A towing limit and auxiliary retracting and deploying device for ship underwater detection equipment

Abstract

The present invention relates to a towing limit and auxiliary retracting device for underwater detection equipment on ships, belonging to the technical field of ship design and manufacturing. It includes a longitudinal limit mechanism, a transverse limit mechanism, a longitudinal locking pin mechanism, a transverse locking pin mechanism, a hydraulic control valve group and an operation control system; longitudinal limit mechanisms are provided on the front and rear walls of the moonpool, and longitudinal locking pin mechanisms are provided on the longitudinal limit mechanisms; transverse limit mechanisms are provided on the left and right walls of the moonpool, and transverse locking pin mechanisms are provided on the transverse limit mechanisms; the longitudinal limit mechanism, the transverse limit mechanism, the longitudinal locking pin mechanism and the transverse locking pin mechanism are respectively connected to the hydraulic control valve group; the hydraulic control valve group is connected to the operation control system; the longitudinal limit mechanism includes a front and rear split type limit hole seat for restraining the towing cable when towing the detection equipment; the transverse limit mechanism includes a push rod for straightening the towing frame when retracting and deploying the detection equipment. The technical problems of limiting the towing cable during towing and assisting the towing frame and the detection unit to enter and recover the track are solved by the present invention.

Description

Technical Field

[0001] The present invention relates to a towing limit and auxiliary retracting device for a shipborne underwater detection device, belonging to the technical field of ship design and manufacturing. Background Art

[0002] When a certain type of shipborne underwater detection device (as shown in Figure 1 ) is towed, due to the action of hydrodynamic force, the tow cable 1 will tilt towards the stern at the suspension pulley support point, that is, there is a towing angle (as shown in Figure 2 , 3, the projection angle in the side view is α, and the projection angle in the bow view is β). The angle value is related to the towing length of the tow cable 1, the towing speed, and the towing sea conditions. The longer the length of the tow cable 1 laid during towing, the larger the towing angle; the greater the speed during towing, the larger the towing angle; the higher the sea conditions during towing, the greater the swing amplitude of the ship, and the larger the towing angle. Since ship steering maneuverability needs to be considered during towing, the movement envelope range of the tow cable 1 in the moonpool 12 is a cone with the suspension support point as the vertex and the bottom radius of R1. No hull structure or other equipment should be arranged within the cone range to avoid collision and scraping with the tow cable 1. To achieve collision avoidance, the net space of the moonpool 12 can be increased to protect the tow cable 1, but the overall resources are difficult to meet this requirement. Collision avoidance can be achieved by adding a towing limit device. The problem that the towing limit device needs to solve is to limit the tow cable 1 in the moonpool 12, that is, to add another support point below the suspension pulley support point. Under the condition that the towing angle remains unchanged, the movement range of the tow cable 1 in the moonpool 12 is reduced by lowering the support point. In addition, for the suspension pulley, the maximum angle of deviation when the tow cable 1 winds into or out of the pulley groove should not be greater than 5°. When the towing angle β is greater than 5°, the tow cable 1 may jump out of the pulley rope groove and be damaged, which also requires adding a lateral support device to limit the deviation angle of the pulley rope groove. In addition, when recovering the detection device, due to the movement of the ship, the towing frame 2 and the detection unit 4 have swinging movements in the front-rear and left-right directions and deflection movements along the vertical axis in the horizontal plane, as shown in Figure 4, this will cause the drag frame 2 and the detection unit 4 to collide with the four walls of the moon pool 12 after entering the moon pool 12, making it impossible to retract and deploy the detection equipment. Currently, the conventional solution is to set up guiding tracks in the retraction and storage compartment and the moon pool 12. The drag frame 2 and the detection unit 4 can be deployed into the water and retrieved into the compartment along the tracks. The tracks can achieve the orbital recovery of the drag frame 2 and the detection unit 4 when the ship is anchored or drifting under sea state 2. However, the existing technical solutions only lay guiding tracks in the retraction and storage compartment, and it is impossible to lay tracks in the moon pool 12; moreover, when retracting and deploying the detection equipment under high sea states and navigation conditions (such as under sea state 4 and the maximum speed of 4 kn), due to the existence of the drag inclination angle and the swing of the underwater detection unit, the drag frame 2 cannot enter the moon pool 12 and the guiding track. Therefore, it is urgent to solve the technical problems of how to limit the drag cable 1 during towing and how to assist the drag frame 2 and the detection unit 4 to enter the orbit and recover in the technical field. Summary of the Invention

[0003] The object of the present invention is to solve the technical problems of how to limit the drag cable during towing and how to assist the drag frame and the detection unit to enter the orbit and recover.

[0004] To achieve the purpose of solving the above problems, the technical solution adopted by the present invention is to provide a ship underwater detection equipment towing limit and auxiliary retraction and deployment device. The device is arranged around the moon pool and includes a longitudinal limit mechanism, a transverse limit mechanism, a longitudinal locking pin mechanism, a transverse locking pin mechanism, a hydraulic pump station, a hydraulic control valve group, and an operation control system; longitudinal limit mechanisms are provided on the front and rear walls of the moon pool, and longitudinal locking pin mechanisms are provided on the longitudinal limit mechanisms; transverse limit mechanisms are provided on the left and right walls of the moon pool, and transverse locking pin mechanisms are provided on the transverse limit mechanisms; the longitudinal limit mechanism, the transverse limit mechanism, the longitudinal locking pin mechanism, and the transverse locking pin mechanism are respectively connected to the hydraulic control valve group; the hydraulic control valve group is connected to the hydraulic pump station and the operation control system; the longitudinal limit mechanism and the transverse limit mechanism are arranged in a staggered manner in height; the longitudinal limit mechanism includes a front and rear split type limit hole seat for restricting and limiting the drag cable when towing the detection equipment; the transverse limit mechanism includes a push rod for straightening the drag frame when retracting and deploying the detection equipment.

[0005] Preferably, the front and rear split type limit hole seat includes a front limit hole seat and a rear limit hole seat; a space for limiting the drag cable is provided between the front limit hole seat and the rear limit hole seat; the inner walls of the front limit hole seat and the rear limit hole seat are trumpet-shaped surfaces formed by a section of arc rotating around a rotation axis, the radius of the arc is greater than or equal to 15 times the diameter of the drag cable, and the rope outlet angle is greater than the drag inclination angle α.

[0006] Preferably, the longitudinal limit mechanism is arranged above the transverse limit mechanism, and the height of the limit hole seat and the push rod is determined by the drag inclination angles α and β.

[0007] Preferably, the longitudinal limiting mechanism includes a longitudinal fixed box, a longitudinal push box structure, a slider and a hydraulic cylinder; one end of the longitudinal push box structure is provided with a limiting hole seat; the other end passes through the longitudinal fixed box and is connected to the hydraulic cylinder; a slider is provided between the longitudinal push box structure and the longitudinal fixed box.

