CN206288875U - It is applied to the automatic retraction device of side-scan sonar towfish - Google Patents
It is applied to the automatic retraction device of side-scan sonar towfish Download PDFInfo
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- CN206288875U CN206288875U CN201621182264.4U CN201621182264U CN206288875U CN 206288875 U CN206288875 U CN 206288875U CN 201621182264 U CN201621182264 U CN 201621182264U CN 206288875 U CN206288875 U CN 206288875U
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Abstract
The automatic retraction device of side-scan sonar towfish is applied to the utility model discloses a kind of, including computer, PLC, hydraulic ship arm of derrick, sensor and the transmitter being sequentially connected, wherein, transmitter is also connected with PLC.Hydraulic ship is that executing agency replaces artificial dispensing with arm of derrick, improves operating efficiency, reduces the risk of man overboard and equipment damage；The device has spatial triaxial motor function, realizes that locus arbitrarily changes within the specific limits, improves the precision of detection data, while equipment can be avoided to contact the destruction that seabed is caused.
Description
Technical field
The utility model is related to sea habitata detection technical field, and in particular to a kind of automatic receipts for being applied to side-scan sonar towfish
Put device.
Background technology
500kV good fortune port line submarine cable is the unique passage for ensureing Hainan Power Grid and south electric network major network connection, seabed electricity
Cable once goes wrong will cause Hainan Power Grid off-the-line to run, and bring serious social influence and economic impact.Therefore the palm is needed
Protection of submarine cable situation is held, submarine cable potential safety hazard is investigated, submarine cable route landforms situation is grasped, submarine cable is ensured
Safe operation.
500kV good fortune port line has successively carried out 3 submarine cable detection work, is detected using ROV underwater robots, multi-beam
System, side-scan sonar detecting system are to extra large cable route extra large cable buried depth, extra large cable naked section and the detection of hanging section, detection of obstacles etc.
Deng.The transducer probe (claiming side-scan sonar towfish) of wherein side-scan sonar detecting system needs to be suspended in when detection work is carried out
Marine transmitting there are certain requirements with sound wave, the attitude of side-scan sonar towfish is received.
Currently, when carrying out side-scan sonar detection work, what is taken is the mode for manually delivering side-scan sonar towfish, due to side
Sweep that sonar towfish is heavier, at least need the people of more than 2 to make a concerted effort free-hand dispensing side-scan sonar towfish during dispensing, in normal work
When, it is necessary to manually haul towfish, change the depth of towfish in real time according to seabed depth, because operation on the sea risk is larger, exist
Personnel slip the risk fallen into sea, once while operating personnel lack experience, in seabed, to reclaim towfish too late in shallower place
When, may result in towfish and bottom out damage.Operationally, it is ensured that towfish is in suitable depth, and the data of detection are just accurate simultaneously
It is really error free.
Utility model content
In view of the shortcomings of the prior art, the purpose of this utility model be provide it is a kind of be applied to side-scan sonar towfish from
Dynamic draw off gear, side-scan sonar towfish is delivered instead of artificial, and possesses the function that the automatic adaptation depth of water changes towfish depth, real
Existing automatic control process.
To achieve these goals, the utility model is adopted the technical scheme that：
It is a kind of to be applied to the automatic retraction device of side-scan sonar towfish, including computer, PLC, the hydraulic ship being sequentially connected
With arm of derrick, sensor and transmitter, transmitter is also connected with PLC；
The hydraulic ship includes winch 1, hawser 2, skidding 3, anti-reel cage 4, telescopic arm 5, the and of lifting principal arm 6 with arm of derrick
Rotary support 7；The sensor include cable length sensor, telescopic arm linear transducer, lifting principal arm angular transducer and
Rotary support angular transducer；The signal that sensor is exported is converted to PLC by each sensor one transmitter of correspondence, transmitter
The input signal being capable of identify that；
Rotary support 7 is fixed above deck, and the one end of lifting principal arm 6 is fixed on rotary support 7, and one end is suspended on sea
On, the one end of telescopic arm 5 is fixed on rotary support 7, and one end is fixed on lifting principal arm 6, and rotary support 7 can drive lifting master
The 360 degree of rotations in the horizontal direction of arm 6 and telescopic arm 5, telescopic arm 5 can stretch in vertical direction, to adjust lifting principal arm 6
Angle between sea；
Winch 1 is located on deck, and the one end of hawser 2 connection side-scan sonar towfish, the other end crosses skidding 3 and is fixed on winch 1
On, skidding 3 is arranged on the free end of lifting principal arm 6, and anti-reel cage 4 is also mounted at the free end of lifting principal arm 6 and is located at skidding 3
Lower section.
