Weak-tension underwater linear array winding and unwinding device

Abstract

A weak-tension underwater linear array winding and unwinding device comprises a rack, a reciprocating lead screw, a nut, a guide rod, a guide sleeve and a winding drum, the nut assembled on the reciprocating lead screw is fixedly connected with the guide sleeve installed on the guide rod, a plurality of first cable guide wheels are installed on the guide sleeve, a cable cutting device is arranged on the rack and comprises a supporting plate fixed to the rack, and a plurality of second cable guide wheels are installed on the supporting plate. A cable cutting frame is fixedly connected to the supporting plate, two pairs of second cable guiding wheels are assembled in the cable cutting frame, a guiding frame is fixed to the portion, between the two pairs of second cable guiding wheels, of the cable cutting frame, a sliding groove is formed in the guiding frame, a fixed blade is fixedly connected to one end of the sliding groove, and a movable blade is arranged at the other end of the sliding groove. And one side of the guide frame is fixedly connected with a piston rod and an electric cylinder connected with the movable blade. The underwater towing winch is used for solving the problems that sufficient resistance cannot be provided when an existing underwater towing winch is laid, and the safety of a UUV carrier is seriously threatened when the existing underwater towing winch is hung on a net.

Description

Technical Field

[0001] The present invention relates to the field of underwater operation equipment supporting unmanned underwater vehicles (UUVs) in marine engineering equipment, and specifically to a weak tension underwater linear array retracting and releasing device. Background Art

[0002] In the field of underwater operations, underwater winches are key devices installed on underwater platforms for the retraction and storage of underwater towing equipment. Their main components include motors, drums, slip rings, cable reels, and bases. Currently, most common towing winches are water-based equipment. Their motors, slip rings and other electrical equipment do not need to withstand water pressure. With the help of control cabinets, control commands can be sent to achieve the retraction and deployment of towing equipment. In the deployment process, it is usually necessary to manually pull the line array or tail rope into the water, and then rely on water resistance to complete the deployment of the line array.

[0003] With the continuous advancement of unmanned technology, the demand for the use of towed acoustic equipment on unmanned underwater vehicle (UUV) platforms is constantly increasing. When the underwater winch is mounted on the UUV platform, in view of the characteristics and operation requirements of the UUV itself, it puts forward strict requirements for the underwater winch to be small in size, light in weight and able to achieve weak tension retraction and deployment. Generally speaking, the towing load of the UUV needs to rely on a duct to guide the linear array to the rear of the thruster to ensure the safety of the equipment during propulsion. In this process, the linear array is in a weak tension state in the duct, which results in insufficient resistance during deployment, so a special traction device must be designed to assist in the deployment operation.

[0004] At the same time, when the UUV performs underwater tasks, the towing equipment may encounter unexpected situations such as being caught in a fishing net, which will seriously threaten the safety of the UUV carrier. Therefore, it is urgent to develop a new type of underwater winch that can quickly and effectively cut the towing cable when the towing equipment is caught in a fishing net or faces other situations that threaten the safety of the carrier, thereby achieving cable cutting and escape in an emergency state, ensuring the safety and reliability of the UUV carrier and the entire operation mission. Summary of the invention

[0005] The purpose of the present invention is to provide a weak tension underwater linear array retracting and releasing device, which is used to solve the problems that the existing underwater towing winch cannot provide sufficient resistance during deployment and seriously threatens the safety of the UUV carrier when hanging the net.

[0006] In order to solve the above problems, the technical solution of the present invention is: A weak tension underwater line array retracting and releasing device comprises a frame, a reciprocating screw, a nut, a guide rod, a guide sleeve and a drum, the nut mounted on the reciprocating screw is fixedly connected to the guide sleeve mounted on the guide rod, a plurality of first cable guide wheels are mounted on the guide sleeve, a cable cutting device is arranged on the frame, the cable cutting device comprises a support plate fixed to the frame, a cable cutting frame is fixedly connected to the support plate, two pairs of second cable guide wheels are arranged in the cable cutting frame, a guide frame is fixed on the cable cutting frame between the two pairs of second cable guide wheels, a slide groove is arranged in the guide frame, a fixed blade is fixedly connected to one end of the slide groove, a moving blade is arranged at the other end, and an electric cylinder connected with a piston rod and the moving blade is fixedly connected to one side of the guide frame.