[0008] Preferably, the longitudinal limiting mechanism includes front and rear longitudinal fixing boxes and front and rear longitudinal pushing box structures that are symmetrically arranged front and back; the front and rear longitudinal pushing box structures are respectively provided with a front limiting hole seat and a rear limiting hole seat.

[0009] Preferably, the lateral limiting mechanism includes a lateral pushing box structure, a push rod, a second slider, a lateral fixed box and a second hydraulic cylinder; a push rod is provided at one end of the lateral pushing box structure; the other end passes through the lateral fixed box and is connected to the second hydraulic cylinder; a second slider is provided between the lateral pushing box structure and the lateral fixed box.

[0010] Preferably, the lateral limiting mechanism includes left and right symmetrically arranged lateral pushing box structures, left and right push rods and left and right lateral fixed boxes; the left and right lateral pushing box structures are respectively provided with left and right push rods.

[0011] Preferably, the push rod includes a left push rod and a right push rod, the length of the end of the push rod away from the transverse fixed box in the direction of the ship length is greater than the amplitude of the longitudinal movement of the towline, the outer surface of the push rod is an arc surface, the radius of the arc surface is greater than or equal to 15 times the diameter of the towline, and the rope output angle is greater than the towing inclination angle β.

[0012] Preferably, transition tracks for guiding the towing frame are provided above and below the storage station of the limiting hole seat of the longitudinal limiting mechanism; the transition track is trumpet-shaped, with one end docking with the limiting hole seat being small and the other end being large.

[0013] Preferably, the operation control system includes an operating console, a handheld on-site operation box, a signal transmitting block and a proximity switch; the signal transmitting block is arranged on the longitudinal limit mechanism and the transverse limit mechanism, and the proximity switch and the handheld on-site operation box are connected to the operating console.

[0014] Preferably, the front limit hole seat, the rear limit hole seat, the left push rod and the right push rod can be controlled jointly or individually as needed to achieve their respective predetermined functions.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention realizes predetermined functions by arranging two sets of independent longitudinal limiting hole seats and transverse limiting push rods, which work independently or in combination.

[0017] It can be used to restrain and limit the towing cable, and the following steps are carried out in sequence: 1) Push the cable laterally into position, and the push rod limits the lateral movement amplitude of the towing cable within the range of the lower edge of the limit hole seat; 2) Push the cable longitudinally into position, and the limit hole seat pushes the towing cable into the closed limit hole seat; 3) Restrain and limit the towing cable, and after the limit hole seat is closed, the movement of the towing cable is restricted within the limit hole seat.

[0018] It can be used to assist the towing frame to enter the track for recovery, and the following steps are carried out in sequence: 1) When the towing frame is recovered and enters the moon pool, the push rod laterally corrects the towing frame to limit the lateral movement amplitude of the towing frame; 2) Guide the towing frame into the limit hole seat; during the rising process of the towing frame, the front limit hole seat extends to limit the front end of the towing frame to prevent the towing frame from jumping out laterally from the limit hole seat; 3) Guide the towing frame to cross the limit hole seat and enter the guiding track of the detection device in the storage and retrieval cabin.

[0019] It can prevent the suspension chain from derailing. When deploying or recovering the detection device, when the detection unit enters the moon pool, the front limit hole seat extends to prevent the suspension chain from jumping out of the limit hole seat. Different distances are extended by the front limit hole seat when the suspension chain passes through and when the suspension shaft of the detection unit passes through to prevent the suspension chain from derailing.

[0020] The longitudinal limit hole seat and the lateral limit push rod are arranged in a stepped manner, and the height of the arc of the limit hole seat and the arc surface of the push rod are reasonably determined to minimize the installation space as much as possible. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the detection device in the prior art;

[0022] Figure 2 It is a side view schematic diagram of the suspension support of the detection device;

[0023] Figure 3 It is a front view schematic diagram of the suspension support of the detection device;

[0024] Figure 4 It is a top view schematic diagram of the movement of the towing frame;

[0025] Figure 5 It is a schematic diagram of the structure of the longitudinal limit mechanism of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the lateral limit mechanism of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the longitudinal locking pin mechanism of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the lateral locking pin mechanism of the present invention;

[0029] Figure 9 It is a schematic diagram of the structure of the fixed box of the present invention;

[0030] Figure 10 Structural schematic diagram of the hydraulic control valve group of the present invention;

[0031] Figure 11 Structural schematic diagram of the operating platform, handheld on-site operation box, proximity switch, etc. of the present invention;

[0032] Figure 12 Overall structure diagram of the present invention;

[0033] Figure 13 Structural diagram of the limit hole seat of the present invention;

[0034] Figure 14 Top view schematic diagram of the front limit hole seat extending to prevent the suspension chain from derailing of the present invention;

[0035] Figure 15 Side view schematic diagram of the front limit hole seat extending to prevent the suspension chain from derailing of the present invention;

[0036] Figure 16 Top view schematic diagram of the front limit hole seat extending to prevent the suspension shaft from derailing of the present invention;

[0037] Figure 17 Side view schematic diagram of the front limit hole seat extending to prevent the suspension shaft from derailing of the present invention;

[0038] Figure 18 Top view schematic diagram of the push rod laterally pushing the cable into position of the present invention;

[0039] Figure 19 Bow view schematic diagram of the push rod laterally pushing the cable into position of the present invention;

[0040] Figure 20 Top view schematic diagram of the limit hole seat longitudinally pushing the cable into position of the present invention;

[0041] Figure 21 Bow view schematic diagram of the limit hole seat longitudinally pushing the cable into position of the present invention;

[0042] Figure 22 Top view schematic diagram of the push rod straightening the towing frame of the present invention;

[0043] Figure 23 Bow view schematic diagram of the push rod straightening the towing frame of the present invention;

[0044] Figure 24 Side view schematic diagram of guiding the towing frame into the track of the present invention;

[0045] Figure 25 Bow view schematic diagram of guiding the towing frame into the track of the present invention;

[0046] Figure 26 Top view schematic diagram of preventing the towing frame from derailing of the present invention;

[0047] Figure 27Side view schematic diagram for preventing derailment of the towing frame in the present invention;

[0048] Figure 28 Schematic diagram of the push rod structure of the present invention;

