An underwater device hoisting system without underwater sensors

Abstract

The application relates to an underwater device lifting system without underwater sensors, which comprises an underwater device, a sliding seat and a wall hanging installed on the underwater device, a guide rail arranged near the sliding seat, the guide rail being installed on a ship body lifting well wall, a pulley installed on the wall hanging, a steel cable sleeved on the pulley, a tension sensor installed at the end of the steel cable far from the pulley, the end of the steel cable being fixed on a lifting motor, the lifting motor being installed at the center of the top of a frame, a junction box being installed on the top of the frame, a cylinder being arranged on one side of the junction box, a pull rope displacement sensor being installed near the cylinder, and a transmission device being arranged on the side of the cylinder far from the pull rope displacement sensor. The lifting system can monitor the underwater device in real time, the equipment is simple to operate, convenient for fault positioning and maintenance, and has high reliability.

Description

Technical Field

[0001] This invention relates to the field of electromechanical equipment, and in particular to an underwater device lifting system without underwater sensors. Background Technology

[0002] Underwater devices, such as sonar arrays, are crucial for underwater target detection. The lifting mechanisms of these devices operate in the marine environment for extended periods, demanding high reliability. Lifting control systems typically use position sensors to detect the underwater device's location. However, due to the harsh marine environment, the sensors require high levels of protection, and damage necessitates the entire device being lifted for repair, which is inconvenient and costly. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides an underwater device lifting system without underwater sensors, comprising an underwater device, on which a slide and a wall are installed. A guide rail is provided near the slide and is installed on the wall of the ship's lifting well. A pulley is installed on the wall, and a steel cable is sleeved on the pulley. A tension sensor is installed at the end of the steel cable away from the pulley, and the end of the steel cable is fixed to a lifting motor. The lifting motor is installed at the center of the top of the frame, and a junction box is installed at the top of the frame. A cylinder is provided on one side of the junction box, and a rope displacement sensor is installed near the cylinder. A transmission device is provided on the side of the cylinder away from the rope displacement sensor.

[0004] As an improvement, the guide rail is located between the underwater device and the frame, and a stop is provided on the side of the slide away from the connection with the guide rail.

[0005] As an improvement, a coupling is provided at the connection between the guide rail and the frame.

[0006] As an improvement, the number of guide rails is four, which are located at the four corners of the slide. The four-corner distribution can increase stability and ensure the smoothness of operation.

[0007] As an improvement, the transmission device is equipped with a rack, which is connected to a limiting device via a rotating device and the transmission device.

[0008] As an improvement, the transmission device is connected to the limiting device via a pin.

[0009] As an improvement, the limiting device is a cylindrical structure, and photoelectric sensors are provided on both sides of the limiting device.

[0010] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: The underwater device lifting system of the present invention uses a sensorless underwater sensor to detect the status information of the underwater device, and collects the weight and stroke of the underwater device through surface sensors. It models the weight and stroke of the underwater device throughout the entire process of rising, falling, entering and exiting the water, realizing real-time monitoring of the underwater device. It employs dual-redundant network communication technology for data transmission, unmanned control technology to achieve automatic rising and falling of the underwater device via remote control, and fault identification and protection technology to achieve fault classification, identification, and protection. The equipment is simple to operate, easy to locate and repair faults, and has high reliability. Attached Figure Description

[0011] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0012] Figure 1 This is a schematic diagram of the underwater device lifting system without underwater sensors according to the present invention.

[0013] Figure 2 This is a top view of the underwater device lifting system described in this invention.

[0014] Figure 3 This is a schematic diagram of the limiting device of the underwater device lifting system described in this invention.

[0015] Figure 4 This is a front view of the limiting device of the underwater device lifting system described in this invention.

[0016] Figure 5 This is a functional block diagram of the lifting control system of the underwater device lifting system described in this invention.

[0017] Figure 6 This is a flowchart illustrating the automatic descent process of the underwater device lifting system described in this invention.

