CN112960068A - Automatic towed body retracting and releasing system and method - Google Patents
Automatic towed body retracting and releasing system and method Download PDFInfo
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- CN112960068A CN112960068A CN202110378919.4A CN202110378919A CN112960068A CN 112960068 A CN112960068 A CN 112960068A CN 202110378919 A CN202110378919 A CN 202110378919A CN 112960068 A CN112960068 A CN 112960068A
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- pulley
- towed body
- driving unit
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses an automatic retraction system and method for a towed body, and belongs to the field of ship automation. The hardware system comprises a retracting winch, a pulley base, a retracting pulley, a guide head assembly, an umbilical cable and a towing body; the retracting pulley is positioned at the rear end of the retracting winch, and the bottom of the retracting pulley is in sliding connection with the fixed pulley base through a first guide rail pair; the retracting pulley is also provided with a second guide rail pair, and the guide head is connected with the second guide rail pair in a sliding manner; the head end of the umbilical cable is connected with a winding and unwinding winch, and the tail end of the umbilical cable is connected with the towing body after being wound by the seeker; the pulley base is of a multi-section structure, and an angle adjusting mechanism is arranged between two adjacent sections; and safety limiting mechanisms are arranged at the head end and the tail end of the first guide rail pair and the second guide rail pair. The invention adopts the design of two-stage synchronous movement: the retractable pulley realizes the primary synchronous movement of the towed body on the pulley base, and the seeker realizes the secondary synchronous movement of the towed body on the retractable pulley, so that the stable water-entering release and recovery of the towed body are ensured.
Description
Technical Field
The invention belongs to the field of ship automation, and particularly relates to an automatic retraction system and method for a towed body.
Background
With the development of ship automation, the unmanned retraction system aims at improving the automation level of ships, reducing the post of personnel and improving the working efficiency at the initial stage, and provides higher requirements for the unmanned retraction system after the unmanned ship appears. The existing unmanned ship system generally has the characteristics of small size, severe operation environment, complex electromagnetic environment, poor remote communication stability and the like, and a retraction system capable of operating on the unmanned ship is urgently needed to be developed.
The invention relates to an automatic retraction system of a towed body, which can automatically complete the work of towed body release into water, towed body recovery and the like under the working state without manual intervention.
Disclosure of Invention
The invention provides a system and a method for automatically retracting and releasing a towed body, which not only realize the automatic retraction and releasing of the towed body, but also have simple and compact structure, stable operation and convenient use, and can be well adapted to unmanned ship systems under the characteristics of severe operation environment, complex electromagnetic environment, poor remote communication stability and the like.
In order to achieve the purpose, the invention adopts the technical scheme that:
one of the objects of the present invention is to provide an automatic retraction system for a towed body, comprising: the system comprises a winding and unwinding winch, a pulley base, a winding and unwinding pulley, a guide head assembly, an umbilical cable and a towing body;
the retractable pulley is positioned at the rear end of the retractable winch, and the bottom of the retractable pulley is in sliding connection with the fixed pulley base through a first guide rail pair; the retraction pulley is also provided with a second guide rail pair, and the guide head assembly is connected with the second guide rail pair in a sliding manner; the head end of the umbilical cable is connected with a winding and unwinding winch, and the tail end of the umbilical cable is connected with the towing body after being wound by the seeker assembly;
the pulley base is of a multi-section structure, and an angle adjusting mechanism is arranged between two adjacent sections; safety limiting mechanisms are arranged at the head end and the tail end of the first guide rail pair and the second guide rail pair;
the guide head assembly comprises a sliding block, a mounting bracket, a guide head, a first guide pulley of a cable and an auxiliary guide roller, the guide head is fixed on the mounting bracket, and the sliding block is positioned at the lower end of the mounting bracket and is in sliding connection with the second guide rail pair through the sliding block; the first guide pulley and the auxiliary guide roller of the cable are arranged on the guide head, and the umbilical cable is connected with the towed body after passing through the first guide pulley; the auxiliary guide roller is used for righting the action direction of the towed body.
