An underwater automatic retractable device for acoustic array

Abstract

The present invention relates to an underwater automatic retractable device for an acoustic array, and relates to the underwater field of acoustic arrays 300 meters deep. The automatic retractable device includes a winch mechanism, a front guide mechanism, an arc-shaped steering mechanism, a tensioning mechanism, and a tractor mechanism; the winch mechanism includes a load-bearing frame, a reel, a reel skin, a bidirectional screw, a chain transmission mechanism, and a nut connector; the reel can rotate on the load-bearing frame; the reel skin is installed on the outer side of the reel circumference, and the acoustic array is sequentially wound on the Lebus double-folded groove of the reel skin; the bidirectional screw is installed on the load-bearing frame and connected to the center end of the reel through a chain transmission mechanism, and the reel drives the bidirectional screw to rotate; the upper end of the nut connector is sleeved on the bidirectional screw, and the lower end is connected to the front guide mechanism; the bottom end of the acoustic array passes through the front guide mechanism, the arc-shaped steering mechanism, the tensioning mechanism, and the tractor mechanism in sequence. The present invention can realize the orderly and automatic retraction and deployment of the acoustic array underwater, and can be suspended in the seawater in a horizontal approximately straight state.

Description

Technical Field

[0001] The present invention relates to the field of 300-meter underwater acoustic arrays, and in particular to an underwater automatic retractable and deployable device for acoustic arrays. Background Art

[0002] Acoustic arrays are widely used in oceanographic research, inland terrain exploration, marine life, seabed, and suspended military research. Acoustic arrays need to be able to deploy and deploy automatically in the ocean, allowing them to explore the sea area within their effective range and automatically recover after use.

[0003] The diameter of the acoustic array currently used in the ocean is mostly 30 mm, with an error of plus or minus one mm. The exterior is made of plastic, and the interior is electronic circuitry. There are certain requirements for the bending radius. When the interior is filled with grease, the entire acoustic array has zero buoyancy and has a certain hardness and elasticity. Due to the needs of detection accuracy and detection range, the entire acoustic array is 140 meters long. When the acoustic array reaches the required sea depth, it can be automatically released and deployed, and remain in a suspended state, that is, remain in working state. When the acoustic array completes the detection work, it needs to be automatically wound up and recovered. If the existing winch is used to retract and deploy the acoustic array, there are the following problems:

[0004] 1. When using a winch equipped with a traditional Lebus rope groove to automatically wind the acoustic array, the acoustic array will produce elastic deformation under tension, causing the diameter of the acoustic array to increase and causing cable compression.

[0005] Second, after being released, the acoustic array must form a nearly horizontal straight line in the seawater. However, when releasing the cable using a traditional winch, the cable must rely on the pulling force of an external object, generally relying on the gravity of a heavy object. Otherwise, after the cable is released, the entire cable will become untidy. If the acoustic array is released by a winch, the acoustic array 6 has a certain elasticity and is easily deformed radially under tension. In addition, the buoyancy and ocean currents in the deep sea make it more difficult for the acoustic array to maintain a horizontal straight line, and it is very likely to become untidy.

[0006] 3. Detection can only be carried out after the acoustic array is deployed in a nearly horizontal straight line in the deep sea. During the detection process, the acoustic array must basically maintain a nearly horizontal straight line state, that is, it needs to be suspended in the deep sea, and the swing and movement amplitude of the entire acoustic array cannot be too large. However, the winch cannot meet the use requirements of the acoustic array.

[0007] Therefore, there is an urgent need to solve the problem of "how to make the acoustic array effectively and evenly arranged on the reel, so that the acoustic array can be fully deployed under the drive of the traction device and can maintain order without loosening and chaos during the deployment and detection process, and at the same time can remain suspended in the seawater, and the acoustic array can be automatically recovered after work, and can also maintain order without loosening and chaos during the recovery process." Summary of the Invention

[0008] In response to the above-mentioned deficiencies in the prior art, the present invention provides an underwater automatic retraction and deployment device for an acoustic array. Through the automatic retraction and deployment structure design of a winch, a guide mechanism, and a tractor, the device can realize the automatic release of the acoustic array in seawater at a depth of 300 meters. During this period, the acoustic array is ensured to be deployed in an orderly manner without chaos, and ultimately remain fully deployed and suspended in the seawater. When it needs to be recovered, the acoustic array can be automatically recovered to the winch mechanism.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] An underwater automatic retractable device for an acoustic array, comprising a winch mechanism, a front guide mechanism, an arc-shaped steering mechanism, a tensioning mechanism, and a tractor mechanism;

[0011] The winch mechanism includes a load-bearing frame, a drum, a drum skin, a bidirectional screw rod, a chain transmission mechanism and a nut connector; the drum is installed on the load-bearing frame and can rotate on the load-bearing frame; the drum skin is installed on the outer side of the circumference of the drum, and a plurality of Lebus double-fold grooves are evenly distributed on the drum skin, and the sound array is sequentially wound on the Lebus double-fold grooves of the drum skin; the bidirectional screw rod is installed on the load-bearing frame and is connected to the central end of the drum through the chain transmission mechanism, and the drum drives the bidirectional screw rod to rotate; the upper end of the nut connector is sleeved on the bidirectional screw rod, and the lower end is connected to the front guide mechanism; the bottom end of the sound array passes through the front guide mechanism, the arc-shaped steering mechanism, the tensioning mechanism and the traction device mechanism in sequence.

