CN106080987B

CN106080987B - Extra large cable synchronous unwrapping wire submariner device under water

Info

Publication number: CN106080987B
Application number: CN201610511765.0A
Authority: CN
Inventors: 祝贺; 何旭; 严俊韬; 刘程; 李映桥; 于卓鑫; 王基琛; 王潇; 牛丽娜; 崔晓彤; 刘阳; 李秋澎
Original assignee: Northeast Dianli University
Current assignee: Northeast Electric Power University
Priority date: 2016-07-03
Filing date: 2016-07-03
Publication date: 2017-11-28
Anticipated expiration: 2036-07-03
Also published as: CN106080987A

Abstract

The present invention is a kind of extra large cable synchronous unwrapping wire submariner device under water, is characterized in：Including boat-carrying mechanical system, synchronized push system, pneumatic emission system, calculate central control system and towing and move under water system.Collect the combination of the technology such as electric automatization, aerodynamics, electromechanical integration, single-chip microcomputer control, underwater operation can be realized, by wind wave action very little；It can be achieved to detect real-time unwrapping wire automatically, positioning precision 0.5m 3m, 0.01 ° of course precision, can accurately control cable line corridor；Cabling speed is fast and can control in real time, and most fast cabling speed is up to 50KM/h；Automaticity is high, greatly reduces workmen's quantity；Integrated degree is high, and whole process can monitor；Cable line corridor construction obstacle, environmental protection need not be removed；All system recoverables, the second investment are small；System synchronization is run, and reduces extra large cable laying tension force；Circuit repairing ability is strong, the circuit reconstruction being adapted to after submarine earthquake；It is rational in infrastructure, dependable performance.

Description

Extra large cable synchronous unwrapping wire submariner device under water

Technical field

The present invention relates to Submarine Cable Laying technical field, is a kind of extra large cable synchronous unwrapping wire submariner device under water.

Background technology

The power supply of offshore islands and production platform, generally there are diesel-driven generator, crossing pole, three kinds of submarine cable.Generate electricity Machine finite capacity, it is difficult to meet extensive electricity needs；It is high to set up crossing pole cost, and the windy salty region in seashore is not suitable for Pole tower operation；Submarine cable long lifespan, technology maturation, it is considered as channel of preferably powering.2015, " global energy internet " In conception, Africa and across the continent networking such as European, Europe and North America, Australia and Asia, Asia and North America are needed all across sea Ocean, submarine cable are the keys for realizing that these across continent networkings, structure global energy internet are essential.

However, although submarine cable is very important, it is a big obstacle that it, which lays link,.Current extra large cable laying is generally adopted With the mode of cable laying ship " when walking put ", whole process needs accurate control circuit corridor and immersion angle, and not only speed is delayed Slowly, and very difficult, construction often takes a large amount of human and material resources.In addition, changeable sea climate condition is also usually right Engineering causes grave danger, and ordinary wave, strong wind can all make cable laying ship off-track, and whole engineering all can when correcting track Stagnate, consume the plenty of time, easily occur wave in payout process and attack extra large cable directly, cause extra large cable route deflection corridor even extra large cable sheet Body is damaged, if meeting with marine high wind, risk will can more increased dramatically, it is most likely that cause the failure of whole engineering.It is a variety of to lack Fall into the development that greatly affected submarine line.

Therefore, invent a kind of " safe and reliable, accurate, quick " and the submarine cable paying off system of weather influence can be reduced The problem that current submarine cable technical field of construction is badly in need of solving is turned into.

The content of the invention

The purpose of the present invention is to overcome the shortcomings of existing unwrapping wire mode, there is provided one kind can be greatly decreased weather and extra large cable is applied If influence, the extra large cable that payingoff speed is fast, the degree of accuracy is high, laying quality is good synchronous unwrapping wire submariner device under water.

The purpose of the present invention is achieved through the following technical solutions：A kind of extra large cable synchronous unwrapping wire submariner device under water, its It is characterized in：It is latent that it includes boat-carrying mechanical system 1, synchronized push system 2, pneumatic emission system 3, calculating central control system 4 and towing Row system 5, described synchronized push system 2, pneumatic emission system 3, calculating central control system 4 are each attached to boat-carrying mechanical system 1 On, towing system 5 of moving under water can depart from the barge 6 of boat-carrying mechanical system 1 and move；The boat-carrying mechanical system 1 is used to synchronously push away Send system 2, pneumatic emission system 3, pull the transport of move under water system 5 and extra large cable, and extra large cable can be drawn from extra large cable storage box 18 To synchronized push system 2；The synchronized push system 2 is used for the speed sync push extra large cable for coordinating towing to move under water system 5；It is described Pneumatic emission system 3 is used to launching towing and moved under water system 5；The transceiver 77 for calculating central control system 4 drags for reception Drag position, the sonar information that the system of moving under water 5 is passed back, be transmitted to computer center 78 handle detection information, determine seafloor topography, Planning laying path and adjustment navigation direction, then order transceiver 77 is beamed back into towing and moved under water system 5, weather monitoring Instrument 79 is monitored in real time to weather, and GPS reference station 80 receives satellite-signal, monitors GPS error, as calibration value, for than System 5 of being moved under water to towing surveys observation；The resistance to compression protection shell 81 for pulling system 5 of moving under water, which can be protected, sweeps sea detection dress Put 82, radio transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87 and advancing steering device 88, radio transmitting device 83 obtains interior instrument information, then the side for passing through radio by signal wire Formula, which passes to, calculates central control system 4, and radio transmitting device 83 is passed in the order for calculating central control system 4 back in the form of radio, wirelessly Transmitting device 83 is transmitted to presetting apparatus 84 by signal wire.Presetting apparatus 84 connects and controls navigation information device 85th, fore-and-aft balance device 86, buoyancy adjustment device 87 and advancing steering device 88.

