CN111959728A - Marine towing navigation operation system of deep sea submersible vehicle - Google Patents
Marine towing navigation operation system of deep sea submersible vehicle Download PDFInfo
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- CN111959728A CN111959728A CN202010826097.7A CN202010826097A CN111959728A CN 111959728 A CN111959728 A CN 111959728A CN 202010826097 A CN202010826097 A CN 202010826097A CN 111959728 A CN111959728 A CN 111959728A
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- Prior art keywords
- cable
- towing
- photoelectric composite
- deep sea
- tension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/42—Towed underwater vessels
Abstract
The invention relates to the technical field of deep sea submersible vehicle navigation, in particular to a marine towing navigation operation system of a deep sea submersible vehicle, wherein a photoelectric composite cable constant tension winch is arranged at the stern part of a water surface mother ship, one end of a photoelectric composite towing cable is wound on the photoelectric composite cable constant tension winch, the other end of the photoelectric composite towing cable is connected with the deep sea submersible vehicle through a remote automatic unhooking device, a towing supporting frame is fixed at the stern part of the mother ship, an intelligent tensioning device is fixed on the towing supporting frame, the photoelectric composite towing cable realizes the unloaded cable laying of the photoelectric composite towing cable through the intelligent tensioning device, the photoelectric composite towing cable is connected with a cable tension monitoring device to realize the tension monitoring of the photoelectric composite towing cable, an integrated control system controls the photoelectric composite cable constant tension winch, the cable tension monitoring device, the intelligent tensioning device and the remote automatic unhooking device The emergency is rapid, the maturity is reliable, and the safety and the environmental suitability are high.
Description
Technical Field
The invention relates to the technical field of deep sea submersible vehicle navigation, in particular to a marine towing navigation operation system for a deep sea submersible vehicle.
Background
The deep sea submersible vehicle does not generally have long-range self-navigation capability, and needs a mother ship to assist the deep sea submersible vehicle in completing a navigation task and reaching a designated operation sea area. The navigation work can be completed by adopting two modes of carrying navigation and towing navigation. Common carrying navigation forms mainly include semi-submerged carrying, hoisting carrying and carriage carrying, wherein the hoisting carrying requires that the carrying object has small displacement and the main dimension is not too large; the carriage carrying requires linear fairing at the bottom of a carrying object, good matching with a carriage track is guaranteed, and safe carrying can be realized without interference of an attached body structure and the carriage; the number of semi-submersible ships special for semi-submersible carrying is small, the semi-submersible is not easy to rent, and the semi-submersible is expensive to rent. Common towing voyages mainly comprise pushing, towing and hanging towing, wherein the pushing is mainly used for assisting ship turning, port berthing and inland barge transportation and is not suitable for long-distance long-time voyage; the towing and binding requires the good wave-resisting performance of the mother ship, and the linear and general arrangement is beneficial to towing and binding; the traditional suspension towing navigation is in danger of easy breakage, excessive swing and the like of the towing cable.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides a marine towing navigation operation system of a deep sea submersible vehicle, which is convenient to operate, cost-saving, rapid in emergency, mature, reliable and high in safety and environmental adaptability.
The technical scheme adopted by the invention is as follows: the marine towing and ferrying operation system for the deep sea submersible vehicle comprises a photoelectric composite cable constant tension winch, a cable tension monitoring device, an intelligent tensioning device, a towing support frame, an integrated control system, a photoelectric composite towing cable and a remote automatic unhooking device, wherein the photoelectric composite cable constant tension winch is placed at the stern part of a water surface mother ship, one end of the photoelectric composite towing cable is wound on the photoelectric composite cable constant tension winch, the other end of the photoelectric composite towing cable is connected with the deep sea submersible vehicle through the remote automatic unhooking device, the towing support frame is fixed at the stern part of the mother ship, the intelligent tensioning device is fixed on the towing support frame, the photoelectric composite towing cable realizes the unloaded cable laying of the photoelectric composite towing cable through the intelligent tensioning device, the photoelectric composite towing cable is connected with the cable tension monitoring device to realize the tension monitoring of the photoelectric composite towing cable, and the integrated control system controls the photoelectric composite cable constant tension winch, The cable tension monitoring device, the intelligent tensioning device and the remote automatic unhooking device.
As a further improvement of the above technical solution:
the intelligent tensioning device comprises a motor and a pulley, and the motor drives the pulley to rotate so as to provide output torque for conveying the photoelectric composite towing cable.
The tension monitoring device for the cable is used for monitoring the tension of the cable by a tension sensor.
