CN218320448U - Intelligent towed body winding and unwinding system - Google Patents
Intelligent towed body winding and unwinding system Download PDFInfo
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- CN218320448U CN218320448U CN202222208203.2U CN202222208203U CN218320448U CN 218320448 U CN218320448 U CN 218320448U CN 202222208203 U CN202222208203 U CN 202222208203U CN 218320448 U CN218320448 U CN 218320448U
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Abstract
The utility model relates to an intelligent towed body retracting and releasing system, which comprises a connecting rod retracting and releasing device, an automatic winch device and a towed body flexible retracting and releasing device; the two connecting rod folding and unfolding devices and the towed body flexible folding and unfolding device form a connecting rod folding and unfolding portal structure; the connecting rod retracting device comprises an electric push rod, the electric push rod is connected with the connecting rod retracting device, and the electric push rod stretches and retracts to drive the connecting rod retracting device to rotate upwards or downwards; the towed body flexible retraction device comprises a cable pulley, a wedge-shaped positioning clamp and an umbrella-shaped towed body recovery cover; a cable wound on the automatic winch device passes through the guide groove around the cable pulley and is connected with the towed body below the umbrella-shaped towed body recovery cover; the cable is automatically wound by the automatic winch device; the bottom of the wedge-shaped positioning clamp is a wedge-shaped end; the wedge-shaped positioning clamp penetrates through the guide groove in the preset direction through the wedge-shaped end to drive the towed body to be recovered in the preset recovery direction. The utility model discloses occupation space is little, but remote control and automatic control realize unmanned operation, are applicable to the middle-size and small-size manned/unmanned naval vessel and use.
Description
Technical Field
The utility model relates to a tow body winding and unwinding devices especially relates to an intelligence is towed body and is receive and unwind system.
Background
With the continuous development of ocean science and ocean engineering, sonar technology is widely applied to the fields of national defense and civilian use as an important tool for detecting submarine landforms, structures, obstacles and the like. Most towed sonars are equipped on surface vessels and are divided into towed-body sonars and towed-line array sonars according to the structural characteristics of the array. Towed body sonar is because of its initiative working method and the characteristics of degree of depth adjustable use most extensively, simultaneously along with the demand of ocean exploration constantly increases to towed body sonar is the basis, evolves out the underwater towed body of various forms in succession, except carrying sonar equipment, still can carry other various detecting instrument, satisfies different detection demands. If the towed body is released by only adopting manual work or manual assistance, the labor intensity is increased, meanwhile, the safety of personnel also has hidden danger, and the safe release and recovery under complex sea conditions are difficult to complete. In addition, with the continuous development of unmanned technology, the reliable release and recovery of various towed bodies becomes a key technology.
The underwater towed body is released and recovered, the mode that a winch is added with an A-shaped frame or a single-arm crane is generally adopted for winding and unwinding at present, the mode is relatively original and simple, manual intervention is mostly needed, and potential safety hazards exist. The mode of a winch and a special retractable frame can be adopted, the problem of matching of the A-shaped frame and a winch room is solved, the safety is further improved, and the defects of large occupied space, complex structure and the like still exist. Such as the following patents:
the invention patent CN111362164A relates to a device for deploying and recovering a deep-sea towed sonar system, which adopts a winch and single-arm crane form to retract and release a towed body, and has simple structure, independent parts and easy operation. However, the device occupies a large deck space, has low space utilization rate, needs manual auxiliary operation, is not suitable for small and medium-sized ships, and cannot realize unmanned operation.
The invention discloses a patent CN109866883B, and relates to a laying and recovering device of a towed sonar for a boat.
The invention patent CN110104509A discloses an integral horizontal pushing type amplitude-variable telescopic retracting device, which adopts an integral horizontal pushing mode to arrange the device integrally comprising a towed body above the water surface and utilizes an amplitude-variable mechanism to rotate the towed body. Because the structure is complex, the whole weight is heavy, and the device is only suitable for large towed bodies, and can only be installed on large ships for use. Meanwhile, the whole device performs horizontal pushing movement, so that the center of gravity can shift, and the stable and high-speed operation of the ship body is influenced. In addition, the device still needs personnel to operate, needs manual observation to rotate and straighten the towed body after the deviation of the towed body, and can not realize completely unmanned operation.
The invention patent CN102180242B discloses a translational folding type retraction device, which utilizes a multi-stage folding arm group to release and recover a towed body, and although the whole space is compact, the form of integral cabin exit is still adopted, so that the condition of gravity center shift is still caused, and the operation of a ship body is influenced. In addition, the device adopts full hydraulic drive, and although hydraulic drive adapts to heavy load and operates steadily, it needs to independently select a hydraulic station and a hydraulic control system, and has the problem of leakage pollution.
