CN112960068B - Automatic drawing and releasing system and method for towed body - Google Patents
Automatic drawing and releasing system and method for towed body Download PDFInfo
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- CN112960068B CN112960068B CN202110378919.4A CN202110378919A CN112960068B CN 112960068 B CN112960068 B CN 112960068B CN 202110378919 A CN202110378919 A CN 202110378919A CN 112960068 B CN112960068 B CN 112960068B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004804 winding Methods 0.000 claims abstract description 62
- 238000011084 recovery Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000001360 synchronised effect Effects 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 238000011835 investigation Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Classifications
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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
-
- 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
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a system and a method for automatically retracting a towed body, and belongs to the field of ship automation. The hardware system comprises a winding and unwinding winch, a pulley base, a winding and unwinding pulley, a guide head assembly, an umbilical cable and a towed body; the retraction pulley is positioned at the rear end of the retraction winch, and the bottom of the retraction pulley is in sliding connection with the fixed pulley base through the first guide rail pair; the retraction 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 way; the head end of the umbilical cable is connected with the winding and unwinding winch, and the tail end of the umbilical cable is connected with the towed body after passing through the guide head; 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 retraction pulley realizes the primary synchronous movement of the towed body on the pulley base, and the guide head realizes the secondary synchronous movement of the towed body on the retraction pulley, thereby ensuring the stable water-in release and recovery of the towed body.
Description
Technical Field
The invention belongs to the field of ship automation, and particularly relates to an automatic towed body retraction system and method.
Background
With the development of ship automation, the initial stage of the unmanned retractable system aims at improving the ship automation level, reducing the personnel position and improving the operation efficiency, and the unmanned retractable system is required to be higher 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 development of a retraction system capable of operating on an unmanned ship is urgently needed.
The invention relates to an automatic drawing and releasing system for a drawing body, which can automatically finish the work of drawing body to release water, drawing body to recycle and the like under the working state without manual intervention.
Disclosure of Invention
The invention provides a system and a method for automatically folding and unfolding a towed body, which not only realize the automatic folding and unfolding of the towed body, but also have the advantages of simple and compact structure, stable operation, convenient use, and being capable of being well adapted to unmanned ship systems with severe operation environments, complex electromagnetic environments, poor remote communication stability and the like.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
One of the objects of the present invention is to provide an automatic retraction system for a towing body, comprising: the device comprises a winding and unwinding winch, a pulley base, a winding and unwinding pulley, a guide head assembly, an umbilical cable and a towed body;
The retraction pulley is positioned at the rear end of the retraction winch, and the bottom of the retraction pulley is in sliding connection with the fixed pulley base through the first guide rail pair; the retraction pulley is also provided with a second guide rail pair, and the guide head assembly is in sliding connection with the second guide rail pair; the head end of the umbilical cable is connected with the winding and unwinding winch, and the tail end of the umbilical cable is connected with the towed body after passing through the guide head assembly;
The pulley base is of a multi-section structure, and an angle adjusting mechanism is arranged between two adjacent sections; the head end and the tail end of the first guide rail pair and the second guide rail pair are provided with safety limiting mechanisms;
The guide head assembly comprises a sliding block, a mounting bracket, a guide head, a first guide pulley of a mooring rope and an auxiliary guide roller, wherein 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 supporting towing ahead the motion direction of the body.
Another object of the present invention is to provide an automatic retraction method of the automatic retraction system for a towed body, including:
a. In the process of releasing the towed body, the towed body state changes are as follows in sequence:
The towed body is in a storage state, the towed body is synchronously released along with the retraction pulley, the towed body is synchronously released along with the guide head, the towed body is freely released, and the towed body is towed;
b. In the towed body recovery process, the towed body state changes are as follows:
the free recovery state of the towed body, the synchronous recovery state of the towed body along with the guide head, the synchronous recovery state of the towed body along with the retraction pulley and the storage state of the towed body.
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 equipment main body is arranged on the deck so as to be convenient for deck maintenance; in the automatic retraction process, the release and the recovery are divided into a plurality of stages, and in the process of releasing the towed body, the state change of the towed body is as follows in sequence: the towed body is in a storage state, the towed body is synchronously released along with the retraction pulley, the towed body is synchronously released along with the guide head, the towed body is freely released, and the towed body is towed; in the towed body recovery process, the towed body state changes are as follows: the free recovery state of the towed body, the synchronous recovery state of the towed body along with the guide head, the synchronous recovery state of the towed body along with the retraction pulley and the storage state of the towed body.