The invention has the following beneficial effects: the invention combines the photoelectric composite cable constant tension winch and the cable tension monitoring device to control the tension and the towing distance of the photoelectric composite towing cable, so that the deep sea submersible vehicle has high towing navigation safety and environmental adaptability in a complex marine environment. The remote automatic unhooking device is used for connecting the photoelectric composite towing cable with the deep sea submersible vehicle, and the remote wireless automatic quick unhooking device can remotely, wirelessly and automatically release the cable under emergency, so that the photoelectric composite towing cable is separated from the deep sea submersible vehicle, the operation is simple, convenient and quick, and the towing safety of the deep sea submersible vehicle can be further improved. The towing support frame is used as a main support part of the towing system and is connected with the intelligent tensioning device, and the intelligent tensioning device can be used for cable laying without load, and is stable in structure, safe and reliable. The photoelectric composite cable is used as a towing cable (namely the photoelectric composite towing cable), so that the towing load can be borne, and the signal interaction and the power supply of the deep sea submersible vehicle in the towing process can be reliably ensured.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Wherein: 1. a photoelectric composite cable constant tension winch; 2. a cable tension monitoring device; 3. an intelligent tensioning device; 4. a towing support frame; 5. an integrated control system; 6. a photovoltaic composite streamer; 7. a remote automatic unhooking device; 8. a parent vessel; 9. a deep sea submersible vehicle.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the marine towing and ferrying operation system for a deep sea submersible vehicle of the present embodiment includes a photoelectric composite cable constant tension winch 1, a cable tension monitoring device 2, an intelligent tensioning device 3, a towing support frame 4, an integrated control system 5, a photoelectric composite streamer 6 and a remote automatic unhooking device 7, the photoelectric composite cable constant tension winch 1 is placed at the stern of a mother ship 8 on the water surface, one end of the photoelectric composite streamer 6 is wound on the photoelectric composite cable constant tension winch 1, the other end of the photoelectric composite streamer 6 is connected with the deep sea submersible vehicle 9 through the remote automatic unhooking device 7, the towing support frame 4 is fixed at the stern of the mother ship 8, the intelligent tensioning device 3 is fixed on the towing support frame 4, the photoelectric composite streamer 6 realizes the unloaded cable laying of the photoelectric composite streamer 6 through the intelligent tensioning device 3, the photoelectric composite streamer 6 is connected with the cable tension monitoring device 2 to realize the tension monitoring of the photoelectric composite streamer 6, the integrated control system 5 controls the photoelectric composite cable constant tension winch 1, the cable tension monitoring device 2, the intelligent tensioning device 3 and the remote automatic unhooking device 7.
The intelligent tensioning device 3 comprises a motor and a pulley, and the motor drives the pulley to rotate to provide output torque transmitted by the photoelectric composite towing cable 6.
The cable tension monitoring device 2 is used for monitoring the tension by a tension sensor.
The invention combines the photoelectric composite cable constant tension winch 1 and the cable tension monitoring device 2 to play the role of controlling the tension and the towing distance of the photoelectric composite towing cable 6, so that the deep sea submersible vehicle 9 has high towing navigation safety and environmental adaptability under the complex marine environment. The invention uses the remote automatic unhooking device 7 to connect the photoelectric composite towline 6 with the deep sea submersible vehicle 9, can remotely, wirelessly, automatically and quickly unhooking in case of emergency, and enables the photoelectric composite towline 6 to be separated from the deep sea submersible vehicle 9, so that the operation is simple, convenient and quick, and the towing safety of the deep sea submersible vehicle 9 can be further improved. The towing support frame 4 is used as a main support part of the towing system and connected with the intelligent tensioning device 3, and the intelligent tensioning device 3 can be used for cable laying without load, and is stable in structure, safe and reliable. The photoelectric composite cable is used as a towing cable (namely the photoelectric composite towing cable 6), so that the towing load can be borne, and the signal interaction and the power supply of the deep sea submersible vehicle 9 in the towing process can be reliably ensured.
The photoelectric composite cable constant tension winch 1 performs constant tension towing control on the winch through a control console located in an integrated control system 5, controls the deep sea submersible vehicle 9 to be always located at a set towing distance, and adjusts the maximum towing tension of the photoelectric composite cable constant tension winch 1 through a tension control knob.
During towing navigation operation, the load on the photoelectric composite towing cable 6 is continuously monitored by the cable tension monitoring device 2, when the load exceeds a rated load, the alarm function of the integrated control system 5 is started, and the intelligent tensioning device 3 is controlled to drive the pulley through the motor to provide output torque for outward conveying of the cable, so that no-load cable laying is performed.
The integrated control system 5 can respectively control the photoelectric composite cable constant tension winch 1 and the remote automatic unhooking device 7, a three-phase alternating current power supply system is taken from a surface mother ship 8, a high-performance alternating current frequency conversion system meeting the complex multi-machine transmission is selected, a PLC receives and processes a machine-side and remote control signal, the signals such as speed, tension and the like are sent to a frequency converter control unit after conversion, and a speed signal of a motor providing power in the photoelectric composite cable constant tension winch 1 is fed back to an encoder module through a motor self-provided encoder so as to ensure safe and reliable vector torque control.
