CN114620185A - Laying and recycling system, navigation equipment and towing equipment laying and recycling method - Google Patents

Abstract

The application provides a deployment and recovery system, a navigation device and a towing device deployment and recovery method, wherein the deployment and recovery system comprises: the fixing frame is used for being fixed on the navigation equipment; the pitching frame is rotationally connected with the fixed frame; the driving device is in transmission connection with the pitching frame and is used for driving the pitching frame to rotate along the direction departing from or approaching the fixed frame so as to switch the pitching frame between the distribution state and the recovery state; the shake stopping device is rotatably connected with one end of the pitching frame, which is far away from the fixed frame, and is used for adjusting the recovery angle of the towing equipment; the dragging end of the dragging device is telescopically arranged on the shaking prevention device and is used for being connected with dragging equipment; the lifting device is fixedly arranged at one end of the pitching frame, which is close to the fixed frame, and rotates along with the pitching frame, and the lifting device can support the towing equipment in a recovery state; through adopting above-mentioned technical scheme, improved the recovery efficiency of dragging equipment, reduced the impaired risk of dragging equipment.

Description

Laying and recycling system, navigation equipment and towing equipment laying and recycling method

Technical Field

The application relates to the technical field of navigation equipment, in particular to a distribution and recovery system, navigation equipment and a towing equipment distribution and recovery method.

Background

The existing deploying and retrieving system is used for deploying and retrieving towing equipment, and if the existing deploying and retrieving system is used for deploying, towing and retrieving equipment such as a towed side scan sonar or a profile temperature chain, automatic deploying and retracting of the towing equipment can be achieved in a remote control mode through a user.

However, when the existing distribution and recovery system recovers the towing equipment, the towing equipment is easy to shake due to poor sea conditions on the sea surface, so that the recovery is difficult, the recovery efficiency is reduced, meanwhile, the towing equipment is fixedly connected with the towing equipment only by the hoisting device, the stability is poor, the recovery efficiency is also reduced, and the possibility of collision between the towing equipment and the navigation equipment is increased.

Content of application

The application aims to provide a deployment and recovery system, a navigation device and a towing device deployment and recovery method, so as to solve the technical problems of low towing device recovery efficiency and high damage risk in the prior art.

In order to achieve the above object, the present application adopts a technical solution that is a deployment and recovery system, including:

the fixed frame is used for supporting the pitching frame and is connected with the navigation equipment;

the pitching frame is rotatably connected with the fixed frame;

the driving device is in transmission connection with the pitching frame and is used for driving the pitching frame to rotate along the direction departing from or approaching the fixed frame, so that the pitching frame is switched between a distribution state and a recovery state;

the shake stopping device is rotatably connected with one end of the pitching frame, which is far away from the fixed frame, and is used for adjusting the recovery angle of the towing equipment;

the dragging end of the dragging device is telescopically arranged on the shaking preventing device and is used for being connected with the dragging equipment;

the lifting device is fixedly arranged at one end, close to the fixing frame, of the pitching frame, the lifting device follows the pitching frame to rotate, and the lifting device can support the towing equipment in a recovery state.

By adopting the technical scheme:

firstly, the pitching frame is rotationally connected with the fixed frame, and the driving device can switch the pitching frame between a laying state and a recovery state, so that the towing equipment can be conveniently recovered on the navigation equipment, and the transfer of the towing equipment after the detection operation is finished is facilitated; the towing equipment is convenient to lay in the sea to execute towing detection tasks;

secondly, one end of the pitching frame, which is far away from the fixed frame, is rotatably connected with a shake stopping device, so that the shake amplitude of towing equipment is reduced when the towing equipment is laid and recovered, the possibility of collision between the towing equipment and navigation equipment is further reduced, and the recovery efficiency of the towing equipment is improved;

and finally, the lifting device pitching frame supports the towing equipment when in a recovery state, so that the stability of the towing equipment is improved, and the risk of falling of the towing equipment is reduced.

In one embodiment, the lifting device comprises a bracket and a bracket seat, wherein the bracket seat is fixedly connected with the pitching frame, and the bracket is telescopically arranged on the bracket seat, so that the bracket can support the towing equipment with different sizes in a recovery state.

In one embodiment, the towing device comprises a hoisting device for being mounted on the navigation equipment, the towing end telescopically arranged on the hoisting device, and a pulley device arranged on one end of the pitching frame, which is far away from the fixed frame, and the towing end winds on the pulley device and extends to the sway stopping device.

In one embodiment, the deployment and retrieval system further comprises a force measuring device and a length sensing device, wherein the force measuring device and the length sensing device are arranged between the towing device and the pulley device and used for testing the pulling force and the length of the towing end.