Each state stage can be automatically switched and adjusted to release and retract the speed and the cable tension, so that the speed is guaranteed while the cable tension is guaranteed, the retraction winch, the retraction pulley and the guide head are controlled to cooperatively act, and the towing body is stably released and recycled.
2. According to the invention, the guiding head assembly is adopted to guide the towed body, the auxiliary guiding rollers are arranged at the two sides of the guiding head, so that the towed body can accurately and automatically capture and position through the horn mouth-shaped guiding head while the guiding head moves on the retraction pulley, and the action direction of the towing ahead body can be initially supported through the auxiliary guiding rollers, thereby being convenient for the guiding head to further accurately capture; the combined operation of the guide head and the auxiliary guide roller can reduce the control precision requirement of capturing the towed body, and the contact part of the towed body is made of a buffer material so as to prevent the towed body from being damaged.
3. The invention is provided with the depth setting device at the joint of the winch cable and the towed body, such as the depth setting block assembly, each depth setting block is used as a weight unit, the buoyancy of different weights in water is different, and different weights can be formed by adopting the combination of different numbers of the depth setting blocks, so that the depth of the towed body into water can be preset by adjusting the arrangement mode and the installation number of the depth setting blocks.
Drawings
FIG. 1 is a diagram of a towed body storage state in an embodiment of the present invention;
FIG. 2 is a state diagram of a towed body release process in an embodiment of the present invention, wherein a first stage of synchronous release is completed;
FIG. 3 is a state diagram of a drag release process in an embodiment of the present invention, wherein a secondary synchronous release has been completed;
FIG. 4 is a state diagram of a towed body release process in an embodiment of the present invention, when in a towed body free release state;
FIG. 5 is a front view of a seeker assembly in an embodiment of the present invention;
FIG. 6 is a top view of a seeker assembly in an embodiment of the present invention;
FIG. 7 is a remote unmanned control flow in an embodiment of the invention;
FIG. 8 is a manual control flow in an embodiment of the invention;
In the figure: the device comprises a 1-retraction winch, a 2-control cabinet, a 3-pulley base, a 4-seeker assembly, a 401-slider, a 402-mounting bracket, a 403-seeker, a 404-cable first guide pulley, a 405-auxiliary guide roller, a 5-retraction pulley, a 6-towing body, a 7-depth fixing block assembly and an 8-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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, the automatic towed body retraction system provided by the invention comprises: the winch 1, the pulley base 3, the winding and unwinding pulley 5, the guide head 4, the umbilical cable 8 and the towed body 6 are wound and unwound; the pulley base is used for supporting the retraction pulley and can drive the retraction pulley to slide on the pulley track.
The retraction pulley 5 is positioned at the rear end of the retraction winch 1, and the bottom of the retraction 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 4 is connected with the second guide rail pair in a sliding way; the head end of the umbilical cable 8 is connected with the winding and unwinding winch 1, and the tail end is connected with the towed body 6 after passing through 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 seeker is used to adaptively find the appropriate position of the towed body, so that the seeker is required to adapt to the outer contour of the towed body. In this embodiment, as shown in fig. 5-6, the seeker assembly includes a slider 401, a mounting bracket 402, a seeker 403, a first guide pulley 404 of a cable, and an auxiliary guide roller 405, where the seeker is fixed on the mounting bracket, and the slider is located at the lower end of the mounting bracket and is slidably connected with the second guide rail pair through the slider; 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 supporting towing ahead the motion direction of the body. For example, the guide head can be in a horn shape, and one side of the horn mouth faces the towed body 6 to adapt to the outer contour of the towed body; the auxiliary guide rollers are distributed on two sides of the horn mouth.
In this embodiment, as shown in fig. 2-4, the winding and unwinding winch can realize the functions of releasing, recovering and towing umbilical cables; the retractable pulley can slide towards the direction close to the water edge, the multi-section structure of the retractable pulley can adapt to the gradient of the water edge, and the primary synchronous movement of the towed body and the retractable pulley is realized; the guide head can move on the retraction pulley and drive the towed body to synchronously move, so that the towed body and the guide head can synchronously move in a second stage. In order to achieve the above-mentioned functions, the present embodiment provides a specific implementation manner, but is not limited to this structural manner.