[0049] Reference numerals: 1. towing cable; 2. towing frame; 3. suspension chain; 4. detection unit; 5. longitudinal limiting mechanism; 51. rear longitudinal push box structure; 52. rear limiting hole seat; 53. front limiting hole seat; 54. slider one; 55. front longitudinal push box structure; 56. hydraulic cylinder one; 57. pin shaft one; 6. transverse limiting mechanism; 61. left transverse push box structure; 62. left push rod; 63. right push rod; 64. slider two; 65. right transverse push box structure; 66. hydraulic cylinder two; 67. pin shaft two; 7. longitudinal locking pin mechanism; 71. locking pin one; 72. locking pin seat one; 73. hydraulic cylinder three; 74. pin shaft three; 75. mounting seat one; 76. pin shaft four; 8. transverse locking pin mechanism; 81. locking pin two; 82. locking pin seat two; 83. hydraulic cylinder four; 84. pin shaft five; 85. mounting seat two; 86. pin shaft six; 9. fixed box; 91. longitudinal fixed box; 92. transverse fixed box; 10. hydraulic control valve group; 101. valve group base; 102. valve group junction box; 103. valve group; 104. protective cover; 105. pressure gauge; 11. operation console; 112. handheld on-site operation box; 113. junction box; 114. signal sending block; 115. distribution box; 116. proximity switch; 12. moon pool; 13. transition track; Detailed implementation manners

[0050] To make the present invention more obvious and understandable, the preferred embodiments are described in detail below in conjunction with the accompanying drawings:

[0051] As Figures 1 - 28As shown, the technical solution adopted by the present invention is to provide a towing limit and auxiliary retraction and deployment device for underwater detection equipment on a ship, which is arranged in a moon pool 12 and includes a longitudinal limit mechanism 5, a transverse limit mechanism 6, a longitudinal locking pin mechanism 7, a transverse locking pin mechanism 8, a hydraulic control valve group 10 and an operation control system; a longitudinal limit mechanism 5 is provided on the front and rear walls of the moon pool 12, and a longitudinal locking pin mechanism 7 is provided on the longitudinal limit mechanism 5; a transverse limit mechanism 6 is provided on the left and right walls of the moon pool 12, and a transverse locking pin mechanism 8 is provided on the transverse limit mechanism 6; the longitudinal limit mechanism 5, the transverse limit mechanism 6, the longitudinal locking pin mechanism 7 and the transverse locking pin mechanism 8 are respectively connected to the hydraulic control valve group 10; the hydraulic control valve group 10 is connected to the hydraulic pump station and the operation control system; the longitudinal limit mechanism 5 and the transverse limit mechanism 6 are arranged in a staggered manner; the longitudinal limit mechanism 5 includes a front and rear split limit hole seat for constraining the limit towline 1 when towing the detection equipment; the transverse limit mechanism includes a push rod for urging the towing frame 2 to be straightened when retracting and deploying the detection equipment. The front and rear bifurcated limiting hole seats include a front limiting hole seat 53 and a rear limiting hole seat 52; a space for limiting the towline 1 is provided between the front limiting hole seat 53 and the rear limiting hole seat 52; the inner walls of the front limiting hole seat 53 and the rear limiting hole seat 52 are trumpet-shaped surfaces formed by rotating a circular arc around the rotation axis, with the radius of the arc being greater than or equal to 15 times the diameter of the towline 1. The longitudinal limiting mechanism 5 is located above the transverse limiting mechanism 6. The longitudinal limiting mechanism 5 includes a longitudinal push box structure, a limiting hole seat, a slider 1 54, and a hydraulic cylinder 1 56; the limiting hole seat is provided at one end of the longitudinal push box structure; the other end passes through the longitudinal fixed box 91 and is connected to the hydraulic cylinder 1 56; a slider 1 54 is provided between the longitudinal push box structure and the longitudinal fixed box 91. The transverse limiting mechanism 6 comprises a transverse push box structure, a push rod, a second slider 64, and a second hydraulic cylinder 66. The push rod is mounted at one end of the transverse push box structure; the other end passes through the transverse fixed box 92 and connects to the second hydraulic cylinder 66. A second slider 64 is positioned between the transverse push box structure and the transverse fixed box 92. The length L of the push rod's end, distal from the transverse fixed box 92, along the ship's length is greater than the amplitude of the longitudinal motion of the towing cable 1. Transition rails 13 for guiding the towing frame 2 are located above and below the storage station for the limit hole of the longitudinal limiting mechanism 5. The transition rails 13 are trumpet-shaped, with one end that interfaces with the limit hole being smaller and the other end being larger. The operation control system comprises an operating console 11, a handheld field operation box 112, a junction box 113, a signaling block 114, a junction box 115, and a proximity switch 116. The signaling block 114 is connected to the fixed box 9, while the proximity switch 116 and the handheld field operation box 112 are connected to the operating console 111 via the junction box 113 and / or the junction box 115.

[0052] Example

[0053] The present invention provides a set of devices which, when towing a detection device, can support the towing cable 1, bear the towing load applied by the towing cable 1, and limit the movement range of the towing cable 1 to protect the towing cable 1; when deploying the detection device, after the detection unit 4 and the towing frame 2 enter the moonpool 12, can limit the movement amplitude of the detection unit 4 and the towing frame 2 in the moonpool 12 and guide the detection unit 4 and the towing frame 2 into the water, avoiding the collision between the detection unit 4 and the towing frame 2 and the moonpool 12; when recovering the detection device, can limit the movement amplitude of the detection unit 4 and the towing frame 2 in the moonpool 12 and guide the detection unit 4 and the towing frame 2 into the guiding track in the storage and retrieval cabin, avoiding the collision between the detection unit 4 and the towing frame 2 and the moonpool 12. Specifically:

[0054] (1) Restrain and limit the towing cable 1 during towing;

[0055] Due to limited overall resource conditions, in addition to the need to arrange closing devices and other auxiliary devices in or around the moonpool 12, space also needs to be reserved for the storage and retrieval of the detection device. Therefore, on the premise of satisfying the restraint and limitation of the towing cable 1, the support points in the moonpool 12 should compress the space as much as possible and reduce the height. The support points adopt split-type (Huff structure) limit hole seats, as shown in Figure 13 . The inner wall of the limit hole seat is a horn-shaped surface formed by a section of arc rotating around the rotation axis. The radius of the arc is 15 times the diameter of the towing cable 1; the height is a section on the arc, that is, the arc covering section of the towing cable 1 from the support point of the suspension pulley in the storage and retrieval cabin to the entry point A of the arc surface of the limit hole seat and from the lower outlet of the limit hole seat to the exit point B; the upper mouth radius is r, and the lower mouth radius is R; the rope exit angle should be greater than the towing inclination angle α. During towing, when the split-type limit hole seat is closed, the towing cable 1 is restrained and limited by the limit hole seat.