[0012] Furthermore, the pitch P of the Lebus double-fold groove is equal to the maximum deformation of the acoustic array measured diameter A+0.5 mm.

[0013] Furthermore, the winch mechanism also includes a guide rod, which is arranged parallel to and below the bidirectional screw rod, and has two ends respectively mounted on the load-bearing frame.

[0014] Furthermore, the winch mechanism also includes a drum motor, which is installed on the load-bearing frame to drive the drum to rotate.

[0015] Furthermore, the winch mechanism also includes an electric slip ring, which is connected to the drum motor and the acoustic array respectively.

[0016] Furthermore, the tensioning mechanism includes a synchronous pulley, a tensioning mechanism motor, a driving wheel shaft, an arc mechanism connecting mechanism, a driven wheel and a driving wheel; multiple driving wheels and the driven wheels correspond to each other up and down, and the sound array passes between the driven wheel and the driving wheel; the driving wheel shaft is connected to the driving wheel flat key, and the adjacent driving wheel shafts are connected through the synchronous pulley; the output shaft of the tensioning mechanism motor is connected to one of the driving wheel shafts, and drives multiple driving wheels to rotate synchronously through the synchronous pulley; when the sound array is recovered, the tensioning mechanism motor cooperates with the driving wheel and the driven wheel to provide pressure and driving force for the sound array; the arc mechanism connecting mechanism is arranged on the side of the tensioning mechanism close to the arc steering mechanism, and a rolling bearing is provided in the arc mechanism connecting mechanism. The sound array passing through the arc mechanism connecting mechanism connects the arc steering mechanism and the tensioning mechanism.

[0017] Furthermore, the tensioning mechanism also includes a driven wheel shaft and an elastic wheel mechanism; the elastic wheel mechanism is arranged below the driven wheel, and includes a support plate and a spring, the support plate is placed between the driven wheel and the spring, and is connected to the center of the driven wheel through the driven wheel shaft, and the spring drives the driven wheel to squeeze the sound array upward.

[0018] Furthermore, the front guide mechanism includes a front fixing plate, a rear fixing plate, a front guide mechanism guide wheel and a first screw assembly; the front fixing plate and the rear fixing plate are symmetrically spaced and connected by the first screw assembly; a plurality of the front guide mechanism guide wheels are symmetrically distributed on the relative inner sides of the front fixing plate and the rear fixing plate through the first screw assembly.

[0019] Furthermore, the front guide mechanism includes a front guide mechanism guide rod, a front guide mechanism long guide roller and a cotter pin; the front guide mechanism guide rod is arranged at the lower side of the front guide mechanism close to the winch mechanism; the front guide mechanism long guide roller is loosely fitted on the front guide mechanism guide rod, and the cotter pin is installed at the movable end of the front guide mechanism guide rod.

[0020] Furthermore, the arc-shaped steering mechanism includes a fixed plate, an arc-shaped steering mechanism guide wheel, an arc-shaped rear guide plate and an arc-shaped front guide plate; the arc-shaped rear guide plate and the arc-shaped front guide plate are symmetrical arc-shaped structures, and the two ends are respectively connected by the fixed plates; a plurality of the arc-shaped steering mechanism guide wheels are symmetrically distributed on the left and right sides of the relative inner sides of the arc-shaped rear guide plate and the arc-shaped front guide plate; there is an arc-shaped channel between the left and right sides of the arc-shaped steering mechanism guide wheels for the sound array to pass through.

[0021] Beneficial effects of the present invention:

[0022] The present invention can realize the automatic retraction and deployment of the acoustic array in seawater at a depth of 300 meters, ensuring that the acoustic array is arranged in an orderly and uniform manner on the winch mechanism. The acoustic array is fully deployed under the drive of the tractor mechanism and can maintain orderliness without loosening or disorder during the deployment and detection process, and maintain an approximately horizontal and straight state suspended in the seawater. After work, the acoustic array is automatically recovered in an orderly manner without loosening or disorder.

[0023] The present invention realizes the left and right movement of the front guide mechanism through a bidirectional screw rod, a chain transmission mechanism and a nut connector, thereby driving the orderly retraction and extension of the acoustic array. The pitch P of the lebus double-fold groove on the drum skin is the maximum deformation of the measured diameter of the acoustic array A+0.5mm, which avoids the acoustic array from being compressed by the cable. The present invention ensures the stable movement of the nut connector through the guide rod. The present invention can provide tensioning force for the acoustic array by squeezing the acoustic array through the active wheel and the driven wheel of the tensioning mechanism, thereby avoiding deformation due to tension. In addition, the front guide mechanism, the arc-shaped steering mechanism, the tensioning mechanism and the traction mechanism of the present invention are connected through the acoustic array, which can increase the bending amplitude of the acoustic array, and facilitate its deployment in a state of approximately horizontal straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall assembly of the underwater automatic retractable and deployable device for the acoustic array of the present invention;