The embodiment also provides navigation equipment which is characterized by comprising a ship body and the distribution and recovery system, wherein the distribution and recovery system is arranged on the ship body.

The embodiment also provides a towing equipment deployment and recovery method, which is applied to the navigation equipment, and the deployment and recovery system further comprises a control module and an information transceiver module, wherein the information transceiver module is electrically connected with the control module, and the control module is electrically connected with the driving device and the towing device and is electrically connected with one of the first detection position structure, the second detection position structure, the force measuring device and the length sensing device;

the control module acquires at least one of the position information, the pitch angle information, the tension information and the length information and then outputs control information to the driving device and the towing device;

the information transceiver module is used for communicating with a user side, receiving and processing control information sent by the user side and then outputting the control information to the driving device and the towing device, and sending at least one of the position information, the pitching angle information, the tension information and the length information to the user side.

In one embodiment, the control module is electrically connected to a first probe location structure;

the control module is used for acquiring the position information of the dragging equipment induced by the first detection position structure;

after the control module acquires the position information, the control module outputs control information to the driving device and the dragging device;

the information receiving and sending module is used for communicating with a user side, the information receiving and sending module receives control information sent by the user side, processes the control information and outputs the control information to the driving device and the dragging device, and the information receiving and sending module sends the position information to the user side.

In one embodiment, the control module is electrically connected to a second probe location structure;

the control module is used for acquiring the pitching angle information of the pitching frame induced by the second detection position structure;

after the control module acquires the pitching angle information, control information is output to the driving device and the towing device;

the information receiving and transmitting module is used for communicating with a user side, the information receiving and transmitting module receives control information sent by the user side, processes the control information and outputs the control information to the driving device and the towing device, and the information receiving and transmitting module sends the pitching angle information to the user side.

In one embodiment, the control module is electrically connected to a force measuring device;

the control module is used for acquiring the pulling force information of the dragging end sensed by the force measuring device;

after the control module acquires the tension information, outputting control information to the driving device and the dragging device;

the information receiving and transmitting module is used for communicating with a user side, the information receiving and transmitting module receives control information sent by the user side, processes the control information and outputs the control information to the driving device and the dragging device, and the information receiving and transmitting module sends the tension information to the user side.

In one embodiment, the control module is electrically connected to a length sensing device;

the control module is used for acquiring the length information of the dragging end sensed by the length sensing device;

after the control module acquires the length information, outputting control information to the driving device and the dragging device;

the information receiving and sending module is used for communicating with a user side, the information receiving and sending module receives control information sent by the user side, processes the control information and outputs the control information to the driving device and the dragging device, and the information receiving and sending module sends the length information to the user side.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a perspective structural view of a deployment and recovery system provided in an embodiment of the present application;

FIG. 2 is a perspective view of a navigation device provided in an embodiment of the present application;

FIG. 3 is a front view of a recovery state of the deployment recovery system provided by an embodiment of the present application;

FIG. 4 is a front view of a deployment state of a deployment recovery system provided by an embodiment of the present application;

FIG. 5 is a front view of a towing state of a deployment and recovery system provided by an embodiment of the application;

fig. 6 is a perspective structural view of a shaking stop device provided in an embodiment of the present application;

fig. 7 is an exploded view of a slosh stopping device provided in an embodiment of the present application;

fig. 8 is an exploded view of a first guide structure provided by an embodiment of the present application;

fig. 9 is a perspective structural view of a lifting device provided in an embodiment of the present application;

fig. 10 is a perspective view of a driving device according to an embodiment of the present application.

The figures are numbered:

100-laying and recovering system; 200-navigation equipment;

1-a fixed mount; 2-a pitching frame; 3-a drive device; 4-a sloshing-stopping device; 5-a towing device; 6-lifting device; 7-towing equipment; 8-a shelf; 9-a force measuring device;

21-a limiting structure; 31-a drive rod; 32-a first link; 33-a second link; 41-shaking stop base; 42-a first guide structure; 43-a buffer structure; 44-a guide wheel; 45-a limiting block; 46-a first probe location configuration; 47-stop drum; 48-a slide bar; 49-trigger piece; 51-a trailing end; 52-a hoisting device; 53-a pulley arrangement; 61-a bracket; 62-a bracket holder;

422-lower connecting part; 611 — second guiding structure.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected or indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application, and do not indicate that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and are thus not to be construed as limiting the present application.

Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as indicating a number of technical features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise. Specific implementations of the present application are described in more detail below with reference to specific embodiments:

as shown in fig. 1 and 2, the existing towing device is mainly used for manned ships, has a large volume and low intelligence degree, and cannot meet the carrying requirement of the unmanned ships. This scheme provides an intelligence A frame intelligent winch system, can realize remote control, automatic cloth prevents to retrieve and drag underwater equipment.