Compared with prior art, the beneficial effects of the utility model are：
By Programmable Logic Controller as control core, hydraulic ship is that executing agency replaces people with arm of derrick to the utility model
Work is delivered, and improves operating efficiency, reduces the risk of man overboard and equipment damage；There is the device spatial triaxial to move work(
Can, realize that locus arbitrarily changes within the specific limits, the precision of detection data is improve, while equipment can be avoided to contact
The destruction that seabed is caused.
Brief description of the drawings
Fig. 1 is applied to the structural representation of the automatic retraction device of side-scan sonar towfish for the utility model；
Fig. 2 is applied to the knot of hydraulic ship arm of derrick in the automatic retraction device of side-scan sonar towfish for the utility model
Structure schematic diagram.
Specific embodiment
The utility model is directed to current side-scan sonar towfish risk and shortcoming that manually the mode of delivering is present, research and design one
The automatic retraction device for being applied to side-scan sonar towfish is planted, side-scan sonar towfish is delivered instead of artificial, and possess automatic adaptation
The depth of water changes the depth of towfish, realizes automatic control process.
It is most of that the present apparatus is divided into 3：Control section, executing agency and sensor and transducer portion.Wherein control section
Core be Programmable Logic Controller (PLC), executing agency is the hydraulic ship arm of derrick for being adapted to field condition, and is detected
The output signal of sensor is changed into Programmable Logic Controller and is capable of identify that by the respective sensor of journey physical quantity, transmitter through treatment
Input signal.As shown in figure 1, the present apparatus specifically includes computer, PLC, hydraulic ship arm of derrick, the sensing being sequentially connected
Device and transmitter, wherein, transmitter is also connected with PLC.
Control function to side-scan sonar towfish is included：(1) release and recovery；(2) gesture stability (3) winding alarm；
(4) position coordinates amendment；(5) emergency stop function.
For function above, the hydraulic ship arm of derrick of executing agency needs to realize the three-axis moving function in space,
Therefore arm of derrick peculiar to vessel can be designed luffing (is utilized by bottom rotary support (being driven using rotary fluid motor), lifting principal arm
Hydraulic cylinder realizes suspension arm variable-amplitude), telescopic arm (using telescopic hydraulic cylinder control telescopic arm stretching, extension), the hoister winch with hawser
(by raising fluid motor-driven), pulley and anti-reel cage are constituted.
Bottom rotary support completes 360 degree of rotations of horizontal plane, and adding the luffing and telescopic arm of arm of derrick can complete to prevent
In the three-axis moving in space, hoister winch, hawser and pulley can realize the control of side-scan sonar towfish vertical ascent and decline to reel cage
System, anti-reel cage enters anti-reel cage fixed position on arm when towfish is reclaimed, prevent from being pulled in the motion process of arm
Towfish inertia motion bump against hull.
As shown in Fig. 2 hydraulic ship includes winch 1, hawser 2, skidding 3, anti-reel cage 4, telescopic arm 5, lifting with arm of derrick
Principal arm 6 and rotary support 7；The sensor includes that cable length sensor, telescopic arm linear transducer, lifting principal arm angle are passed
Sensor and rotary support angular transducer；Each sensor one transmitter of correspondence, the signal that transmitter exports sensor turns
It is changed to the input signal that control centre is capable of identify that.
Rotary support 7 is fixed above deck, and the one end of lifting principal arm 6 is fixed on rotary support 7, and one end is suspended on sea
On, the one end of telescopic arm 5 is fixed on rotary support 7, and one end is fixed on lifting principal arm 6, and rotary support 7 can drive lifting master
The 360 degree of rotations in the horizontal direction of arm 6 and telescopic arm 5, telescopic arm 5 can stretch in vertical direction, to adjust lifting principal arm 6
Angle between sea.