[0025] Figure 2 This is a schematic diagram of the movement of the underwater automatic retractable device for the acoustic array of the present invention;

[0026] Figure 3 This is a schematic diagram of the assembly of the winch mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the assembly of the front guide mechanism of the present invention;

[0028] Figure 5 This is a schematic diagram of the assembly of the arc-shaped steering mechanism of the present invention;

[0029] Figure 6 This is a schematic diagram of the connection between the front guide mechanism, the arc-shaped steering mechanism and the tensioning mechanism in the present invention;

[0030] Figure 7 This is a schematic diagram of the assembly of the tensioning mechanism of the present invention;

[0031] Figure 8 This is a schematic diagram of the internal assembly of the tensioning mechanism of the present invention;

[0032] Figure 9 This is a schematic diagram of the assembly of the tractor mechanism in the present invention;

[0033] Figure 10 for Figure 9 AA view of the middle tractor body and tractor anchor;

[0034] Figure 11 This is a schematic diagram of the first anchoring state of the tractor mechanism of the present invention;

[0035] Figure 12 Schematic diagram of the pitch of the Lebus double-fold acoustic groove on the reel skin of the present invention.

[0036] Among them: 1-winch mechanism, 1-1-left support plate, 1-2-support rod, 1-3-drum, 1-4-drum skin, 1-5-right support plate, 1-6-drum motor, 1-7-bidirectional screw, 1-8-guide rod, 1-9-chain transmission mechanism, 1-10-electric slip ring, 1-11-nut connector, 2-front guide mechanism, 2-1-front fixed plate, 2-2-rear fixed plate, 2-3-front guide mechanism guide wheel, 2-4-first screw assembly, 2-5-front guide mechanism guide rod, 2-6-front guide mechanism long guide roller, 2-7-cotter pin, 3-arc steering mechanism, 3-1-fixed plate, 3-2-arc 3-3-arc-shaped steering mechanism guide wheel, 3-3-arc-shaped rear guide plate, 3-4-arc-shaped front guide plate, 3-5-second screw assembly, 4-tensioning mechanism, 4-1-main fixing frame, 4-2-synchronous pulley, 4-3-tensioning mechanism motor, 4-4-driving wheel shaft, 4-5-driven wheel shaft, 4-6-arc-shaped mechanism connecting mechanism, 4-7-elastic wheel mechanism, 4-8-driven wheel, 4-9-driving wheel, 5-tractor mechanism, 5-1-acoustic array connector, 5-2-tractor body, 5-3-tractor anchor, 5-4-rope, 5-5-nut, 5-6-side threaded shaft, 5-7-center threaded shaft, 6-acoustic array. DETAILED DESCRIPTION

[0037] The following embodiments are further described in detail with reference to the accompanying drawings and examples. The following embodiments are only used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0038] Terms such as "upper," "lower," "left," "right," "inner," "outer," "front," "back," "head," and "tail" in this application are based on the directions or positions shown in the accompanying drawings. The corresponding positions may vary depending on the drawings, and should not be construed as limiting the scope of protection.

[0039] In the present invention, the terms "installed," "connected," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, integral connection, mechanical connection, electrical connection, or mutual communication. They may be directly connected or indirectly connected through an intermediate medium. They may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0040] This embodiment describes an underwater automatic retraction and extension device for an acoustic array, which can realize automatic retraction and extension of the acoustic array in seawater at a depth of 300 meters and keep the acoustic array in an approximately horizontal straight line state during the detection process.

[0041] like Figure 1 and Figure 2 As shown, the automatic retraction and deployment device includes a winch mechanism 1, a front guide mechanism 2, an arc-shaped steering mechanism 3, a tensioning mechanism 4, and a tractor mechanism 5. The front guide mechanism 2 is mounted on the winch mechanism 1. The acoustic array 6 is wound around the winch mechanism 1, with one end passing through the front guide mechanism 2, the arc-shaped steering mechanism 3, the tensioning mechanism 4, and the tractor mechanism 5, which drives the acoustic array 6 to move.

