A deep-sea rapid integrated tow system

Abstract

The application discloses a deep-sea rapid integrated towing system, and relates to the technical field of rapid detection and disposal of deep-sea seabed suspicious objects, and comprises a detection tow body, a disposal winch, an AUV loading and releasing device and an AUV. The disposal winch and the AUV loading and releasing device are installed in the detection tow body, and the disposal winch is located in front of the AUV loading and releasing device. The AUV is assembled on the AUV loading and releasing device, the disposal winch is connected with the AUV through a umbilical cable, and the disposal winch is connected with external mother ship deck control equipment through a towing cable. The system adopts the detection tow body for deep-sea rapid towing as a platform, carries the disposal type AUV to carry out deep-sea suspicious object rapid detection and disposal, can rapidly realize deep-sea suspicious object detection and disposal integration operation, and solves the problems of low deep-sea detection and disposal efficiency and complex operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rapid detection and disposal of deep-sea seabed suspicious objects, and particularly relates to a deep-sea rapid integrated towing system. BACKGROUND

[0002] The demand for detection and disposal of seabed suspicious objects is increasing, especially the wide-range rapid detection and disposal in deep sea is paid more and more attention. Generally, the underwater suspicious objects are mainly detected by a ship towing a towed body with a sonar, and when the suspicious objects are found, the position is marked, and then an AUV is deployed from the ship to approach the observation and disposal equipment for close observation and confirmation or destruction disposal according to the position mark of the suspicious objects.

[0003] At present, the operation is mainly carried out in two steps, first, the detection and towing operation is carried out to find suspicious targets by towing the towed body, and then the contact is made by deploying the disposal equipment into water. This way has the following problems:

[0004] 1. The deployment time of large underwater operation equipment is long, and the operation process is complex. When the sonar finds the suspicious objects, the deployment of the disposal equipment into water operation will undoubtedly lead to low operation efficiency, especially in the detection and disposal operation in several kilometers deep sea. The deployment process of the AUV approaching the suspicious objects may take several hours to complete;

[0005] 2. After the general towing detection voyage is completed, the ship can return to the underwater disposal operation according to the position mark. Once the target object is missed, the AUV will take a long time to search underwater at the marked position, which will inevitably increase the operation task quantity. SUMMARY

[0006] Therefore, the present application provides a deep-sea rapid integrated towing system, which uses a detection towed body for deep-sea rapid towing as a platform, carries a disposal type AUV to rapidly detect and dispose the deep-sea suspicious objects, and can rapidly realize the integrated operation of the detection and disposal of the deep-sea suspicious objects, solving the problems of low efficiency and complex operation of the current deep-sea detection and disposal.

[0007] The technical scheme of the present application is as follows: a deep-sea rapid integrated towing system, comprising: a detection towed body, a disposal winch, an AUV loading and releasing device, and an AUV.

[0008] The disposal winch and the AUV loading and releasing device are installed in the detection towed body, and the disposal winch is located in front of the AUV loading and releasing device; the AUV is assembled on the AUV loading and releasing device, the disposal winch is connected with the AUV through a umbilical cable, and the disposal winch is connected with the deck control equipment of an external mother ship through a towing cable.

[0009] Preferably, the AUV loading and releasing device comprises a base, a flow bar support frame, a motor drive unit, a universal coupling, a bearing seat I, a collision-proof rubber seat, a lead screw, flow bars, a bearing seat II and a C-shaped nut guide cylinder.

[0010] The motor drive unit is fixed on the base by a clamp, the output shaft of the motor drive unit is connected with the lead screw through the universal coupling, the axial ends of the lead screw are supported on the base through the bearing seat I and the bearing seat II respectively, the collision-proof rubber seat is sleeved on the lead screw at the end of the bearing seat I, and the motor drive unit is used for driving the lead screw to rotate forward and backward.

[0011] The two rows of flow bars are supported on the transverse sides of the base through the flow bar support frame, and the C-shaped nut guide cylinder is fixed at the bottom of the AUV.

[0012] Preferably, the two rows of flow bars can be adjusted in position up and down through the flow bar support frame.

[0013] Preferably, the C-shaped nut guide cylinder comprises a C-shaped nut and a C-shaped guide cylinder, the C-shaped nut and the C-shaped guide cylinder are coaxially welded, the C-shaped nut is located at the open end of the C-shaped guide cylinder and serves as the head of the C-shaped nut guide cylinder, the C-shaped nut is in threaded pair cooperation with the lead screw, and the inner diameter of the C-shaped guide cylinder is larger than the outer diameter of the lead screw.

