Two-stage sprocket set cooperative winding and unwinding device

Abstract

This invention discloses a two-stage sprocket assembly coordinated deployment and retraction device, comprising: a mounting frame, a tow body capture frame, and two sets of sprocket drive assemblies; the tow body capture frame is mounted on the mounting frame via the two sets of sprocket drive assemblies, each sprocket drive assembly including a primary sprocket assembly, a secondary sprocket assembly, an electric cylinder, a primary rotating arm, and a secondary rotating arm; one end of the primary rotating arm is hinged to the mounting frame, and the other end is hinged to one end of the secondary rotating arm via a rotating shaft, the other end of the secondary rotating arm being hinged to the side plate of the tow body capture frame; the primary and secondary sprocket assemblies are installed between the mounting frame and the tow body capture frame, with the primary sprocket assembly arranged along the length direction of the primary rotating arm, and the secondary sprocket assembly arranged along the length direction of the secondary rotating arm; one end of the electric cylinder is hinged to the mounting frame, and the other end is hinged to the middle of the primary rotating arm. This invention can utilize a pair of synchronous electric cylinders for active drive, while simultaneously relying on the sprocket assembly transmission for coordinated drive, to control the attitude of the tow body capture frame.

Description

Technical Field

[0001] This invention belongs to the field of underwater towing engineering technology, specifically relating to a two-stage sprocket assembly coordinated deployment and retrieval device. Background Technology

[0002] A typical deployment and retrieval system consists of a towed body, a tow cable, a deployment and retrieval device, and a winch. The deployment and retrieval device, in conjunction with the winch, is used to capture, release, lock, and tow the towed body. However, due to the limited space and low load-bearing capacity of some underwater towed bodies' deployment and retrieval platforms, to ensure the safe and smooth completion of the towed body deployment and retrieval operations, the deployment and retrieval device must have a compact structure, a sufficiently small working profile, and its attitude during aerial capture and locking must be consistent with the angle of its free suspension. Furthermore, the device's own weight must be strictly limited, making the application of traditional deployment and retrieval devices difficult. Summary of the Invention

[0003] In view of this, the present invention provides a two-stage sprocket assembly coordinated deployment and retraction device, which can actively drive the towed body capture frame by a pair of synchronous electric cylinders and simultaneously coordinate the drive by the sprocket assembly transmission.

[0004] This invention is achieved through the following technical solution:

[0005] A two-stage sprocket assembly coordinated deployment and retraction device includes: a mounting frame, a tow body capture frame, and two sets of sprocket drive assemblies;

[0006] The mounting frame is fixed on the load platform. The towed body capture frame is mounted on the mounting frame through two sets of sprocket drive assemblies. The two sets of sprocket drive assemblies have the same structure and are symmetrically arranged on both sides of the towed body capture frame. Each sprocket drive assembly includes a two-stage sprocket set, an electric cylinder, a first-stage rotating arm, and a second-stage rotating arm.

[0007] The two-stage sprocket set consists of a first-stage sprocket set and a second-stage sprocket set. One end of the first-stage sprocket arm is hinged to the mounting frame, and the other end is hinged to one end of the second-stage sprocket arm via a rotating shaft. The other end of the second-stage sprocket arm is hinged to the side plate of the tow body capture frame.

[0008] The primary sprocket assembly and the secondary sprocket assembly are installed between the mounting frame and the tow body capture frame, with the primary sprocket assembly arranged along the length of the primary swing arm and the secondary sprocket assembly arranged along the length of the secondary swing arm.

[0009] One end of the electric cylinder is hinged to the mounting bracket, and the other end is hinged to the middle of the first-stage rotating arm. The electric cylinder is used to drive the first-stage rotating arm to rotate. The first-stage rotating arm is used to drive the second-stage rotating arm to move through the first-stage sprocket set. The second-stage rotating arm is used to drive the tow body capture frame to move through the second-stage sprocket set.

[0010] Furthermore, each sprocket drive assembly also includes fixed pin I and fixed pin II;

[0011] The fixing pin I is fixed to the mounting bracket; the fixing pin II is fixed to the middle of one side of the tow body capture frame; the axes of fixing pin I and fixing pin II are parallel.

[0012] The lower end of the first-stage rotating arm is hinged to the fixed pin I, realizing the hinge connection between the first-stage rotating arm and the mounting frame; the upper end of the first-stage rotating arm is equipped with a rotating shaft through a support bearing, and the axis of the rotating shaft is parallel to the axis of the fixed pin I.