[0042] Winch mechanism 1 Figure 3 The figure includes a left support plate 1-1, a support rod 1-2, a drum 1-3, a drum skin 1-4, a right support plate 1-5, a drum motor 1-6, a bidirectional screw 1-7, a guide rod 1-8, a chain transmission mechanism 1-9, an electric slip ring 1-10 and a nut connector 1.11. Among them, the left support plate 1-1 and the right support plate 1-5 are respectively arranged on the left and right sides of the drum 1-3, and the two ends of multiple support rods 1-2 are respectively threadedly connected to the left support plate 1-1 and the right support plate 1-5, together forming the load-bearing frame of the winch mechanism 1. The left and right sides of the drum 1-3 are respectively installed on the left support plate 1-1 and the right support plate 1-5, the drum skin 1-4 is threadedly connected to the outer side of the circumference of the drum 1-3, and the sound array 6 is wound on the drum skin 1-4. In this embodiment, the drum 1-3 is made of carbon fiber material, which is light in weight, rust-proof and high in strength. Lebus double-folded grooves are evenly distributed on the drum skin 1-4 (see Figure 12), wherein the pitch P of the lebus double-fold groove is different from the traditional calculation method, and the calculation method is the measured maximum deformation of the diameter of the sound array 6 A+0.5mm. The reel motor 1-6 is threadedly connected to the right support plate 1-5 to provide rotational power for the reel 1-3. A deep-water pressure-resistant, watertight servo motor can be used, and its pressure resistance is 4.5MPa. At the lower part of one side of the reel 1-3, the two ends of the bidirectional screw 1-7 are respectively mounted on the left support plate 1-1 and the right support plate 1-5, and the guide rod 1-8 is arranged in parallel below the bidirectional screw 1-7, and the two ends are respectively mounted on the left support plate 1-1 and the right support plate 1-5. The guide rod 1-8 serves as the guide rod of the bidirectional screw 1-7, and bears a certain bending force, which can enable the sound array 6 to maintain a certain degree of curvature. The bidirectional screw 1-7 and the guide rod 1-8 cooperate with the lebus double-fold groove on the reel skin 1-4, so that the sound array 6 can be wound sequentially and orderly to the fourth layer. The central axis of one end of the reel 1-3 is connected to the bidirectional screw 1-7 via a chain drive mechanism 1-9. This chain drive mechanism 1-9 transmits the rotational power of the reel 1-3 to the bidirectional screw 1-7 at a 1:1 transmission ratio, driving the two-way screw 1-7 and ensuring that the central axis of the reel 1-3 and the two-way screw 1-7 rotate at the same speed. The upper and lower ends of the nut connector 1.11 are respectively attached to the bidirectional screw 1-7 and the guide rod 1-8. The nut connector 1.11 can swing left and right along the two-way screw 1-7 as the two-way screw 1-7 rotates. The guide rod 1-8 ensures the stability of the nut connector 1.11's swing. The rear surface of the nut connector 1.11 is welded to the front guide mechanism 2, driving the front guide mechanism 2 to swing left and right. An electric slip ring 1-10 is connected to the reel motor 1-6 and the acoustic array 6, respectively. This slip ring can be a watertight 4.5 MPa pressure-resistant slip ring and is used to transmit signal and power lines from the reel motor 1-6 and the acoustic array 6.

[0043] Front guide mechanism 2 Figure 4The front guide mechanism 2 is shown as including a front fixing plate 2-1, a rear fixing plate 2-2, a front guide mechanism guide wheel 2-3, a first screw assembly 2-4, a front guide mechanism guide rod 2-5, a long front guide mechanism guide roller 2-6, and a cotter pin 2-7. The front fixing plate 2-1 and the rear fixing plate 2-2 are symmetrically spaced and connected together by multiple first screw assemblies 2-4 to form the skeleton of the front guide mechanism 2. The front fixing plate 2-1 and the rear fixing plate 2-2 are made of 316L stainless steel, which is resistant to seawater corrosion and greatly ensures the service life of the fixing plates. Multiple front guide mechanism guide wheels 2-3 are symmetrically distributed on the opposite inner sides of the front fixing plate 2-1 and the rear fixing plate 2-2 via the first screw assemblies 2-4, and are used to guide the retraction and extension of the acoustic array 6. The front guide mechanism guide wheels 2-3 are made of nylon, which is resistant to seawater corrosion. The first screw assembly 2-4 is a 316L stainless steel screw assembly. In addition, the front guide mechanism guide wheel 2-3 and the first screw assembly 2-4 are clearance-fitted, allowing for a certain amount of free play during rotation. When the acoustic array 6 passes through the front guide mechanism 2, the front guide mechanism guide wheel 2-3 provides rolling guidance, preventing scratches caused by excessive friction. The front guide mechanism guide rod 2-5 is located on the side of the winch mechanism 1, below and outside the front fixed plate 2-1. The front guide mechanism long guide roller 2-6 is made of nylon and is loosely fitted onto the front guide mechanism guide rod 2-5. A cotter pin 2-7 is mounted on the movable end of the front guide mechanism guide rod 2-5 (from which the front guide mechanism long guide roller 2-6 can be attached), preventing the front guide mechanism long guide roller 2-6 from detaching from the front guide mechanism guide rod 2-5. When the acoustic array 6 passes through the front guide mechanism 2, the front guide mechanism long guide roller 2-6 prevents the acoustic array 6 from deflecting toward the winch mechanism 1, preventing the release of the acoustic array 6 from the winch mechanism 1.