The boat-carrying mechanical system 1 includes barge 6, load-bearing plate 7, support frame 8, bearing 9, circular hitch frame 10, torque electricity Machine 11, reductor 12, transmission belt 13, first fix anchor 14, second and fix the fixation fixation of anchor the 16, the 4th of anchor the 15, the 3rd anchor 17, sea Cable storage box 18, high speed untwisting machine 19, cable laying machine 20 and boat-carrying power supply 21, the load-bearing plate 7 is put on the left of barge 6, with support Frame 8 is connected, and circular hitch frame 10 is be hinged by bearing 9 and support frame 8, is fixed on the torque motor 11 on barge 6 positioned at circle The lower left of hitch frame 10, torque motor 11 are connected by reductor 12 and transmission belt 13 with circular hitch frame 10, extra large cable storage box 18 are located at the circular lower right of hitch frame 10, and first, which fixes anchor 14, second, fixes the fixation fixation anchor 17 of anchor the 16, the 4th of anchor the 15, the 3rd The corner location of barge 6 is suspended on, high speed untwisting machine 19 is between extra large cable storage box 18 and cable laying machine 20, by bolt with refuting The deck of ship 6 is connected, and cable laying machine 20 is located between high speed untwisting machine 19 and the receiver 23 of synchronized push system 2, by bolt with The deck of barge 6 is connected, and the outlet of extra large cable storage box 18, high speed untwisting machine 19, cable laying machine 20, synchronized push system 2 are positioned at same On bar center line, boat-carrying power supply 21 is put in the power transformation box on the left of the deck of barge 6.

The synchronized push system 2 includes chute inlet 22, receiver 23, servomotor 24, driving chain 25, synchronous gear Wheel 26, driven pulley 27, engagement chain 28, watertight conduit 29, hydraulic pressure sensor 30, obturator 32 and engaging detent 33, slideway Entrance 22 and the receiver of reception signal 23 are connected on the deck of barge 6, and the servomotor 24 being fixed on the deck of barge 6 passes through Driving chain 25 is connected with synchromesh gear 26, and synchromesh gear 26 is connected by engagement chain 28 with driven pulley 27, engaging detent 33 In engagement chain 28, the top of the watertight conduit 29 set on the outside of slideway is connected on the deck of barge 6, and its bottom is connected in On the transmitting tube 40 of pneumatic emission system 3, hydraulic pressure sensor 30 is put includes stainless steel in the inner side of watertight conduit 29, obturator 32 Steel plate 34, hinge 35, electromagnet 36, bumping post 37, closed-loop 38 and elastic rubber ring 39, stainless-steel sheet 34 are connected in transmitting tube On 40, hinge 35 is hinged on stainless-steel sheet 34, closed-loop 38 it is embedding elastic rubber ring 39, end connection electromagnet 36, electricity The rear side of magnet 36 is connected with two bumping posts 37.

The pneumatic emission system 3 includes transmitting tube 40, transmitting cushion cap 41 and pneumatic means 42；Transmitting tube 40 is overlapped on hair Penetrate on cushion cap 41, pneumatic means 42 is located at the outside of transmitting tube 40, and transmitting tube 40 forms for three sections before, during and after, uses between each other Flange and bolt connection, including protecgulum 43, bonnet 44, preceding gas-tight ring 45, middle gas-tight ring 46, rear gas-tight ring 47, upper rail 48, under Guide rail 49, left rail 50, right rail 51, preceding upper liquid level sensor 52, afterwards front lower liquid level sensor 53, upper liquid level sensor 54th, lower liquid level sensor 55 and underwater junction box 56, preceding gas-tight ring 45 are fixed on the leading portion of transmitting tube 40 and stage casing junction afterwards, in Gas-tight ring 46 is fixed on the center in the stage casing of transmitting tube 40, and rear gas-tight ring 47 is fixed on the stage casing of transmitting tube 40 and back segment junction, on Guide rail 48 is T-slot, and upper rail 48 is located at the top of the inwall of transmitting tube 40, and lower guideway 49 is located at the inwall bottom of transmitting tube 40, left side Guide rail 50, right rail 51 are located at the inwall arranged on left and right sides of transmitting tube 40 respectively, upper rail 48, lower guideway 49, left rail 50, Right rail 51 is fixed on inside transmitting tube 40 by set screw, and preceding upper liquid level sensor 52 is put on the leading portion of transmitting tube 40 Side, front lower liquid level sensor 53 are put below the leading portion of transmitting tube 40, and upper liquid level sensor 54 is put above the back segment of transmitting tube 40 afterwards, Liquid level sensor 55 is descended to put below the back segment of transmitting tube 40 afterwards, preceding upper liquid level sensor 52, front lower liquid level sensor 53, rear upper liquid Level sensor 54 and rear lower liquid level sensor 55 are both connected on the underwater junction box 56 in the stage casing of transmitting tube 40, launch cushion cap 41 In cabin bottom, including backing plate 57, preceding fixed steelring 58, rear fixed steelring 59, backing plate 57 is fixed in the cabin bottom of barge 6, preceding Fixed steelring 58, rear fixed steelring 59 are socketed through backing plate 57 with transmitting tube 40；Pneumatic means 42 is located at the outside of transmitting tube 40, bag Ventilation valve 60, rear venting valve 61, impulse flask 62, impulse flask switch valve 63, impulse flask safety valve 64, transmitting valve before including 65th, check valve 66, middle air bottle 67, middle air bottle switch valve 68, middle air bottle safety valve 69, transmitting tube equalizing valve 70, water storage Cabin 71, water tank ventilation valve 72, preceding water injection valve 73, rear water injection valve 74, hydraulic press 75 and shackle rod 76；Impulse flask 62 according to It is secondary to be connected with impulse flask switch valve 63, impulse flask safety valve 64, transmitting valve 65, check valve 66 and the gas circuit of transmitting tube 40；In Air bottle 67 is connected to water storage cabin 71 with middle air bottle switch valve 68, middle air bottle safety valve 69 successively, and water storage cabin 71 is by preceding Water injection valve 73, rear water injection valve 74 connect with the water route of transmitting tube 40, and hydraulic press 75 is fixed on the outer bottom of transmitting tube 40 of hull, passes Dynamic pull bar 76 is hinged on the bottom of transmitting tube 40, the front end connection protecgulum 43 of transmitting tube 40, rear end connection hydraulic press 75.