Before the towing navigation operation is started, the mother ship 8 and the deep sea submersible vehicle 9 are firstly adjusted to the upstream direction, the boat carried by a person is lowered to the sea surface by the boat davit of the mother ship 8 on the water surface, the person operates the hook of the automatic unhooking device 7 to connect the photoelectric composite towing cable 6 with the deep sea submersible vehicle 9, and the towing navigation operation system is started by the integrated control system 5 to start the marine towing navigation operation of the deep sea submersible vehicle 9.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (3)
1. The utility model provides a deep sea submersible vehicle marine towing navigation operating system which characterized in that: the device comprises a photoelectric composite cable constant tension winch (1), a cable tension monitoring device (2), an intelligent tensioning device (3), a towing support frame (4), an integrated control system (5), a photoelectric composite towing cable (6) and a remote automatic unhooking device (7), wherein the photoelectric composite cable constant tension winch (1) is placed at the stern part of a water surface mother ship (8), one end of the photoelectric composite towing cable (6) is wound on the photoelectric composite cable constant tension winch (1), the other end of the photoelectric composite towing cable (6) is connected with a deep sea submersible vehicle (9) through the remote automatic unhooking device (7), the towing support frame (4) is fixed at the stern part of the mother ship (8), the intelligent tensioning device (3) is fixed on the supporting support frame (4), the photoelectric composite towing cable (6) achieves unloaded cable unwinding of the photoelectric composite towing cable (6) through the intelligent tensioning device (3), and the photoelectric composite towing cable (6) is connected with the cable tension monitoring device (2) to achieve tensioning of the photoelectric composite towing cable (6) And (3) force monitoring, wherein the integrated control system (5) controls the photoelectric composite cable constant tension winch (1), the cable tension monitoring device (2), the intelligent tensioning device (3) and the remote automatic unhooking device (7).
2. The deep sea submersible offshore towing ferry operating system of claim 1, wherein: the intelligent tensioning device (3) comprises a motor and a pulley, and the motor drives the pulley to rotate to provide output torque conveyed by the photoelectric composite towing cable (6).
3. The deep sea submersible offshore towing ferry operating system of claim 1, wherein: the cable tension monitoring device (2) realizes tension monitoring by a tension sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010826097.7A CN111959728A (en) | 2020-08-17 | 2020-08-17 | Marine towing navigation operation system of deep sea submersible vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010826097.7A CN111959728A (en) | 2020-08-17 | 2020-08-17 | Marine towing navigation operation system of deep sea submersible vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN111959728A true CN111959728A (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010826097.7A Pending CN111959728A (en) | 2020-08-17 | 2020-08-17 | Marine towing navigation operation system of deep sea submersible vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112701610A (en) * | 2020-12-30 | 2021-04-23 | 浙江启明电力集团有限公司海缆工程公司 | Submarine cable offshore repairing, retracting and operating system capable of automatically disengaging |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1943789A1 (en) * | 1968-09-03 | 1970-03-12 | Fathom Oceanology Ltd | Device for launching, towing and retrieving oceanographic equipment |
| US3987745A (en) * | 1974-05-08 | 1976-10-26 | Societe Eca | System for the exploration and inspection of sea beds by means of a vessel having an external power supply system |
| JPH09127252A (en) * | 1995-10-26 | 1997-05-16 | Kokusai Denshin Denwa Co Ltd <Kdd> | Probing system for submarine cable |
| US20090020063A1 (en) * | 2007-07-18 | 2009-01-22 | Anthony A Ruffa | Propelled Tow Body |
| CN103057677A (en) * | 2012-11-15 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Towing-type laying and recovering device of submersible and method thereof |
-
2020
- 2020-08-17 CN CN202010826097.7A patent/CN111959728A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1943789A1 (en) * | 1968-09-03 | 1970-03-12 | Fathom Oceanology Ltd | Device for launching, towing and retrieving oceanographic equipment |
| US3987745A (en) * | 1974-05-08 | 1976-10-26 | Societe Eca | System for the exploration and inspection of sea beds by means of a vessel having an external power supply system |
| JPH09127252A (en) * | 1995-10-26 | 1997-05-16 | Kokusai Denshin Denwa Co Ltd <Kdd> | Probing system for submarine cable |
| US20090020063A1 (en) * | 2007-07-18 | 2009-01-22 | Anthony A Ruffa | Propelled Tow Body |
| CN103057677A (en) * | 2012-11-15 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Towing-type laying and recovering device of submersible and method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112701610A (en) * | 2020-12-30 | 2021-04-23 | 浙江启明电力集团有限公司海缆工程公司 | Submarine cable offshore repairing, retracting and operating system capable of automatically disengaging |
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Application publication date: 20201120 |