The invention discloses a patent CN111319723A, and relates to an autonomous retraction device for an underwater towed body, which comprises a multi-stage sliding frame and a swing frame, wherein a towed body is retracted by adopting a slide way type retraction mode. Though this scheme can realize unmanned operation, the towed body recovery process requires that the towed body is steady, does not have radial rotation, takes place to rotate if the towed body, and the towed body can't be totally taken in and receive the mouth, easily causes the towed body to damage, and it is difficult to adapt to complicated sea condition from this. In addition, the longitudinal length of the device is large, more space is occupied, a full hydraulic driving device is adopted, a hydraulic station needs to be independently selected and matched, and the use cost is increased.
Utility model CN212503753 discloses a portal device for towed body receive and releases, utilizes the actuating cylinder with the portal frame with towed body part rotatory to the stern outside surface of water on, and then carries out the release of towed body and retrieve, though receive and release process convenient and fast, nevertheless to portal structural strength require highly, the device is withdrawed the back and highly is higher, is not suitable for the installation of small boat and uses, device integral erection can cause the hull disturbance in the stern outside moreover in the release process.
SUMMERY OF THE UTILITY MODEL
For solving the problem that exists among the above-mentioned prior art, the utility model provides an intelligence towed body receive and releases system, it is for can loading the full-automatic intelligence towed body system that receives and releases on middle-size and small-size naval vessel, can adapt to various different complicated sea conditions, and sonar equipment is retrieved in the release of safe and reliable ground.
In order to achieve the above purpose, the utility model adopts the following specific technical scheme:
an intelligent towed body retracting and releasing system is characterized in that the towed body retracting and releasing system comprises a connecting rod retracting and releasing device, an automatic winch device and a towed body flexible retracting and releasing device;
the two connecting rod retracting devices are symmetrically arranged on two sides of the automatic winch device; the extending ends of the two connecting rod retracting devices are symmetrically hinged to two sides of the top end of the towed body flexible retracting device, and form a connecting rod retracting gantry structure with the towed body flexible retracting device; the connecting rod retracting device comprises an electric push rod, the electric push rod is connected with the connecting rod retracting device, and the electric push rod stretches and retracts to drive the connecting rod retracting device to rotate upwards or downwards;
the towed body flexible retraction device comprises a cable pulley, a wedge-shaped positioning clamp and an umbrella-shaped towed body recovery cover; the cable pulley is positioned above the umbrella-shaped towed body recovery cover; a guide groove is arranged in the middle of the umbrella-shaped towed body recovery cover; a cable wound on the automatic winch device passes through the guide groove by winding around the cable pulley and is connected with the towed body below the umbrella-shaped towed body recovery cover; the automatic winch device automatically winds the cable, the wedge-shaped positioning clamp is arranged at the extending end of the cable, and the upper part of the wedge-shaped positioning clamp clamps the cable; the bottom of the wedge-shaped positioning clamp is a wedge-shaped end; the wedge-shaped positioning clamp penetrates through the guide groove in a preset direction through the wedge-shaped end to drive the towed body to be recovered in a preset recovery direction.
Furthermore, a flexible cushion is arranged at the bottom of the umbrella-shaped towed body recovery cover, and the towed body is flexibly positioned by the umbrella-shaped towed body recovery cover through the flexible cushion.
Furthermore, the connecting rod retracting device is of a double-layer four-connecting-rod structure and further comprises a fixed outer connecting rod, a fixed inner connecting rod, a transition connecting rod, a fixed connecting rod, a push rod hinged support and a connecting rod hinged support;
the fixed outer connecting rod, the transition connecting rod, the fixed connecting rod and the connecting rod hinged support form a first layer of four-connecting-rod structure together; the fixed outer connecting rod, the fixed inner connecting rod, the connecting rod hinged support and the towed body flexible retraction device form a second layer of four-connecting-rod structure together;
the fixed end of the electric push rod is hinged to the push rod hinged support, the bottom ends of the fixed outer connecting rod, the fixed inner connecting rod and the fixed connecting rod are respectively hinged to the connecting rod hinged support, the top ends of the fixed outer connecting rod and the fixed inner connecting rod are respectively hinged to the towed body flexible winding and unwinding device, the telescopic end of the electric push rod is hinged to the transition connecting rod and the top end of the fixed connecting rod, and the bottom end of the transition connecting rod is hinged to the fixed outer connecting rod.
Furthermore, the flexible retraction device of the towed body further comprises a hinged short shaft, a square fixed disc and a hinged long shaft; the two square fixed disks are symmetrically arranged at the top end of the bracket of the towed-body flexible retraction device; two ends of the hinged short shaft respectively penetrate through one end, close to a naval vessel, of the upper parts of the two square fixed disks and are hinged with the fixed inner connecting rod; and two ends of the hinged long shaft respectively penetrate through one end of the lower part of the two square fixing discs far away from the naval vessel and are hinged with the fixed outer connecting rod.
Furthermore, the wedge-shaped positioning clamp is formed by assembling two wedge-shaped positioning plates, and the upper parts of the two wedge-shaped positioning plates clamp the cable.