Winch 1 is located on deck, and the one end of hawser 2 connection side-scan sonar towfish, the other end crosses skidding 3 and is fixed on winch 1
On, skidding 3 is arranged on the free end of lifting principal arm 6, and anti-reel cage 4 is also mounted at the free end of lifting principal arm 6 and is located at skidding 3
Lower section.
Device includes corresponding sensor and transmitter, and rotary support angular transducer is used to measure the angle of support revolution
Degree, principal arm change angle sensor is used to measure the angle of principal arm, and cable length sensor is used to measure the length of hawser release,
Collapsing length sensor, hawser pull sensor, hawser and water surface angle angular transducer, each sensor have corresponding
Transmitter, the input quantity that PLC is capable of identify that is converted into by the unification of sensor output quantity.
The present apparatus is described below to the control process of side-scan sonar towfish.It is important to note that PLC assume responsibility for signal
The function for the treatment of, its built-in program belongs to prior art, is the customary means of those skilled in the art, is not the utility model
Object required for protection.
1st, three-axis moving：
(1) involution：It is anti-reel cage directly over side-scan sonar towfish to set original state system, and PLC is obtained from calculating
After the order that machine is delivered, cable length sensor, arm principal arm angular transducer peculiar to vessel, angle of revolution sensor and flexible brachium
Current cable length, principal arm angle, rotary support current angular and telescopic arm spread length are fed back to PLC by degree sensor, are led to
Cross programmed algorithm, arm principal arm angle peculiar to vessel, telescopic arm and angle of revolution involution to original state.
(2) side-scan sonar towfish is lifted into anti-reel cage：When PLC gets the positional information that each sensor is fed back
During for original state, PLC output analog signals control the corresponding valve of lifting mechanism, and then control raising hydraulic motor work
Make, under the drive of hydraulic motor, hoister winch reclaims hawser, when it is 0 that cable length sensor detects cable length
(i.e. side-scan sonar towfish enters anti-reel cage), PLC output corresponding analog signals make raising hydraulic motor be stopped, and winch stops
Non-return walks away；
(3) side-scan sonar towfish position is moved into ship outboard surface top：PLC exports corresponding signal, controls turn-around machine
The corresponding magnetic valve of structure, and then control rotary fluid motor to turn to corresponding angle, while controlling the electricity of main arm amplitude-changing mechanism
Magnet valve, and then control luffing hydraulic cylinder to be moved according to required speed and direction, principal arm in the presence of luffing hydraulic cylinder, by side
Sweep sonar towfish and be stretched over ship outboard surface top, under the promotion of telescopic hydraulic cylinder, extending arm is extended to telescopic arm on demand
Certain length.
(4) side-scan sonar towfish is discharged：By PLC output signals, lifting mechanism magnetic valve is controlled, drive hydraulic motor fortune
It is dynamic, hoister winch release hawser, until the cable length signal of cable length sensor feedback is equal to preset value (i.e. side-scan sonar
Towfish lowered position meets job requirement) when, raising hydraulic motor is stopped, and now, side-scan sonar towfish is remained suspended in
In water, the state in side-scan sonar detection operation can be carried out.
(5) side-scan sonar towfish is reclaimed：Recovery order is sent to PLC from computer, PLC output corresponding signals are controlled
Mechanism's respective valves are risen, raising hydraulic motor is rotated with speed according to a certain direction, drive winch to reclaim hawser, work as hawser
When linear transducer detects side-scan sonar towfish into anti-reel cage, raising hydraulic motor is stopped, luffing hydraulic cylinder, flexible
Hydraulic cylinder and rotary fluid motor work, and by side-scan sonar towfish involution to initial position, detect after the completion of acting, raising liquid
Pressure motor task again, winch slowly discharges hawser, and cable length sensor detects towfish and falls deck, raising hydraulic motor
It is stopped.