Another object of the present invention is to provide an automatic retraction method of the automatic retraction system for a towed body, comprising:
a. in the process of releasing the towed body, the state change of the towed body is as follows in sequence:
a towed body storage state, a towed body synchronous release state along with a retractable pulley, a towed body synchronous release state along with a seeker, a towed body free release state and a towed body towing state;
b. in the towed body recovery process, the towed body state change is as follows in sequence:
the towed body is in a free recovery state, the towed body is in a synchronous recovery state along with the seeker, the towed body is in a synchronous recovery state along with the retractable pulley, and the towed body is in a storage state.
Compared with the prior art, the invention has the advantages that:
1. the invention can automatically finish the release of the towed body into water and the recovery of the towed body under the working state without manual intervention, and the main bodies of the equipment are all arranged on the deck, thereby facilitating the maintenance of the deck; in the automatic collecting and releasing process, the releasing and recovering process is divided into a plurality of stages, and in the towing body releasing process, the towing body state change is as follows in sequence: a towed body storage state, a towed body synchronous release state along with a retractable pulley, a towed body synchronous release state along with a seeker, a towed body free release state and a towed body towing state; in the towed body recovery process, the towed body state change is as follows in sequence: the towed body is in a free recovery state, the towed body is in a synchronous recovery state along with the seeker, the towed body is in a synchronous recovery state along with the retractable pulley, and the towed body is in a storage state.
And in each state stage, the speed of releasing and retracting the cable and the cable tension can be automatically switched and adjusted, the speed is taken into consideration while the cable tension is ensured, the cooperative action of a winch, a pulley and a seeker is controlled, and the stable water-entering release and recovery of the towing body are realized.
2. The invention adopts the guide head assembly to guide the towed body, and the auxiliary guide rollers are arranged on the two sides of the guide head, so that the towed body can be accurately and automatically captured and positioned by the horn-mouth-shaped guide head while the guide head moves on the retractable pulley, and the action direction of the towed body can be preliminarily corrected by the auxiliary guide rollers, thereby facilitating the further accurate capture of the guide head; the control precision requirement of the catching towed body can be reduced by the combined operation of the guide head and the auxiliary guide roller, and the contact part of the towed body is made of a buffer material to prevent the towed body from being damaged.
3. The depth setting device, such as the depth setting block assembly, is arranged at the joint of the winch retracting cable and the towed body, each depth setting block is used as a weight unit, the buoyancy of different weights in water is different, different weights can be formed by combining different numbers of depth setting blocks, and therefore the depth of the towed body entering water can be preset by adjusting the arrangement mode and the installation number of the depth setting blocks.
Drawings
FIG. 1 is a state diagram of a towed body storage in an embodiment of the present invention;
FIG. 2 is a state diagram of a tow release process in an embodiment of the present invention, when a primary synchronization release has been completed;
FIG. 3 is a state diagram of a tow release process in an embodiment of the present invention, when a secondary synchronization release has been completed;
FIG. 4 is a state diagram of a tow release process in an embodiment of the present invention, in which the tow is in a free release state;
FIG. 5 is a front view of a guide head assembly in an embodiment of the present invention;
FIG. 6 is a top view of a guide head assembly in an embodiment of the present invention;
FIG. 7 is a remote unattended control flow in an embodiment of the invention;
FIG. 8 is a flow of manual control in an embodiment of the present invention;
in the figure: 1-a retracting winch, 2-a control cabinet, 3-a pulley base, 4-a guide head assembly, 401-a sliding block, 402-a mounting bracket, 403-a guide head, 404-a first cable guide pulley, 405-an auxiliary guide roller, 5-a retracting pulley, 6-a towing body, 7-a depth fixing block assembly and 8-an umbilical cable.
Detailed Description
The invention is further explained below with reference to the drawings.
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the automatic retraction system of the towed body provided by the invention comprises: the system comprises a retracting winch 1, a pulley base 3, a retracting pulley 5, a seeker 4, an umbilical cable 8 and a towing body 6; the pulley base is used for supporting the retractable pulley and can drive the retractable pulley to slide on the pulley track.