Furthermore, the umbrella-shaped towed body recovery cover consists of two butt-joint bodies with symmetrical structures, and the two butt-joint bodies are symmetrically arranged on two sides of the bottom end of the towed body flexible retracting device support; and a gap with a preset interval is reserved between the two butt joint bodies, and the gap is the guide groove.
Further, the automatic winch device comprises a winding drum, a winding motor and an automatic cable arrangement assembly; the winding motor is positioned on one side of the winding drum and connected with the automatic cable arrangement component, and the automatic cable arrangement component is positioned in front of the winding drum and used for guiding the cables to be automatically arranged on the winding drum.
Further, the automatic cable arrangement assembly is a lead screw nut pair, and the lead screw nut pair comprises a lead screw and a cable guide wheel; the cable guide wheel is in threaded connection with the lead screw, the cable is wound on the cable guide wheel, the lead screw is arranged in front of the winding drum, and travel switches are respectively arranged at two ends of the lead screw; the winch motor drives the lead screw to rotate so as to drive the cable guide wheel to move left and right along the lead screw in the horizontal direction.
Furthermore, a tension detection sensor is arranged on the automatic winch device and used for monitoring the tension change condition of the mooring rope in real time.
Further, a torque detection sensor is mounted on the electric push rod and used for detecting torque change of the connecting rod retraction device.
The utility model has the advantages that:
the utility model discloses a full electronic equipment need not additional auxiliary assembly such as hydraulic pressure station, simple structure, and occupation space is little, and it possesses automatic release, automatic cable laying, automatic depth control, automatic attitude adjustment, automatic recovery, automatic cable arrangement, automatic autonomous control ability such as putting on the shelf, but remote control and automatic control realize unmanned operation completely, are applicable to the use of middle-size and small-size unmanned naval vessel.
The utility model discloses a connecting rod winding and unwinding devices realizes folding receiving and releasing, has reduced the space and has occupy, makes its mountable in various types of middle-size and small-size unmanned naval vessels, and adopts double-deck four-bar linkage structure, can not only guarantee stably receiving and releasing, has still reduced electric putter's stroke, and then can reduce electric putter's cost.
The utility model discloses under the combined action of wedge positioning clamp and guide way, can guarantee that the towed body gets into with the predetermined direction and retrieve the storehouse, can guarantee that the towed body can retrieve the butt joint smoothly under the unmanned condition, through the control to hoist motor, electric putter etc. realize that the hawser receive and releases moment of change speed control, the connecting rod receives and releases portal structure moment of change speed control, can compensate to the wave effect, realizes that the towed body is stably, receive and release reliably under the high sea condition. And the design of the flexible cushion at the bottom of the umbrella-shaped towed body recovery cover can realize the flexible positioning of the towed body in the umbrella-shaped towed body recovery cover,
furthermore, the utility model discloses an automatic cable technique is arranged in automation of automatic winch device has avoided the hawser winding inequality, indiscriminate rope, sting the rope, unfavorable condition such as the mutual extrusion of winding process to appear. The utility model discloses a detect tension change, acquire the towed body degree of depth, reunion ship speed and velocity of flow control hawser receive and release, realize the towed body according to certain degree of depth steady operation.
Drawings
FIG. 1 is a schematic view of the storage state of the intelligent towed body retraction system of the utility model;
FIG. 2 is a structural diagram of the intelligent towed body retracting system of the utility model;
FIG. 3 is a schematic view of the working state of the intelligent towed body retraction system of the utility model;
fig. 4 is a schematic view of the flexible retracting device of the middle towed body of the utility model.
Wherein: the device comprises a 1-connecting rod retracting device, a 1.1-fixed outer connecting rod, a 1.2-fixed inner connecting rod, a 1.3-transition connecting rod, a 1.4-fixed connecting rod, a 1.5-electric push rod, a 1.6-push rod hinged support, a 1.7-torque detection sensor, a 1.8-connecting rod hinged support, a 2-automatic winch device, a 2.1-winding drum, a 2.2-winding motor, a 2.3-automatic cable arrangement component, a 3-towing body flexible retracting device, a 3.1-hinged short shaft, a 3.2-square fixed disc, a 3.3-cable pulley, a 3.4-wedge-shaped positioning clamp, a 3.5-umbrella-shaped towing body recycling cover, a 3.6-hinged long shaft, a 4-towing body, a 4.1-towing body placing seat and a 4.2-towing body in-place detection switch.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present application, the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
The terms of orientation such as up, down, left, right, front, and rear in the present specification are established based on the positional relationship shown in the drawings. The corresponding positional relationship may also vary depending on the drawings, and therefore, should not be construed as limiting the scope of protection.
In the present invention, the terms "mounted", "connected", "fixed", etc. should be understood in a broad sense, for example, they may be fixedly connected, detachably connected, integrally connected, or mechanically connected, the components may also be electrically connected or may communicate with each other, directly connected, or indirectly connected through an intermediate medium, or may be connected through two components, or may be in an interaction relationship between two components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
The embodiment describes an intelligent towed body retracting and releasing system which is installed on various types of small and medium-sized manned/unmanned ships, and the towed body retracting and releasing is carried out in a folding and releasing mode, so that the space occupation can be effectively reduced.