The application aims to provide a light-weight, intelligent, high-safety and high-reliability distribution and recovery system and navigation equipment.

The deployment and recovery system 100 provided by the embodiment of the application comprises: the device comprises a fixed frame 1, a pitching frame 2, a driving device 3, a shaking stopping device 4, a towing device 5 and a lifting device 6; the fixing frame 1 is used for being fixed on the navigation equipment 200; the pitching frame 2 is rotationally connected with the fixed frame 1; the driving device 3 is in transmission connection with the pitching frame 2 and is used for driving the pitching frame 2 to rotate along the direction departing from or approaching the fixed frame 1, so that the pitching frame 2 is switched between a distribution state and a recovery state; the shake stopping device 4 is rotatably connected with one end of the pitching frame 2, which is far away from the fixed frame 1, and is used for adjusting the recovery angle of the towing equipment 7; the dragging device 5, the dragging end of which is telescopically arranged on the shaking preventing device 4 and is used for being connected with the dragging equipment 7; the lifting device 6 is fixedly arranged at one end, close to the fixed frame 1, of the pitching frame 2, the lifting device 6 rotates along with the pitching frame 2, and the lifting device 6 can support the towing equipment 7 in a recovery state.

As shown in fig. 3 to fig. 5, the operation principle of the deployment and recovery system 100 provided in this embodiment is as follows:

the deployment and recovery system 100 of the present embodiment is installed on a navigation device 200, and is used for deploying, towing, and recovering a towing device 7, such as a towed side scan sonar or a profile temperature chain device;

fixing a fixed frame 1 on navigation equipment 200, rotatably connecting a pitching frame 2 with the fixed frame 1, and enabling a driving device 3 to be in transmission connection with the pitching frame 2 to drive the pitching frame 2 to rotate, wherein when the pitching frame 2 is in a distribution state, the pitching frame 2 can rotate towards the outside of the navigation equipment 200, so that a shaking stopping device 4 and a dragging end 51 are positioned outside the navigation equipment 200, and the distribution of the dragging equipment 7 is facilitated; when the pitching frame 2 is in the retracted state, the pitching frame 2 can be rotated toward the inside of the navigation apparatus 200, so that the anti-sway device 4 and the towing device 5 are located inside the navigation apparatus 200, facilitating the retraction of the towing apparatus 7 into the inside of the navigation apparatus 200.

Specifically, when the towing equipment 7 is deployed, the towing end 51 of the towing device 5 is connected with the towing equipment 7 placed on the navigation equipment 200, the driving device 3 drives the pitching frame 2 to rotate from the inside to the outside of the navigation equipment 200, drives the towing equipment 7 to rotate to the outside of the navigation equipment 200, and then extends the towing end 51, so that the towing equipment 7 sinks below the sea surface to perform detection operation;

when the towing device 7 is recovered, the towing end 51 of the towing device 5 retracts to drive the towing device 7 to be close to the oscillation stopping device 4, the oscillation stopping device 4 adjusts the recovery angle of the towing device 7, the oscillation amplitude of the towing device 7 is reduced, after the towing device 7 stops oscillating, the driving device 3 drives the pitching frame 2 to rotate to the inside from the outside of the navigation device 200, the towing device 7 is driven to rotate to the inside of the navigation device 200, the lifting device 6 rotates along with the pitching frame 2 at the moment, the pitching frame 2 just supports the bottom of the towing device 7 when being in a recovery state, and the towing device 7 is supported to complete the recovery operation of the towing device 7.

By adopting the technical scheme:

firstly, the pitching frame 2 is rotationally connected with the fixed frame 1, the driving device 3 can switch the pitching frame 2 between a distribution state and a recovery state, the towing equipment 7 is conveniently recovered on the navigation equipment 200, and the transfer is facilitated after the towing equipment 7 completes the detection operation; the towing equipment 7 is also convenient to be laid in the sea to execute towing detection tasks;

secondly, one end of the pitching frame 2, which is far away from the fixed frame 1, is rotatably connected with a shake stopping device 4, so that when the towing equipment 7 is laid and recovered, the shake amplitude of the towing equipment 7 is reduced, the possibility of collision between the towing equipment 7 and the navigation equipment 200 is further reduced, and the recovery efficiency of the towing equipment 7 is improved;

finally, the lifting device 6 supports the towing device 7 when the pitching frame 2 is in the recovery state, so that the stability of the towing device 7 is improved, and the risk of falling of the towing device 7 is reduced.

As shown in fig. 6, in one embodiment, the shake stopping device 4 includes a shake stopping base 41 and two first guiding structures 42 fixedly connected to the shake stopping base 41, the shake stopping base 41 is rotatably connected to an end of the pitching frame 2 facing away from the fixed frame 1, and the two first guiding structures 42 extend from the shake stopping base 41 in a direction facing away from the shake stopping base 41.