The calculating central control system 4 is located at the right side of barge 6, including transceiver 77, computer center 78, weather monitoring Instrument 79 and GPS reference station 80, transceiver 77, weather monitoring instrument 79, GPS reference station 80 are put into equipment placement case, are calculated Machine center 78 is arranged in the command post of barge 6.

It is described towing move under water system 5 divide be before, during and after three sections, including resistance to compression protection shell 81, sweep extra large detection device 82, Radio transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, the and of buoyancy adjustment device 87 Advancing steering device 88；Resistance to compression protection shell 81 top layout conductor 89, rear guide 90, for being caught in upper rail 48, sweep sea Detection device 82 includes Forward-Looking Sonar 91, side scan sonar 92, sonic-sounding gear 93, sea magetometer 94, and Forward-Looking Sonar 91 changes Can device basic matrix be located at towing and move under water the top of system 5, the signal generator of Forward-Looking Sonar 91, amplifier, matched filter, scanning change Parallel operation is located at towing and moved under water above the leading portion of system 5, and the signal generator of side scan sonar 92, amplifier, matched filter, scanning become Parallel operation is located at towing and moved under water immediately below the front side of system 5, the signal generator of sonic-sounding gear 93, amplifier, matched filter, sweeps Retouch converter and be located at the rear of side scan sonar 92, Forward-Looking Sonar 91, side scan sonar 92, the transducer array of sonic-sounding gear 93 are put Moved under water the bottom of system 5 in towing, the signal transacting region of sea magetometer 94 is located above echo depth sounder, and probe positions are the bottom of at Portion transducer array center.

The radio transmitting device 83 is used to that Hisense's breath will to be swept, navigation information and towing the are moved under water internal sensor institute of system 5 Obtain information and be transmitted to calculating central control system 4, and the order that calculating central control system 4 is assigned is transmitted to presetting apparatus 84, it is wireless to pass Defeated device 83 is located at towing and moved under water on rear side of the leading portion of system 5.

Described program control device 84 includes single-chip microcomputer 95, clock circuit 96, underwater terminal plate 97 and connected with instrument power supply 98 Connect；

The navigation information device 85 is located on front side of leading portion, including Doppler sonar log 99, differential GPS 100, compass 101 and trim meter 102, Doppler sonar log 99, differential GPS 100, compass 101 and trim meter 102 put and moved under water in towing On the instrument neck of system 5；The circuit of presetting apparatus 84 includes：First relay KM₁, the first diode VD₁, the five or three pole Pipe VT₅With the first pull-up resistor R₁With the first output end P of single-chip microcomputer 95₁Connection；Second relay KM₂, the second diode VD₂、 4th triode VT₄With the second pull-up resistor R₂With the second output end P of single-chip microcomputer 95₂Connection；3rd relay KM₃, the three or two Pole pipe VD₃, the 3rd triode VT₃With the 3rd pull-up resistor R₃With the 3rd output end P of single-chip microcomputer 95₃Connection；4th relay KM₄, the 4th diode VD₄, the second triode VT₂With the 4th pull-up resistor R₄With the 4th output end P of single-chip microcomputer 95₄Connection；The Five relay KM₅, the 5th diode VD₅, the first triode VT₁With the 5th pull-up resistor R₅With the 5th output end P of single-chip microcomputer 95₅ Connection；First relay KM₁The first dynamic tactile chalaza SQ₁Balanced water pump 107 is controlled to rotate forward；Second relay KM₂Transfer contact SA controls balanced water pump 107 to invert；3rd relay KM₃The second dynamic tactile chalaza SQ₂Control kingston valve 110；4th relay KM₄The 3rd dynamic tactile chalaza SQ₃Control breather valve 112；5th relay KM₅The 4th dynamic tactile chalaza SQ₄Control air compressor machine 111.

The fore-and-aft balance device 86 includes bow compartment water tank 103, after-peak tank water tank 104, pipeline 105, flowmeter 106 and equilibrium Water pump 107, bow compartment water tank 103 are connected with after-peak tank water tank 104 by pipeline 105, and the interface of pipeline 105 passes through balanced water pump 107 Outlet pass, balanced water pump 107 transfer the water in bow compartment water tank 103 and after-peak tank water tank 104 by rotating.

The buoyancy adjustment device 87 is located at towing and moved under water the stage casing of system 5, and buoyancy adjustment device 87 includes main ballast tank 108th, air cleaner 109, kingston valve 110, air compressor machine 111, breather valve 112 and gas bomb 113.

Synchronous unwrapping wire submariner device is to collect electric automatization, aerodynamics, electromechanical integration to the extra large cable of the present invention under water, single The combination of the technologies such as piece machine control, the advantage compared with existing cable ship：

1. underwater operation, by wind wave action very little；

2. can realize and detect real-time unwrapping wire automatically, positioning precision 0.5m-3m, 0.01 ° of course precision, electricity can be accurately controlled Cable line corridor；

3 cabling speed are fast and can control in real time, and most fast cabling speed is up to 50KM/h；

4. automaticity is high, workmen's quantity is greatly reduced；

5. integrated degree is high, whole process can monitor；

6. cable line corridor construction obstacle, environmental protection need not be removed；

7. all system recoverables, the second investment are small；

8. system synchronization is run, extra large cable laying tension force is reduced；

9. circuit repairing ability is strong, the circuit reconstruction being adapted to after submarine earthquake；

10. rational in infrastructure, dependable performance.