[0056] When deploying the detection device, the limit hole seat needs to be opened to make way for the moonpool passage so that the detection device can be deployed into the water. After the detection device is deployed, the limit hole seat needs to be closed to restrain and limit the towing cable 1. Due to the hydrodynamic effect, the towing cable 1 swings back and forth and left and right in the moonpool 12. When closing the limit hole seat, it cannot be guaranteed that the towing cable 1 is near the longitudinal center line of the moonpool 12 and can be pushed into the closed limit hole seat. By adding a pair of transverse push rods below the limit hole seat, before longitudinally closing the limit hole seat, the towing cable 1 is first pushed near the longitudinal center line of the moonpool 12, and the transverse movement amplitude of the towing cable 1 is restricted by the push rods, and then the limit hole seat is closed. The type of the push rod is shown in Figure 28 . After the push rod is closed, the contact surface with the towing cable 1 is an arc surface, and the radius is 15 times the diameter of the towing cable 1; the height is a section on the arc surface, that is, the arc covering section of the towing cable 1 from the support point of the suspension pulley in the storage and retrieval cabin to the entry point C of the arc surface of the push rod and from the lower outlet of the push rod to the exit point D; the distance between the push rods after closing is δ1, and the value should be less than 2 times the upper mouth radius r of the limit hole seat; the rope exit angle should be greater than the towing inclination angle β; the length L of the push rod should be greater than the longitudinal movement amplitude of the towing cable 1.

[0057] When the detection device is deployed, the push rod first extends to restrain and limit the tow cable 1 near the longitudinal center line (push the cable into position transversely), and then extends the limit hole seat to push the tow cable 1 into the closed limit hole seat (push the cable into position longitudinally), and the detection device switches to the towing state. By adopting the above method, the space occupied by the towing limit and auxiliary retracting and deploying device in the moonpool 12 is minimized.

[0058] (2) Rectify the towing frame 2 during retraction and deployment;

[0059] A. Transverse rectifying towing frame 2: When the towing frame 2 enters the action range of the push rod, the push rod extends to transversely rectify the towing frame 2 and limit the transverse movement amplitude of the towing frame 2;

[0060] B. Longitudinal guiding towing frame 2: Transition tracks 13 are arranged above and below the storage station of the limit hole seat of the longitudinal limiting mechanism 5 and are docked with the guiding tracks in the retracting and storing cabin. See Figure 24 . After the push rod transversely rectifies the towing frame 2, the towing frame 2 is continuously lifted. The transverse movement of the towing frame 2 is restricted by the push rod and it enters the transition track 13. The transition track 13 is in a "horn" shape, with a smaller port at one end docked with the limit hole seat and a larger port at the other end. The towing frame 2 is constrained by the transition track 13 and is gradually guided into the guiding track in the retracting and storing cabin to achieve recovery. The present invention includes a longitudinal limiting mechanism 5, a transverse limiting mechanism 6, a longitudinal locking pin mechanism 7, a transverse locking pin mechanism 8, a fixed box 9, a hydraulic pump station, a hydraulic control valve group 10 and an electrical control system. The electrical control system includes an operating console 11, a handheld on-site operation box 112, a transmitter 114, a junction box 113, a distribution box 115 and a proximity switch 116, etc. The longitudinal limiting mechanism 5, the transverse limiting mechanism 6, the longitudinal locking pin mechanism 7, the transverse locking pin mechanism 8, the fixed box 9, the transmitter 114, the junction box 113, the distribution box 115 and the proximity switch 116, etc. are installed around the moonpool 12 under the retracting and storing cabin, and the hydraulic pump station, the hydraulic control valve group 10, the operating console 11, the handheld on-site operation box 112, the junction box 113, the distribution box 115, etc. are installed near the moonpool opening of the retracting and storing cabin. The longitudinal limiting mechanism 5 and the transverse limiting mechanism 6 are the main mechanisms. When towing the detection device, they limit and support the tow cable 1, and when deploying and recovering the detection device, they limit and guide the towing frame 2 and the detection unit 4 to ensure the deployment, towing and recovery of the detection device.

[0061] 1. The longitudinal limiting mechanism 5 includes a rear longitudinal pushing box structure 51, a rear limiting hole seat 52, a front limiting hole seat 53, a first slider 54, a front longitudinal pushing box structure 55, a first hydraulic cylinder 56 and a first pin 57. There are two sets of longitudinal limiting mechanisms, which are arranged at the front and rear parts of the moon pool 12. The longitudinal pushing box structure is a box-shaped structure, and the main structural material is high-strength hull structural steel. Stainless steel plates are welded at the four corners of the outer side wall of the box of the longitudinal pushing box structure, and low-friction coefficient sliders are installed at the four corners of the inner side wall of the longitudinal fixing box 91. The stainless steel plate and the slider form a sliding pair. By controlling the shape and position tolerances of the sliding pair, the longitudinal pushing box structure can flexibly expand and contract along the longitudinal fixing box 91. The limiting hole seat is split-type. The upper opening of the closed limiting hole seat is a long hole, and the contact surface with the towing cable 1 is an arc surface (the minimum radius meets the requirement of 15 times the diameter of the towing cable 1). The height of the arc surface is determined according to the rope exit angle at the lower end of the cable outlet. The value of the rope exit angle should not be less than the designed towing inclination angle α. Since the limiting hole seat is in direct contact with the towing cable 1 and there is a frictional movement between the two, in order to reduce the wear of the towing cable 1, the limiting hole seat is made of TC4 material and its surface is precision ground, which not only prevents seawater corrosion but also reduces the friction coefficient. The limiting hole seat and the longitudinal pushing box structure are positioned by pins and connected by bolts.

[0062] Each set of longitudinal limiting mechanisms is provided with two longitudinal opening and closing hydraulic cylinders (the first hydraulic cylinder 56). One end of the hydraulic cylinder is hinged inside the longitudinal pushing box structure, and the other end is hinged to the hull support.

[0063] 2. The transverse limiting mechanism 6 includes a left transverse pushing box structure 61, a left push rod 62, a right push rod 63, a second slider 64, a right transverse pushing box structure 65, a second hydraulic cylinder 66 and a second pin 67. There are two sets of transverse limiting mechanisms, which are arranged on the left and right sides of the moon pool 12. The transverse pushing box structure is a box-shaped structure, and the main structural material is high-strength hull structural steel. Stainless steel plates are welded at the four corners of the outer side wall of the box of the transverse pushing box structure, and low-friction coefficient sliders are installed at the four corners of the inner side wall of the transverse fixing box 92. The stainless steel plate and the slider form a sliding pair. By controlling the shape and position tolerances of the sliding pair, the transverse pushing box structure can flexibly expand and contract along the transverse fixing box 92.

[0064] The push rod is a long rod, and the contact surface with the towing cable 1 is an arc surface (the minimum radius meets the requirement of 15 times the diameter of the towing cable 1). The height of the arc surface is determined according to the rope exit angle at the lower end of the cable outlet. The value of the rope exit angle should not be less than the designed towing inclination angle β. Since the push rod is in direct contact with the towing cable 1 and there is a frictional movement between the two, in order to reduce the wear of the towing cable 1, the push rod is made of TC4 material and its surface is precision ground, which not only prevents seawater corrosion but also reduces the friction coefficient. The push rod and the transverse pushing box structure are positioned by pins and connected by bolts.