In particular, the two first guiding structures 42 may be an integral piece, and the maximum distance between the two first guiding structures 42 is greater than the width of the towing device 7, so that the towing device 7 can smoothly enter from the opening formed by the two first guiding structures 42.

By adopting the above technical solution, optionally, the distance between the two first guiding structures 42 gradually increases from the sway brace 41 to the direction away from the sway brace 41, so that the towing device 7 can be adjusted in the recovery angle step by the first guiding structures 42, the sway amplitude of the towing device 7 is reduced, and the recovery efficiency of the towing device 7 is improved; in addition, the shape of the first guide structure 42 can be adapted to the shape of the towing installation 7, so that different first guide structures 42 can be exchanged for different models of towing installations 7, resulting in a higher suitability of the anti-rattle device 4.

As shown in fig. 3, 5 and 6, in one embodiment, the anti-sway stand 41 is detachably connected to an end of the pitching frame 2 facing away from the fixed frame 1, and the first guiding structure 42 is detachably connected to the anti-sway stand 41; in other embodiments, the anti-sway stand 41 is detachably connected to an end of the pitching frame 2 facing away from the fixed frame 1, or the first guiding structure 42 is detachably connected to the anti-sway stand 41.

By adopting the technical scheme, the shake-stopping seat 41 adopts a detachable design, so that the shake-stopping seat can be suitable for towing equipment 7 of different models, and the carrying performance of the shake-stopping seat 41 is improved; in addition, the first guide structure 42 and the anti-sway seat 41 are designed to be detachable, so that adaptive replacement can be performed according to the shape of the towing equipment 7, and the applicability is improved.

In one embodiment, a plurality of guide wheels 44 are sequentially arranged on the sway stopping base 41 along the bending direction of the cable, a limit block 45 is arranged at the connecting end of the sway stopping base 41 and the pitching frame 2, and a limit structure 21 which is abutted against the limit block 45 to limit the sway stopping base 41 to move is arranged on the pitching frame 2; in other embodiments, a plurality of guide wheels 44 are sequentially arranged on the sway brace 41 along the bending direction of the cable, or a limit block 45 is disposed at the connection end of the sway brace 41 and the pitching frame 2, and the pitching frame 2 is provided with a limit structure 21 abutting against the limit block 45 to limit the sway brace 41 from moving.

By adopting the technical scheme, the guide wheel 44 is arranged on the shake stopping seat 41, so that the bending radius of the cable abutted against the shake stopping seat 41 can be increased, and the cable is prevented from being broken due to the fact that the bending radius of the cable is too small; in addition, the shake stopping base 41 is further provided with limiting blocks 45 matched with the limiting structures 21 on the pitching frame 2, specifically, at least two limiting blocks 45 on the shake stopping base 41 are used for limiting the dragging state and the recovery state of the shake stopping base 41.

Specifically, the buffer structure 43 can be selected as a spring, a position sensor is integrated on the anti-sloshing base 41 corresponding to the position of the buffer structure 43, when the towing equipment 7 abuts against the first guide structure 42 during the recovery, the first guide structure 42 is pushed to compress the buffer structure 43 until the buffer structure is in a fully compressed state, and at this time, the position sensor on the anti-sloshing base 41 acquires that the towing equipment 7 is already in the recovery state, so the technical effects of the buffer structure 43 and the position sensor are as follows: 1. play a role in preventing shaking when the towing equipment 7 is recovered; 2. the in-place detection and in-place buffering function of the towing equipment is realized, and the in-place detection and in-place buffering function is specifically used for buffering acting force generated on the shaking prevention base 41 and the first guide structure 42 when the towing equipment 7 is recovered, so that the risk of damage when the towing equipment 7 is recovered to the shaking prevention device 4 is reduced; 3. both the buffer structure 43 and the first guide structure 42 can be adaptively replaced according to the shape of the towing device 7.

Referring to fig. 6, 7 and 8, in an embodiment, the anti-sway device 4 further includes a first detection position structure 46 for detecting a position of the towing device 7, a rotation preventing cylinder 47, a sliding rod 48, a triggering piece 49 and a buffering structure 43, the first detection position structure 46 is disposed at a bottom of the anti-sway seat 41, the rotation preventing cylinder 47 vertically penetrates through the anti-sway seat 41, the sliding rod 48 is slidably disposed in the rotation preventing cylinder 47, and two ends of the sliding rod are exposed out of the rotation preventing cylinder 47, an upper connection portion and a lower connection portion 422 of the first guiding structure 42 are respectively connected to upper and lower ends of the sliding rod 48, the triggering piece 49 is sleeved on the sliding rod 48 and located between the lower connection portion 422 and the first detection position structure 46, the buffering structure 43 is sleeved on the sliding rod 48 and located between the lower connection portion 422 and the triggering piece 49;

in other embodiments, the sliding rod 48 is provided with a guide groove, and the rotation stopping cylinder 47 is provided with a guide block slidably connected with the guide groove;

in other embodiments, the pitching frame 2 or the fixing frame 1 is provided with a second detection position structure for detecting the pitching angle.