[0007] A tension compensating device is fixedly connected to the support plate, and the tension compensating device includes a partition fixedly connected to the cable cutting frame and a driving motor installed on the guide frame. The second cable guide wheel and the guide frame are arranged on the partition, and a gear assembly is arranged under the partition. The driving motor is connected to the second cable guide wheel through the gear assembly.

[0008] The reduction motor for driving the drum to rotate is sealed and installed in the drum. Bushings are installed at both ends of the drum. The output shaft in the reduction motor passes through the bushing at one end of the drum and is connected to the frame. A shaft seal is installed between the output shaft and the bushing. A wire hole is opened in the center of the output shaft. The wire for supplying power to the reduction motor is set in the wire hole. One end of the wire is connected to the first underwater cable connector installed at one end of the wire hole. The reduction motor housing is fixedly connected to the drum.

[0009] The beneficial effects of the present invention are: 1. When the towing equipment is caught on the fishing net or encounters other situations that threaten the safety of the carrier, the electric cylinder can drive the moving blade to quickly cut the towing cable, abandon the towing equipment, and achieve emergency cable cutting and escape.

[0010] 2. A tension compensation device is added, which can drive the four second cable guide wheels to squeeze the towing cable outward from the conduit when the towing cable is retracted and released, and synchronize with the reduction motor that drives the drum to rotate, to ensure that the towing cable has tension during the entire laying process, thereby ensuring that the retracting and releasing device can reliably retract and release repeatedly.

[0011] 3. The reduction motor for driving the reel to rotate is arranged inside the reel, thereby reducing the volume of the retracting device, making the device structure more compact, and enabling the retracting device to be installed in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below in conjunction with the accompanying drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 3It is a schematic diagram of a partial three-dimensional structure of the present invention; Figure 4 It is a schematic diagram of a partial three-dimensional structure of the present invention; Figure 5 It is a schematic diagram of a partial three-dimensional structure of the present invention; Figure 6 It is a schematic diagram of a partial three-dimensional structure of the present invention; Figure 7 It is a schematic diagram of a partial three-dimensional structure of the present invention; Figure 8 It is a schematic diagram of a partial three-dimensional structure of the present invention; Fig. 9 It is a schematic diagram of a partial three-dimensional structure of the present invention; Fig.10 It is a schematic diagram of the cross-sectional structure of the present invention; Fig.11 It is a schematic diagram of the structure of the present invention when it is implemented.