[0044] In this embodiment, the arc-shaped steering mechanism 3 does not need to be fixed, and is connected to the front guide mechanism 2 and the tensioning mechanism 4 through the acoustic matrix 6. The arc-shaped steering mechanism 3 swings left and right under the drive of the connected acoustic matrix 6, so that the acoustic matrix 6 smoothly enters the tensioning mechanism 4. Figure 5As shown, the curved steering mechanism 3 comprises a fixed plate 3-1, curved steering mechanism guide wheels 3-2, a curved rear guide plate 3-3, a curved front guide plate 3-4, and a second screw assembly 3-5. The curved rear guide plate 3-3 and the curved front guide plate 3-4 are symmetrically curved structures, welded together at both ends via the fixed plate 3-1, forming the framework of the curved steering mechanism 3. Multiple curved steering mechanism guide wheels 3-2 are symmetrically distributed on the left and right sides of the inner and outer surfaces of the curved rear guide plate 3-3 and the curved front guide plate 3-4. The gap between the left and right curved steering mechanism guide wheels 3-2 forms a large curved channel with a width of 350-400 mm to ensure the flexibility of the acoustic array 6 currently used. The curved steering mechanism guide wheels 3-2 are mounted on the curved rear guide plate 3-3 and the curved front guide plate 3-4 via the second screw assembly 3-5, guiding the acoustic array 6 passing through the inner side of the curved steering mechanism 3. In this embodiment, the fixing plate 3-1, the arc-shaped rear guide plate 3-3, the arc-shaped front guide plate 3-4 and the second screw assembly 3-5 are all made of stainless steel 316L, and the arc-shaped steering mechanism guide wheel 3-2 is made of nylon, all of which are resistant to seawater corrosion.

[0045] Tensioning mechanism 4 Figures 6 to 8 The shown structure includes a main fixed frame 4-1, a synchronous pulley 4-2, a tensioning mechanism motor 4-3, a driving wheel shaft 4-4, a driven wheel shaft 4-5, an arc mechanism connecting mechanism 4-6, an elastic wheel mechanism 4-7, a driven wheel 4-8 and a driving wheel 4-9.

[0046] The main fixing frame 4 - 1 is the main supporting structure of the tensioning mechanism 4 , and is made of titanium alloy TC4, which is light in weight and is used to reduce the buoyancy of the tensioning mechanism 4 .

[0047] Multiple driving wheels 4-9 and driven wheels 4-8 correspond to each other in the upper and lower parts, and are respectively mounted on the inner side of the main fixed frame 4-1 via the driving wheel shaft 4-4 and the driven wheel shaft 4-5. The middle position of the driving wheel shaft 4-4 is connected to the driving wheel 4-9 by a flat key, and the adjacent driving wheel shafts 4-4 are respectively connected to the two ends of the synchronous pulley 4-2 by flat keys. The output shaft of the tensioning mechanism motor 4-3 is connected to a driving wheel shaft 4-4, providing power for the tensioning mechanism 4, and driving all the driving wheels 4-9 to rotate synchronously through the synchronous pulley 4-2. The tensioning mechanism motor 4-3 is a deep-water watertight motor with a pressure resistance of 4.5 MPa. When the acoustic array 6 is recovered, driven by the tensioning mechanism motor 4-3, each synchronous pulley 4-2 transmits power to each driving wheel 4-9. The driving wheel 4-9 and the driven wheel 4-8 together provide pressure and driving force to the acoustic array 6, thereby generating tension on the acoustic array 6. The elastic wheel mechanism 4-7 consists of a base, a support plate, a spring, and a vertical push rod. The vertical push rod is positioned between the base and the support plate. The spring is sleeved onto the vertical push rod. The upper portion of the support plate sleeves onto the end of the driven wheel shaft 4-5. The driven wheel 4-8 is positioned above the support plate and applies an upward pressure to the driven wheel 4-8, the pressure being adjustable within a certain range. When the acoustic array 6 passes between the driving wheel 4-9 and the driven wheel 4-8, the elastic wheel mechanism 4-7 uses the spring to drive the driven wheel 4-8 upward to squeeze the acoustic array 6. Simultaneously, the driving wheel 4-9 rotates, driven by the tensioning mechanism motor 4-3. The friction exerted on the acoustic array 6 causes the acoustic array 6 to move forward. The compression exerted by the elastic wheel mechanism 4-7 increases the friction, thereby enhancing the tensioning of the acoustic array 6. In this embodiment, the synchronous pulley 4-2 and the driving wheel 4-9 are made of nylon, which are resistant to seawater corrosion.

[0048] The arc-shaped connecting mechanism 4-6 is mounted on the side of the tensioning mechanism 4 near the arc-shaped steering mechanism 3. A rolling bearing, such as a deep-groove ball bearing, is housed within the arc-shaped connecting mechanism 4-6. An acoustic array 6, passing through the center of the arc-shaped connecting mechanism 4-6, temporarily connects the arc-shaped steering mechanism 3 to the tensioning mechanism 4. When the arc-shaped steering mechanism 3 needs to rotate left or right, the arc-shaped connecting mechanism 4-6 can rotate freely, coordinating with the left-right swing of the arc-shaped steering mechanism 3. The deep-groove ball bearing provides both rotational convenience and a certain degree of support.