[0065] Each set of transverse limiting mechanisms is provided with one transverse opening and closing hydraulic cylinder (the second hydraulic cylinder 66). One end of the hydraulic cylinder is hinged to the push rod, and the other end is hinged to the hull support.

[0066] 3. The longitudinal locking pin mechanism 7 includes a first locking pin 71, a first locking pin seat 72, a third hydraulic cylinder 73, a third pin shaft 74, a first mounting seat 75 and a fourth pin shaft 76;

[0067] The longitudinal locking pin mechanism 7 is used to lock and fasten the longitudinal thrust box structure. The longitudinal locking pin mechanism is divided into front and rear groups. After the front and rear longitudinal thrust box structures extend to the closed position of the front and rear limit hole seats, the locking pins extend to lock the front and rear longitudinal thrust box structures. After the detection device is transferred to the towing state, the load acting on the limit hole seat by the towing cable 1 is transmitted to the fixed box and the hull structure through the longitudinal thrust box structure and the locking pins; after the detection device is retracted after the operation is completed, the front and rear longitudinal thrust box structures retract to the storage position, and the locking pins extend to lock the front and rear longitudinal thrust box structures to ensure the safe storage of the longitudinal limit mechanism during navigation.

[0068] The locking pin is cylindrical as a whole, and its head is provided with a tapered chamfer to facilitate guiding and inserting into the pin hole. The longitudinal pin hydraulic cylinder (cylinder three 73) is internally provided with a mechanical locking mechanism. When the hydraulic cylinder retracts and the locking pin extends in place, the hydraulic cylinder self-locks to ensure the mechanical locking of the locking pin.

[0069] 4. The transverse locking pin mechanism 8 includes a second locking pin 81, a second locking pin seat 82, a fourth hydraulic cylinder 83, a fifth pin shaft 84, a second mounting seat 85 and a sixth pin shaft 86;

[0070] The transverse locking pin mechanism is used to lock and fasten the transverse thrust box structure. The transverse locking pin mechanism is divided into left and right groups. After the left and right transverse thrust box structures extend to the closed position where the left and right push rods reach, the locking pins extend to lock the left and right transverse thrust box structures. The load acting on the limit hole seat by the towing cable 1 is transmitted to the fixed box and the hull structure through the transverse thrust box structure and the locking pins; after the detection device is retracted after the operation is completed, the left and right transverse thrust box structures retract to the storage position, and the locking pins extend to lock the left and right transverse thrust box structures to ensure the safe storage of the transverse limit mechanism during navigation.

[0071] The locking pin is cylindrical as a whole, and its head is provided with a tapered chamfer to facilitate guiding and inserting into the pin hole. The transverse pin hydraulic cylinder (cylinder four 83) is internally provided with a mechanical locking mechanism. When the hydraulic cylinder retracts and the locking pin extends in place, the hydraulic cylinder self-locks to ensure the mechanical locking of the locking pin.

[0072] 5. The fixed box 9 includes a longitudinal fixed box 91 and a transverse fixed box 92; the fixed box is of a box structure and, as a part of the hull structure, bears the load of the detection device and guides the expansion and contraction of the longitudinal thrust box structure and the transverse thrust box structure. The main structural material of the fixed box is high-strength hull structural steel.

[0073] 6. Hydraulic pump station: The hydraulic pump station is used to provide hydraulic power for the longitudinal opening and closing hydraulic cylinders, transverse opening and closing hydraulic cylinders, longitudinal pin hydraulic cylinders and transverse pin hydraulic cylinders. The hydraulic pump station is provided with two sets of hydraulic pump-motor units of the same model and specification, and the two pump sets are used as backups for each other; in addition, an emergency manual pump is configured. When the hydraulic pump station loses power or an electrical fault occurs, the manual pump and the manual operation mode of the hydraulic control valve group can be used to operate the longitudinal opening and closing hydraulic cylinders, transverse opening and closing hydraulic cylinders, longitudinal pin hydraulic cylinders and transverse pin hydraulic cylinders to realize the emergency operation of dragging the limit device.

[0074] 7. The hydraulic control valve group 10 includes a valve group base 101, a valve group junction box 102, a valve group 103, a protective cover 104 and a pressure gauge 105;

[0075] The hydraulic control valve group 10 is used to control the telescopic movements of the longitudinal opening and closing hydraulic cylinders, transverse opening and closing hydraulic cylinders, longitudinal pin hydraulic cylinders and transverse pin hydraulic cylinders. The hydraulic control valve group 10 is provided with hydraulic components such as stacked hydraulic check valves, electromagnetic directional valves, double one-way throttle valves, etc.; it is equipped with a pressure relay. When the pressure at which the longitudinal opening and closing hydraulic cylinder pushes the limit hole seat to close exceeds 10% of the rated pressure, it can unload and alarm, thereby protecting the detection equipment.

[0076] 8. Operating console 11: The operating console 11 is used for the operation control of dragging the limit and the auxiliary retracting and deploying device, monitoring the working status of the dragging limit and the auxiliary retracting and deploying device, and displaying the working information of the dragging limit and the auxiliary retracting and deploying device. A programmable controller, a relay, a circuit breaker and a switching power supply are installed inside the operating console 11; components such as secondary instruments, buttons and indicator lights are installed on the panel. The programmable controller is the core unit, and all control functions of the whole set of devices are realized through software programming.

[0077] 9. Handheld on-site operation box 112: The handheld on-site operation box 112 is used to assist in the deployment and recovery of the detection equipment. Buttons such as "left extend", "right extend", "left retract", and "right retract" are provided on the handheld on-site operation box, which can control the extension and retraction of the left and right side rudders; buttons such as "front extend", "front retract", "rear extend", and "rear retract" can control the extension and retraction of the front and rear limit hole seats. The operator holds the on-site operation box and stands beside the opening of the moon pool 12. Through on-site observation, press the buttons as needed to assist in the deployment and recovery of the detection equipment.

[0078] 10. Proximity switch 116: Proximity switches 116 are installed on the longitudinal limit mechanism, transverse limit mechanism, longitudinal locking pin mechanism and transverse locking pin mechanism. By triggering the proximity switch 116 through the signal sending block 114 installed on the fixed box, it can detect whether the telescopic movements of each hydraulic cylinder are in place, and perform relevant controls according to the position signals.

[0079] 11. The console 11, the handheld on-site operation box 112, the distribution box 115, the junction box 113 and the proximity switch 116 are connected by cables.

[0080] Use of the present invention:

[0081] (1) Assisting the deployment operation of the detection equipment during the deployment of the detection equipment:

[0082] When deploying the detection equipment under high sea conditions and in a sailing state, after the first detection unit 4 enters the water, due to the action of waves, the detection unit 4 after entering the water will swing back and forth, left and right in the horizontal plane and deflect along the vertical axis, and the towing limit device needs to act to prevent the suspension chain 3 from derailing.

