Low-tension underwater linear array deployment and recovery device

Abstract

A low-tension underwater linear array deployment and retrieval device includes 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. Multiple first guide rollers are mounted on the guide sleeve. A cable cutting device is installed on the frame. The cable cutting device includes a support plate fixed to the frame, a cable cutting frame fixedly connected to the support plate, two pairs of second guide rollers mounted within the cable cutting frame, and a guide frame fixedly mounted on the cable cutting frame between the two pairs of second guide rollers. The guide frame has a groove, a fixed blade fixedly connected to one end of the groove, and a movable blade at the other end. An electric cylinder with a piston rod connected to the movable blade is fixedly connected to one side of the guide frame. This invention addresses the problems of existing underwater towed winches failing to provide sufficient resistance during deployment and seriously threatening the safety of UUV carriers during net installation.

Description

Technical Field

[0001] This invention relates to the field of underwater operation equipment for unmanned underwater vehicles (UUVs) in marine engineering equipment, specifically a low-tension underwater linear array deployment and retrieval device. Background Technology

[0002] In underwater operations, underwater winches are key devices installed on underwater platforms for deploying, retrieving, and storing underwater towed equipment. Their main components include a motor, drum, slip rings, cable arranger, and base. Currently, most towed winches are surface-mounted; their motors, slip rings, and other electrical equipment do not withstand water pressure. Control commands are sent from a control cabinet to achieve the deployment and retrieval of towed equipment. During deployment, manual pulling of the cable array or tail rope into the water is typically required, with water resistance used to complete the deployment.

[0003] With the continuous advancement of unmanned technology, the demand for towed acoustic equipment on unmanned underwater vehicle (UUV) platforms is constantly increasing. When underwater winches are mounted on UUV platforms, given the characteristics and operational requirements of UUVs, stringent requirements are placed on the underwater winches to be small in size, lightweight, and capable of low-tension deployment and retrieval. Generally, the towed load of a UUV needs to be guided to the rear of the thruster via a duct to ensure the safety of the equipment during propulsion. During this process, the linear array is in a low-tension state within the duct, which means that it cannot generate sufficient resistance during deployment. Therefore, a special traction device must be designed to assist in completing the deployment operation.

[0004] Meanwhile, during underwater operations, the towing equipment may encounter unexpected situations such as snagging on fishing nets, which seriously threaten the safety of the UUV. Therefore, there is an urgent need to develop a new type of underwater winch that can quickly and effectively cut the towing cable when the towing equipment gets caught on fishing nets or faces other threats to the carrier's safety. This would enable emergency cable-cutting escape, ensuring the safety and reliability of the UUV and the entire operational mission. Summary of the Invention

[0005] The purpose of this invention is to provide a low-tension underwater linear array deployment and recovery device to solve the problems that existing underwater towing winches cannot provide sufficient resistance during deployment and seriously threaten the safety of UUV carriers when hanging nets.

[0006] To solve the above problems, the technical solution of the present invention is as follows:

[0007] A low-tension underwater cable array deployment and retrieval device includes 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. Multiple first cable guide wheels are mounted on the guide sleeve. A cable cutting device is provided on the frame. The cable cutting device includes 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 mounted 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 groove is provided in the guide frame. A fixed blade is fixedly connected to one end of the groove, and a movable blade is provided at the other end. An electric cylinder with a piston rod connected to the movable blade is fixedly connected to one side of the guide frame.

[0008] A tension compensation device is fixedly connected to the support plate. The tension compensation device includes a partition plate fixedly connected inside the cable cutting frame and a drive motor installed on the guide frame. The second cable guide wheel and the guide frame are set on the partition plate. A gear assembly is set below the partition plate. The drive motor is connected to the second cable guide wheel through the gear assembly.

[0009] The geared motor used to drive the drum rotation is sealed and installed inside the drum. Bushings are fitted at both ends of the drum. The output shaft of the geared motor passes through the bushing at one end of the drum and is connected to the frame. A shaft seal is fitted between the output shaft and the bushing. A wire hole is opened in the center of the output shaft. The wire that supplies power to the geared motor is placed 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 geared motor housing is fixedly connected to the drum.