[0049] The tractor mechanism 5 of this embodiment can provide traction force in the seawater by itself, has a slight positive buoyancy and a certain automatic deviation correction function, and can drive the acoustic array 6 to move forward in the seawater. Figures 9 to 11The device shown includes an acoustic array connector 5-1, a tractor body 5-2, a tractor anchor 5-3, a wire rope 5-4, and a nut 5-5. The acoustic array connector 5-1 is mounted on the head of the tractor body 5-2 and is used to connect to the acoustic array 6. Made of 316L stainless steel, the acoustic array connector 5-1 can withstand a hydrostatic pressure of 4.5 MPa, allowing it to withstand certain tensile forces while also resisting seawater corrosion. The tractor anchor 5-3 is threadedly connected to a side threaded shaft 5-6 located on the rear circumference of the tractor body 5-2 via a circumferentially threaded hole. The acoustic array connector 5-1, tractor body 5-2, and tractor anchor 5-3 are coaxially connected. The tractor anchor 5-3 is made of ordinary carbon steel, which reduces manufacturing costs. At the center of the tractor anchor 5-3, a wire rope 5-4 connects to a nut 5-5 threaded onto the central threaded shaft 5-7 at the rear end of the tractor body 5-2. The tractor body 5-2 is a small, custom-made device with an independent power supply and multiple drivers. It also features rotatable impellers on its exterior. These drivers drive the rotation of the central threaded shaft 5-7 and the side threaded shafts 5-6. Once the tractor mechanism 5 reaches its operating position, the driver deploys the tractor anchors 5-3 and nuts 5-5 in batches. The tractor mechanism 5, along with the acoustic array 6, maintains a nearly horizontal, straight position through slight positive buoyancy.

[0050] This example illustrates the workflow of the underwater automatic acoustic array retraction and deployment device, assuming a depth of 300 meters and acoustic array 6 already neatly wound around reels 1-4. The workflow can be broadly divided into three specific steps: releasing the acoustic array, maintaining the array, and retrieving the array. Throughout this operation, acoustic array 6 is lubricated with seawater; the addition of other greases is strictly prohibited.

[0051] The workflow of releasing the acoustic array is as shown in Table 1:

[0052] In the initial state, the drum motor 1-6 in the winch mechanism 1 begins to rotate forward at a constant speed, driving the drum 1-3 and drum cover 1-4 to rotate, and begins to release the acoustic array 6. Simultaneously, the drum 1-3 drives the bidirectional screw 1-7 through the chain drive mechanism 1-9. When one turn of the acoustic array 6 is released, the nut connector 1.11 moves one pitch along the bidirectional screw 1-7, releasing the acoustic array 6 in an orderly manner. The position on the drum 1-3 where the acoustic array 6 is released continuously moves left and right as the drum 1-3 rotates. The nut connector 1.11 drives the front guide mechanism 2 to swing left and right, allowing the acoustic array 6 to enter the front guide mechanism 2 at a constant speed.

[0053] After the acoustic array 6 enters the front guide mechanism 2 at a constant speed, it passes between the guide wheels 2-3. Due to its certain hardness and diameter, the acoustic array 6 is pressed against at least one of the guide wheels 2-3. The guide wheels 2-3 can rotate freely, guiding the acoustic array 6 and ensuring smooth passage. Because the position on the reel 1-3 where the acoustic array 6 is released continuously moves left and right as the reel 1-3 rotates, the acoustic array 6 also swings left and right as it passes through the front guide mechanism 2, intermittently pressing against the left and right guide wheels 2-3, and being guided by the guide wheels 2-3 into the arc-shaped steering mechanism 3. After the acoustic array 6 passes through the end of the front guide mechanism 2, the long guide rollers 2-6 of the front guide mechanism provide guidance, preventing the acoustic array 6 from drifting toward the winch mechanism 1 and affecting its release.

[0054] The acoustic array 6 enters the arc-shaped steering mechanism 3 from above, and the acoustic array 6 bends into a large arc and moves downward. The arc-shaped steering mechanism guide wheel 3-2 rolls and guides, so that the acoustic array 6 passes through the arc-shaped steering mechanism guide wheel 3-2 from top to bottom smoothly, and enters the tensioning mechanism 4 through the arc mechanism connecting mechanism 4-6.

[0055] After the acoustic array 6 enters the tensioning mechanism 4, it passes between the driven wheel 4-8 and the driving wheel 4-9 and enters the tractor mechanism 5. During this process of releasing the acoustic array, the tensioning mechanism motor 4-3 does not operate. The driven wheel 4-8 and the driving wheel 4-9 guide the acoustic array 6, reducing friction. The elastic wheel mechanism 4-7 presses the driven wheel 4-8 upward, ensuring a certain tension when the acoustic array 6 passes through.

[0056] The acoustic array 6 is connected to the acoustic array connector 5-1. When the acoustic array 6 is released, the tractor body 5-2 moves forward. Because the tractor body 5-2 is connected to the tractor anchor 5-3, the entire tractor mechanism 5 has negative buoyancy and tends to sink. However, the tractor body 5-2 can generate upward momentum. When the entire tractor mechanism 5 moves upward, the tractor body 5-2 automatically shuts off the upward momentum, causing the tractor body 5-2 to sink. This repeated movement achieves the basic forward movement of the entire tractor mechanism 5. The acoustic array 6 continues to move forward under the traction of the tractor mechanism 5 until the required length of the acoustic array 6 is fully released, completing the release of the acoustic array 6.