The winding and unwinding winch 1 comprises a first driving unit, a rotary winding drum, a cable arranging mechanism, a first transmission mechanism and a control cabinet; the cable arranging mechanism is positioned between the rotary winding drum and the winding and unwinding pulley 5 and is connected with the rotary winding drum through a first transmission mechanism; the first driving unit is connected with the rotary winding drum and is controlled by the control cabinet;
The cable arranging mechanism is provided with a cable arranging pulley, the umbilical cable 8 is wound on the rotary winding drum, the head end of the umbilical cable 8 is fixedly connected with the rotary winding drum, and the tail end of the umbilical cable 8 is connected with the towed body 6 after sequentially passing through the cable arranging pulley on the cable arranging mechanism and the guide head 4 on the winding and unwinding pulley 5;
The first driving unit drives the rotary winding drum to rotate, the rotating force of the rotary winding drum is transmitted to the cable arranging mechanism through the first transmission mechanism, and the cable arranging pulley on the cable arranging mechanism is driven to reciprocate along the length direction of the rotary winding drum, so that the cable arranging function is realized.
Besides the implementation mode, the cable arranging mechanism can be driven by another independent driving unit, the action is cooperated with the action of the first driving unit, and the cable arranging mechanism can automatically change the direction to continue arranging the cables after the winding drum is full of one layer of cables on the premise of not changing the driving direction of the first driving unit.
The winding and unwinding pulley 5 comprises a pulley body, a second driving unit, a second transmission mechanism and a second guide pulley of a cable, wherein the second guide pulley of the cable is fixed at one side of the pulley body, which is close to the winding and unwinding winch 1, and is positioned between the cable arranging 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 can be retracted and extended.
The retraction pulley 5 is provided with a third driving unit for driving the seeker 4 to reciprocate along the second guide rail pair.
The first driving unit, the second driving unit and the third driving unit can be driven by a hydraulic drive or a motor, the first driving unit can be installed on the winding and unwinding winch, the second driving unit can be installed on the pulley base, and the third driving unit can be installed on the winding and unwinding pulley, so that a specific driving function can be realized; the speed of the winding winch and the cable pulling force are controlled by a control cabinet, the speed control mode and the moment 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 moment control mode.
The first transmission mechanism and the second transmission mechanism can adopt the realization modes of chain transmission, belt transmission, gear rack transmission, rotary winding ropes and the like.
In order to realize fixed-depth throwing of the towed body, the system is also provided with a fixed-depth block assembly which consists of a plurality of fixed-depth blocks; as shown in fig. 1-4, the depth block is mounted on an umbilical that is lowered into the water with the umbilical. The weight of the 1 depth fixing block is 1 unit, the buoyancy of different depth fixing blocks in water is different, and different weights are formed by adopting different numbers of depth fixing blocks, so that the depth of the towed body in water is influenced, and the depth of the towed body in water can be preset by the arrangement mode of the depth fixing block components and the number of the mounted depth fixing blocks.
In order to realize the protection to the towed body structure, designed safety stop gear, at the beginning, the end that set up in advance and receive and release coaster and guide head synchronous motion, protection receive and release coaster and guide head extreme position, safety stop gear restriction protective apparatus is upper and lower, front and back, left and right all are in the safe scope, have the buffering material at safety stop gear's outside cladding, when the towed body or other movable structure touch extreme position, can protect apparatus, avoid overshooting.
The folding and unfolding track of the folding and unfolding system is not limited, and the folding and unfolding track can be a multi-angle and multi-curve finished towed body from a storage position to a water-entering release position or from a capturing position to a storage position.
On the basis of the system structure, the control cabinet can be further arranged to perform self-perception prediction according to the working instruction in the earlier stage and the existing environment state variable, and self-judgment on whether to need to receive and release the work and whether to enter a safety protection mode can be realized through an autonomous decision algorithm, for example, by collecting the current self-state information: the winch is used for carrying out 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 predicted state of the perceived peripheral object, wherein the speed, the winding and unwinding state, the winding and unwinding cable length information, the winding drum number, the cable arranging state, the towing position and the like of the winding and unwinding system are adopted. The adopted controller can be a PLC, a singlechip and the like.