Specifically, the buffering structure 43 may be a spring, when the towing device 7 abuts against the first guiding structure 42 during the recycling process, the first guiding structure 42 is pushed to further push the buffering structure 43 to drive the trigger piece 49 to move towards the first detection position structure 46 until the trigger piece 49 abuts against the first detection position structure 46, at this time, the first detection position structure 46 obtains that the towing device 7 is already in the recycling state, meanwhile, due to the inertia effect, the first guiding structure 42 may compress the buffering structure 43, and the buffering structure 43 reduces the acting force of the towing device 7, so the buffering structure 43 and the first detection position structure 46 have the technical effects of: 1. play a role in preventing shaking when the towing equipment 7 is recovered; 2. the in-place detection and in-place buffering function of the towing equipment 7 is realized, and the in-place detection and in-place buffering function is specifically used for buffering acting force generated on the shaking prevention base 41 and the first guide structure 42 when the towing equipment 7 is recovered, so that the risk of damage when the towing equipment 7 is recovered to the shaking prevention device 4 is reduced; 3. both the buffer structure 43 and the first guide structure 42 can be adaptively replaced according to the shape of the towing device 7.

By adopting the technical scheme, the shake-stopping base 41 is provided with the first detection position structure 46 which can be used for in-place detection of the towing equipment 7 and controlling the equipment to stop running;

the rotation stopping matching between the rotation stopping cylinder 47 and the sliding rod 48 ensures that the first guide structure 42 can only move along the vertical direction, so that the dragging equipment 7 is prevented from rotating to cause collision accidents during recovery;

the buffer structure 43 reduces the acting force applied to the shake-stopping seat 41 when the towing device 7 is in place, so as to reduce the risk of damaging the shake-stopping seat 41, and the trigger piece 49 is positioned between the shake-stopping seat 41 and the buffer structure 43, so as to reduce the acting force of the trigger piece 49 on the first detection position structure 46 and reduce the risk of damage;

in addition, the fixed frame 1 or the pitching frame 2 is provided with a second detection position structure, the pitching angle of the pitching frame 2 can be detected by the second detection position structure, and different position requirements of the pitching frame 2 are met.

Further, the sloshing stop device 4 comprises at least two sets of first guiding structures 42, and the two sets of first guiding structures 42 are sequentially arranged along the length direction of the sloshing stop base 41.

Through adopting above-mentioned technical scheme, two sets of first guide structure 42 are used for adjusting the front end and the rear end of dragging equipment 7 respectively for dragging equipment 7 wholly can adjust the recovery angle more fast, improves recovery efficiency.

In one embodiment, the towing end 51 of the towing means 5 is located between two first guiding structures 42.

In particular, the trailing end 51 is located at a position of minimum distance between the two first guide structures 42.

By adopting the above technical solution, the towing end 51 pulls the towing equipment 7 to move towards the direction approaching the anti-sway device 4 until entering between the two first guiding structures 42, and then continues to move towards the anti-sway base 41 under the guidance of the first guiding structures 42 until the towing end 51 pulls the towing equipment 7 to the position of the minimum distance between the two first guiding structures 42, that is, the towing equipment 7 has completely stopped swaying at this time, and the pitching frame 2 can rotate towards the inside of the navigation equipment 200 to recover the towing equipment 7.

As shown in fig. 9, in one embodiment, the lifting device 6 includes a bracket 61 and a bracket holder 62, the bracket holder 62 is fixedly connected to the pitching frame 2, and the bracket 61 is telescopically arranged on the bracket holder 62, so that the bracket 61 can support towing equipment 7 with different sizes in a retracted state.

Specifically, the lifting device 6 rotates along with the pitching frame 2, and when the pitching frame 2 is in a recovery state, the lifting device 6 can just support the bottom of the dragging device 7; wherein, lifting device 6 includes bracket 61 and bracket seat 62, and bracket 61 is scalable to be set up on bracket seat 62, and when every single move frame 2 was in the state of retrieving, the flexible direction of bracket 61 is parallel with vertical direction, and bracket 61 can adjust its height promptly to the towed equipment 7 of adaptation different sizes.

By adopting the technical scheme, the applicability of the lifting device 6 is improved, so that the lifting device can be suitable for the towing equipment 7 with different sizes.