[0013] The upper end of the secondary rotating arm is fixedly connected to the rotating shaft, and the lower end of the secondary rotating arm is hinged to the fixed pin II, thereby realizing the hinge connection between the secondary rotating arm and the tow body capture frame.

[0014] One end of the first-stage sprocket assembly is fixed to the fixed pin I, and the other end of the first-stage sprocket assembly is fixed to one end of the rotating shaft. The first-stage rotating arm and the first-stage sprocket assembly share a common rotating shaft, which is the axis of the fixed pin I.

[0015] One end of the secondary sprocket assembly is fixed to the fixed pin II, and the other end of the secondary sprocket assembly is fixed to the upper end of the primary rotating arm. The secondary rotating arm 12 and the secondary sprocket assembly share a common rotating shaft, which is the axis of the fixed pin II.

[0016] Furthermore, the primary sprocket assembly includes: sprocket I, sprocket II, and roller chain I;

[0017] The secondary sprocket assembly includes: sprocket III, sprocket IV, and roller chain II;

[0018] The sprocket I is coaxially fixed to the fixed pin I via a key connection; the sprocket II is coaxially fixed to the rotating shaft via a key connection; a roller chain I is installed between the sprocket I and the sprocket II;

[0019] The sprocket IV is coaxially fixed to the fixed pin II via a key connection; the sprocket III is fixed to the upper end of the first-stage rotating arm; and roller chains II are installed on the sprockets III and IV.

[0020] Furthermore, the tooth ratio of sprocket I to sprocket II is the inverse ratio of the swing angle of the first-stage swing arm relative to the mounting frame to the swing angle of the second-stage swing arm relative to the first-stage swing arm; the tooth ratio of sprocket III to sprocket IV is the inverse ratio of the swing angle of the second-stage swing arm relative to the first-stage swing arm to the swing angle of the towing capture frame relative to the second-stage swing arm.

[0021] Furthermore, the length of the first-stage sprocket arm is the same as the length of the first-stage sprocket assembly, and the length of the second-stage sprocket arm is the same as the length of the second-stage sprocket assembly.

[0022] Beneficial effects:

[0023] (1) Based on the application of chain drive, this invention proposes a single-degree-of-freedom collaborative deployment and retrieval device driven by a two-stage sprocket set and a pair of synchronous electric cylinders. This device can be used for the deployment and retrieval of towed objects. When the electric cylinder extends, it pushes the first-stage rotating arm to swing outward. At the same time, driven by the two-stage sprocket set, the second-stage swing arm and the towed object capture frame complete a continuous swinging motion at a predetermined angle, so that the towed object completes the deployment task in a determined posture. When the towed object is captured and locked, the electric cylinder retracts and pulls the first-stage rotating arm to swing inward. Similarly, driven by the two-stage sprocket set, the towed object completes the retrieval and storage along the original motion trajectory. Therefore, this device first uses a pair of electric cylinders to push the first-stage rotating arm of the deployment and retrieval device to swing, and then, with the help of the two-stage sprocket set, it collaboratively drives the second-stage rotating arm and the towed object capture frame to move continuously, thereby effectively controlling the change in the motion posture of the towed object during deployment and significantly reducing the size and weight of the deployment and retrieval device.

[0024] Compared to traditional tow body retrieval and deployment devices driven by hydraulic / electric cylinders, this invention has no other active drive components besides a pair of active electric cylinders (traditional retrieval and deployment devices that meet this motion requirement generally require three sets of active electric / hydraulic cylinders). Compared to traditional retrieval and deployment devices that use a four-bar linkage for posture synchronization, the sprocket synchronization of this retrieval and deployment device keeps its drive arm constant, overcoming the disadvantage that the drive arm of the linkage mechanism decreases sharply when the swing amplitude is too large. Therefore, under the premise that the size of the tow body to be captured is similar, the size and structural weight of the retrieval and deployment device of this invention are greatly reduced after retrieval. Since only a pair of synchronously moving electric cylinders need to be controlled, the difficulty of coordinating the control of each component is also greatly reduced, making it suitable for installation and use on deployment platforms in confined spaces.

[0025] This invention achieves continuous coordinated movement of the primary swing arm, secondary swing arm, and tow body capture frame simply by extending or retracting the electric cylinder. This allows the tow body to be stored or deployed and locked in the required posture, completing the deployment or retrieval task. Because the device contains a multi-structure coordinated swing of the primary swing arm, secondary swing arm, and capture frame, the device meets the motion profile requirements while maintaining a sufficiently low height after retrieval. Furthermore, by using the passive movement of the primary and secondary sprocket sets to drive the secondary swing arm and tow body capture frame, the complexity of the device's drive structure is reduced. This saves on electro-hydraulic drive components and eliminates the need for coordinated control of various moving parts.