[0014] Preferably, the C-shaped nut guide cylinder further comprises a hanger, and the hanger is welded on the C-shaped guide cylinder along the generatrix of the C-shaped guide cylinder.

[0015] Preferably, a guide opening is arranged on the C-shaped guide cylinder along the generatrix, and the guide opening and the hanger are located at two opposite sides in the radial direction of the C-shaped guide cylinder, the width of the guide opening is smaller than the outer diameter of the lead screw, so that the lead screw cannot be pulled out of the guide opening of the C-shaped nut guide cylinder, and meanwhile, the width of the guide opening should ensure that the bearing seat II can pass through the C-shaped nut guide cylinder.

[0016] Beneficial effects:

[0017] 1. The integrated towing system is applied to the field of rapid detection and disposal of suspicious objects on the deep-sea seabed, so that the release of the deep-sea detection and disposal system and the disposal device realizes the following breakthroughs:

[0018] (1) The detection towed body for deep-sea rapid towing is adopted as a platform, the AUV is carried on the detection towed body, the AUV is communicated with the detection towed body and the deck control equipment of the mother ship through a umbilical cable and a winch, when the detection towed body detects suspicious objects, the mother ship is anchored and stopped, and the AUV carried on the detection towed body is quickly released, and is controlled through the deck control equipment of the mother ship, so that the suspicious objects can be quickly approached and disposed.

[0019] (2) The AUV loading and releasing device can realize reliable loading and releasing of the handling device through a simple structure, and meets the reliability requirement of deep sea operation.

[0020] 2. The specific design of the AUV loading and releasing device can drive the AUV assembled thereon to move in a straight line for effective loading and releasing.

[0021] 3. The design that the two rows of flow strips can be adjusted up and down facilitates the three-point support of the two rows of flow strips and the lead screw on the AUV, so that the AUV loading and releasing device can stably load the AUV.

[0022] 4. The C-shaped nut guide cylinder is designed to facilitate the cooperation of the C-shaped nut guide cylinder and the screw thread pair, so as to carry the AUV for loading or releasing, and is also beneficial to the stable loading of the AUV.

[0023] 5. The guide opening designed on the C-shaped guide cylinder can ensure that the lead screw cannot be pulled out of the C-shaped nut guide cylinder, and can also ensure that the bearing seat II can pass through the C-shaped nut guide cylinder, so as to facilitate the movement of the C-shaped nut guide cylinder carrying the AUV along the lead screw. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the integrated towing system.

[0025] Figure 2 It is a three-dimensional structure view of the AUV loading and releasing device.

[0026] Figure 3 It is a top view of the AUV loading and releasing device.

[0027] Figure 4 It is a bottom view of the C-shaped nut guide cylinder.

[0028] Figure 5 It is a front view of the C-shaped nut guide cylinder.

[0029] Figure 6 It is a three-dimensional structure schematic diagram of the C-shaped nut guide cylinder.

[0030] Figure 7 It is a schematic diagram of the assembly relationship between the C-shaped nut guide cylinder and the AUV.

[0031] Figure 8 It is a schematic diagram of the assembly relationship between the AUV and the AUV loading and releasing device.

[0032] Among them, 1-towing cable, 2-detection towing body, 3-disposal winch, 4-umbilical cable, 5-AUV loading and release device, 6-AUV, 7-base, 8-flow bar support frame, 9-motor drive unit, 10-clamp, 11-universal coupling, 12-bearing seat I, 13-anti-collision rubber seat, 14-lead screw, 15-flow bar, 16-bearing seat II, 17-C-type nut guide cylinder, 18-C-type nut, 19-hanger, 20-C-type guide cylinder, 21-guide port. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] This embodiment provides a deep-sea rapid integrated towing system, which uses a deep-sea rapid towing detection towed body as a platform and carries a disposal AUV to quickly detect and dispose of suspicious objects in the deep sea. It can quickly realize integrated operation of deep-sea suspicious object detection and disposal, and solves the problems of low efficiency and complex operation of current deep-sea detection and disposal.

[0035] like Figure 1 As shown, the integrated towing system includes: a towing cable 1, a detection towing body 2, a handling winch 3, an umbilical cable 4, an AUV loading and releasing device 5, and an AUV 6; wherein, as Figure 2 and 3 As shown, the AUV loading and releasing device 5 includes: a base 7, a flow bar support frame 8, a motor drive unit 9, a clamp 10, a universal coupling 11, a bearing seat I 12, an anti-collision rubber seat 13, a lead screw 14, a flow bar 15, a bearing seat II 16, and a C-type nut guide cylinder 17.