In one embodiment, two second guiding structures 611 are disposed on the bracket 61, the two second guiding structures 611 extend from the bracket 61 in a direction away from the bracket 61, and the distance between the two second guiding structures 611 gradually increases in a direction away from the bracket 61.

In particular, the two second guiding structures 611 may be an integrally formed piece.

By adopting the above technical solution, the second guiding structure 611 of the bracket 61, like the first guiding structure 42, can be used for guiding the recovery angle of the towing device 7, so that the towing device 7 can be placed on the bracket 61 at a proper angle, and the recovery efficiency of the towing device 7 is improved.

In one embodiment, the deployment and retrieval system 100 further comprises a rest rack 8, the rest rack 8 is fixed on the fixed frame 1, the rest rack 8 is provided with a rest slot for fixing the towing device 7, in the retrieval state, the head of the towing device 7 is placed in the rest slot, and the tail of the towing device 7 is supported by the bracket 61.

By adopting the technical scheme, the towing equipment 7 is supported by the bracket 61 and the groove wall of the placing groove together in the recovery state, so that the stability of the towing equipment 7 in the transfer process is improved.

As shown in fig. 10, in one embodiment, the driving device 3 includes a driving rod 31, a first link 32 and a second link 33, one end of the first link 32 is rotatably connected to the main body of the pitching frame 2, the other end of the first link 32 is rotatably connected to the driving rod 31, one end of the second link 33 is rotatably connected to the main body of the fixing frame 1, the other end of the second link 33 is rotatably connected to the driving rod 31, one end of the driving rod 31 is rotatably connected to one end of the fixing frame 1 far from the pitching frame 2, and the telescopic end of the driving rod 31 is used for pulling the first link 32 and the second link 33 to rotate the pitching frame 2 in a direction away from or close to the fixing frame 1, so that the pitching frame 2 is switched between the deployed state and the retracted state.

By adopting the technical scheme, the force arm for driving the pitching frame 2 to rotate by the driving rod 31 is reduced, the driving telescopic distance is shortened, and the occupied space of the driving device 3 is reduced.

Referring to fig. 2 and fig. 3, in one embodiment, the towing device 5 includes a lifting device 52 for being mounted on the navigation apparatus 200, a towing end 51 telescopically disposed on the lifting device 52, and a pulley device 53, the pulley device 53 is disposed on an end of the pitching frame 2 away from the fixed frame 1, and the towing end 51 is wound on the pulley device 53 and extends to the sway stopping device 4.

Specifically, the hoisting device 52 may be selected as a winch.

Through adopting above-mentioned technical scheme, the winding is equipped with the stranded rope on hoisting device 52, and hoisting device 52 is through rotating in order withdrawing or releasing the stranded rope, and trailing end 51 is formed at the end of stranded rope, and then has realized the flexible of trailing end 51 to the cloth of having realized dragging equipment 7 is put, is dragged and is retrieved.

In one embodiment, the deployment and retrieval system 100 further comprises a force measuring device 9 and a length sensing device, wherein the force measuring device 9 and the length sensing device are arranged between the towing device 5 and the pulley device 53 and used for testing the pulling force and the telescopic length of the towing end 51.

By adopting the above technical scheme, the force measuring device 9 is used for sensing the stress of the towing end 51, and then obtains the weight of the towing equipment 7 and the resistance value that the towing equipment 7 receives in the sea, and the user outputs different control information according to the obtained weight value and resistance value.

The embodiment also provides navigation equipment 200, which comprises a ship body and the deployment and recovery system 100, wherein the deployment and recovery system 100 is arranged on the ship body.

Through adopting above-mentioned technical scheme, the navigation equipment 200 that is equipped with above-mentioned laying recovery system 100 has the advantage that switches the laying state and retrieve the state conveniently, does benefit to towing equipment 7 and retrieves and lay, has also improved the efficiency of the recovery and the laying of towing equipment 7 in addition, has reduced the impaired risk of towing equipment 7.