Brief description of the drawings

Fig. 1 is boat-carrying mechanical system front view；

Fig. 2 is boat-carrying mechanical system top view；

Fig. 3 is the A close-up schematic views in Fig. 1；

Fig. 4 is the B close-up schematic views in Fig. 2；

Fig. 5 is the C close-up schematic views in Fig. 2；

Fig. 6 is Fig. 1 1-1 schematic cross-sectional views；

Fig. 7 is Fig. 1 2-2 schematic cross-sectional views；

Fig. 8 is Fig. 3 3-3 schematic cross-sectional views；

Fig. 9 is that towing is moved under water system structure diagram；

Figure 10 is the program control system circuit theory diagrams in Fig. 9；

Figure 11 is extra large cable synchronous unwrapping wire submariner device schematic diagram under water.

In figure：1 boat-carrying mechanical system, 2 synchronized push systems, 3 pneumatic emission systems, 4 calculating central control systems, 5 towings are latent Row system, 6 barges, 7 load-bearing plates, 8 support frames, 9 bearings, 10 circular hitch frames, 11 torque motors, 12 reductors, 13 transmission belts, 14 first fix anchor, 15 second fixation anchors, 16 the 3rd fixation anchors, 17 the 4th fixation anchors, 18 extra large cable storage boxes, 19 high speed back twists Machine, 20 cable laying machines, 21 boat-carrying power supplys, 22 chute inlets, 23 receivers, 24 servomotors, 25 driving chains, 26 synchromesh gears, 27 driven pulleys, 28 engagement chains, 29 watertight conduits, 30 hydraulic pressure sensors, 31 logical line corridors, 32 obturators, 33 engaging detents, 34 stainless-steel sheets, 35 hinges, 36 electromagnet, 37 bumping posts, 38 closed-loops, 39 elastic rubber rings, 40 transmitting tubes, 41 transmittings are held Led before platform, 42 pneumatic means, 43 protecgulums, 44 bonnets, 45 in gas-tight ring, 46 behind gas-tight ring, 47 under gas-tight ring, 48 upper rails, 49 Upper liquid level sensor behind upper liquid level sensor, 53 front lower liquid level sensors, 54 before rail, 50 left rails, 51 right rails, 52, Ventilation valve, 61 before fixed steelring, 60 behind fixed steelring, 59 before lower liquid level sensor, 56 underwater junction boxes, 57 backing plates, 58 after 55 In rear venting valve, 62 impulse flasks, 63 impulse flask switch valves, 64 impulse flask safety valves, 65 transmitting valves, 66 check valves, 67 Air bottle safety valve, 70 transmitting tube equalizing valves, 71 water storage cabins, the ventilation of 72 water tanks in air bottle switch valve, 69 in air bottle, 68 Water injection valve, 75 hydraulic presses, 76 shackle rods, 77 transceivers, 78 computer centers, 79 behind water injection valve, 74 before valve, 73 Extra large detection device, 83 radio transmitting devices, 84 program controls are swept in weather monitoring instrument, 80GPS base stations, 81 resistance to compressions protection shell, 82 Device processed, 85 navigation information devices, 86 fore-and-aft balance devices, 87 buoyancy adjustment devices, 88 advancing steering devices, 89 conductors, Guide after 90s, 91 Forward-Looking Sonars, 92 side scan sonars, 93 sonic-sounding gears, 94 sea magetometers, 95 single-chip microcomputers, 96 clock circuits, 97 underwater terminal plates, 98 instrument power supplys, 99 Doppler sonar logs, 100 differential GPSs, 101 compass, 102 trim meters, 103 bows Cabin water tank, 104 after-peak tank water tanks, 105 pipelines, 106 flowmeters, 107 balanced water pumps, 108 main ballast tanks, 109 air cleaners, 110 kingston valves, 111 air compressor machines, 112 breather valves, 113 gas bombs, 114 lithium storage batteries, 115 brshless DC motors, 116 transmissions Axle, 117 propellers, 118 empennages, 119 steering wheels, 120 control boards, 121 direct current generators, 122 train of reduction gears, 123 steering wheels, 124 position feedback potentiometers, 125 output shafts, 126 traction mouths.

In figure：KM₁First relay, KM₂Second relay, KM₃3rd relay, KM₄4th relay, KM₅5th after Electrical equipment, SQ₁First dynamic tactile chalaza, SA transfer contacts, SQ₂Second dynamic tactile chalaza, SQ₃3rd dynamic tactile chalaza, SQ₄4th dynamic touch is closed Point, VT₁First triode, VT₂Second triode, VT₃3rd triode, VT₄4th triode, VT₅5th triode, R₁First Pull-up resistor, R₂Second pull-up resistor, R₃3rd pull-up resistor, R₄4th pull-up resistor, R₅5th pull-up resistor, VD₁One or two Pole pipe, VD₂Second diode, VD₃3rd diode, VD₄4th diode, VD₅5th diode, C₁First Absorption Capacitance, C₂ Second Absorption Capacitance, C₃3rd Absorption Capacitance, R₆First resistor, C₄First electric capacity, R₇Second resistance, C₅Second electric capacity, P₁First Output end, P₂Second output end, P₃3rd output end, P₄4th output end, P₅5th output end.

Embodiment

It is for a more detailed description to the present invention with instantiation below in conjunction with the accompanying drawings.

Reference picture 1-11, a kind of extra large cable synchronous unwrapping wire submariner device, including boat-carrying mechanical system 1, synchronized push system under water 2nd, pneumatic emission system 3, calculate central control system 4 and towing and move under water system 5, described synchronized push system 2, pneumatic emission system 3rd, calculate central control system 4 to be each attached in boat-carrying mechanical system 1, ship motion can be departed from by pulling system 5 of moving under water.