As shown in figure 1, the towed body retracting system mainly comprises a connecting rod retracting device 1, an automatic winch device 2 and a towed body flexible retracting device 3.
The two connecting rod retracting devices 1 are symmetrically arranged on two sides of the automatic winch device 2, the extending ends of the two connecting rod retracting devices 1 are symmetrically arranged on two sides of the top end of the towing body flexible retracting device 3, and the two connecting rod retracting devices 1 and the towing body flexible retracting device 3 form a connecting rod portal retracting structure. The towed body 4 is arranged below the towed body flexible retraction device 3. The direction of a cable extending out of the automatic winch device 2 is changed by the flexible retracting and releasing device 3 of the towing body and then is connected with the towing body 4, and the towing body 4 is retracted or released under the action of the flexible retracting and releasing device 3 of the telescopic push-pull towing body of the connecting rod retracting and door frame structure and the cable retracting and releasing action of the automatic winch device 2.
The connecting rod folding and unfolding door frame structure is a main structure for folding, delivering and warehousing of the towing body 4, and the connecting rod folding and unfolding device 1 realizes the overall release and storage of the towing body 4 through a double-layer four-connecting-rod structure in the embodiment.
As shown in fig. 2, the connecting rod retracting device 1 includes a fixed outer connecting rod 1.1, a fixed inner connecting rod 1.2, a transition connecting rod 1.3, a fixed connecting rod 1.4, an electric push rod 1.5, a push rod hinge support 1.6, a moment detection sensor 1.7, and a connecting rod hinge support 1.8.
Fixed outer connecting rod 1.1, excessive connecting rod 1.3, fixed connecting rod 1.4 and connecting rod hinged-support 1.8 constitute first layer four-bar linkage structure jointly, fixed outer connecting rod 1.1 directly bears the weight of the towed body 4 as the big arm that the connecting rod receive and releases the portal structure, electric putter 1.5 promotes the rotation of first layer four-bar linkage structure through concertina movement, realize fixed outer connecting rod 1.1's rotary motion, the motion stability can be guaranteed in four-bar linkage structure's use, and be favorable to reducing electric putter 1.5's flexible stroke. The fixed outer connecting rod 1.1, the fixed inner connecting rod 1.2, the connecting rod hinged support 1.8 and the flexible retracting and releasing device 3 of the towed body jointly form a parallelogram four-connecting-rod structure on the second layer, and the fixed outer connecting rod 1.1 drives the towed body 4 to rotate, so that the flexible retracting and releasing device 3 of the towed body is always kept vertical, and the towed body 4 is always horizontal.
The push rod hinged support 1.6 is arranged on the naval vessel at the outer side of the automatic winch device 2, and the connecting rod hinged support 1.8 is arranged at one side of the naval vessel close to the outer side. The fixed end of the electric push rod 1.5 is hinged on the push rod hinged support 1.6, the bottom ends of the fixed outer connecting rod 1.1, the fixed inner connecting rod 1.2 and the fixed connecting rod 1.4 are respectively hinged on the connecting rod hinged support 1.8, the top ends of the fixed outer connecting rod 1.1 and the fixed inner connecting rod 1.2 are respectively hinged with the flexible retraction device 3 of the towed body, and the telescopic end of the electric push rod 1.5 is hinged with the top ends of the transition connecting rod 1.3 and the fixed connecting rod 1.4. The bottom end of the transition connecting rod 1.3 is hinged with the fixed outer connecting rod 1.1. The moment detection sensor 1.7 is arranged on the electric push rod 1.5 and used for detecting the moment change of the fixed outer connecting rod 1.1.
The automatic winch device 2 is a main device for realizing the release of the towed body 4, the towing in water, the depth adjustment and the towed body recovery. As shown in fig. 2, the automatic winch device 2 mainly comprises a winding drum 2.1, a winding motor 2.2, an automatic cable arrangement component 2.3, a worm and gear reducer, an electromagnetic brake, an encoder, an electric control cabinet and the like.
Hoist motor 2.2 is located reel 2.1 one side, and hoist motor 2.2 links to each other with automatic row cable subassembly 2.3 through worm gear reducer, and automatic row cable subassembly 2.3 is screw nut pair in this embodiment, and screw nut is vice to include lead screw, fairlead, and fairlead threaded connection is on the lead screw, and the hawser is around on the fairlead, and the lead screw setting is in reel 2.1 the place ahead, and fairlead pulls the hawser, and the hawser is reeled up on reel 2.1. In this embodiment, the hoisting motor 1.2 is an ac variable frequency motor. The hoisting motor 2.2 drives the screw rod to rotate to drive the cable guide wheel to move left and right along the screw rod in the horizontal direction, the automatic cable arrangement component 2.3 converts the rotating motion of the hoisting motor 2.2 into linear motion, and the cable is automatically arranged and wound on the winding drum 2.1.