The embodiment further provides a towing device deployment and recovery method, which is applied to the deployment and recovery system 100, wherein the deployment and recovery system 100 further comprises a control module and an information transceiver module, the information transceiver module is electrically connected with the control module, and the control module is electrically connected with one of the driving device 3, the towing device 5, the first detection position structure, the second detection position structure, the force measuring device 9 and the length sensing device;

the control module is used for acquiring the position information of the towing equipment 7 induced by the first detection position structure, acquiring the pitching angle information of the pitching frame 2 induced by the second detection position structure, acquiring the tension information of the towing end induced by the force measuring device 9, and acquiring the length information of the towing end induced by the length sensing device;

the control module outputs control information to the driving device 3 and the dragging device 5 after acquiring at least one of position information, pitching angle information, pulling force information and length information;

the information receiving and transmitting module is used for communicating with the user side, receives and processes control information sent by the user side, and then outputs the control information to the driving device 3 and the towing device 5, and the information receiving and transmitting module sends at least one of position information, pitching angle information, tension information and length information to the user side. Specifically, the user side can be selected as a personal mobile terminal such as a mobile phone computer or a mobile control device, a user sends control information at the user side, the information receiving and sending module receives the control information, transmits the control information to the control module, and transmits the control information to the driving device 3 and the dragging device 5 through the control module to perform corresponding laying, dragging and recovering operations of the dragging device 7;

for example, the towing device 7 is deployed, the information transceiver module receives the control information and transmits the control information to the control module, the control module outputs the control information to the driving device 3 to drive the pitching frame 2 to rotate until the second detection position structure detects that the pitching frame 2 rotates to the deployment position to present a deployment pitching angle, at this time, the control module obtains the pitching angle information sent by the second detection position structure, and then sends the control information to the driving device 3, and the driving device 3 stops the rotation of the pitching frame 2. The pitching frame 2 stops at the deployment angle, the control module sends control information to the towing device 5 again, and the towing end 51 is extended to deploy the towing equipment 7; during deployment of the towing apparatus 7, the force measuring device 9 and the length sensing device sense the tension and length of the towing end 51 for feedback to the control module.

The towing equipment recovery operation is realized, the information receiving and transmitting module receives the control information and transmits the control information to the control module, the control module sends the control information to the towing device 5, the towing end 51 is driven to be recovered to recover the towing equipment 7, until the first detection position structure detects that the towing equipment 7 is abutted against the shake stopping seat 41, the first detection position structure sends the position information to the control module, the control module processes the control information and sends the control information to the towing device 5, the recovery of the towing end 51 is stopped, the control module simultaneously sends the control information to the driving device 3, the pitching frame 2 is driven to rotate to the recovery position and form a recovery pitching angle, at the moment, the control module obtains the pitching angle information sent by the second detection position structure and sends the control information to the driving device 3 again, the driving device 3 stops the pitching frame 2 from rotating, and the pitching frame 2 stops at the recovery angle.

By adopting the technical scheme, after the control module acquires the position information, the pitching angle information, the pulling force information and the length information, the control module outputs the control information to the driving device 3 and the dragging device 5, the user can automatically receive and release the dragging equipment 7 in a remote control mode, and the intelligent unmanned degree of the laying and recycling system is improved.

In one embodiment, the control module is electrically connected to the first probe location structure;

the control module is used for acquiring the position information of the dragging equipment induced by the first detection position structure;

after the control module acquires the position information, the control module outputs control information to the driving device 3 and the dragging device 5;

the information receiving and sending module is used for communicating with the user side, the information receiving and sending module receives the control information sent by the user side, processes the control information and outputs the control information to the driving device 3 and the dragging device 5, and the information receiving and sending module sends the position information to the user side.

In one embodiment, the control module is electrically connected to the second probe location structure;

the control module is used for acquiring the pitching angle information of the pitching frame induced by the second detection position structure;

after the control module acquires the pitching angle information, the control module outputs control information to the driving device 3 and the towing device 5;

the information receiving and transmitting module is used for communicating with the user side, receives and processes control information sent by the user side, outputs the control information to the driving device 3 and the towing device 5, and sends pitching angle information to the user side.

In one embodiment, the control module is electrically connected to the force measuring device 9;

the control module is used for acquiring the tension information of the dragging end sensed by the force measuring device 9;

after acquiring the tension information, the control module outputs control information to the driving device 3 and the dragging device 5;

the information receiving and transmitting module is used for communicating with the user side, receives and processes control information sent by the user side, outputs the control information to the driving device 3 and the dragging device 5, and sends tension information to the user side.

In one embodiment, the control module is electrically connected to the length sensing device;

the control module is used for acquiring the length information of the dragging end sensed by the length sensing device;

after the control module acquires the length information, the control module outputs control information to the driving device 3 and the dragging device 5;

the information receiving and sending module is used for communicating with the user side, the information receiving and sending module receives the control information sent by the user side, processes the control information and outputs the control information to the driving device 3 and the dragging device 5, and the information receiving and sending module sends the length information to the user side.