[0010] The beneficial effects of this invention are as follows:

[0011] 1. When the towing equipment gets caught on the fishing net or encounters other threats to the safety of the carrier, the electric cylinder can drive the moving blade to quickly cut the towing cable, discard the towing equipment, and achieve emergency cable cutting and escape.

[0012] 2. A tension compensation device has been added, which can drive the four second guide wheels to squeeze the tow cable outward and out of the guide tube when the tow cable is being deployed or wound up. At the same time, it is synchronized with the geared motor that drives the drum to rotate, ensuring that the tow cable has tension throughout the entire deployment process, thereby ensuring that the deployment and winding device can reliably deploy and winding up.

[0013] 3. The geared motor used to drive the drum rotation is set inside the drum, thereby reducing the volume of the take-up and unwinding device, making the device structure more compact, and allowing the take-up and unwinding device to be installed in a small space. Attached Figure Description

[0014] The invention will be further described below with reference to the accompanying drawings:

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2This is a three-dimensional structural diagram of the present invention;

[0017] Figure 3 This is a partial three-dimensional structural diagram of the present invention;

[0018] Figure 4 This is a partial three-dimensional structural diagram of the present invention;

[0019] Figure 5 This is a partial three-dimensional structural diagram of the present invention;

[0020] Figure 6 This is a partial three-dimensional structural diagram of the present invention;

[0021] Figure 7 This is a partial three-dimensional structural diagram of the present invention;

[0022] Figure 8 This is a partial three-dimensional structural diagram of the present invention;

[0023] Figure 9 This is a partial three-dimensional structural diagram of the present invention;

[0024] Figure 10 This is a cross-sectional structural diagram of the present invention;

[0025] Figure 11 This is a schematic diagram of the structure of the present invention during implementation.

[0026] In the diagram: Frame 100, First Guide Cable Roller 110, Guide Sleeve 120, Nut 130, First Underwater Cable Connector 141, Third Underwater Cable Connector 142, Second Underwater Cable Connector 143, Bushing 150, Reciprocating Screw 160, Preload Adjustment Device 170, Covered Screw Tube 171, Push Rod 172, Spring 173, Top Plate 174, Connecting Rod 175, Rocker Arm 177, Intermediate Plate 180, Tension Compensation Device 190, Drive Motor 191, Drive Gear 192, First Pinion Gear 193, First Large Gear 194, Second Pinion Gear 195, Second Large Gear 196, Partition Plate 197, Drum 200, and Drawer. Air vent 210, flange sleeve 220, rubber spring sleeve 230, geared motor 240, output shaft 241, wire 250, oil injection 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, duct 500, cable cutting device 600, electric cylinder 601, guide frame 602, support plate 603, cable cutting frame 604, second guide wheel 605, moving blade 606, fixed blade 607, towing cable guide mechanism 700, trapezoidal plate 701, third guide wheel 702, guide rod 800. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1 and 2 As shown, the low-tension underwater linear array deployment and retrieval device includes a frame 100, on which a drum 200, a reciprocating screw 160, and a guide rod 800 are mounted. Nuts 130 and guide sleeves 120 are respectively mounted on the reciprocating screw 160 and the guide rod 800, and are fixedly connected. The guide sleeve 120 includes a sleeve body, with fan-shaped plates fixedly connected to both sides of the sleeve body. Multiple first guide pulleys 110 are installed between two fan-shaped plates, and each first guide pulley 110 is arranged sequentially along the arc edge of the fan-shaped plate. One end of the drum 200 is connected to the reciprocating screw 160 via a gear transmission mechanism. During the deployment and retrieval of the tow cable by the drum 200, the drum 200 is driven by 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 guide sleeve 120 to move back and forth. A cable cutting device 600 is provided on the frame 100. The cable cutting device 600 includes 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 sliding groove is provided in the guide frame 602. A fixed blade 607 is fixedly connected to one end of the sliding groove, and a moving blade 606 is provided at the other end. An electric cylinder with a piston rod connected to the moving blade 606 is fixedly connected to 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, all of which have arc-shaped grooves, which are used to position the tow cable.