[0057] The acoustic array maintenance workflow is shown in Table 2:

[0058] After the acoustic array 6 is released and other preparatory work required for detection is completed, the entire acoustic array underwater automatic retraction device begins to enter the acoustic array 6 working mode. The acoustic array 6 needs to be suspended at a depth of 300 meters in the sea. At this time, the tractor mechanism 5 performs the first anchoring action, which is as follows:

[0059] The inner threaded shaft of the tractor mechanism 5 rotates driven by the driver, and the tractor body 5-2 generates thrust on the tractor anchor 5.3 through thread transmission. After running for a set time, the side threaded shaft withdraws from the side threaded hole on the tractor anchor 5.3 that cooperates with it. The tractor anchor 5-3 slowly falls to the seabed under the action of gravity and is connected to the nut 5-5 on the tractor body 5-2 through the rope 5-4, completing the first anchoring.

[0060] After the tractor body 5-2 throws away the tractor anchor 5-3, the tractor anchor 5-3 gradually sinks to the seabed due to its own negative buoyancy. The tractor body 5-2 has a slight positive buoyancy and tends to float up. The tractor anchor 5-3 generates a downward pulling force on the tractor body 5-2 through the rope 5-4, ensuring that the entire tractor mechanism 5 with the acoustic array 6 is suspended in the seawater. Figure 11 shown.

[0061] The workflow of recycling the acoustic array is shown in Table 3:

[0062] When the detection work is completed, the acoustic array can be recovered. The steps of this process are similar to the process of releasing the acoustic array. The following briefly describes the process of the acoustic array 6 moving from bottom to top and winding layer by layer on the reel skins 1-4.

[0063] The tractor body 5-2 of the tractor mechanism 5 performs a secondary anchoring operation, following the same principles as the primary anchoring operation. The central threaded shaft of the tractor body 5-2 rotates under the influence of a driver, generating thrust on the nut 5-5. After a set time and torque, the tractor body 5-2 pushes the nut 5-5 out, completing the secondary anchoring operation and completely jettisoning the tractor anchor 5-3. The tractor body 5-2 then moves backward under its own power, carrying the acoustic array 6 with it for recovery. When the acoustic array 6 is recovered and passes through the tensioning mechanism 4, the tensioning mechanism motor 4-3 is started, driving the driving wheel 4-9 to rotate. The driving wheel 4-9 cooperates with the driven wheel 4-8 to squeeze the acoustic array 6. At the same time, due to the rotation of the driving wheel 4-9, a return thrust can be generated on the acoustic array 6, so that the acoustic array 6 moves smoothly backward (that is, in the direction of the arc-shaped steering mechanism 3), so that the acoustic array 6 enters the arc-shaped steering mechanism 3, and the arc-shaped steering mechanism guide wheel 3-2 guides the acoustic array 6. At the same time, the entire arc-shaped steering mechanism 3 swings left and right with the center of the arc-shaped mechanism connecting mechanism 4-6 as the center, enters the front guide mechanism 2, and moves toward the winch mechanism 1 after being guided by the front guide mechanism guide wheel 2.3. With the cooperation of the bidirectional screw rod 1-7, the acoustic array 6 is wound on the drum skin 1-4 of the drum 1-3 in an orderly manner until all the acoustic arrays 6 are wound on the drum skin 1-4, completing the recovery of the acoustic array 6.

[0064] Table 1 Workflow of releasing acoustic array

[0065]

[0066] Table 2 Acoustic array maintenance workflow

[0067]

[0068] Table 3 Workflow for recovering acoustic array

[0069]

[0070] Although the principles of the present invention have been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely illustrative of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple substitutions based on the technical solution of the present invention fall within the scope of protection of the present invention.

Claims

1. An underwater automatic retractable device for an acoustic array, characterized in that: The automatic retracting and extending device comprises a winch mechanism (1), a front guide mechanism (2), an arc-shaped steering mechanism (3), a tensioning mechanism (4) and a tractor mechanism (5); The winch mechanism (1) comprises a load-bearing frame, a drum (1-3), a drum skin (1-4), a bidirectional screw rod (1-7), a chain transmission mechanism (1-9) and a nut connector (1-11); the drum (1-3) is mounted on the load-bearing frame and can rotate on the load-bearing frame; the drum skin (1-4) is mounted on the outer side of the circumference of the drum (1-3); a plurality of Lebus double-fold line grooves are evenly distributed on the drum skin (1-4); the pitch P of the Lebus double-fold line grooves is the maximum deformation A of the measured diameter of the acoustic array (6) + 0.5 mm; the acoustic array (6) is wound in sequence The bidirectional screw rod (1-7) is wound around the Lebus double-folded groove of the reel skin (1-4); the bidirectional screw rod (1-7) is installed on the load-bearing frame and is connected to the central end of the reel (1-3) through the chain transmission mechanism (1-9); the chain transmission mechanism (1-9) transmits the rotational power of the reel (1-3) to the bidirectional screw rod (1-7) at a transmission ratio of 1:1, and the reel (1-3) drives the bidirectional screw rod (1-7) to rotate; the upper end of the nut connector (1-11) is sleeved on the bidirectional screw rod (1-7), and the lower end is connected to the front guide mechanism (2); The arc-shaped steering mechanism (3) has an arc-shaped channel therein and is connected to the front guide mechanism (2) and the tensioning mechanism (4) through the acoustic array (6); the tractor mechanism (5) has the functions of self-supplying traction force and micro-positive buoyancy; the bottom end of the acoustic array (6) passes through the front guide mechanism (2), the arc-shaped steering mechanism (3), the tensioning mechanism (4) in sequence and is connected to the tractor mechanism (5).