In order to ensure that the cable guide wheel is in a safe working area, travel switches are respectively installed at two ends of the lead screw, the distance between the two travel switches is 2.1 working lengths of the winding drum, and when the cable touches the travel switches, the winding motor 2.2 drives the lead screw to rotate reversely, so that automatic reversing is realized.
The electromagnetic brake and the encoder are respectively connected with the electric control cabinet in a data mode, and the electric control cabinet is connected with the hoisting motor 2.2 through the electromagnetic brake and used for controlling the hoisting motor 2.2 to stop. The optional photoelectric encoder that uses of encoder sets up the encoder on reel 2.1 and lead screw respectively, and the encoder on reel 2.1 is used for detecting reel 2.1's rotational speed to convey the reel rotational speed to automatically controlled cabinet, the PID controller in the automatically controlled cabinet can calculate the row's of lead screw cable rotational speed according to reel 2.1 rotational speed and lead screw and reel 2.1's rotational speed ratio, and automatically controlled cabinet uses this rotational speed as the predetermined rotational speed of automatic row's cable subassembly 2.3. The encoder on the lead screw is used for detecting the real-time rotating speed of the lead screw, and feeds back the real-time rotating speed to the PID controller of the electric control cabinet, the PID controller compares the real-time rotating speed of the lead screw with the preset rotating speed, and adjusts the rotating speed of the hoisting motor 2.2 according to the rotating speed difference, so that the rotating speed of the lead screw is adjusted, the real-time rotating speed of the lead screw is the same as the preset rotating speed, and the lead screw is controlled to follow the winding drum 2.1 in real time. Thereby achieving closed loop feedback control of the automatic cabling assembly 2.3.
When the automatic winch device 2 works, the winding drum 2.1 winds and unwinds the mooring rope according to the input speed and direction, the cable guide wheel wound with the mooring rope is driven by the lead screw to horizontally move according to the response speed and direction, the mooring rope is enabled to be arranged on the winding drum 2.1 in order, the PID controller is used for comparing the real-time rotating speed of the lead screw with the preset rotating speed, and the automatic cable arrangement technology of adjusting the rotating speed of the lead screw through the winding motor 2.2 is used for ensuring the lead screw and the winding drum 2.1 to move in a coordinated mode. When the cable guide wheel moves to two ends of the lead screw, the travel switch sends a reversing instruction to the PID controller, the automatic cable arrangement component 2.3 automatically reverses, and the automatic winch device 2 enables the cable to be wound on the winding drum 2.1 regularly and compactly through periodic reciprocating motion, so that automatic cable arrangement is realized, and the automatic winch device 2 can be ensured to be capable of smoothly carrying out retraction and release work.
In addition, the automatic winch device 2 is also provided with a tension detection sensor for detecting the tension change on the cable and monitoring the tension change condition of the cable in real time. The tension detection sensor feeds back tension information to the PID controller, the PID controller calculates the change of the distance of the rope width, the number of rotating turns required by the distance of the rope width for the lead screw to walk and the rotating speed required by the winding motor 2.2 according to the tension information and the rotating speed information of the winding drum, and the PID controller controls the winding motor 2.2 to drive the lead screw to rotate, so that the automatic cable arrangement function is realized.
The towed body flexible winding and unwinding device 3 comprises a hinged short shaft 3.1, a square fixed disc 3.2, a cable pulley 3.3, a wedge-shaped positioning clamp 3.4, an umbrella-shaped towed body recovery cover 3.5 and a hinged long shaft 3.6 as shown in figure 4.
Two square fixed disks 3.2 are symmetrically arranged at the top end of the bracket of the towed body flexible retraction device 3. Two ends of the hinged short shaft 3.1 respectively penetrate through one end, close to the naval vessel, of the upper parts of the two square fixed disks 3.2 and are hinged with the fixed inner connecting rod 1.2. Two ends of the hinged long shaft 3.6 respectively penetrate through one end of the lower part of the two square fixed disks 3.2 far away from the naval vessel and are hinged with the fixed outer connecting rod 1.1. Since the joint major axis 3.6 is longer than the joint minor axis 3.1, the fixed outer link 1.1 and the fixed inner link 1.2 do not interfere with each other during rotation.
Under the hinged long shaft 3.6, a cable pulley 3.3 is arranged on a bracket of a towed body flexible winding and unwinding device 3, one end of a cable wound on the automatic winch device 2 rounds the cable pulley 3.3, and then the direction of the cable is changed to face an umbrella-shaped towed body recovery cover 3.5, and the cable passes through a wedge-shaped positioning clamp 3.4 and is connected with a towed body 4 under the cable pulley 3.3.