The boat-carrying mechanical system 1 is used for synchronized push system 2, pneumatic emission system 3, pulls move under water system 5 and extra large cable Transport, and extra large cable can be drawn to synchronized push system 2 from extra large cable storage box 18, it includes barge 6, load-bearing plate 7, support frame 8th, bearing 9, circular hitch frame 10, torque motor 11, reductor 12, transmission belt 13, first fix anchor 14, second fix anchor 15, 3rd, which fixes anchor the 16, the 4th, fixes anchor 17, extra large cable storage box 18, high speed untwisting machine 19, cable laying machine 20, boat-carrying power supply 21, described Load-bearing plate 7 is put in the left side of barge 6, is connected with support frame 8, and circular hitch frame 10 is be hinged by bearing 9 and support frame 8, is fixed on Torque motor 11 on barge 6 is located at the circular lower left of hitch frame 10, torque motor 11 by reductor 12 and transmission belt 13 with Circular hitch frame 10 connects, so as to drive circular hitch frame 10 to rotate on the vertical plane；Extra large cable storage box 18 is drawn positioned at circular The lower right of frame 10, the first fixation anchor 14, second fix the fixation fixation anchor 17 of anchor the 16, the 4th of anchor the 15, the 3rd and are suspended on the four of barge 6 Angle Position, auxiliary is carried out with canoe during cabling and is casted anchor, for keeping the position of barge 6 across the sea, high speed untwisting machine 19 is located at Between extra large cable storage box 18 and cable laying machine 20, it is connected by bolt and the deck of barge 6, for avoiding because deformation damage extra large cable is exhausted Edge, and make extra large cable that there is preferable compliance；Cable laying machine 20 is located at the receiver 23 of high speed untwisting machine 19 and synchronized push system 2 Between, it is connected by bolt and the deck of barge 6, for drawing extra large cable to synchronized push system 2, the outlet of extra large cable storage box 18, High speed untwisting machine 19, cable laying machine 20, synchronized push system 2 are located on same center line, pass sequentially through extra large cable during extra large cable cabling The outlet of storage box 18, high speed untwisting machine 19, cable laying machine 20, synchronized push system 2, boat-carrying power supply 21 be boat-carrying mechanical system 1, Synchronized push system 2, pneumatic emission system 3, the power source for calculating central control system 4, the power transformation being placed on the left of the deck of barge 6 In case.

Boat-carrying power supply 21 possesses three kinds of voltage interfaces, is 380V, 220V and 12V respectively；Torque motor 11, high speed untwisting machine 19th, cable laying machine 20 uses 380V voltages, is powered by the 380V interfaces of cable connection boat-carrying power supply 21, and switch passes through control Cable processed is connected into central control system, and break-make is controlled by central control system 4 is calculated.

The synchronized push system 2 is used for the speed sync push extra large cable for coordinating towing to move under water system 5, including chute inlet 22nd, receiver 23, servomotor 24, driving chain 25, synchromesh gear 26, driven pulley 27, engagement chain 28, watertight conduit 29, The receiver 23 of hydraulic pressure sensor 30, logical line corridor 31, obturator 32, engaging detent 33, chute inlet 22 and reception signal It is connected on the deck of barge 6, the servomotor 24 being fixed on the deck of barge 6 is connected by driving chain 25 and synchromesh gear 26 Connect, synchromesh gear 26 is connected by engagement chain 28 with driven pulley 27, and engaging detent 33 is located in engagement chain 28, gives extra large cable Grip is so as to driving extra large cable, receiver 23, servomotor 24, driving chain 25, synchromesh gear 26, driven pulley 27, engagement chain 28th, engaging detent 33 collectively forms a Synchronizable drive systems, has watertight conduit 29 on the outside of slideway, the top of watertight conduit 29 is connected On the deck of barge 6, its bottom is connected on the transmitting tube 40 of pneumatic emission system 3, makes whole synchronous slideway in watertight conduit Among 29, prevent seawater from flowing into barge 6, the inwall of watertight conduit 29 has a diameter 8cm poroid logical line corridor 31, watertight conduit 29 bottoms are hydraulic pressure sensor 30 and obturator 32, and hydraulic pressure sensor 30 is put in the inner side of watertight conduit 29, for detecting The depth of water, obturator 32 is by 39 groups of stainless-steel sheet 34, hinge 35, electromagnet 36, bumping post 37, closed-loop 38 and elastic rubber ring Into, for launch towing move under water system 5 when, keep the air-tightness of pneumatic part.Stainless-steel sheet 34 is welded on transmitting tube 40, Hinge 35 is hinged on stainless-steel sheet 34, closed-loop 38 it is embedding elastic rubber ring 39, end be connected to electromagnet 36, electromagnet 36 Rear side welds two bumping posts 37, and to prevent the subtended angle of hinge 35 excessive, hydraulic pressure sensor 30 and obturator 32 are by boat-carrying power supply 21 By cable power supply, the detectable signal of hydraulic pressure sensor 30 is transmitted to by signal wire calculates central control system 4, and cable and signal wire are protected Protect in the logical line corridor 31 of the inner side of watertight conduit 29.