[0036] The disposal winch 3 and the AUV loading and releasing device 5 are installed inside the detection tow body 2, with the disposal winch 3 located in front of the AUV loading and releasing device 5 (in this embodiment, the direction facing the current is forward, and the direction facing away from the current is backward); the AUV 6 is mounted on the AUV loading and releasing device 5 (e.g., Figure 8 As shown), the handling winch 3 is connected to the AUV6 via the umbilical cable 4, and the handling winch 3 is connected to the external mother ship deck control equipment via the towing cable 1, thereby enabling the AUV6 to be connected to the external mother ship deck control equipment via the umbilical cable 4, the handling winch 3, and the towing cable 1.

[0037] For the AUV loading and unloading device 5, the motor drive unit 9 is fixed on the base 7 by the clamp 10. The output shaft of the motor drive unit 9 is connected to the lead screw 14 through the universal coupling 11. The two axial ends of the lead screw 14 are supported on the base 7 by the bearing seats I12 and II16 respectively. The anti-collision rubber seat 13 is fitted on the lead screw 14 at the end where the bearing seat I12 is located. The motor drive unit 9 can drive the lead screw 14 to rotate forward and backward.

[0038] Two rows of flow strips 15 are fixed and supported on the transverse sides of the base 7 by the flow strip support frame 8, and the two rows of flow strips 15 can be adjusted in position up and down by the flow strip support frame 8, so as to cooperate with the lead screw 14 to support the AUV 6 at three points.

[0039] As shown in Figure 7 The hanger 19 of the C-shaped nut guide cylinder 17 is fixed on the bottom of the AUV 6 by screws; wherein, as shown in Figures 4-6 The C-shaped nut guide cylinder 17 is welded by a C-shaped nut 18, a C-shaped guide cylinder 20 and the hanger 19, and the C-shaped nut 18 and the C-shaped guide cylinder 20 are coaxially welded, the C-shaped nut 18 is located at the opening end of the C-shaped guide cylinder 20 and serves as the head of the C-shaped nut guide cylinder 17, and the hanger 19 is welded on the C-shaped guide cylinder 20 along the generatrix of the C-shaped guide cylinder 20; the C-shaped nut 18 at the head of the C-shaped nut guide cylinder 17 is in threaded pair cooperation with the lead screw 14; the inner diameter of the C-shaped guide cylinder 20 is slightly larger than the outer diameter of the lead screw 14, so that the lead screw 14 can smoothly extend into the C-shaped nut guide cylinder 17, and the C-shaped guide cylinder 20 is provided with a guide opening 21 along the generatrix, and the guide opening 21 is located at the two opposite sides of the C-shaped guide cylinder 20 in the radial direction of the hanger 19, the width of the guide opening 21 is smaller than the outer diameter of the lead screw 14, so that the lead screw 14 cannot be pulled out of the guide opening 21 of the C-shaped nut guide cylinder 17, and at the same time, the width of the guide opening 21 of the C-shaped nut guide cylinder 17 should ensure that the bearing seat II 16 can smoothly pass through the C-shaped nut guide cylinder 17.

[0040] The working principle of the integrated towing system is as follows:

[0041] When the detection towed body 2 finds suspicious objects, the mother ship deck control equipment controls the AUV loading and releasing device 5 to release the AUV 6 through the towing cable 1, the disposal winch 3 pays out the umbilical cable 4, the AUV 6 drives away from the detection towed body 2, and the AUV 6 is remotely controlled by the mother ship deck control equipment to realize rapid detection and disposal of suspicious objects;

[0042] The working principle of the AUV loading and releasing device 5 for releasing the AUV 6 is as follows:

[0043] (1) AUV 6 loading process: when loading, the AUV 6 is placed on the flow strip 15 for main support, at the same time, the C-shaped nut guide cylinder 17 is aligned with the lead screw 14 and pushed to the end where the motor drive unit 9 is located, because the C-shaped nut guide cylinder 17 is provided with a guide opening 21, the bearing seat II 16 can pass through, the motor drive unit 9 drives the lead screw 14 to rotate slowly, the C-shaped nut guide cylinder 17 moves linearly on the lead screw 14 through the threaded pair formed between the C-shaped nut guide cylinder 17 and the lead screw 14, thereby driving the AUV 6 to move slowly and linearly along the flow strip 15, when the C-shaped nut 18 at the head of the C-shaped nut guide cylinder 17 moves to the position of the anti-collision rubber seat 13, the movement is stopped, thereby realizing the loading function of the AUV 6;