In the embodiment, the wedge-shaped positioning clamp 3.4 is formed by assembling two wedge-shaped positioning plates, and the cable is connected with the rib plate above the towing body 4 by penetrating between the two wedge-shaped positioning plates. The upper parts of the two wedge-shaped positioning plates are fastened and clamped with cables through a plurality of bolts, the lower ends of the wedge-shaped positioning plates are wedge-shaped ends, and the wedge-shaped ends can only penetrate through a guide groove in the middle of the umbrella-shaped towed body recovery cover 3.5 in a preset direction. When the towed body 4 is recovered, the wedge-shaped end of the wedge-shaped positioning clamp 3.4 is adjusted to a preset direction through rotation, the towed body 4 is driven to be adjusted to the preset recovery direction while the adjustment is carried out, the wedge-shaped end penetrates through the guide groove of the umbrella-shaped towed body recovery cover 3.5 in the preset direction after the adjustment is completed, the towed body 4 is driven to enter the recovery range of the umbrella-shaped towed body recovery cover 3.5, and the towed body 4 is convenient to recover.
Or in another embodiment, the wedge-shaped positioning clamp 3.4 is of an integrated structure, a through hole is formed in the wedge-shaped positioning clamp 3.4, the upper part of the wedge-shaped positioning clamp 3.4 compresses the cable by using the clamping piece, and the lower part of the wedge-shaped positioning clamp 3.4 is a wedge-shaped end.
The umbrella-shaped towed body recovery cover 3.5 is arranged below a support of the towed body flexible retraction device 3, the butt joint structure of the umbrella-shaped towed body recovery cover and the towed body 4 can be designed according to the form of the towed body 4, and the towed body 4 in various forms can be independently retracted and retracted by replacing the butt joint structure.
In the embodiment, an umbrella-shaped towed body recovery cover 3.5 with an umbrella-shaped docking structure is taken as an example for explanation, the umbrella-shaped towed body recovery cover 3.5 is composed of two docking bodies with symmetrical structures, and the two docking bodies are symmetrically arranged on two sides of the bottom end of a support of the towed body flexible retraction device 3 to form the umbrella-shaped docking structure. A gap with a preset interval is reserved between the two butt joint bodies, the gap is a guide groove, the wedge-shaped positioning clamp 3.4 penetrates through the guide groove, the outer ends of the two butt joint bodies are connected through a connecting piece, and the wedge-shaped positioning clamp 3.4 is prevented from being separated from the guide groove. When the towed body 4 is recovered, the rib plate above the towed body 4 is embedded into the guide groove under the action of the cable and the wedge-shaped positioning clamp 3.4, so that the towed body 4 is tightly pressed on the inner side of the butt joint body. In order to avoid damaging the towed body 4 when the towed body 4 is connected with the umbrella-shaped towed body recovery cover 3.5, the bottom of the two butt-joint bodies is respectively provided with a flexible pad, so that flexible positioning can be realized while certain buffering is ensured.
Between the two connecting rod retraction devices 1, the towed body placing seat 4.1 is arranged on a naval vessel, and the towed body 4 is recovered to the towed body placing seat 4.1 when the towed body is not in operation. A towed body in-place detection switch 4.2 is arranged on the towed body placing seat 4.1 and is used for detecting the warehousing state of the towed body 4 and transmitting towed body positioning information to the PID controller.
The towed body retracting system of the embodiment can release the towed body 4 to a preset position under the action that the electric push rod 1.5 pushes the connecting rod retracting portal structure outwards to rotate downwards and the automatic winch device 2 releases the cable.
When the towing body 4 is retracted, the electric push rod 1.5 drives the connecting rod to retract and release the portal structure to rotate upwards through retraction movement, and meanwhile, the automatic winch device 2 retracts the cable. The mooring rope firstly pulls the wedge-shaped positioning clamp 3.4 to be recovered to a guide groove in the middle of the umbrella-shaped towed body recovery cover 3.5, under the action of a wedge-shaped end of the wedge-shaped positioning clamp 3.4 and the guide groove, the wedge-shaped positioning clamp 3.4 automatically rotates under the wedge-shaped guiding action through the guide groove in the umbrella-shaped towed body recovery cover 3.5 in the lifting process, the wedge-shaped positioning clamp 3.4 is smoothly guided into and penetrates through the guide groove, the towed body 4 rotates together to the recovery range of the umbrella-shaped towed body recovery cover 3.5 along with the rotation of the wedge-shaped positioning clamp 3.4, and the towed body 4 smoothly enters the umbrella-shaped towed body recovery cover 3.5 under the guiding action of the guide groove to complete positioning recovery.
After the towed body 4 enters the umbrella-shaped towed body recovery cover 3.5, the electric push rod 1.5 continues to be recovered, the umbrella-shaped towed body recovery cover 3.5 compresses the towed body 4, and flexible positioning is utilized to ensure that the towed body 4 is not collided in the running process of the ship body.
When the towed body 4 is recovered on the towed body placing seat 4.1, the towed body in-place detection switch 4.2 detects warehousing information of the towed body 4, the PID controller controls the electric push rod 1.5 and the hoisting motor 2.2 to act according to moment information and towed body positioning information of the connecting rod retracting gantry until the towed body 4 moves to an appointed position, and the electric push rod 1.5 and the hoisting motor 2.2 are stopped, so that the towed body 4 is recovered.