The pneumatic emission system 3 is used to launching towing and moved under water system 5, including transmitting tube 40, transmitting cushion cap 41, pneumatic dress Put 42.Transmitting tube 40 is overlapped on transmitting cushion cap 41, and pneumatic means 42 is located at the outside of transmitting tube 40, with 40 common structure of transmitting tube Into a complete gas circuit, for providing power needed for transmitting, transmitting tube 40 forms for three sections before, during and after, between each other with convex Edge and bolt connection, including protecgulum 43, bonnet 44, preceding gas-tight ring 45, middle gas-tight ring 46, rear gas-tight ring 47, upper rail 48, under lead Rail 49, left rail 50, right rail 51, preceding upper liquid level sensor 52, afterwards front lower liquid level sensor 53, upper liquid level sensor 54th, lower liquid level sensor 55, underwater junction box 56 afterwards, preceding gas-tight ring 45, middle gas-tight ring 46, rear gas-tight ring 47 are preventing to promote Gas from gap escape, it is ensured that enough thrust, preceding gas-tight ring 45 by heat cure bind in a manner of mounted in preceding stage casing junction, in Gas-tight ring 46 is in a manner of heat cure is binded mounted in stage casing is central, rear gas-tight ring 47 is mounted in posterior segment in a manner of heat cure is binded Junction, upper rail 48 are T-slot, and ensureing towing to move under water before system 5 leaves guide rail is not rotated, and lower guideway 49, left side are led The effect of rail 50, right rail 51 is to reduce resistance, it is ensured that transmitting tube 40 can smoothly be left by pulling system 5 of moving under water, and above be led Rail 48 is located at the top of the inwall of transmitting tube 40, and lower guideway 49 is located at the inwall bottom of transmitting tube 40, and left rail 50, right rail 51 are divided Wei Yu not be at left and right sides of the inwall of transmitting tube 40, upper rail 48, lower guideway 49, left rail 50, right rail 51 are using positioning Screw is riveted on inside transmitting tube 40, and preceding upper liquid level sensor 52 is put above the leading portion of transmitting tube 40, front lower liquid level sensor 53 Put below the leading portion of transmitting tube 40, upper liquid level sensor 54 is put above the back segment of transmitting tube 40 afterwards, and lower liquid level sensor 55 is put afterwards Below the back segment of transmitting tube 40, for perceiving the inner inlet of transmitting tube 40, preceding upper liquid level sensor 52, front lower liquid level sensor 53rd, upper liquid level sensor 54 and rear lower liquid level sensor 55 are both connected on the underwater junction box 56 in the stage casing of transmitting tube 40 afterwards, by The 12V interfaces power supply of boat-carrying power supply 21, signal, which is transferred to, calculates central control system 4；Transmitting cushion cap 41 is located at cabin bottom, for propping up Support and fixed transmission pipe 40, including backing plate 57, preceding fixed steelring 58, rear fixed steelring 59, backing plate 57 are fixed in the cabin bottom of barge 6 Portion, preceding fixed steelring 58, rear fixed steelring 59 pass through backing plate 57, are socketed with transmitting tube 40；Pneumatic means 42 is located at transmitting tube 40 Outside, a complete gas circuit is collectively formed with transmitting tube 40, for providing power needed for transmitting.Including preceding ventilation valve 60, after Ventilation valve 61, impulse flask 62, impulse flask switch valve 63, impulse flask safety valve 64, transmitting valve 65, check valve 66, middle pressure Gas cylinder 67, middle air bottle switch valve 68, middle air bottle safety valve 69, transmitting tube equalizing valve 70, water storage cabin 71, water tank ventilation valve 72nd, preceding water injection valve 73, rear water injection valve 74, hydraulic press 75, shackle rod 76；Preceding ventilation valve 60 is used for before balancing transmitting tube 40 Air pressure is held, preceding ventilation valve 60 is used to balance the rear end air pressure of transmitting tube 40, enables water to smoothly inject transmitting tube 40.Impulse flask 62 The power for pulling system 5 of moving under water is promoted when transmitting is provided.Impulse flask switch valve 63 is used for open and close impulse flask 62, transmitting Gas cylinder safely valve 64 is used to prevent gas from leaking when impulse flask switch valve 63 fails.Transmitting valve 65 can make gas according to certain Speed enters transmitting tube 40, prevents air inlet from excessively exceeding the carrying scope of transmitting tube 40.Check valve 66 is prevented in transmitting tube 40 Water enters transmitting valve 65.Middle air bottle 67 provides the power for promoting the water in water storage cabin 71 to move before transmitting.Middle air bottle switch Valve 68 is used for air bottle 67 in open and close.Middle air bottle safety valve 69 is used to prevent gas when middle air bottle switch valve 68 fails Leakage.Transmitting tube equalizing valve 70 is used to balance the inner and outer air pressure of transmitting tube 40.Water storage cabin 71 is used to store and entered in transmitting tube 40 Water.Water tank ventilation valve 72 is used to balance the air pressure in water storage cabin 71.The compressed air projected from impulse flask 62, passes through successively Impulse flask switch valve 63, impulse flask safety valve 64, transmitting valve 65, check valve 66 reach transmitting tube 40.Therefrom air bottle 67 The compressed air of middle injection, air bottle switch valve 68, middle air bottle safety valve 69 reach water storage cabin 71 in passing through successively, promote storage Water in water tank 71 enters transmitting tube 40, preceding water injection valve 73, rear water injection valve 74 from preceding water injection valve 73, rear water injection valve 74 It is the passage of the water disengaging transmitting tube 40 in water storage cabin 71, hydraulic press 75 is arranged on the outer bottom of transmitting tube 40 of hull, shackle rod 76 are hinged on the bottom of transmitting tube 40, the front end connection protecgulum 43 of transmitting tube 40, rear end connection hydraulic press 75, and hydraulic press 75 can during action To drive shackle rod 76, the protecgulum 43 of transmitting tube 40 of leaving behind or slippage, preceding ventilation valve 60, rear venting valve 61, impulse flask switch Valve 63, impulse flask safety valve 64, middle air bottle switch valve 68, middle air bottle safety valve 69, transmitting tube equalizing valve 70, water tank lead to Air-valve 72, preceding water injection valve 73, rear water injection valve 74, hydraulic press 75 obtain electricity by underwater junction box 56 from boat-carrying power supply 21 Can, instructed from central control system 4 is calculated.

The calculating central control system 4 is located at the right side of barge 6, including transceiver 77, computer center 78, weather monitoring Instrument 79, GPS reference station 80, transceiver 77 are used to receive the position pulled system 5 of moving under water and passed back, sonar information, are transmitted to meter Calculation machine center 78 handles detection information, determines seafloor topography, planning laying path and adjusts navigation direction etc., then will life Order transceiver 77 is beamed back towing and moved under water system 5, and weather monitoring instrument 79 can be monitored in real time to weather, GPS reference station 80 receive satellite-signals, monitor GPS error, as calibration value, compare towing system 5 of moving under water and survey observation, acquisition precision is more High positional information, transceiver 77, weather monitoring instrument 79, GPS reference station 80 need first to weld in specified location before installing Equipment placement case, then transceiver 77, weather monitoring instrument 79, GPS reference station 80 are put into equipment placement case, use polyurethane Rigid foam bed course is fixed, and computer center 78 is arranged in the command post of barge 6, and staff in a computer supervise by the heart 78 Depending on and control the normal operation of whole system, computer center 78, transceiver 77, weather monitoring instrument 79, GPS reference station 80 It is powered using the 220V interfaces of boat-carrying power supply 21.