The retractable pulley 5 is positioned at the rear end of the retractable winch 1, and the bottom of the retractable pulley 5 is in sliding connection with the fixed pulley base 3 through a first guide rail pair; the retractable pulley 5 is also provided with a second guide rail pair, and the guide head 4 is connected with the second guide rail pair in a sliding manner; the head end of the umbilical cable 8 is connected with the winding and unwinding winch 1, and the tail end of the umbilical cable is connected with the towing body 6 after being wound by the guide head 4;
the pulley base 3 is of a multi-section structure, and an angle adjusting mechanism is arranged between two adjacent sections; and safety limiting mechanisms are arranged at the head end and the tail end of the first guide rail pair and the second guide rail pair.
In this embodiment, the guidance head is used to make the towed body self-adaptive to find a proper position, so that the guidance head needs to be adapted to the outer contour of the towed body. In this embodiment, as shown in fig. 5 to 6, the guidance head assembly includes a sliding block 401, a mounting bracket 402, a guidance head 403, a cable first guide pulley 404 and an auxiliary guide roller 405, the guidance head is fixed on the mounting bracket, the sliding block is located at the lower end of the mounting bracket, and is slidably connected with the second guide rail pair through the sliding block; the first guide pulley and the auxiliary guide roller of the cable are arranged on the guide head, and the umbilical cable is connected with the towed body 6 after passing through the first guide pulley; the auxiliary guide roller is used for righting the action direction of the towed body. For example, the seeker can be horn-shaped, and one side of the horn mouth faces to the towing body 6 and is adapted to the outer contour of the towing body; the auxiliary guide rollers are distributed on two sides of the bell mouth.
In the embodiment, as shown in fig. 2 to 4, the reel-up winch can realize the functions of releasing, recovering and dragging the umbilical cable; the retractable pulley can slide towards the direction close to the waterside, and the multi-section structure of the retractable pulley can adapt to the gradient of the waterside, so that the primary synchronous movement of the towing body and the retractable pulley is realized; the seeker can move on the retractable pulley and drive the towing body to move synchronously, and secondary synchronous movement of the towing body and the seeker is achieved. In order to realize the above functions, the present embodiment provides a specific implementation manner, but is not limited to this structure manner.
The winch 1 comprises a first driving unit, a rotary drum, a cable arrangement mechanism, a first transmission mechanism and a control cabinet; the cable arrangement mechanism is positioned between the rotary drum and the retractable pulley 5 and is connected with the rotary drum through a first transmission mechanism; the first driving unit is connected with the rotary drum and is controlled by the control cabinet;
the cable arrangement mechanism is provided with a cable arrangement pulley, the umbilical cable 8 is wound on the rotary drum, the head end of the umbilical cable 8 is fixedly connected with the rotary drum, and the tail end of the umbilical cable 8 is connected with the towing body 6 after sequentially passing through the cable arrangement pulley on the cable arrangement mechanism and the guide head 4 on the take-up and pay-off pulley 5;
the first driving unit drives the rotary drum to rotate, the rotating force of the rotary drum is transmitted to the cable arrangement mechanism through the first transmission mechanism, and the cable arrangement pulley on the cable arrangement mechanism is driven to reciprocate along the length direction of the rotary drum, so that the cable arrangement function is realized.
Besides the implementation mode, the cable arranging mechanism can be driven by another independent driving unit, the action of the cable arranging mechanism is cooperated with the action of the first driving unit, and the cable arranging mechanism can automatically reverse and continue to arrange the cable after the winding drum is full of one layer of the cable on the premise of not changing the driving direction of the first driving unit.
The retracting pulley 5 comprises a pulley body, a second driving unit, a second transmission mechanism and a cable second guide pulley, and the cable second guide pulley is fixed on one side of the pulley body, close to the retracting winch 1, and is positioned between the cable arrangement pulley and the guide head 4; the driving force output by the second driving unit drives the pulley body to reciprocate along the first guide rail pair on the pulley base 3 through the second transmission mechanism, so that the pulley body is retracted.
And a third driving unit for driving the seeker 4 to reciprocate along the second guide rail pair is arranged on the retraction pulley 5.
The first driving unit, the second driving unit and the third driving unit can be driven by hydraulic pressure or a motor, the first driving unit can be arranged on a retracting winch, the second driving unit can be arranged on a pulley base, and the third driving unit can be arranged on a retracting pulley, so that the specific driving function can be realized; the speed of releasing and retracting the winch and the cable tension are controlled by the control cabinet, the speed control mode and the torque control mode can be switched, and in addition, the second driving unit and the third driving unit also have the speed control mode and the torque control mode.