[0026] In summary, the device of the present invention has a compact structure in the recovery state and a large swing amplitude in the deployment state. It is highly applicable and reliable for deployment platforms with limited space, and has practicality and versatility.

[0027] (2) The first-stage rotating arm and the first-stage sprocket assembly of the present invention share a common shaft. In the first-stage sprocket assembly, sprocket I is fixed relative to the mounting frame, and sprocket II rotates together with the first-stage rotating arm around the fixed pin I and is driven to rotate by roller chain I. The second-stage rotating arm and the second-stage sprocket assembly share a common shaft. In the second-stage sprocket assembly, sprocket III is fixed relative to the first-stage rotating arm, and sprocket IV rotates together with the second-stage rotating arm around the shaft and is driven to rotate by roller chain II. The rotation of sprocket IV drives the towing capture frame to rotate and maintains the required posture of outward swing or inward retraction. Since two sets of drive components are eliminated and a lighter chain is used instead, the installation requirements of the drive components and the weight of the retraction device are greatly reduced while achieving the same drive requirements.

[0028] (3) The length of the first-stage rotating arm of the present invention is the same as the length of the first-stage sprocket assembly, and the length of the second-stage rotating arm is the same as the length of the second-stage sprocket assembly, which reduces the longitudinal dimension of the overall structure. By controlling the reduction of the lateral and longitudinal dimensions, the overall structure becomes more compact when the towing capture frame is retracted. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the initial state of the present invention;

[0030] Figure 2 for Figure 1 Top view;

[0031] Figure 3 This is a schematic diagram of an intermediate state of the present invention;

[0032] Figure 4 This is a schematic diagram of the final state of the present invention;

[0033] Figure 5 This is a schematic diagram of the assembly of the rotating shaft of the present invention;

[0034] Among them, 1-sprocket I, 2-roller chain I, 3-sprocket II, 4-sprocket III, 5-roller chain II, 6-sprocket IV, 7-electric cylinder, 8-towing body capture frame, 9-fixed pin I, 10-first-stage swing arm, 11-swing shaft, 12-second-stage swing arm, 13-mounting bracket, 14-fixed pin II. Detailed Implementation

[0035] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] This embodiment provides a two-stage sprocket assembly coordinated deployment and retraction device; see attached diagram. Figure 1-2 It includes: mounting frame 13, towing body capture frame 8 and two sets of sprocket drive assemblies;

[0037] Mounting frame 13 is fixed on the load platform. The tow body capture frame 8 is mounted on the mounting frame 13 through two sets of sprocket drive assemblies. The two sets of sprocket drive assemblies have the same structure and are symmetrically arranged on both sides of the tow body capture frame 8. The following describes the connection relationship between the sprocket drive assembly and the mounting frame 13 and the tow body capture frame 8 using only one set of sprocket drive assembly as an example.

[0038] Each sprocket drive assembly includes: sprocket I1, roller chain I2, sprocket II3, sprocket III4, roller chain II5, sprocket IV6, electric cylinder 7, fixed pin I9, primary swing arm 10, swing shaft 11, secondary swing arm 12, and fixed pin II14.

[0039] The tow body capture frame 8 is located above the mounting frame 13, but the tow body capture frame 8 is not connected to the mounting frame 13;

[0040] The fixing pin I9 is ​​fixed on the mounting bracket 13; the fixing pin II14 is fixed in the middle of one side of the tow body capture frame 8; the axes of fixing pin I9 and fixing pin II14 are parallel.

[0041] The sprocket I1 is coaxially fixed to the fixed pin I9 via a key connection, so that the sprocket I1 never rotates relative to the mounting bracket 13; the sprocket IV6 is coaxially fixed to the fixed pin II14 via a key connection, so that the sprocket IV6 never rotates relative to the tow body capture frame 8.