[0083] 1) The towing limit device is switched to the working condition of preventing the suspension chain 3 from derailing;

[0084] 2) The limit hole seat at the storage station is unlocked. Figure 7 The hydraulic cylinder three 73 of the longitudinal locking pin mechanism 7 extends, driving the locking pin one 71 guided by the locking pin seat one 72 to retract (pull out the pin), and Figure 5 the rear longitudinal push box structure 51 and the front longitudinal push box structure 55 of the longitudinal limit mechanism 5 are unlocked, and the rear limit hole seat 52 and the front limit hole seat 53 guided by the rear longitudinal push box structure 51 and the front longitudinal push box structure 55 are unlocked simultaneously;

[0085] 3) Prevent the suspension chain 3 from derailing. Figure 5 The hydraulic cylinder one 56 (front) of the longitudinal limit mechanism 5 extends, driving the front limit hole seat 53 guided by the front longitudinal push box structure 55 to extend, and the extension amount is △1 to prevent the suspension chain 3 from derailing, see Figure 14 and Figure 15 ; when the suspension shaft of the detection unit 4 approaches and passes through the rear limit hole seat 52 and the front limit hole seat 53, the extension amount of the front limit hole seat 53 is adjusted to △2, see Figure 16 and Figure 17 , after the suspension shaft of the detection unit 4 passes through the rear limit hole seat 52 and the front limit hole seat 53 and enters the moon pool 12, the extension amount of the front limit hole seat 53 is adjusted back to △1, and the operation is repeated until all the detection units 4 are deployed.

[0086] (2) Operating the restraint limit towing cable 1 when towing the detection equipment:

[0087] 1) After the detection equipment is deployed to the predetermined water depth, the towing limit device is switched to the working condition of restraining the limit towing cable 1;

[0088] 2) The push rod at the storage station is unlocked. Figure 8 The hydraulic cylinder four 83 of the transverse locking pin mechanism 8 extends, driving the locking pin two 81 guided by the locking pin seat two 82 to retract (pull out the pin), and Figure 6The left and right horizontal pushing box structures 61 and 65 of the horizontal limiting mechanism 6 are unlocked, and the left and right push rods 62 and 63 guided by the left and right horizontal pushing box structures 61 and 65 are unlocked simultaneously;

[0089] 3) The push rod extends to the cable limiting station. Figure 6 The hydraulic cylinder II 66 of the horizontal limiting mechanism 6 extends, driving the left and right push rods 62 and 63 guided by the left and right horizontal pushing box structures 61 and 65 to extend to the cable limiting station (the distance between the push rods is δ1), as shown in Figure 18 and 19 , and the towing cable 1 is pushed by the left and right push rods 62 and 63 into a position near the longitudinal center line of the moon pool 12, that is, the horizontal cable pushing is in place. The horizontal movement range of the towing cable 1 is limited within the distance δ1 between the left and right push rods 62 and 63, and the longitudinal movement range is limited within the length L of the left and right push rods 62 and 63;

[0090] 4) The push rod at the cable limiting station is locked. Figure 8 The hydraulic cylinder IV 83 of the horizontal locking pin mechanism 8 retracts, driving the locking pin II 81 guided by the locking pin seat II 82 to extend (insert the pin), and locking Figure 6 the left and right horizontal pushing box structures 61 and 65 of the horizontal limiting mechanism 6, and the left and right push rods 62 and 63 guided by the left and right horizontal pushing box structures 61 and 65 are locked simultaneously;

[0091] 5) The limiting hole seat at the storage station is unlocked. Figure 7 The hydraulic cylinder III 73 of the longitudinal locking pin mechanism 7 extends, driving the locking pin I 71 guided by the locking pin seat I 72 to retract, and unlocking Figure 5 the rear and front longitudinal pushing box structures 51 and 55 of the longitudinal limiting mechanism 5, and the rear and front limiting hole seats 52 and 53 guided by the rear and front longitudinal pushing box structures 51 and 55 are unlocked simultaneously;

[0092] 6) The limiting hole seat extends to the cable limiting station. Figure 5 The hydraulic cylinder I 56 of the longitudinal limiting mechanism 5 extends, driving the rear and front limiting hole seats 52 and 53 guided by the rear and front longitudinal pushing box structures 51 and 55 of the longitudinal limiting mechanism 5 to extend until they are closed, as shown in Figure 20 and 21 , and pushing the towing cable 1 into the closed rear and front limiting hole seats 52 and 53, that is, the longitudinal cable pushing is in place, and the longitudinal movement range of the towing cable 1 is limited within the limiting hole seat;

[0093] 7) The limiting hole seat at the cable limiting station is locked. Figure 7 The hydraulic cylinder III 73 of the longitudinal locking pin mechanism 7 retracts, driving the locking pin I 71 guided by the locking pin seat I 72 to extend (insert the pin), and Figure 5The rear longitudinal push box structure 51 and the front longitudinal push box structure 55 of the longitudinal limit mechanism 5 are locked, and the rear limit hole seat 52 and the front limit hole seat 53 guided by the rear longitudinal push box structure 51 and the front longitudinal push box structure 55 are locked simultaneously;

[0094] 8) Unlock the push rod at the cable limiting station. Figure 8 The hydraulic cylinder four 83 of the lateral locking pin mechanism 8 extends, driving the locking pin two 81 guided by the locking pin seat two 82 to retract (pull out the pin), and Figure 6 The left transverse push box structure 61 and the right transverse push box structure 65 of the lateral limit mechanism 6 are unlocked, and the left push rod 62 and the right push rod 63 guided by the left transverse push box structure 61 and the right transverse push box structure 65 are unlocked simultaneously;

[0095] 9) Retract the push rod to the storage station. Figure 6 The hydraulic cylinder two 66 of the lateral limit mechanism 6 retracts, driving the left push rod 62 and the right push rod 63 guided by the left transverse push box structure 61 and the right transverse push box structure 65 to retract to the storage station;

[0096] 10) Lock the push rod at the storage station. Figure 8 The hydraulic cylinder four 83 of the lateral locking pin mechanism 8 retracts, driving the locking pin two 81 guided by the locking pin seat two 82 to extend (insert the pin), and Figure 6 The left transverse push box structure 61 and the right transverse push box structure 65 of the lateral limit mechanism 6 are locked, and the left push rod 62 and the right push rod 63 guided by the left transverse push box structure 61 and the right transverse push box structure 65 are locked simultaneously;

[0097] 11) Complete the limit cable 1 action, and the detection device switches to the towing state.