The invention also provides a retraction method of the automatic retraction system for the towed body, wherein in the process of releasing the towed body, the state change of the towed body is as follows in sequence: the towed body is in a storage state, the towed body is synchronously released along with the retraction pulley, the towed body is synchronously released along with the guide head, the towed body is freely released, and the towed body is towed;
in the towed body recovery process, the towed body state changes are as follows: the free recovery state of the towed body, the synchronous recovery state of the towed body along with the guide head, the synchronous recovery state of the towed body along with the retraction pulley and the storage state of the towed body.
As shown in fig. 7, a method for automatically implementing the above state transformation is provided, and wireless unmanned automatic cable winding and unwinding is implemented by sending start, stop, scram, cable winding and unwinding and speed regulation instructions through remote communication, specifically:
1. A releasing step:
The system is electrified, a first driving unit of the winding and unwinding winch 1 is controlled by a control cabinet to drive a rotary winding drum to rotate along the release direction, meanwhile, a cable arranging mechanism works, an umbilical cable 8 wound on the rotary winding drum is released through a cable arranging pulley, and the first driving unit adopts a moment control mode;
The second driving unit is controlled to work, and the second driving unit adopts a speed control mode to drive the pulley body to move along a first guide rail pair on the pulley base 3 towards the cable arrangement direction, and the towed body on the pulley body and the pulley body synchronously move to realize primary synchronous release; in this process, the towed body storage state is converted into a towed body synchronous release state along with the retraction pulley, which corresponds to the release process from fig. 1 to fig. 2;
When the retraction 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 moment control mode; the seeker assembly 4 is driven by a third driving unit to move along a second guide rail pair on the retraction pulley 5 towards the cable arranging direction, so as to drive the towed body to synchronously move, and realize secondary synchronous release; in this process, the towed body is in a synchronous release state along with the seeker, which corresponds to the release 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 release speed and the release cable length until the release is finished, and the towed body is released to the preset position under water; in this process, in the free release state of the towed body, corresponding to the release process of fig. 4;
After the release is finished, the first driving unit is closed, the second driving unit is controlled to drive the pulley body to move along the first guide rail pair on the pulley base 3 towards the cable-retracting direction, and the pulley is retracted to the towing position; in the process, the towing body is in a towing state.
2. And (3) recovery:
The system is electrified, the first driving unit is controlled to work, the towed body moves along the retracting direction and is decelerated after being recovered to a certain length, the second driving unit is controlled to work, the pulley body is driven to move along a first guide rail pair on the pulley base 3 towards the cable arranging direction until the pulley body moves to a safety limiting device on the first guide rail pair, and the towed body is continuously recovered at a low speed to the safety limiting device; in the process, the mop body is in a free recovery state;
the third driving unit is controlled to start working in a torque control mode, and the first driving unit continuously recovers at a low speed; the guide head 4 moves towards the retracting direction along a second guide rail pair on the retracting pulley 5 under the drive of the third driving unit to drive the towed body to synchronously move so as to realize primary synchronous recovery; in the process, the towed body is in a synchronous recovery state along with the seeker;
When the guide head 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 moment control, and meanwhile, the second driving unit is controlled to start working in a speed control mode, so that the pulley vehicle body is driven to move along the first guide rail pair on the pulley base 3 towards the retracting direction, and the towed body on the pulley vehicle body and the pulley vehicle body synchronously move, so that secondary synchronous recovery is realized; in the process, the towed body is in a synchronous recovery state along with the retraction pulley;
When the retraction pulley 5 moves to the safety limiting device on the first guide rail pair, the towed body is retracted and reset, the system is stopped, and the towed body is in a towed body storage state at the moment.
Besides an automatic control mode, the system is also provided with a manual operation 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 or a button, and the like, and starts, stops, rotates forward and backward, so as to control recovery and release of a recovery winch, and the recovery and release of the winch are simultaneously carried out, and a recovery pulley and a guide head are matched with the recovery winch to synchronously act. As shown in fig. 8, the manual operation box is used for sending out a control instruction to control the operation mode, speed, scram and other instructions of the first driving unit, the second driving unit and the third driving unit to be switched.