2. The underwater automatic retractable device for acoustic array according to claim 1, characterized in that: The winch mechanism (1) further comprises a guide rod (1-8), which is arranged parallel to and below the bidirectional screw rod (1-7), and has two ends respectively mounted on the load-bearing frame.

3. The underwater automatic retractable device for acoustic array according to claim 1, characterized in that: The winch mechanism (1) further comprises a drum motor (1-6), which is mounted on the load-bearing frame and drives the drum (1-3) to rotate.

4. The underwater automatic retractable device for acoustic array according to claim 3, characterized in that: The winch mechanism (1) further comprises an electric slip ring (1-10), and the electric slip ring (1-10) is respectively connected to the drum motor (1-6) and the acoustic array (6).

5. The underwater automatic retractable device for acoustic array according to claim 1, characterized in that: The tensioning mechanism (4) comprises a synchronous pulley (4-2), a tensioning mechanism motor (4-3), a driving wheel shaft (4-4), an arc-shaped mechanism connecting mechanism (4-6), a driven wheel (4-8) and a driving wheel (4-9); a plurality of driving wheels (4-9) and the driven wheels (4-8) correspond to each other up and down, and the sound array (6) passes between the driven wheels (4-8) and the driving wheels (4-9); the driving wheel shaft (4-4) is connected to the driving wheel (4-9) by a flat key, and the adjacent driving wheel shafts (4-4) are connected by the synchronous pulley (4-2); the output shaft of the tensioning mechanism motor (4-3) is connected to one of the driving wheel shafts (4- 4), and drives the multiple driving wheels (4-9) to rotate synchronously through the synchronous pulley (4-2); when the acoustic array (6) is recovered, the tensioning mechanism motor (4-3) cooperates with the driven wheel (4-8) through the driving wheel (4-9) to provide pressure and driving force for the acoustic array (6); the arc mechanism connecting mechanism (4-6) is arranged on the side of the tensioning mechanism (4) close to the arc steering mechanism (3), and a rolling bearing is provided in the arc mechanism connecting mechanism (4-6), and the acoustic array (6) passing through the arc mechanism connecting mechanism (4-6) connects the arc steering mechanism (3) and the tensioning mechanism (4).

6. The underwater automatic retractable device for acoustic array according to claim 5, characterized in that: The tensioning mechanism (4) further comprises a driven wheel shaft (4-5) and an elastic wheel mechanism (4-7); the elastic wheel mechanism (4-7) is arranged below the driven wheel (4-8) and comprises a support plate and a spring; the support plate is placed between the driven wheel (4-8) and the spring and is connected to the center of the driven wheel (4-8) via the driven wheel shaft (4-5); the spring drives the driven wheel (4-8) to press the acoustic array (6) upward.

7. The underwater automatic retractable device for acoustic array according to claim 1, characterized in that: The front guide mechanism (2) comprises a front fixing plate (2-1), a rear fixing plate (2-2), a front guide mechanism guide wheel (2-3) and a first screw assembly (2-4); the front fixing plate (2-1) and the rear fixing plate (2-2) are symmetrically spaced and connected via the first screw assembly (2-4); a plurality of the front guide mechanism guide wheels (2-3) are symmetrically distributed on the opposite inner sides of the front fixing plate (2-1) and the rear fixing plate (2-2) via the first screw assembly (2-4).

8. The underwater automatic retractable device for acoustic array according to claim 1, characterized in that: The front guide mechanism (2) comprises a front guide mechanism guide rod (2-5), a front guide mechanism long guide roller (2-6) and a cotter pin (2-7); the front guide mechanism guide rod (2-5) is arranged below the side of the front guide mechanism (2) close to the winch mechanism (1); the front guide mechanism long guide roller (2-6) is sleeved on the front guide mechanism guide rod (2-5) with clearance fit, and the cotter pin (2-7) is installed on the movable end of the front guide mechanism guide rod (2-5).

9. The underwater automatic retractable device for acoustic array according to claim 1, characterized in that: The arc-shaped steering mechanism (3) comprises a fixed plate (3-1), an arc-shaped steering mechanism guide wheel (3-2), an arc-shaped rear guide plate (3-3) and an arc-shaped front guide plate (3-4); the arc-shaped rear guide plate (3-3) and the arc-shaped front guide plate (3-4) are symmetrical arc-shaped structures, and both ends are connected by the fixed plate (3-1); a plurality of the arc-shaped steering mechanism guide wheels (3-2) are symmetrically distributed on the left and right sides of the relative inner sides of the arc-shaped rear guide plate (3-3) and the arc-shaped front guide plate (3-4); and an arc-shaped channel for the acoustic array (6) to pass through is provided between the left and right arc-shaped steering mechanism guide wheels (3-2).

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