The first transmission mechanism and the second transmission mechanism can adopt the realization modes of chain transmission, belt transmission, gear and rack transmission, cable revolving and winding and the like.
In order to realize the fixed-depth throwing of the towed body, the system is also provided with a fixed-depth block component which consists of a plurality of fixed-depth blocks; as shown in fig. 1-4, the depth block is mounted on the umbilical and is lowered into the water along with the umbilical. The weight that uses 1 depthkeeping piece is 1 unit, and the buoyancy of different depthkeeping pieces in aqueous is different, through adopting the depthkeeping piece combination of different quantity, forms different weight to influence the depth that the towed body was gone into the water, consequently can predetermine the degree of depth after the towed body was gone into the water through the mode of arranging of depthkeeping piece subassembly and the quantity of installation.
In order to realize the protection of the structure of the towed body, the safety limiting mechanism is designed, the starting and stopping ends which are arranged at the synchronous moving starting and stopping ends of the retractable pulley and the guide head are preset to protect the limit positions of the retractable pulley and the guide head, the safety limiting mechanism limits the upper part and the lower part of the protection device, the front part, the rear part, the left part and the right part are all in a safety range, the outside of the safety limiting mechanism is coated with a buffer material, and when the towed body or other moving structures touch the limit positions, the device can be protected to avoid overshoot.
The receiving and releasing tracks of the receiving and releasing system are not limited, and the dragging body can be moved from a storage position to a water entering release position or can be recovered from a capture position to the storage position in a multi-angle and multi-curve manner.
On the basis of the system structure, the control cabinet can be further arranged to carry out self-perception prediction according to the working instructions in the earlier stage and the existing environment state variables, judge whether to receive and release the work by self and enter a safety protection mode, and can be realized by an autonomous decision algorithm, for example, by collecting the current self state information: the winch winding and unwinding speed, the winding and unwinding state, the winding and unwinding cable length information, the number of turns of a winding drum, the cable arrangement state, the towing body position and the like make the most reasonable decision and control on the winding and unwinding system by combining the task intention and the current state of the winding and unwinding system on the basis of the sensed prediction state of the peripheral objects. The adopted controller can be a PLC, a singlechip and the like.
The invention also provides a retraction method of the automatic retraction system of the towed body, and in the process of releasing the towed body, the state changes of the towed body are as follows in sequence: a towed body storage state, a towed body synchronous release state along with a retractable pulley, a towed body synchronous release state along with a seeker, a towed body free release state and a towed body towing state;
in the towed body recovery process, the towed body state change is as follows in sequence: the towed body is in a free recovery state, the towed body is in a synchronous recovery state along with the seeker, the towed body is in a synchronous recovery state along with the retractable pulley, and the towed body is in a storage state.
As shown in fig. 7, a method for automatically implementing the state transition is provided, and wireless unmanned automatic cable winding and unwinding is implemented by sending start, stop, emergency stop, cable winding, cable unwinding and speed regulation instructions through remote communication, specifically:
firstly, a releasing step:
the system is powered on, a first driving unit of the winch 1 is controlled by a control cabinet to drive a rotary drum to rotate along the releasing direction, a cable arrangement mechanism works at the same time, an umbilical cable 8 wound on the rotary drum is released through a cable arrangement pulley, and the first driving unit adopts a torque control mode;
controlling a second driving unit to work, wherein the second driving unit drives the pulley body to move towards the cable arrangement direction along a first guide rail pair on the pulley base 3 in a speed control mode, and a dragging body on the pulley body and the pulley body synchronously move to realize primary synchronous release; in the process, the towed body storage state is converted into a towed body synchronous release state along with the retractable pulley, which corresponds to the release process from fig. 1 to fig. 2;
when the retractable pulley 5 moves to the safety limiting device on the first guide rail pair, the second driving unit is closed, the working mode of the first driving unit is switched to speed control, and the third driving unit is controlled to start working in a torque control mode; the seeker assembly 4 moves towards the cable arrangement direction along a second guide rail pair on the retractable pulley 5 under the driving of a third driving unit to drive the towing body to move synchronously, so that secondary synchronous release is realized; in the process, the towed body is in a state of being synchronously released along with the seeker, which corresponds to the releasing process from fig. 2 to fig. 3;
when the seeker assembly 4 moves to the safety limiting device on the second guide rail pair, the third driving unit is closed, the first driving unit continues to work according to the preset releasing speed and the releasing cable length until the releasing is finished, and the towed body is released to the underwater preset position; in this process, the towed body is in a free release state, corresponding to the release process of fig. 4;
after releasing is finished, the first driving unit is closed, the second driving unit is controlled to drive the pulley body to move towards the cable retracting direction along the first guide rail pair on the pulley base 3, and the pulley is retracted to the dragging position; in the process, the towed body is in a towed state.