[0042] The primary rotating arm 10 is hinged to the fixed pin I9 via a hinge hole at its lower end. The primary rotating arm 10 can rotate around the axis of the fixed pin I9, thus achieving the hinge connection between the primary rotating arm 10 and the mounting bracket 13; see appendix. Figure 5 The upper end of the first-stage rotating arm 10 is provided with a horizontal square tube for connection, and the inner hole of the horizontal square tube is cylindrical; the rotating shaft 11 is installed in the horizontal square tube of the first-stage rotating arm 10 through a support bearing, and the axis of the rotating shaft 11 is parallel to the axis of the fixed pin I9; and both ends of the rotating shaft 11 extend out of the horizontal square tube, one end of the journal of the rotating shaft 11 is coaxially fixed to the sprocket II3 through a key connection, and the other end of the rotating shaft 11 is provided with a flat flange; the sprocket III4 is fixed on the horizontal square tube of the first-stage rotating arm 10 and is fitted outside the flat flange end of the rotating shaft 11, and the rotating shaft 11 and the sprocket III4 will not interfere with each other in movement;

[0043] The flange at the upper end of the secondary rotating arm 12 is connected to the flat flange of the rotating shaft 11 to achieve a fixed connection between the secondary rotating arm 12 and the rotating shaft 11; the secondary rotating arm 12 is hinged to the fixed pin II 14 through the hinge hole at its lower end, and the secondary rotating arm 12 can rotate around the axis of the fixed pin II 14, thereby achieving a hinge connection between the secondary rotating arm 12 and the towing capture frame 8.

[0044] Roller chain I2 is installed on sprocket I1 and sprocket II3 to form a primary sprocket group;

[0045] Roller chain II5 is installed on sprockets III4 and IV6 to form a secondary sprocket group;

[0046] One end of the electric cylinder 7 is hinged to the mounting bracket 13, and the other end is hinged to the middle of the first-stage rotating arm 10.

[0047] Among them, the tooth ratio of sprocket I1 to sprocket II3 is the inverse ratio of the swing angle of the first-stage swing arm 10 relative to the mounting frame 13 to the swing angle of the second-stage swing arm 12 relative to the first-stage swing arm 10; the tooth ratio of sprocket III4 to sprocket IV6 is the inverse ratio of the swing angle of the second-stage swing arm 12 relative to the first-stage swing arm 10 to the swing angle of the tow body capture frame 8 relative to the second-stage swing arm 12.

[0048] The mounting frame 13, the towing capture frame 8, and the electric cylinder 7 are approximately the same length and arranged approximately parallel in space to avoid any component being too long and affecting the overall lateral dimension. The length of the first-stage swing arm 10 is the same as the length of the first-stage sprocket group composed of sprocket I1, roller chain I2, and sprocket II3. The length of the second-stage swing arm 12 is the same as the length of the second-stage sprocket group composed of sprocket III4, roller chain II5, and sprocket IV6. The above two parts are hinged and arranged in a "V" shape in space, reducing the longitudinal dimension of the overall structure. By controlling the reduction of the lateral and longitudinal dimensions, the overall structure becomes compact when the towing capture frame 8 is retracted.

[0049] Working principle: Under the action of electric cylinder 7, the first-stage rotating arm 10 rotates, changing its position, which in turn drives the second-stage rotating arm 12 to rotate, causing it to also change its position. Through the design of the gear ratio of the first-stage and second-stage sprocket sets, the movement of the towed body capture frame 8 is realized, thereby capturing the target: In the first-stage sprocket set, when electric cylinder 7 moves, it drives the first-stage rotating arm 10 to rotate. Since sprocket I-1 is immovable, it forces roller chain I-2 to move, and at the same time drives sprocket II-3 to rotate. Similarly, in the second-stage sprocket set, sprocket III-4 is fixed to the first-stage rotating arm 10, and sprocket IV-6 is hinged to the second-stage rotating arm 12. When sprocket II-3 rotates, it drives the second-stage rotating arm 12 to rotate. Since sprocket III-4 is immovable, it forces roller chain II-5 to move, and at the same time drives sprocket IV-6 to rotate, thereby driving the towed body capture frame 8 to move.

[0050] In the initial state, i.e., the preparation for deployment or the complete retrieval state, such as Figure 1-2 As shown, at this time, the tow body capture frame 8 is tightly locked onto the mounting frame 13;

[0051] When the towed body capture frame 8 is deployed, the electric cylinder 7 pushes the first-stage rotating arm 10 to rotate outward (i.e., rotate to the left as shown in the figure). The outward swing of the towed body capture frame 8 is achieved through the coordinated drive of the first-stage sprocket set and the second-stage sprocket set. Specifically:

[0052] Electric cylinder 7 drives the first-stage rotating arm 10 to rotate around the fixed pin I9. Since sprocket I1 is stationary, roller chain I2 drives sprocket II3 to rotate. The rotation of sprocket II3 drives the second-stage rotating arm 12 to rotate around shaft II11 via shaft 11. Since sprocket III4 is fixed to the first-stage rotating arm 10 and does not rotate on its own, roller chain II5 drives sprocket IV6 to rotate, thereby driving the tow body capture frame 8 to rotate. Figure 3 The image shows the state at a certain moment during the deployment process. When the electric cylinder 7 is fully extended and the deployment / retrieval device reaches its limit position, that is, when the device swings to its maximum angle, the deployment is complete or the device is ready to be retrieved. Figure 4 As shown;

[0053] When the towed body capture frame 8 is retrieved, the electric cylinder 7 pulls the first-stage rotating arm 10 to rotate inward (i.e., rotate to the right as shown in the figure). The towed body capture frame 8 is retracted inward by the combined transmission of the first-stage sprocket group and the second-stage sprocket group. The specific process is the reverse of the deployment process.