It is described towing move under water system 5 divide be before in after three sections, including resistance to compression protection shell 81, sweep extra large detection device 82, nothing Line transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87, propulsion Transfer 88；Resistance to compression protection shell 81, which can be protected, sweeps extra large detection device 82, radio transmitting device 83, presetting apparatus 84th, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87, advancing steering device 88.Radio transmitting device 83 Interior instrument information is obtained by signal wire, then is passed to by way of radio and calculates central control system 4, calculates central control system 4 Order pass radio transmitting device 83 back in the form of radio, radio transmitting device 83 is transmitted to programme-control by signal wire and filled Put 84.Presetting apparatus 84 is directly connected to by cablet and controls navigation information device 85, fore-and-aft balance device 86, buoyancy are adjusted Engagement positions 87, advancing steering device 88.Presetting apparatus 84 carries 12V instrument power supply 98, is supplied by cable to measuring instrument Electricity.Advancing steering device 88 carries 220V power supplys, is powered by cable to high power motor.

The resistance to compression protection leading portion of shell 81 coats underwater sound equipment using fairshaped kuppe, for improving underwater sound equipment Sound translative performance, reduces resistance, and other parts make of stainless steel.Top layout conductor 89, rear guide 90, lead on being caught in Rail 48.Due to items of equipment to be carried, it is necessary to carry out neck division previously according to instrument size, instrument is embedded in neck, is drawn Signal wire and Thin cable are used for transmission signal and provide power supply.

Sweep extra large detection device 82 to be used to find out submarine obstacle, submarine geomorphy information is transmitted to central control system 4 is calculated.Including Forward-Looking Sonar 91, side scan sonar 92, sonic-sounding gear 93, sea magetometer 94.The structure of sonar includes signal generator, amplification Device, transducer array, matched filter, scan converter.Transducer array of the present invention is respectively provided with transceiver Function.The multiple waveforms that signal generator can be pre-set, to adapt to different tasks and environmental requirement, then by putting Big device group connection transducer array, detection information is launched, matched filter and scanning are used after receiving the signal of return After converter Combined Treatment, wireless transmitting system is transmitted to by signal wire, and then is transmitted to calculating central control system 4 and is shown to work people Member.Transducer array used in Forward-Looking Sonar 91 is located at towing and moved under water the top of system 5, signal generator used, amplifier, matching Wave filter, scan converter are located at towing and moved under water above the leading portion of system 5, are moved under water the front of system 5 for detecting towing.Side scan sonar 92, which are used to detecting towing, moves under water the lower section of system 5, and signal generator used, amplifier, matched filter, scan converter are located at Towing is moved under water immediately below the front side of system 5.Sonic-sounding gear 93, which is used to measure to pull, moves under water system 5 to the distance in seabed, used Signal generator, amplifier, matched filter, scan converter are located at the rear of side scan sonar 92.Forward-Looking Sonar 91, side scan sonar 92nd, the transducer array that sonic-sounding gear 93 uses is placed in towing and moved under water the bottom of system 5.Sea magetometer 94 is used to detect sea Bottom magnetic anomaly, finds shipwreck in time, and break the obstacles such as anchor.The signal transacting region of sea magetometer 94 is located on echo depth sounder Side, probe positions are in bottom transducer array center.

Radio transmitting device 83 is used to sweep Hisense's breath, navigation information and towing and move under water to believe obtained by the internal sensor of system 5 Breath, which is transmitted to, calculates central control system 4, and the order that calculating central control system 4 is assigned is transmitted to presetting apparatus 84.It is wirelessly transferred dress 83 are put to move under water on rear side of the leading portion of system 5 positioned at towing.

Presetting apparatus 84 includes single-chip microcomputer 95, clock circuit 96, underwater terminal plate 97, instrument power supply 98.Used by instrument Power supply 98 using shielded cable by underwater terminal plate 97 to navigation massaging device 85, sweep extra large detection device 82, be wirelessly transferred dress Put 83 and presetting apparatus 84 power, utilize signal wire transmission signal.Single-chip microcomputer 95 first sets the specific journey of various operations Sequence, when receive calculate the order that sends of central control system 4 and towing move under water the detection of system 5 information after, taken out from holder Corresponding program, significant level is exported in its each output end successively, after amplifying drive amplification, control is electronic mechanical, electrical The generations such as magnet valve act accordingly, so as to realize the whole automation for pulling system 5 of moving under water.

Navigation information device 85 is located on front side of leading portion, including Doppler sonar log 99, differential GPS 100, compass 101, Trim meter 102.Doppler sonar log 99 can measure the speed relative to seabed, be passed in real time by radio transmitting device 83 To the servomotor 24 of synchronized push system 2, synchronous operation is realized.Doppler sonar log 99 can also coordinate compass 101 The course angle of measurement, the position for pulling system 5 of moving under water is obtained using dead reckoning.Transducing used in Doppler sonar log 99 Device basic matrix is located at towing and moved under water the top of system 5, and signal generator used, amplifier, matched filter, scan converter are located at Towing is moved under water on the upside of the leading portion of system 5.Differential GPS 100 is mainly used in calibrating course line and positioned oneself after arriving at, convenient Find, also increase the reliability for pulling system 5 of moving under water and the degree of accuracy, positioned at the front of Doppler sonar log 99.Compass 101 For providing directional reference, positioned at the front of single-chip microcomputer 95.Trim meter 102 is used to measure itself trim situation, positioned at instrument power supply 98 lower sections.Differential GPS 100, compass 101, trim meter 102 are that finished product is directly positioned on towing and moved under water on the instrument neck of system 5, Powered by instrument power supply 98, the signal of acquisition is transmitted to by radio transmitting device 83 calculates central control system 4.