[0044] (2) AUV6 release process: when releasing, the motor driving unit 9 drives the screw rod 14 in the opposite direction at high speed, the screw rod 14 pushes the AUV 6 to move linearly at a certain speed through the C-shaped nut guide cylinder 17, until the C-shaped nut guide cylinder 17 is separated from the bearing seat II 16, the AUV 6 is separated from the AUV loading and releasing device 5, thereby realizing the fast release function of the AUV 6;

[0045] The C-shaped nut guide cylinder 17 is beneficial to the movement guidance of the AUV 6 during loading or releasing, on the other hand, since the inner diameter of the C-shaped guide cylinder 20 of the C-shaped nut guide cylinder 17 and the outer diameter of the screw rod 14 are matched with a small gap, the C-shaped nut 18 at the head of the C-shaped nut guide cylinder 17 has a better stress environment in the radial direction of the screw rod 14, in addition, the tail of the motor driving unit 9 is provided with a brake, and the trapezoidal thread pair between the screw rod 14 and the C-shaped nut guide cylinder 17 has a certain self-locking ability, the flow strip 15 and the screw rod 14 realize three-point support constraint on the AUV 6, therefore, after the AUV 6 is loaded, the AUV loading and releasing device 5 can ensure that the AUV 6 can be well locked in the axial or radial direction of the screw rod 14.

[0046] To sum up, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A deep-sea rapid integrated tow system, characterized by, The utility model relates to a kind of AUV loading and releasing device, including: Probe tow body (2), disposal winch (3), AUV loading and releasing device (5) and AUV (6); The disposal winch (3) and AUV loading and releasing device (5) are installed in probe tow body (2), and disposal winch (3) is located before AUV loading and releasing device (5);AUV (6) is assembled on AUV loading and releasing device (5), and disposal winch (3) is connected with AUV (6) by umbilical cable (4), and disposal winch (3) is connected with the deck control equipment of external mother ship by tow cable (1); The AUV loading and releasing device (5) includes: base (7), fluent strip support frame (8), motor drive unit (9), universal coupling (11), bearing seat I (12), anti-collision rubber seat (13), screw rod (14), fluent strip (15), bearing seat II (16) and C type nut guide cylinder (17); The motor drive unit (9) is fixed on the base (7) by the clamp (10), and the output shaft of the motor drive unit (9) is connected with the screw rod (14) by the universal coupling (11), and the axial both ends of the screw rod (14) are supported on the base (7) by the bearing seat I (12) and the bearing seat II (16) respectively, and the anti-collision rubber seat (13) is sleeved on the screw rod (14) at the end of bearing seat I (12), and the motor drive unit (9) is used to drive the screw rod (14) to reverse rotation. Two rows of fluent strips (15) are supported on the transverse two sides of the base (7) by the fluent strip support frame (8), and the C type nut guide cylinder (17) is fixed at the bottom of the AUV (6).

2. The deep ocean rapid integration tow system of claim 1, wherein, Both rows of the fluent strips (15) can be adjusted in position up and down by the fluent strip support frame (8).

3. A deep ocean rapid integration tow system as claimed in claim 1 or 2, characterised in that, The C type nut guide cylinder (17) includes: C type nut (18) and C type guide cylinder (20);The C type nut (18) and C type guide cylinder (20) are coaxially welded, and the C type nut (18) is located at the opening end of the C type guide cylinder (20) and serves as the head of the C type nut guide cylinder (17);The C type nut (18) is in threaded pair cooperation with the screw rod (14), and the inner diameter of the C type guide cylinder (20) is greater than the outer diameter of the screw rod (14).

4. The deep ocean rapid integration tow system of claim 3, wherein, The C type nut guide cylinder (17) further includes: hanger (19), which is welded on the C type guide cylinder (20) along the generatrix of the C type guide cylinder (20).

5. The deep ocean rapid integration tow system of claim 4, wherein, The C type guide cylinder (20) is provided with a guide opening (21) along the generatrix, and the guide opening (21) and the hanger (19) are located on the two opposite sides of the radial direction of the C type guide cylinder (20), the width of the guide opening (21) is smaller than the outer diameter of the screw rod (14), so that the screw rod (14) cannot be pulled out of the guide opening (21) of the C type nut guide cylinder (17), and at the same time, the width of the guide opening (21) should ensure that the bearing seat II (16) can pass through the C type nut guide cylinder (17).

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