II, a recovery step:
the system is electrified to control the first driving unit to work, the towed body moves along the cable collecting direction, the towed body decelerates after being recovered to a certain length, the second driving unit is controlled to work to drive the trolley body to move along the first guide rail pair on the trolley base 3 towards the cable arranging direction until the towed body moves to the safety limiting device on the first guide rail pair, and the towed body continues to be recovered at a low speed to the safety limiting device; in the process, the towed body is in a freely-recovered state;
controlling the third driving unit to start working in a torque control mode, and continuously recovering the first driving unit at a low speed; the seeker 4 moves towards the cable retracting direction along a second guide rail pair on the retractable pulley 5 under the driving of a third driving unit to drive the towing body to move synchronously, so that primary synchronous recovery is realized; in the process, the towed body is in a synchronous recovery state along with the guide head;
when the seeker 4 moves to the safety limiting device on the second guide rail pair, the third driving unit is closed, the working mode of the first driving unit is switched to torque control, meanwhile, the second driving unit is controlled to start working in a speed control mode, the trolley body is driven to move towards the cable collecting direction along the first guide rail pair on the trolley base 3, the towing body on the trolley body and the trolley body move synchronously, and secondary synchronous recovery is achieved; in the process, the towed body is in a synchronous recovery state along with the retractable pulley;
when the retractable pulley 5 moves to the safety limiting device on the first guide rail pair, the towed body is recovered and returned, the system is stopped, and the towed body is in a towed body storage state.
The system is provided with a manual operation mode besides an automatic control mode, a control cabinet receives functional instructions such as recovery, release, push-out, recovery, emergency stop and the like sent by a control terminal such as a manual operation box, an operation handle, a button and the like, the control cabinet starts, stops, rotates forwards and reversely, further controls the recovery and the release of the winch, and the winch recovery and the release are simultaneously carried out by matching the winch recovery, the recovery pulley and the guide head. As shown in fig. 8, the manual operation box issues a control command to control and switch the working mode, speed, sudden stop and other commands of the first driving unit, the second driving unit and the third driving unit.
In addition, in the towing body retracting process, the retracting speed of the winch, the towing body state, the retracting cable length and the state information of the cable arrangement mechanism can be obtained in real time, if the collected information reaches a preset alarm threshold value, the winch enters a safety protection mode immediately, and the winch continues to work after being manually checked.
The towing body retracting method can switch the speed control mode and the moment control mode by changing the speed and the cable tension of the retracting and releasing of the cable, so that the retracting and releasing actions of the retracting and releasing winch can be synchronously matched with the synchronous retracting and releasing operation of the towing body, the tension during the retracting and the towing is provided, and the two-stage synchronous movement design is adopted: the retractable pulley moves on the pulley base to realize the primary synchronous movement of the towed body, and the seeker realizes the secondary synchronous movement of the towed body on the retractable pulley, so that the towed body is stably released and recovered in water.