In addition, in the process of pulling and releasing, the speed of pulling and releasing the winch, the state of the pulling and releasing the winch, the length of the cable and the state information of the cable arranging mechanism can be obtained in real time, if the collected information reaches a preset alarm threshold value, the safety protection mode is immediately entered, and the operation is continued after manual investigation.
The pulling body winding and unwinding method can change the speed and the pulling force of the cable, and switch the speed control mode and the moment control mode, so that the cable winding and unwinding actions of the winding and unwinding winch can be synchronously matched with synchronous recovery and synchronous release operations of the pulling body, and the pulling force during the pulling and recovery is provided, and the two-stage synchronous movement design is adopted: the retraction pulley moves on the pulley base to realize the primary synchronous movement of the towed body, and the guide head realizes the secondary synchronous movement of the towed body on the retraction pulley, thereby realizing the stable water-in release and recovery of the towed body.
The foregoing list is only illustrative of specific embodiments of the invention. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (7)
1. An automatic retraction system for a towing body, comprising: the device 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 towed body (6);
The retraction pulley (5) is positioned at the rear end of the retraction winch (1), and the bottom of the retraction 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 connected with the towed body (6) after passing through the guide head assembly (4);
The pulley base (3) is of a multi-section structure, and an angle adjusting mechanism is arranged between two adjacent sections; the head end and the tail end of the first guide rail pair and the second guide rail pair are provided with safety limiting mechanisms;
The guide head assembly comprises a sliding block (401), a mounting bracket (402), a guide head (403), a first guide pulley (404) of a mooring rope and an auxiliary guide roller (405), wherein 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 supporting the action direction of the towing ahead body;
The guiding head is in a horn shape, one side of the horn 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 horn mouth;
The winding and unwinding winch (1) comprises a first driving unit, a rotary winding drum, a cable arranging mechanism and a control cabinet; the cable arranging mechanism is positioned between the rotary winding drum and the winding and unwinding pulley (5), and is connected with the rotary winding drum through a first transmission mechanism or is powered by another independent driving unit; the first driving unit is connected with the rotary winding drum and is controlled by the control cabinet; the cable arranging mechanism is provided with a cable arranging pulley, the umbilical cable (8) is wound on the rotary winding drum, the head end of the umbilical cable (8) is fixedly connected with the rotary winding drum, and the tail end of the umbilical cable (8) is connected with the towed body (6) after sequentially passing through the cable arranging pulley on the cable arranging mechanism and the guide head assembly (4) on the winding and unwinding pulley (5); the first driving unit drives the rotary winding drum to rotate, the rotating force of the rotary winding drum is transmitted to the cable arranging mechanism through the first transmission mechanism, or the cable arranging mechanism is driven by another independent driving unit, and a cable arranging pulley on the cable arranging mechanism is driven to reciprocate along the length direction of the rotary winding drum, so that the cable arranging function is realized;
The winding and unwinding pulley (5) comprises a pulley body, a second driving unit, a second transmission mechanism and a second rope guide pulley, wherein the second rope guide pulley is fixed on one side of the pulley body, close to the winding and unwinding winch (1), and is positioned between the cable arranging pulley and the first rope 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 can be retracted and extended.
2. The automatic retraction system of a towed body according to claim 1, wherein said retraction sled (5) is provided with a third drive unit for driving said seeker assembly (4) to reciprocate along said second rail pair.
3. The automatic towed body retraction system according to claim 1, further comprising a depth setting block assembly comprised of a plurality of depth setting blocks; the depth fixing block is arranged on the umbilical cable and is lowered into water along with the umbilical cable.
4. The automatic retraction system of a towing body according to claim 1 wherein the outer portion of the safety limiting mechanism is covered with a cushioning material.