[0029] The take-up and release device is installed inside the UUV shroud. One end of the towing cable wound on the drum 200 is connected to the first guide cable wheel 110, passes through two pairs of second guide cable wheels 605, passes through the gap between the moving blade 606 and the fixed blade 607, passes through the UUV tail conduit 500, and then connects to the towing equipment. The drum 200 drives the towing cable to take up and release the towing equipment under the cooperation of the reciprocating screw 160, so that the towing cable is evenly wound on the drum 200. When the towing equipment gets caught on the net or faces other threats to the safety of the carrier, the electric cylinder immediately drives the moving blade 606 to move towards the fixed blade 607 to cut the towing cable between the moving blade 606 and the fixed blade 607, discard the towing equipment, and realize emergency cable cutting and escape.

[0030] like Figure 1and 2 As shown, a towing cable guide mechanism 700 is fixedly connected to both the nut 130 and the support plate 603. The towing cable guide mechanism 700 includes two trapezoidal plates 701, with arc-shaped inclined sides on both sides. Two rows of third guide wheels 702 are installed between the two trapezoidal plates 701, arranged along the inclined sides of the trapezoidal plates 701, forming a funnel-shaped channel. The two larger openings of the two funnel-shaped channels face each other, and the two smaller openings respectively connect to the first guide wheel 110 and the second guide wheel 605. The towing cable between the first guide wheel 110 and the second guide wheel 605 passes through the two funnel-shaped channels, and the funnel-shaped channel connected to the nut 130 moves back and forth with the nut 130. Guided by the two funnel-shaped channels, the towing cable cannot detach from the first guide wheel 110 or exert force on the second guide wheel 605 on one side, thus achieving a good guiding effect.

[0031] like Figure 3 and 4 As shown, a tension compensation device 190 is fixedly connected to the support plate 603. The tension compensation device 190 includes a partition 197 fixedly connected inside 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 disposed on the partition 197. A gear assembly is disposed below the partition 197. The drive motor 191 is connected to the second cable guide wheel 605 through the gear assembly. The drive motor 191 drives the two pairs of second cable guide wheels 605 to rotate synchronously, so as to squeeze the tow cable outward during the laying of the tow cable, and simultaneously synchronize with the drum 200, ensuring that the tow cable has tension throughout the laying process, thereby ensuring that the winding and unwinding device can reliably and repeatedly wind and unwind the cable.

[0032] 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 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. A drive gear 192 meshing with the first large gear 194 is mounted on the output shaft of the drive motor 191. The two shafts of the first small gears 193 and the two shafts of the second small gears 195 are connected to two pairs of second guide wheels 605 for transmission. After the drive motor 191 is started, the drive gear 192 drives the first large gear 194 and the second large gear 196 to rotate relative to each other, thereby driving the two first small gears 193 and the two second small gears 195 to rotate, ultimately achieving synchronous rotation of the four second guide wheels 605, effectively compressing the towing cable.

[0033] like Figure 5As shown, a preload adjustment device 170 is provided on one side of the cable cutting frame 604. The preload adjustment device 170 includes a capped screw tube 171 threadedly connected to one side of the cable cutting frame 604. A through hole is opened on the cap at one end of the capped screw tube 171, and a top rod 172 is inserted into the through hole. A top block 176 is fixedly connected to one end of the top rod 172. A top plate 174 and a spring 173 are fixedly connected to the top rod 172. The two ends of the spring 173 abut against the cap and the top plate 174 respectively. It 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 top block 176 through a connecting rod 175. Two second pinions 195 are assembled on the rocker arms 177. When rotating the capped solenoid 171, the pressure of the spring 173 can be adjusted, and the spring 173 pushes the two second guide wheels 605 to adjust the tension applied to the towing cable 312 by the second guide wheels 605.