[0013] In the figure: frame 100, first cable guide wheel 110, guide sleeve 120, nut 130, first underwater cable connector 141, third underwater cable connector 142, second underwater cable connector 143, sleeve 150, reciprocating screw 160, preload adjustment device 170, capped screw 171, push rod 172, spring 173, top plate 174, connecting rod 175, rocker arm 177, middle plate 180, tension compensation device 190, drive motor 191, drive gear 192, first pinion 193, first large gear 194, second pinion 195, second large gear 196, partition 197, reel 200, row Air hole 210, flange sleeve 220, rubber spring sleeve 230, reduction motor 240, output shaft 241, wire 250, oil filling hole 260, shaft seal 270, conductive slip ring 280, bearing 290, gear transmission mechanism 300, cover 310, shaft tube 311, towing cable 312, towing equipment 313, unmanned underwater vehicle 400, guide tube 500, cable cutting device 600, electric cylinder 601, guide frame 602, support plate 603, cable cutting frame 604, second cable guide wheel 605, moving blade 606, fixed blade 607, towing cable guide mechanism 700, trapezoidal plate 701, third cable guide wheel 702, guide rod 800. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] like Figure 1 and 2 As shown, a weak tension underwater line array retracting and releasing device comprises a frame 100, on which a drum 200, a reciprocating screw 160 and a guide rod 800 are mounted, on which a nut 130 and a guide sleeve 120 are respectively mounted, the nut 130 and the guide sleeve 120 are fixedly connected, the guide sleeve 120 comprises a sleeve body, on both sides of which a sector plate is fixedly connected, a plurality of first cable guide wheels 110 are mounted between two sector plates, and each of the first cable guide wheels 110 is sequentially arranged along the arc edge of the sector plate, one end of the drum 200 is connected to the reciprocating screw 160 through a gear transmission mechanism, and in the process of the drum 200 retracting and releasing the towing cable, the drum 200 is connected to the reciprocating screw 160 through the gear transmission mechanism The mechanism 300 drives the reciprocating screw 160 to rotate, and the rotating reciprocating screw 160 drives the nut 130 and the guide sleeve 120 to reciprocate. A cable cutting device 600 is arranged on the frame 100, and the cable cutting device 600 comprises a support plate 603 fixed to the frame 100, a cable cutting frame 604 is fixedly connected to the support plate 603, two pairs of second cable guide wheels 605 are assembled in the cable cutting frame 604, a guide frame 602 is fixed on the cable cutting frame 604 between the two pairs of second cable guide wheels 605, a slide groove is arranged in the guide frame 602, a fixed blade 607 is fixedly connected at one end of the slide groove, and a moving blade 606 is arranged at the other end, and an electric cylinder connected with a piston rod and the moving blade 606 is fixedly connected on one side of the guide frame 602. The first cable guide wheel 110, the second cable guide wheel 605 and the third cable guide wheel 702 described below have the same structure, and all have an arc groove, and the towing cable is positioned through the arc groove.

[0016] The retracting and releasing device is installed in the UUV fairing. One end of the towing cable wound on the drum 200 overlaps the first cable guide wheel 110, passes through two pairs of second cable guide wheels 605, passes through the gap between the moving blade 606 and the fixed blade 607, passes through the UUV tail duct 500, and is connected to the towing equipment. The drum 200 drives the towing cable to retract and release the towing equipment with the cooperation of the reciprocating screw 160, so that the towing cable is evenly wound on the drum 200. When the towing equipment is hung on the net or faces other situations that threaten the safety of the carrier, the electric cylinder immediately drives the moving blade 606 to move toward the fixed blade 607 to cut the towing cable between the moving blade 606 and the fixed blade 607, and abandons the towing equipment to achieve cable cutting escape in an emergency state.

[0017] like Figure 1 and 2As shown, a towing cable guide mechanism 700 is fixedly connected to the nut 130 and the support plate 603, and the towing cable guide mechanism 700 includes two trapezoidal plates 701, and the bevels on both sides of the trapezoidal plates 701 are arc-shaped. Two rows of third fairlead wheels 702 are installed between the two trapezoidal plates 701, and the two rows of third fairlead wheels 702 are arranged along the bevels on both sides of the trapezoidal plates 701. A trumpet-shaped channel is formed by the two rows of third fairlead wheels 702, and the two large openings in the two trumpet-shaped channels are opposite, and the two small openings are respectively connected to the first fairlead wheel 110 and the second fairlead wheel 605. The towing cable between the first fairlead wheel 110 and the second fairlead wheel 605 passes through the two trumpet-shaped channels, and the trumpet-shaped channel connected to the nut 130 moves back and forth with the nut 130. Under the guidance of the two trumpet-shaped channels, the towing cable cannot be separated from the first fairlead wheel 110 and the unilateral force is applied to the second fairlead wheel 605, which has a good guiding effect.

[0018] like Figure 3 and 4 As shown, a tension compensating device 190 is fixedly connected to the support plate 603, and the tension compensating device 190 includes a partition 197 fixedly connected to the cable cutting frame 604 and a driving motor 191 installed on the guide frame 602. The second cable guide wheel 605 and the guide frame 602 are arranged on the partition 197, and a gear assembly is arranged below the partition 197. The driving motor 191 is connected to the second cable guide wheel 605 through the gear assembly. The driving motor 191 drives the two pairs of second cable guide wheels 605 to rotate synchronously, so as to squeeze the towing cable outwards during the process of laying the towing cable, and synchronize with the drum 200, so as to ensure that the towing cable has tension during the entire laying process, thereby ensuring that the retracting and unwinding device can reliably retract and unwind repeatedly.