[0054] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A two-stage sprocket assembly coordinated take-up and release device, characterized in that, include: Mounting frame, tow body capture frame and two sets of sprocket drive components; The mounting frame is fixed on the load platform. The tow body capture frame is mounted on the mounting frame through two sets of sprocket drive assemblies. The two sets of sprocket drive assemblies have the same structure and are symmetrically arranged on both sides of the tow body capture frame. Each sprocket drive assembly includes a fixed pin I, a fixed pin II, a two-stage sprocket set, an electric cylinder, a first-stage rotating arm, and a second-stage rotating arm. The two-stage sprocket assembly consists of a primary sprocket assembly and a secondary sprocket assembly. One end of the primary sprocket arm is hinged to the mounting frame, and the other end is hinged to one end of the secondary sprocket arm via a pivot. The other end of the secondary sprocket arm is hinged to the side plate of the tow body capture frame. The primary and secondary sprocket assemblies are installed between the mounting frame and the tow body capture frame, with the primary sprocket assembly arranged along the length of the primary sprocket arm and the secondary sprocket assembly arranged along the length of the secondary sprocket arm. Specifically, the fixed pin I is fixed on the mounting frame; the fixed pin II is fixed in the middle of one side of the towing capture frame; the axes of the fixed pin I and the fixed pin II are parallel; the lower end of the first-stage rotating arm is hinged to the fixed pin I, realizing the hinge connection between the first-stage rotating arm and the mounting frame; the upper end of the first-stage rotating arm is equipped with a rotating shaft through a support bearing, and the axis of the rotating shaft is parallel to the axis of the fixed pin I. The upper end of the secondary rotating arm is fixedly connected to the rotating shaft, and the lower end of the secondary rotating arm is hinged to the fixed pin II, thereby achieving the hinge connection between the secondary rotating arm and the towing capture frame; one end of the primary sprocket assembly is fixed to the fixed pin I, and the other end of the primary sprocket assembly is fixed to one end of the rotating shaft. The primary rotating arm and the primary sprocket assembly share a common rotating shaft, which is the axis of the fixed pin I; one end of the secondary sprocket assembly is fixed to the fixed pin II, and the other end of the secondary sprocket assembly is fixed to the upper end of the primary rotating arm. The secondary rotating arm and the secondary sprocket assembly share a common rotating shaft, which is the axis of the fixed pin II. The primary sprocket assembly includes: sprocket I, sprocket II, and roller chain I; the secondary sprocket assembly includes: sprocket III, sprocket IV, and roller chain II; sprocket I is coaxially fixed to a fixed pin I via a key connection; sprocket II is coaxially fixed to a rotating shaft via a key connection; roller chain I is installed between sprocket I and sprocket II; sprocket IV is coaxially fixed to a fixed pin II via a key connection; sprocket III is fixed to the upper end of the primary rotating arm; roller chain II is installed on sprocket III and sprocket IV; The tooth ratio of sprocket I to sprocket II is the inverse ratio of the swing angle of the first-stage swing arm relative to the mounting frame to the swing angle of the second-stage swing arm relative to the first-stage swing arm; the tooth ratio of sprocket III to sprocket IV is the inverse ratio of the swing angle of the second-stage swing arm relative to the first-stage swing arm to the swing angle of the towed capture frame relative to the second-stage swing arm. One end of the electric cylinder is hinged to the mounting bracket, and the other end is hinged to the middle of the first-stage rotating arm. The electric cylinder is used to drive the first-stage rotating arm to rotate. The first-stage rotating arm is used to drive the second-stage rotating arm to move through the first-stage sprocket set. The second-stage rotating arm is used to drive the tow body capture frame to move through the second-stage sprocket set.

2. The two-stage sprocket assembly coordinated deployment and retraction device as described in claim 1, characterized in that, The length of the first-stage sprocket arm is the same as the length of the first-stage sprocket assembly, and the length of the second-stage sprocket arm is the same as the length of the second-stage sprocket assembly.

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