2nd, gesture stability
If the current depth of water is H (force snesor that pressurizeed on side-scan sonar towfish is obtained finally), the one side of side-scan sonar is selected
Range r, detects that the hawser water surface angle for obtaining is θ, arm top cable peculiar to vessel by hawser and water surface angle angular transducer
Pulley to hull bottom vertical range can realize measurement, be set to a, drauht c, then pulley top to sea vertical range be a-c, according to
The geometrical relationship of triangle, the length L of release hawser required for can calculating：
L=(H-0.1*r)/sin θ+(a-c)/sin θ
Under the control of PLC outputs, the control of lifting mechanism valve directly makes raising fluid motor-driven start winch, releases
Cable laying rope reclaims hawser, and when cable length sensor feedback cable length l is more than L, PLC output controls reclaim hawser, directly
During to the conditional statement for meeting cable length sensor feedback cable length l=L, lifting mechanism is stopped, and keeps current appearance
State；When cable length sensor feedback cable length l is less than L, PLC output release hawsers, until meeting cable length sensing
During the conditional statement of device feedback cable length l=L, lifting mechanism is stopped, and keeps current pose.
3rd, winding alarm
In normal work, the pulling force size that hawser pull sensor constantly bears current hawser feeds back to PLC to device,
When side-scan sonar towfish is enwinded by foreign matters such as fishing nets, pulling force increases suddenly, can now design an alarm circuit, bag
Containing alarm lamp, alarming horn, a normal open switch of connecting, the normal open switch is controlled by PLC digital outputs, works as pull sensing
When device detects pulling force more than setting pulling force, PLC is output as very, normal open switch action, connects alarm circuit, and alarm lamp is turned by going out
It is bright, the alarming horn sound.
4th, coordinate modification
Carry out side-scan sonar detection work when, the underwater position of side-scan sonar towfish cannot direct access, can be by phase
The programmed algorithm answered obtains the real-time coordinates of side-scan sonar towfish, when side-scan sonar self adaptation extension and retraction system normally runs, can be by
Radio Beacon DGPS is arranged on the top of executing agency's arm peculiar to vessel, and the angular transducer installed by anti-reel cage top knows hawser
With the angle on sea, the release length of hawser is got with reference to cable length sensor, by calculate can indirect gain swept to side
Coordinate of the sonar towfish in water.
5th, emergent stopping
During side-scan sonar self adaptation extension and retraction system works, it is contemplated that emergency case, emergent stopping work(is devised
Can, the total valve of system oil-way is set in executing agency's arm peculiar to vessel, when the button for pressing emergent stopping, PLC is connected to promptly
The instruction of stopping, by programmed algorithm, PLC outputs directly control total valve, cutting system oil circuit to reach emergent stopping and perform machine
The purpose of structure.
To sum up, automatic retraction device of the present utility model can replace artificial dispensing side-scan sonar towfish, reduce personnel
The risk of overboard and equipment damage；Winding warning function helps find the foreign matters such as fishing net winding towfish in time, is that emergency disposal is striven
Take the time；Adaptive Attitude adjusts function, improves detection data precision, while prevent equipment from contacting seabed damaging；Operation
Journey is automatically controlled by PLC, improves operating efficiency.
Above-listed detailed description is directed to illustrating for the utility model possible embodiments, and the embodiment is simultaneously not used to limitation
The scope of the claims of the present utility model, all equivalence enforcements or change without departing from carried out by the utility model are intended to be limited solely by this case
In the scope of the claims.