[0098] (3) Operations to assist the recovery of the detection device during the recovery of the detection device:

[0099] 1) Unlock the push rod at the storage station. Figure 8 The hydraulic cylinder four 83 of the lateral locking pin mechanism 8 extends, driving the locking pin two 81 guided by the locking pin seat two 82 to retract (pull out the pin), and Figure 6 The left transverse push box structure 61 and the right transverse push box structure 65 of the lateral limit mechanism 6 are unlocked, and the left push rod 62 and the right push rod 63 guided by the left transverse push box structure 61 and the right transverse push box structure 65 are unlocked simultaneously;

[0100] 2) Extend the push rod to the cable limiting station. Figure 6 The hydraulic cylinder two 66 of the lateral limit mechanism 6 extends, driving the left push rod 62 and the right push rod 63 guided by the left transverse push box structure 61 and the right transverse push box structure 65 to extend to the cable limiting station;

[0101] 3) Lock the push rod at the cable limiting station. Figure 8The hydraulic cylinder four 83 of the transverse locking pin mechanism 8 retracts, driving the locking pin two 81 guided by the locking pin seat two 82 to extend (insert the pin), and locking Figure 6 the left transverse pushing box structure 61 and the right transverse pushing box structure 65 of the transverse limiting mechanism 6, and simultaneously locking the left push rod 62 and the right push rod 63 guided by the left transverse pushing box structure 61 and the right transverse pushing box structure 65;

[0102] 4) Unlock the limiting hole seat at the cable limiting station. Figure 7 The hydraulic cylinder three 73 of the longitudinal locking pin mechanism 7 extends, driving the locking pin one 71 guided by the locking pin seat one 72 to retract (pull out the pin), and Figure 5 unlock the rear longitudinal pushing box structure 51 and the front longitudinal pushing box structure 55 of the longitudinal limiting mechanism 5, and simultaneously unlock the rear limiting hole seat 52 and the front limiting hole seat 53 guided by the rear longitudinal pushing box structure 51 and the front longitudinal pushing box structure 55;

[0103] 5) Retract the limiting hole seat to the storage station. Figure 5 The hydraulic cylinder one 56 of the longitudinal limiting mechanism 5 retracts, driving the rear limiting hole seat 52 and the front limiting hole seat 53 guided by the rear longitudinal pushing box structure 51 and the front longitudinal pushing box structure 55 to retract to the storage station. During the process of the rear limiting hole seat 52 and the front limiting hole seat 53 disengaging and closing to retract to the storage station, the towing cable 1 is gradually constrained and limited by the left push rod 62 and the right push rod 63 from being constrained and limited by the rear limiting hole seat 52 and the front limiting hole seat 53;

[0104] 6) Unlock the push rod at the cable limiting station. Figure 8 The hydraulic cylinder four 83 of the transverse locking pin mechanism 8 extends, driving the locking pin two 81 guided by the locking pin seat two 82 to retract (pull out the pin), and Figure 6 unlock the left transverse pushing box structure 61 and the right transverse pushing box structure 65 of the transverse limiting mechanism 6, and simultaneously unlock the left push rod 62 and the right push rod 63 guided by the left transverse pushing box structure 61 and the right transverse pushing box structure 65;

[0105] 7) Retract the push rod to the storage station. Figure 6 The hydraulic cylinder two 66 of the transverse limiting mechanism 6 retracts, driving the left push rod 62 and the right push rod 63 guided by the left transverse pushing box structure 61 and the right transverse pushing box structure 65 to retract to the storage station.

[0106] 8) Switch the towing limiting device to the working condition of assisting the towing frame 2 to enter the track for recovery and preventing the suspension chain 3 from derailing;

[0107] 9) Recover the towing frame 2 to the straightening position. Recover the detection equipment until the towing frame 2 enters the moon pool 12 and reaches the "straightening" position of the push rod. See Figure 23 (at a distance h from the bottom of the towing frame 2 to the bottom of the moon pool 12), pause the recovery of the towing cable 1;

[0108] 10) Straighten the towing frame 2. Figure 6The hydraulic cylinder two 66 of the lateral limiting mechanism 6 extends, driving the left push rod 62 and the right push rod 63 guided by the left lateral pushing box structure 61 and the right lateral pushing box structure 65 to extend. The laterally swinging drag frame 2 is pushed by the push rods towards the "correcting" position close to the longitudinal center line of the moon pool 12 (i.e., Figure 5 the longitudinal center line of the rear limit hole seat 52 and the front limit hole seat 53 of the longitudinal limiting mechanism 5), and its lateral movement range is restricted within the opening range of the lower edges of the rear limit hole seat 52 and the front limit hole seat 53. See Figure 22 and 23 ;

[0109] 11) The drag frame 2 enters the track. The detection device continues to be retracted. Under the restraint and limit of the left push rod 62 and the right push rod 63 of the lateral limiting mechanism 6, the drag frame 2 is lifted into the transition track 13 (lower), rises along its "flared" arc surface, crosses the limit hole seat and the transition track 13 (upper), and then enters the guiding track of the detection device in the retractable storage cabin. See Figure 6 and Figure 24 and 25 ;

[0110] 12) Prevent the drag frame 2 from derailing. During the ascending process of the drag frame 2 entering the transition track 13 and the limit hole seat, the hydraulic cylinder one 56 (front) of the longitudinal limiting mechanism 5 extends, driving the front limit hole seat 53 guided by the front longitudinal pushing box structure 55 to extend, and the extension amount is Δ3. See Figure 26 and Figure 27 , to limit the head end of the drag frame 2 and prevent the two ends of the drag frame 2 from derailing;

[0111] 13) The push rods retract to the storage position. After the drag frame 2 completes entering the track and is constrained and limited by the guiding track of the detection device in the retractable storage cabin, Figure 6 the hydraulic cylinder two 66 of the lateral limiting mechanism 6 retracts, driving the left push rod 62 and the right push rod 63 guided by the left lateral pushing box structure 61 and the right lateral pushing box structure 65 to retract to the storage position;

[0112] 14) Prevent the suspension chain 3 from derailing. After the drag frame 2 finishes entering the track, the detection unit 4 continues to be retracted. Figure 5 The hydraulic cylinder one 56 (front) of the longitudinal limiting mechanism 5 extends, driving the front limit hole seat 53 guided by the front longitudinal pushing box structure 55 to extend, and the extension amount is △1, to prevent the suspension chain 3 from jumping out of the rear limit hole seat 52 and the front limit hole seat 53. See Figure 14 and 15 ; When the suspension shaft of the detection unit 4 approaches and passes through the rear limit hole seat 52 and the front limit hole seat 53, adjust the extension amount of the front limit hole seat 53 to △2. See Figure 16 and 17, after the suspension shaft of the detection unit 4 enters the guiding track of the detection device in the retractable storage cabin through the rear limit hole seat 52 and the front limit hole seat 53, then adjust the extension amount of the front limit hole seat 53 back to △1, and operate repeatedly until all the detection units 4 are recovered;

[0113] 15) Lock the pusher at the storage station. After the detection device is recovered, Figure 8 The hydraulic cylinder four 83 of the lateral locking pin mechanism 8 retracts, driving the locking pin two 81 guided by the locking pin seat two 82 to extend (insert the pin), and locking Figure 6 the left transverse push box structure 61 and the right transverse push box structure 65 of the lateral limiting mechanism 6, and locking the left push rod 62 and the right push rod 63 guided by the left transverse push box structure 61 and the right transverse push box structure 65 at the same time;

[0114] 16) Lock the limit hole seat at the storage station. Figure 7 The hydraulic cylinder three 73 of the longitudinal locking pin mechanism 7 retracts, driving the locking pin one 71 guided by the locking pin seat one 72 to extend (insert the pin), and locking Figure 5 the rear longitudinal push box structure 51 and the front longitudinal push box structure 55 of the longitudinal limiting mechanism 5; locking the rear limit hole seat 52 and the front limit hole seat 53 guided by the rear longitudinal push box structure 51 and the front longitudinal push box structure 55 at the same time.