5. An automatic retraction method of a towed body automatic retraction system according to claim 2, comprising:
a. in the process of releasing the towed body, the towed body state changes are as follows in sequence:
The towed body is in a storage state, the towed body is synchronously released along with the retraction pulley, the towed body is synchronously released along with the guide head, the towed body is freely released, and the towed body is towed;
The releasing step comprises the following steps:
The system is electrified, a first driving unit of the winding and unwinding winch (1) is controlled by a control cabinet to drive a rotary winding drum to rotate along the release direction, a cable arranging mechanism works, an umbilical cable (8) wound on the rotary winding drum is released through a cable arranging pulley, and the first driving unit adopts a moment control mode;
The second driving unit is controlled to work, and the second driving unit adopts a speed control mode to drive the pulley body to move along a first guide rail pair on the pulley base (3) towards the cable arrangement direction, and a towed 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 synchronous release state of the towed body along with the retraction pulley;
When the retraction pulley (5) moves to a 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 moment control mode; the guide head assembly (4) is driven by the third driving unit to move along a second guide rail pair on the retraction pulley (5) towards the cable arranging direction, so as to drive the towed body to synchronously move and realize secondary synchronous release; in the process, the towed body is in a synchronous release state along with the seeker;
when the seeker assembly (4) moves to a safety limiting device on the second guide rail pair, the third driving unit is closed, the first driving unit continues to work according to a preset release speed and a release cable length until release is finished, and the towed body is released to a preset position under water; in the process, the mop body is in a free release state;
After the release is finished, the first driving unit is closed, the second driving unit is controlled to drive the pulley body to move along a first guide rail pair on the pulley base (3) towards the cable-retracting direction, and the pulley is retracted to the towing position; in the process, the device is in a towed state;
b. In the towed body recovery process, the towed body state changes are as follows:
the free recovery state of the towed body, the synchronous recovery state of the towed body along with the guide head, the synchronous recovery state of the towed body along with the retraction pulley and the storage state of the towed body;
The recovery step comprises the following steps:
The system is electrified, the first driving unit is controlled to work, the towed body moves along the retracting direction and is decelerated after being recovered to a certain length, the second driving unit is controlled to work, the pulley body is driven to move along a first guide rail pair on the pulley base (3) towards the cable arranging direction until the pulley body moves to a safety limiting device on the first guide rail pair, and the towed body is continuously recovered at a low speed to the safety limiting device; in the process, the mop body is in a free recovery state;
The third driving unit is controlled to start working in a torque control mode, and the first driving unit continuously recovers at a low speed; the guide head assembly (4) is driven by the third driving unit to move along a second guide rail pair on the retraction pulley (5) towards the retraction direction, so as to drive the towed body to synchronously move, and realize primary synchronous recovery; in the process, the towed body is in a synchronous recovery state along with the seeker;
When the guide head assembly (4) moves to a 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 moment control, and meanwhile, the second driving unit is controlled to start working in a speed control mode, so that the pulley vehicle body is driven to move along the first guide rail pair on the pulley base (3) towards the retracting direction, and the towing body on the pulley vehicle body and the pulley vehicle body synchronously move, so that secondary synchronous recovery is realized; in the process, the towed body is in a synchronous recovery state along with the retraction pulley;
When the retraction pulley (5) moves to the safety limiting device on the first guide rail pair, the towed body is retracted and reset, the system is stopped, and the towed body is in a towed body storage state at the moment.
6. The automatic retraction method of the automatic retraction system for the towed body according to claim 5 wherein the automatic retraction system for the towed body is further provided with a manual operation mode, and the control command is sent out by the manual operation box to control the switching of the working modes, the speeds and the scram of the first driving unit, the second driving unit and the third driving unit.
7. The automatic retraction method of the automatic retraction system for a towed body according to claim 5 wherein the speed, the towed body state, the length of the retraction cable and the state information of the cable arranging mechanism of the winch are obtained in real time during retraction of the towed body, and if the collected information reaches a preset alarm threshold, the automatic retraction system immediately enters a safety protection mode and continues to work after manual investigation.
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| GB1237447A (en) * | 1968-09-03 | 1971-06-30 | Fathom Oceanology Ltd | Means for launching, towing and recovering a body behind a vessel |
| CN103754784B (en) * | 2013-12-11 | 2016-05-11 | 中国煤炭科工集团太原研究院有限公司 | Movably prop up stationary pulling winch |
| CN111319723B (en) * | 2018-12-14 | 2021-10-29 | 中国科学院沈阳自动化研究所 | Autonomous retraction device for underwater towed body |
| CN111362164B (en) * | 2020-03-31 | 2024-07-05 | 国家海洋技术中心 | Device for deploying and recovering deep sea towed sonar system |
| CN111516806B (en) * | 2020-04-29 | 2021-02-02 | 上海中车艾森迪海洋装备有限公司 | Laying and recycling system and method for underwater equipment |
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