Claims (6)
1. a kind of automatic retraction device for being applied to side-scan sonar towfish, it is characterised in that
Including the computer, PLC, hydraulic ship arm of derrick, sensor and the transmitter that are sequentially connected, transmitter is also connected with PLC；
The hydraulic ship includes winch (1), hawser (2), skidding (3), anti-reel cage (4), telescopic arm (5), lifting with arm of derrick
Principal arm (6) and rotary support (7)；The sensor includes cable length sensor, telescopic arm linear transducer, lifting principal arm angle
Degree sensor and rotary support angular transducer；Each sensor one transmitter of correspondence, the letter that transmitter exports sensor
Number be converted to the input signal that PLC is capable of identify that；
Rotary support (7) is fixed above deck, and lifting principal arm (6) one end is fixed on rotary support (7), and one end is suspended on sea
On, telescopic arm (5) one end is fixed on rotary support (7), and one end is fixed on lifting principal arm (6), and rotary support (7) can band
Dynamic lifting principal arm (6) and telescopic arm (5) 360 degree of rotations in the horizontal direction, telescopic arm (5) can stretch in vertical direction,
To adjust angle of the lifting principal arm (6) and sea between；
Winch (1) on deck, cross skidding (3) and be fixed on winch by hawser (2) one end connection side-scan sonar towfish, the other end
(1) on, installed in the free end of lifting principal arm (6), anti-reel cage (4) is also mounted at the free end of lifting principal arm (6) simultaneously for skidding (3)
Positioned at the lower section of skidding (3).
2. the automatic retraction device for being applied to side-scan sonar towfish according to claim 1, it is characterised in that
Sensor also includes rope angle sensor.
3. the automatic retraction device for being applied to side-scan sonar towfish according to claim 2, it is characterised in that
Sensor also includes hawser pull sensor.
4. the automatic retraction device for being applied to side-scan sonar towfish according to claim 3, it is characterised in that
Also include alarm circuit, alarm circuit includes the normal open switch, alarm lamp and the alarming horn that are sequentially connected in series, wherein, it is normally opened
Switch connection PLC.
5. the automatic retraction device for being applied to side-scan sonar towfish according to claim 4, it is characterised in that
Also include Radio Beacon, Radio Beacon is arranged on the free end of lifting principal arm, and connects PLC.
6. the automatic retraction device for being applied to side-scan sonar towfish according to claim 1 or 2 or 3 or 4 or 5, its feature
It is,
Also including the total valve and emergent stopping button of connection PLC respectively, side-scan sonar towfish is applied to described in total valve connection
Automatic retraction device oil circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621182264.4U CN206288875U (en) | 2016-11-02 | 2016-11-02 | It is applied to the automatic retraction device of side-scan sonar towfish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621182264.4U CN206288875U (en) | 2016-11-02 | 2016-11-02 | It is applied to the automatic retraction device of side-scan sonar towfish |
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| Publication Number | Publication Date |
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| CN206288875U true CN206288875U (en) | 2017-06-30 |
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| CN201621182264.4U Active CN206288875U (en) | 2016-11-02 | 2016-11-02 | It is applied to the automatic retraction device of side-scan sonar towfish |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814151A (en) * | 2018-12-27 | 2019-05-28 | 杭州华能工程安全科技股份有限公司 | A kind of underwater embedded object prospecting apparatus applied to waters security |
| CN113447864A (en) * | 2021-06-22 | 2021-09-28 | 中国船舶重工集团公司第七0七研究所 | System and method for automatically retracting and releasing magnetometer for ocean surveying unmanned ship |
-
2016
- 2016-11-02 CN CN201621182264.4U patent/CN206288875U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814151A (en) * | 2018-12-27 | 2019-05-28 | 杭州华能工程安全科技股份有限公司 | A kind of underwater embedded object prospecting apparatus applied to waters security |
| CN113447864A (en) * | 2021-06-22 | 2021-09-28 | 中国船舶重工集团公司第七0七研究所 | System and method for automatically retracting and releasing magnetometer for ocean surveying unmanned ship |
| CN113447864B (en) * | 2021-06-22 | 2022-10-28 | 中国船舶重工集团公司第七0七研究所 | System and method for automatically retracting and releasing magnetometer for ocean surveying unmanned ship |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230821 Address after: 570000 Unit B, 14 #, Fortune Plaza, 103 Binhai Avenue, Haikou City, Hainan Province Patentee after: Haikou Branch of Guangzhou Bureau of China Southern Power Grid Co.,Ltd. Address before: 510663 Building 2, 223 science Avenue, Science City, Luogang District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU BUREAU OF EXTRA HIGH VOLTAGE TRANSMISSION COMPANY OF CHINA SOUTHERN POWER GRID Co.,Ltd. |