[0018] Figure 7 This is a flowchart illustrating the automatic lifting process of the underwater device lifting system described in this invention.

[0019] Figure 8 This is a schematic diagram illustrating the working process of the underwater device lifting system described in this invention.

[0020] As shown in the figure: 1. Underwater device, 2. Pulley, 3. Slide seat, 4. Guide rail, 5. Steel cable, 6. Tension sensor, 7. Cable displacement sensor, 8. Junction box, 9. Cylinder, 10. Frame, 11. Transmission device, 12. Lifting motor, 13. Rotating device, 14. Limiting device, 15. Wall mount, 16. Stop block, 17. Rack, 18. Coupling, 19. Pin, 20. Photoelectric sensor. Detailed Implementation

[0021] This embodiment provides a sensorless underwater device lifting system, mainly including: an underwater device 1, a frame 10, a lifting motor 12, a transmission device 11, a rotating device 13, etc. The lifting motor 12 is fixedly mounted on the frame 10 and connected to the pulley 2 via a steel cable 5. The pulley 2 is mounted on a wall 15 on the underwater device 1. The lifting motor 12 with a reduction gearbox drives the underwater device 1 to perform lifting and lowering movements.

[0022] Appendix Figure 8 Position A in the diagram represents the transit position of underwater device 1, and position B represents its operating position. Underwater device 1 switches between these two positions. During the lifting and lowering process of underwater device 1, the sliding block 3, in conjunction with the guide rail 4 mounted on the hull, provides guidance and limits. After receiving the automatic descent command, the PLC control module uses the lifting motor 12 to drive the steel cable 5, first raising underwater device 1. Once the stop 16 mounted on the sliding block 3 triggers the photoelectric sensor 20, the cylinder 9 drives the transmission device 11 and pin 19 to perform a pin-pulling action. Simultaneously, the rack 17 on the transmission device 11 drives the rotating device 13 to rotate. The rotating device 13 is connected to the guide rail 4 via the coupling 18, thus achieving the unlocking action. The magnetic induction switch on the cylinder 9 determines whether the cylinder action is complete. After the pin is pulled out and unlocking is complete, the motor is controlled to slowly release the steel cable 5, and underwater device 1 descends. The position information of the underwater device is collected by the cable displacement sensor 7 installed on the frame 10, and the weight information of the underwater device 1 is collected by the tension sensor 6 installed on the steel cable 5. The total lifting stroke is fixed, but the weight of the underwater device 1 changes differently in the air, when entering and leaving the water, leaving the platform, and landing on the platform. By modeling this, the real-time dynamic information of the underwater device 1 can be comprehensively judged by using the changes in stroke and weight. Once the underwater device 1 has descended to the working platform and the tension of the steel cable has been released, the control cylinder 9 performs a pinning and locking action to ensure that the position of the underwater device 1 remains fixed when the platform moves or when there are surges.

[0023] Two pairs of photoelectric sensors 20 are installed on the limit device 14. When the lower pair of photoelectric sensors 20 is triggered, it indicates that the underwater device is in the insertion / removal pin position and the insertion / removal pin command can be executed. When the upper pair of photoelectric sensors 20 is triggered, the lifting motor 12 is de-energized, and the underwater device 1 cannot continue to rise, thus providing a protection function.

[0024] All sensor power supplies and output information, as well as the power supply for the lifting motor 12, are connected to junction box 8 via cables.

[0025] Workflow of this invention:

[0026] The functional block diagram of the underwater device lifting system without underwater sensors is attached. Figure 5As shown, a workflow includes the following steps:

[0027] Step 1: Receive remote control commands

[0028] If the upper-level system, such as the display console, sends an automatic descent command, the data communication control board receives the command via the network and then sends it to the PLC control module via the serial port.