[0034] like Figure 8 and 9 As shown, the geared motor 240 for driving the drum 200 to rotate is sealed and installed inside the drum 200. Bushings 150 are assembled at both ends of the drum 200. The output shaft of the geared motor 240 passes through the bushing 150 at one end of the drum 200 and is connected to the frame 100. A bearing and a shaft seal 270 are assembled between the output shaft and the bushing 150. A wire hole is opened in the center of the output shaft. The wire 250 that supplies power to the geared motor 240 is set in the wire hole. One end of the wire 250 is connected to the first underwater cable connector 141 installed at one end of the wire hole. The housing of the geared motor 240 is fixedly connected to the drum 200. The power supply cable is connected to the first underwater cable connector 141. The geared motor 240 drives the drum 200 to wind up and unwind the tow cable. At the same time, the geared motor 240 is sealed inside the drum. Compared with the external geared motor 240, this embedded watertight geared motor 240 installation method reduces the overall size of the winding and unwinding device, making the device structure more compact and allowing the winding and unwinding device to be installed in a small space, while protecting the geared motor 240.

[0035] An oil injection hole 260 and a vent hole 210 are provided on one end cap of the drum 200. A one-way valve is installed in the oil injection hole 260. Sealing caps are detachably connected to the end caps of the drum 200 on the side of the oil injection hole 260 and the vent hole 210, respectively. The sealing caps are sealed to the oil injection hole 260 and the vent hole 210 by multiple O-rings. Since the winding and unwinding device is used when submerged in water, insulating oil can be injected into the drum 200 through the oil injection hole 260 to balance the water pressure inside and outside the drum 200 and the heat conduction of the geared motor 240. After the insulating oil is injected, the oil injection hole 260 and the vent hole 210 are sealed by the sealing caps. The one-way valve in the oil injection hole 260 is used to prevent oil from flowing out of the drum 200 when the oil pipe is pulled out after oil injection.

[0036] Multiple flange sleeves 220 are installed on one end cover of the drum 200, and rubber spring sleeves 230 are assembled inside the flange sleeves 220. The rubber spring sleeves 230 are similar in shape to the structure of a foot-operated air pump. When the insulating oil expands due to heat and the water pressure changes, they expand and contract to balance the internal and external pressures of the drum 200, thus protecting the drum 200 of the sealed geared motor 240.

[0037] like Figures 8 to 11 As shown, an intermediate plate 180 is provided inside the drum 200, which divides the drum 200 into two cavities, left and right. The geared motor 240 is installed in the left cavity. A cover 310 is fixedly connected to the end cap of the drum 200 on one side of the right cavity. A conductive slip ring 280 is installed inside the cover 310. A shaft tube 311 is installed inside the bushing 150 connected to the right cavity. A shaft seal 270 and a bearing are installed between the shaft tube 311 and the bushing 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 310 and the shaft tube 311. The second underwater cable connector 143 and the third underwater cable connector 142 are respectively connected to the rotor end and stator end of the conductive slip ring 280 through wires 250. The towing cable wound on the drum 200 is connected to the second underwater cable connector 143, and the input and output cables are connected to the third underwater cable connector 142. The input and output cables are connected through the conductive slip ring 280. In this way, the input and output cables will not be affected by the drum 200 during rotation, thus preventing the cables from getting tangled.

[0038] The embodiments described in this specification are merely examples of implementations of the inventive concept. The scope of protection of this invention should not be considered as limited to the specific forms stated in the embodiments. The scope of protection of this 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 low-tension underwater linear array launch and take-up device, comprising a frame (100), a reciprocating screw (160), a nut (130), a guide rod (800), a guide sleeve (120), and a drum (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 guide wheels (110) are mounted on the guide sleeve (120), characterized in that: A cable cutting device (600) is provided on the frame (100). The cable cutting device (600) includes 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 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 guide wheels (605). A sliding groove is provided in the guide frame (602). A fixed blade (607) is fixedly connected to one end of the sliding groove, and a moving blade (606) is provided at the other end. A piston rod is fixedly connected to one side of the guide frame (602). The moving blade (606) is connected to the electric cylinder (601); a towing cable guide mechanism (700) is fixedly connected to both the nut (130) and the support plate (603). The towing cable guide mechanism (700) includes two trapezoidal plates (701). Two rows of third guide wheels (702) are installed between the two trapezoidal plates (701). The two rows of third guide wheels (702) are arranged along the oblique sides of both sides of the trapezoidal plates (701). The two rows of third guide wheels (702) form a horn-shaped channel. The two large openings in the two horn-shaped channels are opposite each other, and the two small openings are respectively connected to the first guide wheel (110) and the second guide wheel (605).