In addition, the towed body retracting system of the embodiment can also realize the fixed depth control of the towed body 4, so that the towed body 4 can be ensured to stably run according to a certain depth during operation.
The towed body retracting and releasing system comprises a towed body depth setting mechanism which is composed of a tension detection sensor, an encoder of a winding drum 2.1, a winch motor 2.2, a PID controller, a towed body depth sensor, a ship speed detector, a flow velocity sensor and the like, and the tension change condition of a cable rope is monitored in real time through the tension detection sensor; detecting the rotating speed of the winding drum 2.1 in real time through an encoder on the winding drum 2.1; the towed body depth sensor is arranged on the towed body flexible retraction device 3, towed body depth information is obtained through the lowering length of the cable, the ship speed detector is a speed detector carried by the ship and used for detecting the ship speed, and the flow velocity sensor is arranged on the ship and used for detecting the water velocity. The PID controller collects information such as tension information, drum rotating speed information, towed body depth information, ship speed, flow rate and the like, and controls the retraction of the cable through the winch motor 2.2 according to the depth change of the towed body 4 and the tension change of the cable, so that the towed body depth control is realized.
In addition, in order to ensure that the towed body 4 is retracted under the high sea condition, the towed body retraction system forms a sea wave torque compensation device through components such as a tension detection sensor, an encoder of a winding drum 2.1, a torque detection sensor 1.7, an electric push rod 1.5, a winch motor 2.2, a PID controller and the like so as to meet the retraction of the towed body 4 under the high sea condition. The PID controller collects tension information, drum rotating speed information and torque information and determines whether to switch the working state: if the connecting rod folding and unfolding door frame structure enters water or not, the wave impact force changes, the towed body 4 is separated from the water or not, and the cable is tight or not. Through the control of the electric push rod 1.5 and the winch motor 2.2, the moment variable speed control of a connecting rod folding and unfolding portal structure and the rope folding and unfolding tension variable speed control are realized, so that the sea wave action is compensated, and the towed body 4 is stably folded and unfolded.
The towed body 4 of the present embodiment is not limited to a sonar, and various towed bodies can be recovered and released as necessary by changing the umbrella-shaped towed-body recovery cover 3.5.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the above-described embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details in the embodiments do not constitute the limitations of the scope of the present invention, and under the circumstances of the spirit and scope of the present invention, any obvious changes such as equivalent transformation, simple replacement based on the technical solution of the present invention all fall within the protection scope of the present invention.
Claims (10)
1. An intelligent towed body retracting and releasing system is characterized by comprising a connecting rod retracting and releasing device (1), an automatic winch device (2) and a towed body flexible retracting and releasing device (3);
the two connecting rod retracting devices (1) are symmetrically arranged on two sides of the automatic winch device (2); the extending ends of the two connecting rod retracting devices (1) are symmetrically hinged to two sides of the top end of the towed body flexible retracting device (3), and form a connecting rod retracting gantry structure with the towed body flexible retracting device (3); the connecting rod retracting device (1) comprises an electric push rod (1.5), the electric push rod (1.5) is connected with the connecting rod retracting device (1), and the electric push rod (1.5) telescopically drives the connecting rod retracting device (1) to rotate upwards or downwards;
the towed body flexible winding and unwinding device (3) comprises a cable pulley (3.3), a wedge-shaped positioning clamp (3.4) and an umbrella-shaped towed body recovery cover (3.5); the cable pulley (3.3) is positioned above the umbrella-shaped towed body recovery cover (3.5); a guide groove is arranged in the middle of the umbrella-shaped towed body recovery cover (3.5); a cable wound on the automatic winch device (2) passes through the guide groove by winding the cable pulley (3.3) and is connected with a towed body (4) below the umbrella-shaped towed body recovery cover (3.5); the automatic winch device (2) automatically winds up the mooring rope, the wedge-shaped positioning clamp (3.4) is installed at the extending end of the mooring rope, and the upper part of the wedge-shaped positioning clamp (3.4) clamps the mooring rope; the bottom of the wedge-shaped positioning clamp (3.4) is a wedge-shaped end; the wedge-shaped positioning clamp (3.4) penetrates through the guide groove in a preset direction through the wedge-shaped end to drive the towed body (4) to be recovered in a preset recovery direction.
2. The intelligent towed body retracting system according to claim 1, wherein a flexible pad is arranged at the bottom of the umbrella-shaped towed body recovery cover (3.5), and the towed body (4) is flexibly positioned by the umbrella-shaped towed body recovery cover (3.5) through the flexible pad.