The foregoing lists merely illustrate specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (10)
1. The automatic retraction system of the towed body is characterized by comprising: the system comprises a winding and unwinding winch (1), a pulley base (3), a winding and unwinding pulley (5), a guide head assembly (4), an umbilical cable (8) and a towing body (6);
the retractable pulley (5) is positioned at the rear end of the retractable winch (1), and the bottom of the retractable pulley (5) is in sliding connection with the fixed pulley base (3) through a first guide rail pair; the retraction pulley (5) is also provided with a second guide rail pair, and the guide head assembly (4) is in sliding connection with the second guide rail pair; the head end of the umbilical cable (8) is connected with the winding and unwinding winch (1), and the tail end of the umbilical cable is wound through the guide head assembly (4) and then is connected with the towing body (6);
the pulley base (3) is of a multi-section structure, and an angle adjusting mechanism is arranged between two adjacent sections; safety limiting mechanisms are arranged at the head end and the tail end of the first guide rail pair and the second guide rail pair;
the guide head assembly comprises a sliding block (401), a mounting bracket (402), a guide head (403), a first cable guide pulley (404) and an auxiliary guide roller (405), the guide head is fixed on the mounting bracket, and the sliding block is positioned at the lower end of the mounting bracket and is in sliding connection with the second guide rail pair through the sliding block; the first guide pulley and the auxiliary guide roller of the cable are arranged on the guide head, and the umbilical cable is connected with the towed body (6) after passing through the first guide pulley; the auxiliary guide roller is used for righting the action direction of the towed body.
2. The automatic retraction system of the towed body according to claim 1, characterized in that the guiding head is trumpet-shaped, one side of the trumpet-shaped mouth faces the towed body (6) and is adapted to the outer contour of the towed body; the auxiliary guide rollers are distributed on two sides of the bell mouth.
3. The automatic retraction system of the towed body according to claim 1, wherein the retraction winch (1) comprises a first driving unit, a rotary drum, a cable arrangement mechanism and a control cabinet; the cable arrangement mechanism is positioned between the rotary drum and the retractable pulley (5), and the cable arrangement mechanism is connected with the rotary drum through a first transmission mechanism or is powered by another independent driving unit; the first driving unit is connected with the rotary drum and is controlled by the control cabinet;
the cable arrangement mechanism is provided with a cable arrangement pulley, the umbilical cable (8) is wound on the rotary drum, the head end of the umbilical cable (8) is fixedly connected with the rotary drum, and the tail end of the umbilical cable (8) is connected with the towing body (6) after sequentially passing through the cable arrangement pulley on the cable arrangement mechanism and the guide head assembly (4) on the take-up and pay-off pulley (5);
the first driving unit drives the rotary drum to rotate, the rotating force of the rotary drum is transmitted to the cable arrangement mechanism through the first transmission mechanism, or the cable arrangement mechanism is driven by another independent driving unit to drive the cable arrangement pulley on the cable arrangement mechanism to reciprocate along the length direction of the rotary drum, so that the cable arrangement function is realized.
4. The automatic retraction system of the towed body according to claim 3, characterized in that the retraction trolley (5) comprises a trolley body, a second driving unit, a second transmission mechanism and a second cable guide pulley, wherein the second cable guide pulley is fixed on one side of the trolley body close to the retraction winch (1) and is positioned between the cable arrangement pulley and the first cable guide pulley on the guide head assembly (4); the driving force output by the second driving unit drives the pulley body to reciprocate along the first guide rail pair on the pulley base (3) through the second transmission mechanism, so that the pulley body is retracted.
5. The automatic retraction system of the towed body according to claim 4, wherein a third driving unit for driving the guide head assembly (4) to reciprocate along the second guide rail pair is arranged on the retraction trolley (5).
6. The automatic towed body retracting and releasing system of claim 1, further comprising a depth block assembly, which is composed of a plurality of depth blocks; the depth fixing block is arranged on the umbilical cable and is placed in water along with the umbilical cable.
7. The automatic retraction system of the towed body according to claim 1, wherein the safety limit mechanism is externally coated with a buffering material.
