve core.
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| 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 |
| CN112455603B (en) * | 2020-12-23 | 2024-10-01 | 中国科学院海洋研究所 | Retraction device and retraction method for navigation type temperature and salt depth profile measuring instrument |
| CN112960068B (en) * | 2021-04-08 | 2024-07-26 | 杭州流控机器制造有限公司 | Automatic drawing and releasing system and method for towed body |
| CN113406605B (en) * | 2021-06-22 | 2022-11-11 | 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 |
| 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 |
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| 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 |
| CN115448194A (en) * | 2022-09-27 | 2022-12-09 | 中煤科工智能储装技术有限公司 | Winch dragging device capable of preventing steel wire rope from deflecting |
| 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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