3. The intelligent towed body retracting system according to claim 1, wherein the connecting rod retracting device (1) is of a double-layer four-connecting-rod structure, and further comprises a fixed outer connecting rod (1.1), a fixed inner connecting rod (1.2), a transition connecting rod (1.3), a fixed connecting rod (1.4), a push rod hinged support (1.6) and a connecting rod hinged support (1.8);
the fixed outer connecting rod (1.1), the transition connecting rod (1.3), the fixed connecting rod (1.4) and the connecting rod hinged support (1.8) jointly form a first layer of four-connecting-rod structure; the fixed outer connecting rod (1.1), the fixed inner connecting rod (1.2), the connecting rod hinged support (1.8) and the towing body flexible retraction device (3) jointly form a second layer of four-connecting-rod structure;
the stiff end of electric putter (1.5) is articulated to be installed on push rod hinged-support (1.6), fixed outer connecting rod (1.1), fixed inner connecting rod (1.2) with the bottom of fixed connecting rod (1.4) articulates the setting respectively on connecting rod hinged-support (1.8), fixed outer connecting rod (1.1) with the top of fixed inner connecting rod (1.2) respectively with it links to each other to drag flexible winding and unwinding devices (3) articulated, the flexible end of electric putter (1.5) with excessive connecting rod (1.3) with the top of fixed connecting rod (1.4) articulates and links to each other, the bottom of excessive connecting rod (1.3) with fixed outer connecting rod (1.1) articulates and links to each other.
4. The intelligent towed body retracting system according to claim 3, wherein the towed body flexible retracting device (3) further comprises a hinged short shaft (3.1), a square fixed disc (3.2) and a hinged long shaft (3.6); the two square fixed disks (3.2) are symmetrically arranged at the top end of the bracket of the towed body flexible retraction device (3); two ends of the hinged short shaft (3.1) respectively penetrate through one end, close to a naval vessel, of the upper parts of the two square fixed disks (3.2) and are hinged with the fixed inner connecting rod (1.2); and two ends of the hinged long shaft (3.6) respectively penetrate through one end of the lower part of the two square fixed disks (3.2) far away from the naval vessel and are hinged with the fixed outer connecting rod (1.1).
5. The intelligent towed body retracting and releasing system according to claim 1, wherein the wedge-shaped positioning clamps (3.4) are assembled by two wedge-shaped positioning plates, and the upper parts of the two wedge-shaped positioning plates clamp the cable.
6. The intelligent towed body retracting system according to claim 1, wherein the umbrella-shaped towed body retracting cover (3.5) is composed of two butt joints with symmetrical structures, and the two butt joints are symmetrically arranged on two sides of the bottom end of the support of the towed body flexible retracting device (3); and a gap with a preset interval is reserved between the two butt joint bodies, and the gap is the guide groove.
7. The intelligent towed body retracting and releasing system according to claim 1, wherein the automatic winch device (2) comprises a winding drum (2.1), a winding motor (2.2) and an automatic cable arrangement assembly (2.3); the winding motor (2.2) is located on one side of the winding drum (2.1), the winding motor (2.2) is connected with the automatic cable arrangement component (2.3), and the automatic cable arrangement component (2.3) is located in front of the winding drum (2.1) and used for guiding the cables to be automatically arranged on the winding drum (2.1).
8. The intelligent towed body retracting system according to claim 7, wherein the automatic cable arranging assembly (2.3) is a lead screw nut pair, and the lead screw nut pair comprises a lead screw and a cable guiding wheel; the cable guide wheel is in threaded connection with the lead screw, the cable is wound on the cable guide wheel, the lead screw is arranged in front of the winding drum (2.1), and travel switches are respectively arranged at two ends of the lead screw; the hoisting motor (2.2) drives the lead screw to rotate so as to drive the cable guide wheel to move left and right along the lead screw in the horizontal direction.
9. The intelligent towed body retracting system according to claim 1, wherein a tension detection sensor is arranged on the automatic winch device (2) and used for monitoring the tension change condition of the cable in real time.
10. The intelligent towed body retracting system according to claim 1, wherein a torque detection sensor (1.7) is mounted on the electric push rod (1.5) and used for detecting torque variation of the connecting rod retracting device (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222208203.2U CN218320448U (en) | 2022-08-22 | 2022-08-22 | Intelligent towed body winding and unwinding system |
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| CN202222208203.2U CN218320448U (en) | 2022-08-22 | 2022-08-22 | Intelligent towed body winding and unwinding system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571806A (en) * | 2022-08-22 | 2023-01-06 | 航天科工深圳（集团）有限公司 | Intelligent towed body folding and unfolding system |
| CN116588829A (en) * | 2023-06-02 | 2023-08-15 | 青岛晨明海洋装备技术有限公司 | Sonar hanging device |
-
2022
- 2022-08-22 CN CN202222208203.2U patent/CN218320448U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571806A (en) * | 2022-08-22 | 2023-01-06 | 航天科工深圳（集团）有限公司 | Intelligent towed body folding and unfolding system |
| CN115571806B (en) * | 2022-08-22 | 2023-08-29 | 航天科工深圳（集团）有限公司 | Intelligent towed body retraction system |
| CN116588829A (en) * | 2023-06-02 | 2023-08-15 | 青岛晨明海洋装备技术有限公司 | Sonar hanging device |
| CN116588829B (en) * | 2023-06-02 | 2023-10-20 | 青岛晨明海洋装备技术有限公司 | Sonar hanging device |
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