[0115] When the detection device is in tow operation, first extend the push rod to laterally push the cable into position, restricting the lateral movement range of the tow cable within the lower edge range of the limit hole seat and the longitudinal movement range within the length range of the push rod; then extend the limit hole seat to longitudinally push the cable into position, pushing the tow cable into the closed limit hole seat to achieve the restraint limit of the tow cable tow.

[0116] When the detection device is in deployment or recovery operation, after the detection unit enters the moon pool, by controlling the extension amount of the front limit hole seat, prevent the suspension chain from jumping out of the limit hole seat to achieve the deployment or recovery of the detection unit.

[0117] When recovering the detection device, after the towing frame enters the predetermined height position in the moon pool, first extend the push rod to straighten the towing frame, restricting the lateral movement range of the towing frame within the inner wall lateral width range of the transition track and the longitudinal movement range within the inner wall longitudinal length range of the transition track; then by controlling the extension amount of the front limit hole seat, limit the towing frame to prevent it from jumping out of the limit hole seat; under the restraint and limit of the transition track and the limit hole seat, guide the towing frame into the guiding track in the retractable storage cabin to achieve the recovery of the towing frame.

[0118] The above are only the preferred embodiments of the present invention, and do not impose any formal or substantial limitations on the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the present invention, several improvements and supplements can still be made, and these improvements and supplements should also be regarded as the protection scope of the present invention. All those who are familiar with the technology in this field, without departing from the spirit and scope of the present invention, when making some equivalent changes, modifications and evolutions by using the technical content disclosed above, are equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the substantial technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A towing limit and auxiliary retracting and deploying device for an underwater detection device of a ship. The device is arranged around the moon pool, and is characterized in that, It includes a longitudinal limit mechanism, a transverse limit mechanism, a longitudinal locking pin mechanism, a transverse locking pin mechanism, a hydraulic pump station, a hydraulic control valve group and an operation control system; longitudinal limit mechanisms are provided on the front and rear walls of the moon pool, and a longitudinal locking pin mechanism is provided on the longitudinal limit mechanism; transverse limit mechanisms are provided on the left and right walls of the moon pool, and a transverse locking pin mechanism is provided on the transverse limit mechanism; the longitudinal limit mechanism, transverse limit mechanism, longitudinal locking pin mechanism and transverse locking pin mechanism are respectively connected to the hydraulic control valve group; the hydraulic control valve group is connected to the hydraulic pump station and the operation control system; the longitudinal limit mechanism and the transverse limit mechanism are arranged in a staggered manner ; The longitudinal limiting mechanism includes front and rear split limiting hole seats for restraining the limiting towline when towing the detection equipment; the front and rear split limiting hole seats include a front limiting hole seat and a rear limiting hole seat, and a space for limiting the towline is provided between the front limiting hole seat and the rear limiting hole seat; the transverse limiting mechanism includes a push rod for forcing the towing frame to be straightened when retracting and releasing the detection equipment, and the push rod includes a left push rod and a right push rod, and the length of the push rod along the length of the ship is greater than the amplitude of the longitudinal movement of the towline; the front limiting hole seat, the rear limiting hole seat, the left push rod and the right push rod can be controlled jointly or individually as needed to achieve their respective predetermined functions.

2. The towing limit and auxiliary retracting and deploying device for a shipborne underwater detection device according to claim 1, characterized in that, The longitudinal limiting mechanism includes a longitudinal fixed box, a longitudinal push box structure, a slider and a hydraulic cylinder; one end of the longitudinal push box structure is provided with a limiting hole seat; the other end passes through the longitudinal fixed box and is connected to the hydraulic cylinder; a slider is provided between the longitudinal push box structure and the longitudinal fixed box.

3. A towing limit and auxiliary retracting and deploying device for a ship's underwater detection device according to claim 1, characterized in that, The lateral limiting mechanism includes a lateral pushing box structure, a push rod, a second slider, a lateral fixed box and a second hydraulic cylinder; a push rod is provided at one end of the lateral pushing box structure; the other end passes through the lateral fixed box and is connected to the second hydraulic cylinder; a second slider is provided between the lateral pushing box structure and the lateral fixed box.

4. A towing limit and auxiliary retracting device for a ship's underwater detection device according to claim 1, characterized in that, Transition tracks for guiding the towing frame are provided above and below the storage station of the limiting hole seat of the longitudinal limiting mechanism; the transition track is trumpet-shaped, with one end docking with the limiting hole seat being small and the other end being large.

5. A towing limit and auxiliary retracting device for a shipborne underwater detection device according to claim 1, characterized in that The operation control system includes an operating table, a handheld on-site operation box, a signaling block and a proximity switch; the signaling block is arranged on the longitudinal limit mechanism and the transverse limit mechanism, and the proximity switch and the handheld on-site operation box are connected to the operating table.

6. The towing limit and auxiliary retracting and deploying device for a shipborne underwater detection device according to claim 1, wherein, The inner wall of the front limit hole seat and the rear limit hole seat is a trumpet-shaped surface formed by rotating a circular arc around the rotation axis. The radius of the circular arc is greater than or equal to 15 times the diameter of the towing cable, and the rope output angle is greater than the projection angle α of the towing inclination angle on the side view.

7. A towing limit and auxiliary retracting device for a ship's underwater detection device according to claim 3, characterized in that, The outer surface of the push rod is an arc surface, the radius of the arc surface is greater than or equal to 15 times the diameter of the towline, and the rope output angle is greater than the projection angle β of the towing inclination angle on the bow view.

8. A towing limit and auxiliary retracting device for a ship's underwater detection device according to claim 1, characterized in that, The longitudinal limiting mechanism is arranged above the transverse limiting mechanism, and the height of the limiting hole seat and the push rod is determined by the projection angle α of the dragging inclination angle on the side view and the projection angle β on the bow view.

Images