[0019] like Figures 3 to 7 As shown, the gear assembly includes a support and a support shaft fixedly connected to the bottom surface of the cable cutting frame 604, a first large gear 194 is mounted on the support, and first pinions 193 meshing with the first large gear 194 are respectively mounted on both sides of the support; a second large gear 196 meshing with the first large gear 194 is mounted on the support shaft, and second pinions 195 meshing with the second large gear 196 are arranged on both sides of the second large gear 196, and a driving gear 192 meshing with the first large gear 194 is mounted on the output shaft of the driving motor 191, and two first pinion 193 rotating shafts and two second pinion 195 rotating shafts are connected to two pairs of second cable guide wheels 605. After the driving motor 191 is started, the first large gear 194 and the second large gear 196 are driven to rotate relative to each other through the driving gear 192, thereby driving the two first pinions 193 and the two second pinions 195 to rotate, and finally realizing the synchronous rotation of the four second cable guide wheels 605, effectively squeezing the towing cable.

[0020] like Figure 5As shown, a preload adjusting device 170 is provided on one side of the cable cutting frame 604, and the preload adjusting device 170 includes a covered screw tube 171 threadedly connected to one side of the cable cutting frame 604, a cap at one end of the covered screw tube 171 is provided with a through hole, a push rod 172 is inserted into the through hole, one end of the push rod 172 is fixedly connected to a push block 176, a top plate 174 and a spring 173 are fixedly connected to the push rod 172, two ends of the spring 173 respectively abut against the cap and the top plate 174, and also includes two rocker arms 177, one end of the two rocker arms 177 is rotatably connected to the support shaft, the other end of the two rocker arms 177 is hinged to the push block 176 through a connecting rod 175, and two second pinions 195 are assembled on the rocker arms 177. When the covered screw tube 171 is rotated, the pressure of the spring 173 can be adjusted, and the spring 173 pushes the two second cable guide wheels 605 to adjust the tension applied by the second cable guide wheels 605 to the towing cable 312.

[0021] like Figure 8 and 9 As shown, the reduction motor 240 for driving the drum 200 to rotate is sealed and installed in the drum 200, and sleeves 150 are installed at both ends of the drum 200. The output shaft in the reduction motor 240 passes through the sleeve 150 at one end of the drum 200 and is connected to the frame 100. A bearing and a shaft seal 270 are installed between the output shaft and the sleeve 150. A wire hole is opened at the center of the output shaft, and a wire 250 for supplying power to the reduction motor 240 is set in the wire hole. One end of the wire 250 is connected to a first underwater cable connector 141 installed at one end of the wire hole, and the housing of the reduction motor 240 is fixedly connected to the drum 200. The power supply cable is connected to the first underwater cable connector 141, and the reduction motor 240 drives the reel 200 to retract and release the towing cable, and the reduction motor 240 is sealed in the drum. Compared with the external reduction motor 240, this embedded watertight reduction motor 240 installation method reduces the volume of the entire retracting device, makes the device structure more compact, and enables the retracting device to be installed in a small space, while protecting the reduction motor 240.

[0022] An oil filling hole 260 and an exhaust hole 210 are provided on the end cover on one side of the reel 200, a one-way valve is installed in the oil filling hole 260, and a sealing cover is detachably connected to the end cover of the reel 200 on one side of the oil filling hole 260 and the exhaust hole 210, respectively, and the sealing cover is sealed with the oil filling hole 260 and the exhaust hole 210 by multiple O-rings. Since the retracting and releasing device is used immersed in water, in order to balance the water pressure inside and outside the reel 200 and the heat conduction of the reduction motor 240, insulating oil can be poured into the reel 200 through the oil filling hole 260. After the insulating oil is poured, the oil filling hole 260 and the exhaust hole 210 are sealed by the sealing cover, wherein the one-way valve in the oil filling hole 260 is used to prevent the oil from flowing out of the reel 200 when the oil pipe is pulled out after the oil filling is completed.