8. An automatic retraction method of the automatic retraction system of the towed body according to claim 5, comprising:
a. in the process of releasing the towed body, the state change of the towed body is as follows in sequence:
a towed body storage state, a towed body synchronous release state along with a retractable pulley, a towed body synchronous release state along with a seeker, a towed body free release state and a towed body towing state;
the releasing step comprises:
the system is powered on, a first driving unit of the winch (1) is controlled by a control cabinet to drive the rotary drum to rotate along the releasing direction, the cable arrangement mechanism works, an umbilical cable (8) wound on the rotary drum is released through a cable arrangement pulley, and the first driving unit adopts a torque control mode;
controlling a second driving unit to work, wherein the second driving unit drives a pulley body to move towards the cable arrangement direction along a first guide rail pair on a pulley base (3) in a speed control mode, and a dragging body on the pulley body and the pulley body synchronously move to realize primary synchronous release; in the process, the storage state of the towed body is converted into a state that the towed body is synchronously released along with the retractable pulley;
when the retractable pulley (5) moves to the safety limiting device on the first guide rail pair, the second driving unit is closed, the working mode of the first driving unit is switched to speed control, and the third driving unit is controlled to start working in a torque control mode; the guide head assembly (4) moves towards the cable arrangement direction along a second guide rail pair on the retractable pulley (5) under the driving of a third driving unit to drive the towing body to move synchronously, so that secondary synchronous release is realized; in the process, the towed body is in a state of synchronous release along with the seeker;
when the guide head assembly (4) moves to the position of the safety limiting device on the second guide rail pair, the third driving unit is closed, the first driving unit continues to work according to the preset releasing speed and the releasing cable length until the releasing is finished, and the towed body is released to the underwater preset position; in the process, the towed body is in a free release state;
after releasing is finished, the first driving unit is closed, the second driving unit is controlled to drive the pulley body to move towards the cable retracting direction along the first guide rail pair on the pulley base (3), and the pulley is retracted to the dragging position; in the process, the towed body is in a towed state;
b. in the towed body recovery process, the towed body state change is as follows in sequence:
a towed body free recovery state, a towed body synchronous recovery state along with a seeker, a towed body synchronous recovery state along with a retractable pulley and a towed body storage state;
the recovery step comprises:
the system is electrified to control the first driving unit to work, the towed body moves along the cable collecting direction, the towed body decelerates after being recovered to a certain length, the second driving unit is controlled to work, the trolley body is driven to move along the first guide rail pair on the trolley base (3) towards the cable arranging direction until the towed body moves to the safety limiting device on the first guide rail pair, and the towed body continues to be recovered at a low speed to the safety limiting device; in the process, the towed body is in a freely-recovered state;
controlling the third driving unit to start working in a torque control mode, and continuously recovering the first driving unit at a low speed; the guide head assembly (4) moves towards the cable retracting direction along a second guide rail pair on the retracting pulley (5) under the driving of a third driving unit to drive the towing body to move synchronously, so that primary synchronous recovery is realized; in the process, the towed body is in a synchronous recovery state along with the guide head;
when the guide head assembly (4) moves to the safety limiting device on the second guide rail pair, the third driving unit is closed, the working mode of the first driving unit is switched to torque control, meanwhile, the second driving unit is controlled to start working in a speed control mode, the pulley body is driven to move towards the cable retracting direction along the first guide rail pair on the pulley base (3), and the towing body on the pulley body and the pulley body synchronously move to realize secondary synchronous recovery; in the process, the towed body is in a synchronous recovery state along with the retractable pulley;
when the retractable pulley (5) moves to the safety limiting device on the first guide rail pair, the towed body is recovered and returned, the system is stopped, and the towed body is in a towed body storage state.
9. The automatic retraction method of the automatic retraction system of the towed body as claimed in claim 8, wherein the automatic retraction system of the towed body is further provided with a manual operation mode, and the manual operation box sends out a control command to control and switch the working mode, the speed and the emergency stop of the first driving unit, the second driving unit and the third driving unit.
10. The automatic retraction method of the automatic retraction system of the towed body according to claim 8, wherein during the retraction process of the towed body, the retraction speed of the winch, the towed body state, the retraction cable length and the state information of the cable arrangement mechanism are obtained in real time, and if the collected information reaches a preset alarm threshold, the towed body enters a safety protection mode immediately and continues to work after manual investigation.
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| CN202110378919.4A CN112960068A (en) | 2021-04-08 | 2021-04-08 | Automatic towed body retracting and releasing system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978670A (en) * | 2021-11-17 | 2022-01-28 | 国网智能科技股份有限公司 | Magnetometer winding and unwinding device and method for underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978670A (en) * | 2021-11-17 | 2022-01-28 | 国网智能科技股份有限公司 | Magnetometer winding and unwinding device and method for underwater robot |
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