2. The low-tension underwater linear array deployment and recovery 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) includes a partition (197) fixedly connected to the cable cutting frame (604) and a drive 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). A gear assembly is arranged below the partition (197). The drive motor (191) is connected to the second cable guide wheel (605) through the gear assembly.

3. The low-tension underwater linear array deployment and retrieval device according to claim 2, characterized in that: 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 a first small gear (193) meshing with the first large gear (194) is installed on both sides of the support. A second large gear (196) meshing with the first large gear (194) is mounted on the support shaft. A second small gear (195) meshing with the second large gear (196) is provided on both sides of the second large gear (196). A drive gear (192) meshing with the first large gear (194) is mounted on the output shaft of the drive motor (191). The two first small gear (193) shafts and the two second small gear (195) shafts are connected to two pairs of second guide wheels (605) for transmission.

4. The low-tension underwater linear array deployment and recovery device according to claim 3, characterized in that: A pre-tension adjustment device (170) is provided on one side of the cable cutting frame (604). The pre-tension adjustment device (170) includes a capped screw tube (171) threadedly connected to one side of the cable cutting frame (604). A through hole is opened on the cap at one end of the capped screw tube (171). A top rod (172) is inserted into the through hole. A top block (176) is fixedly connected to one end of the top rod (172). A top plate (174) and a spring (173) are fixedly connected to the top rod (172). The two ends of the spring (173) abut against the cap and the top plate (174) respectively. It 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 top block (176) through a connecting rod (175). Two second pinions (195) are assembled on the rocker arms (177).

5. The low-tension underwater linear array deployment and recovery device according to any one of claims 1 to 4, characterized in that: The geared motor (240) used to drive the drum (200) to rotate is sealed and installed inside the drum (200). Bushings (150) are fitted at both ends of the drum (200). The output shaft (241) of the geared motor (240) passes through the bushing (150) at one end of the drum (200) and is connected to the frame (100). A shaft seal (270) is fitted between the output shaft (241) and the bushing (150). A wire hole is opened in the center of the output shaft (241). The wire (250) that supplies power to the geared motor (240) is set in the wire hole. One end of the wire (250) is connected to the first underwater cable connector (141) installed at one end of the wire hole. The housing of the geared motor (240) is fixedly connected to the drum (200).

6. The low-tension underwater linear array deployment and retrieval device according to claim 5, characterized in that: An oil injection hole (260) and an exhaust hole (210) are provided on one side end cap of the drum (200). A one-way valve is installed in the oil injection hole (260). Sealing caps are detachably connected to the oil injection hole (260) and the exhaust hole (210) end cap of the drum (200) respectively.

7. The low-tension underwater linear array deployment and retrieval device according to claim 6, characterized in that: Multiple flange sleeves (220) are installed on one end cover of the drum (200), and rubber spring sleeves (230) are assembled inside the flange sleeves (220).

8. The low-tension underwater linear array deployment and retrieval device according to claim 5, characterized in that: An intermediate plate (180) is provided inside the drum (200), which divides the drum (200) into two cavities, left and right. The geared motor (240) is installed in the left cavity. A cover (310) is fixedly connected to the end cap of the drum (200) on one side of the right cavity. A conductive slip ring (280) is installed inside the cover (310). A shaft tube (311) is installed inside the bushing (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 respectively installed at one end of the cover (310) and the shaft tube (311). The second underwater cable connector (143) and the third underwater cable connector (142) are respectively connected to the rotor end and stator end of the conductive slip ring (280) through wires (250).

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