[0023] A plurality of flange sleeves 220 are installed on the end cover of one side of the reel 200, and a rubber spring sleeve 230 is installed in the flange sleeve 220. The shape of the rubber spring sleeve 230 is similar to the structure of a foot-operated air pump. When the insulating oil expands due to heat and the water pressure changes, the rubber spring sleeve 230 balances the pressure inside and outside the reel 200 by expanding and contracting, thereby protecting the reel 200 of the sealed reduction motor 240.

[0024] like Figures 8 to 11 As shown, an intermediate plate 180 is provided in the drum 200, and the drum 200 is divided into two left and right cavities by the intermediate plate 180. The reduction motor 240 is installed in the left cavity, and a cover shell 310 is fixedly connected to the end cover of the drum 200 on one side in the right cavity. A conductive slip ring 280 is installed in the cover shell 310, and a shaft tube 311 is installed in the shaft sleeve 150 connected to the right cavity. A shaft seal 270 and a bearing are installed between the shaft tube 311 and the shaft sleeve 150. One end of the shaft tube 311 is connected to the frame 100, and the other end of the shaft tube 311 is connected to the conductive slip ring 280. A second underwater cable connector 143 and a third underwater cable connector 142 are respectively installed at one end of the cover shell 310 and the shaft tube 311, and the second underwater cable connector 143 and the third underwater cable connector 142 are respectively connected to the rotor end and the stator end of the conductive slip ring 280 through a wire 250. The towing cable wound on the drum 200 is connected to the second underwater cable connector 143, the input and output cables are connected to the third underwater cable connector 142, and the input and output cables are connected through the conductive slip ring 280. In this way, during the rotation of the drum 200, the input and output cables will not be affected by the drum 200, so that the cables will not be twisted and entangled.

[0025] The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the inventive concept. The protection scope of the present invention should not be regarded as limited to the specific forms described in the embodiments. The protection scope of the present invention also extends to equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.

Claims

1. A weak tension underwater line array retracting and releasing device, comprising a frame (100), a reciprocating screw (160), a nut (130), a guide rod (800), a guide sleeve (120) and a reel (200), wherein the nut (130) mounted on the reciprocating screw (160) is fixedly connected to the guide sleeve (120) mounted on the guide rod (800), and a plurality of first cable guide wheels (110) are mounted on the guide sleeve (120), characterized in that: A cable cutting device (600) is arranged on the frame (100), and the cable cutting device (600) comprises a support plate (603) fixed to the frame (100), a cable cutting frame (604) fixedly connected to the support plate (603), two pairs of second cable guide wheels (605) being arranged in the cable cutting frame (604), a guide frame (602) being fixed on the cable cutting frame (604) between the two pairs of second cable guide wheels (605), a slide groove being arranged in the guide frame (602), a fixed blade (607) being fixedly connected to one end of the slide groove, and a moving blade (606) being arranged at the other end, and an electric cylinder (601) connected to a piston rod and the moving blade (606) being fixedly connected to one side of the guide frame (602).

2. The weak tension underwater linear array retracting and releasing device according to claim 1, characterized in that: A towing cable guide mechanism (700) is fixedly connected to the nut (130) and the support plate (603), wherein the towing cable guide mechanism (700) comprises two trapezoidal plates (701), and two rows of third cable guide wheels (702) are installed between the two trapezoidal plates (701). The two rows of third cable guide wheels (702) are arranged along the oblique edges of both sides of the trapezoidal plates (701), and a trumpet-shaped channel is formed by the two rows of third cable guide wheels (702). The two large openings of the two trumpet-shaped channels are opposite to each other, and the two small openings are respectively connected to the first cable guide wheel (110) and the second cable guide wheel (605).

3. The weak tension underwater linear array retracting and releasing device according to claim 1, characterized in that: A tension compensation device (190) is fixedly connected to the support plate (603), the tension compensation device (190) comprising a partition (197) fixedly connected to the cable cutting frame (604) and a drive motor (191) mounted on the guide frame (602); the second cable guide wheel (605) and the guide frame (602) are arranged on the partition (197); a gear assembly is arranged below the partition (197); and the drive motor (191) is transmission-connected to the second cable guide wheel (605) via the gear assembly.