[0029] Step 2: Automatic Descending

[0030] After receiving the automatic descent command, the PLC control module controls the motor and cylinder according to the automatic descent workflow shown in Figure 6. The motor drives the steel cable to raise the underwater device to the insertion pin position, and the cylinder performs the unlocking action. Once unlocked, the motor slowly releases the steel cable, and the underwater device descends. After determining that the underwater device has descended to the working position (position shown in Figure 8B) and the steel cable tension has been released, the cylinder performs the locking action to ensure the underwater device remains in place during platform movement, surges, or other disturbances.

[0031] Step 3: Automatic Ascent

[0032] After the underwater device completes its work, the data communication control board receives the remote automatic ascent command via the network and sends it to the PLC control module through the serial port. The PLC control module controls the motor and cylinder according to the automatic ascent process shown in Figure 7. The control cylinder performs the untightening action. After the untightening is completed, the motor drives the steel cable to raise the underwater device to the insertion pin position. The control cylinder then performs the insertion and locking action, and the underwater device descends to the transit position (position shown in Figure 8A).

[0033] Step 4: Display and Upload Status and Fault Information

[0034] During automatic ascent or descent, the PLC control module collects real-time equipment status information, displays it on the local operation panel, and transmits it to the upstream device via the data communication control board, enabling remote real-time monitoring of the equipment's operating status. In case of a fault, the local system will issue an audible and visual alarm and implement different protective measures based on the fault type. The specific fault type will also be transmitted to the upstream device for rapid fault location.

[0035] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A sensorless underwater device lifting system, comprising an underwater device (1), characterized in that: The underwater device (1) is equipped with a slide (3) and a wall mount (15). A guide rail (4) is provided near the slide (3). The guide rail (4) is installed on the wall of the ship's lifting shaft. The guide rail (4) is located between the underwater device (1) and the frame (10). A stop block (16) is provided on the slide (3). The stop block (16) is used to trigger position detection. A coupling (18) is provided at the connection between the guide rail (4) and the frame (10). A pulley (2) is installed on the wall hanging (15), and a steel cable (5) is sleeved on the pulley (2). One end of the steel cable (5) is fixed on the lifting motor (12), and a tension sensor (6) is installed on the steel cable (5). It also includes a frame (10), on which the lifting motor (12) is mounted. The frame (10) is also equipped with a rope displacement sensor (7), a junction box (8), a cylinder (9), and a transmission device (11) connected to the cylinder (9). The transmission device (11) is provided with a rack (17), which is connected to the transmission device (11) through a rotating device (13). The cable displacement sensor (7) is used to monitor the lifting stroke of the underwater device (1), and the tension sensor (6) is used to monitor the tension change of the steel cable (5). The real-time status of the underwater device (1) is judged by comprehensively considering the changes in the stroke and tension. It also includes a limiting device (14), the transmission device (11) is connected to the limiting device (14) via a pin (19), and photoelectric sensors (20) for cooperating with the stop block (16) are provided on both sides of the limiting device (14); the limiting device (14) is a cylindrical structure; Specifically, during the lifting and lowering process of the underwater device (1), the sliding block (3) cooperates with the guide rail (4) installed on the hull to play a guiding and limiting role; at the same time, after receiving the automatic descent command by the PLC control module, the lifting motor (12) drives the steel cable (5) to raise the underwater device (1). After the stop block (16) installed on the sliding block (3) triggers the photoelectric sensor (20), the cylinder (9) drives the transmission device (11) and the pin shaft (19) to perform the pin pulling action. At the same time, the rack (17) on the transmission device (11) drives the rotating device (13) to rotate; the rotating device (13) is connected to the guide rail (4) through the coupling (18) to realize the unlocking action; the magnetic induction switch on the cylinder (9) judges whether the cylinder action is in place. After the pin is pulled out and the unlocking is in place, the motor is controlled to slowly release the steel cable (5) and the underwater device (1) descends.

2. The underwater device lifting system according to claim 1, characterized in that: The number of guide rails (4) is four, which are located at the four corners of the slide (3).

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