The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A deployment recovery system (100), comprising:

the fixing frame (1) is used for being fixed on the navigation equipment (200);

the pitching frame (2) is rotationally connected with the fixed frame (1);

the driving device (3) is in transmission connection with the pitching frame (2) and is used for driving the pitching frame (2) to rotate along the direction departing from or approaching the fixed frame (1) so as to switch the pitching frame (2) between a distribution state and a recovery state;

the shake stopping device (4) is rotatably connected with one end of the pitching frame (2) departing from the fixed frame (1) and is used for adjusting the recovery angle of the towing equipment (7);

the dragging device (5) is provided with a dragging end (51) which can be telescopically arranged on the shaking stopping device (4) and is used for being connected with the dragging equipment (7);

and the lifting device (6) is fixedly arranged at one end, close to the fixed frame (1), of the pitching frame (2), the lifting device (6) follows the pitching frame (2) to rotate, and the lifting device (6) can support the towing equipment (7) in a recovery state.

2. Deployment and retrieval system (100) according to claim 1, characterised in that said lifting means (6) comprise a carriage (61) and a carriage holder (62), said carriage holder (62) being fixedly connected to said luffing jib (2), said carriage (61) being telescopically arranged on said carriage holder (62) to enable said carriage (61) to support said towing devices (7) of different sizes in the retrieved state.

3. The deployment and retrieval system (100) of claim 1, wherein the towing means (5) comprises a hoisting means (52) for mounting on the navigation device (200), the towing end (51) telescopically arranged on the hoisting means (52), and a pulley means (53), the pulley means (53) being arranged on an end of the pitching frame (2) facing away from the fixed frame (1), the towing end (51) being wound around the pulley means (53) and extending to the sway stopping means (4).

4. The deployment and retrieval system (100) according to claim 3, wherein the deployment and retrieval system (100) further comprises a force measuring device (9) and a length sensing device, the force measuring device (9) and the length sensing device being arranged between the towing device (5) and the pulley device (53) for testing the pulling force and the length of the towing end (51).

5. Sailing apparatus (200), characterized in that it comprises a hull and a deployment and recovery system (100) according to any one of claims 1 to 4, the deployment and recovery system (100) being mounted on the hull.

6. A towing device deployment and recovery method applied to the navigation device according to claim 5, wherein the deployment and recovery system (100) further comprises a control module and an information transceiver module, wherein the information transceiver module is electrically connected with the control module, and the control module is electrically connected with the driving device (3), the towing device (5) and one of the first detection position structure, the second detection position structure, the force measuring device (9) and the length sensing device;

the control module outputs control information to the driving device (3) and the towing device (5) after acquiring at least one of position information, pitching angle information, tension information and length information;

the information transceiver module is used for communicating with a user side, the information transceiver module receives control information sent by the user side, processes the control information and outputs the control information to the driving device (3) and the towing device (5), and the information transceiver module sends at least one of the position information, the pitching angle information, the tension information and the length information to the user side.

7. The towing equipment deployment and recovery method according to claim 6, wherein:

the control module is electrically connected with the first detection position structure;

the control module is used for acquiring the position information of the dragging equipment (7) induced by the first detection position structure;

after the control module acquires the position information, the control module outputs control information to the driving device (3) and the dragging device (5);

the information receiving and sending module is used for communicating with a user side, the information receiving and sending module receives control information sent by the user side, processes the control information and outputs the control information to the driving device (3) and the dragging device (5), and the information receiving and sending module sends the position information to the user side.

8. The towing equipment deployment and recovery method according to claim 6, wherein:

the control module is electrically connected with the second detection position structure;

the control module is used for acquiring the pitching angle information of the pitching frame (2) induced by the second detection position structure;

after the control module acquires the pitching angle information, the control module outputs control information to the driving device (3) and the towing device (5);

the information receiving and transmitting module is used for communicating with a user side, the information receiving and transmitting module receives control information sent by the user side, processes the control information and outputs the control information to the driving device (3) and the towing device (5), and the information receiving and transmitting module sends the pitching angle information to the user side.

9. The towing equipment deployment and recovery method according to claim 6, wherein:

the control module is electrically connected with the force measuring device (9);

the control module is used for acquiring the tension information of the towing end sensed by the force measuring device (9);

after acquiring the tension information, the control module outputs control information to the driving device (3) and the dragging device (5);

the information receiving and transmitting module is used for communicating with a user side, the information receiving and transmitting module receives control information sent by the user side, processes the control information and outputs the control information to the driving device (3) and the dragging device (5), and the information receiving and transmitting module sends the tension information to the user side.

10. The towing equipment deployment and recovery method according to claim 6, wherein:

the control module is electrically connected with the length sensing device;

the control module is used for acquiring the length information of the dragging end sensed by the length sensing device;

after the control module acquires the length information, the control module outputs control information to the driving device (3) and the dragging device (5);

the information receiving and sending module is used for communicating with a user side, the information receiving and sending module receives control information sent by the user side, processes the control information and outputs the control information to the driving device (3) and the dragging device (5), and the information receiving and sending module sends the length information to the user side.

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