4. The weak tension underwater linear array retracting and releasing device according to claim 3, characterized in that: The gear assembly comprises a support and a support shaft fixedly connected to the bottom surface of the cable cutting frame (604); a first large gear (194) is mounted on the support; first small gears (193) meshing with the first large gear (194) are respectively mounted on both sides of the support; a second large gear (196) meshing with the first large gear (194) is mounted on the support shaft; second small gears (195) meshing with the second large gear (196) are provided on both sides of the second large gear (196); a driving gear (192) meshing with the first large gear (194) is mounted on the output shaft of the driving motor (191); two first small gear (193) rotating shafts and two second small gear (195) rotating shafts are drivingly connected to two pairs of second cable guide wheels (605).

5. The weak tension underwater linear array retracting and releasing device according to claim 4, characterized in that: A preload adjusting device (170) is provided on one side of the cable cutting frame (604). The preload adjusting device (170) comprises a covered screw tube (171) threadedly connected to one side of the cable cutting frame (604). A through hole is provided on a cap at one end of the covered screw tube (171). A push rod (172) is inserted into the through hole. A push block (176) is fixedly connected to one end of the push rod (172). A push plate (174) and a spring (173) are fixedly connected to the push rod (172). Two ends of the spring (173) respectively abut against the cap and the top plate (174). The preload adjusting device (170) also comprises two rocker arms (177). One end of the two rocker arms (177) is rotatably connected to a support shaft. The other ends of the two rocker arms (177) are hinged to the push block (176) via a connecting rod (175). Two second pinions (195) are mounted on the rocker arms (177).

6. The weak tension underwater linear array retracting and releasing device according to any one of claims 1 to 5, characterized in that: A reduction motor (240) for driving the reel (200) to rotate is sealed and installed in the reel (200). Shaft sleeves (150) are installed at both ends of the reel (200). An output shaft (241) in the reduction motor (240) passes through the shaft sleeve (150) at one end of the reel (200) and is connected to the frame (100). A shaft seal (270) is installed between the output shaft (241) and the shaft sleeve (150). A wire hole is opened at the center of the output shaft (241). A wire (250) for supplying power to the reduction motor (240) is arranged in the wire hole. One end of the wire (250) is connected to a first underwater cable connector (141) installed at one end of the wire hole. The housing of the reduction motor (240) is fixedly connected to the reel (200).

7. The weak tension underwater linear array retracting and releasing device according to claim 6, characterized in that: An oil filling hole (260) and an exhaust hole (210) are provided on an end cover on one side of the reel (200), a one-way valve is installed in the oil filling hole (260), and sealing covers are detachably connected to the end covers of the reel (200) on one side of the oil filling hole (260) and the exhaust hole (210), respectively.

8. The weak tension underwater linear array retracting and releasing device according to claim 7, characterized in that: A plurality of flange sleeves (220) are mounted on an end cover on one side of the reel (200), and a rubber spring sleeve (230) is mounted inside the flange sleeve (220).

9. The weak tension underwater linear array retracting and releasing device according to claim 6, characterized in that: An intermediate plate (180) is provided in the reel (200), and the intermediate plate (180) divides the reel (200) into two left and right cavities. The reduction motor (240) is installed in the left cavity. A cover shell (310) is fixedly connected to an end cover of the reel (200) on one side in the right cavity. A conductive slip ring (280) is installed in the cover shell (310). A shaft tube (311) is installed in a shaft sleeve (150) connected to the right cavity. One end of the shaft tube (311) is connected to the frame (100), and the other end of the shaft tube (311) is connected to the conductive slip ring (280). A second underwater cable connector (143) and a third underwater cable connector (142) are installed at one end of the cover shell (310) and the shaft tube (311), respectively. The second underwater cable connector (143) and the third underwater cable connector (142) are connected to the rotor end and the stator end of the conductive slip ring (280) through a wire (250).

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