Fore-and-aft balance device 86, which is used to adjusting towing, to move under water the trim of system 5, including bow compartment water tank 103, after-peak tank water tank 104, Pipeline 105, flowmeter 106, balanced water pump 107.Pull and bow compartment water tank 103 is loaded with front side of the stage casing of system 5 of moving under water, carried on rear side of stage casing There is after-peak tank water tank 104, be usually connected equipped with a certain amount of water, bow compartment water tank 103 with after-peak tank water tank 104 by pipeline 105, pipeline 105 interfaces transfer bow compartment water tank 103 and after-peak tank water by the outlet pass of balanced water pump 107, balanced water pump 107 by rotating Water in cabin 104.

Buoyancy adjustment device 87 is located at towing and moved under water the stage casing of system 5, for ensure towing move under water 5 normal operation of system when weight Power is equal with buoyancy, and completes that during task the water surface can be floated up to.Buoyancy adjustment device 87 includes main ballast tank 108, sky Air filter 109, kingston valve 110, air compressor machine 111, breather valve 112, gas bomb 113.Main ballast tank 108 moves under water positioned at towing The position of centre of gravity of system 5.Kingston valve 110 is seawater access way, positioned at the lower section of main ballast tank 108, connects main ballast tank 108 And external environment condition.Air cleaner 109 prevents seawater from entering air compressor machine 111, is located at the top of main ballast tank 108, connects pneumatics Machine 111 and main ballast tank 108.Gas bomb 113 is used for air storage, is connected with air compressor machine 111.Breather valve 112 is used for will storage Compressed air in gas cylinder 113 discharges, and connects main ballast tank 108 and gas bomb 113.Air compressor machine 111, breather valve 112, Air capacity in the co- controlling main ballast tank 108 of gas bomb 113, and then control the inflow in main ballast tank 108.It is maritime Valve 110, breather valve 112 are powered by instrument power supply 98, and air compressor machine 111 is powered by the lithium storage battery 114 of advancing steering device 88.It is logical The programmed device 84 of extra large valve 110, air compressor machine 111, breather valve 112 controls.

The towing back segment of system 5 that moves under water is mainly advancing steering device 88, and moving under water for providing towing the power of system 5 and controls Pull the direction of system 5 of moving under water.Including lithium storage battery 114, brshless DC motor 115, power transmission shaft 116, propeller 117, empennage 118th, steering wheel 119, traction mouth 126.Lithium storage battery 114 is located at the rear side of main ballast tank 108, is advancing steering device 88 and pneumatics Machine 111 is powered.Brshless DC motor 115 is located at the rear of lithium storage battery 114.Brshless DC motor 115 passes through power transmission shaft 116 and spiral shell Oar 117 is revolved to be connected.Empennage 118 uses cross rudder structure, thus it is possible to vary trim, depth and direction.Steering wheel 119 is by control board 120th, direct current generator 121, train of reduction gears 122, steering wheel 123, position feedback potentiometer 124, output shaft 125 form, for controlling Empennage 118 processed acts.Control board 120 receives the control signal from presetting apparatus 84 by signal wire, and control is straight Stream motor 121 is rotated, and direct current generator 121 drives train of reduction gears 122, and output steering wheel 123 is driven to after deceleration.Steering wheel 119 What output shaft 125 and position feedback potentiometer 124 were connected to, while steering wheel 123 rotates, position feedback potentiometer 124 is driven, Position feedback potentiometer 124 will export a voltage signal to control board 120, be fed back, then control board 120 Direction and the speed of the rotation of direct current generator 121 are determined according to voltage signal, until reaching target location.Traction mouth 126, which is located at, to be dragged The end of the system of moving under water 5 is draged, for connecting cable joint.

The circuit of presetting apparatus 84 includes：First relay KM₁, the first diode VD₁, the 5th triode VT₅With One pull-up resistor R₁With the first output end P of single-chip microcomputer 95₁Connection；Second relay KM₂, the second diode VD₂, the four or three pole Pipe VT₄With the second pull-up resistor R₂With the second output end P of single-chip microcomputer 95₂Connection；3rd relay KM₃, the 3rd diode VD₃、 3rd triode VT₃With the 3rd pull-up resistor R₃With the 3rd output end P of single-chip microcomputer 95₃Connection；4th relay KM₄, the four or two Pole pipe VD₄, the second triode VT₂With the 4th pull-up resistor R₄With the 4th output end P of single-chip microcomputer 95₄Connection；5th relay KM₅, the 5th diode VD₅, the first triode VT₁With the 5th pull-up resistor R₅With the 5th output end P of single-chip microcomputer 95₅Connection；The One relay KM₁The first dynamic tactile chalaza SQ₁Balanced water pump 107 is controlled to rotate forward；Second relay KM₂Transfer contact SA control Balanced water pump 107 inverts；3rd relay KM₃The second dynamic tactile chalaza SQ₂Control kingston valve 110；4th relay KM₄ Three dynamic tactile chalaza SQ₃Control breather valve 112；5th relay KM₅The 4th dynamic tactile chalaza SQ₄Control air compressor machine 111.

The present invention the course of work be：Extra large cable and equipment are transported to by specified location by boat-carrying mechanical system, use extra large cable Paying off system using air pressure by towing move under water system project, synchronized push system drive extra large cable synchronous operation, calculate central control system The advance route for system of moving under water is pulled in monitoring and planning, until arriving at, completes extra large cable handing-over.

1. reference picture 1-2, first driveing barge 6 to bank, by extra large cable colligation on circular hitch frame 10, torque electricity is started Machine, circular hitch frame 10 is driven to rotate, traction extra large cable is introduced on ship, then releases extra large cable colligation, and auxiliary extra large cable is deposited into extra large cable Case 18.Then barge 6 is driveed to destination, fore is directed at the direction of lay, it is solid to put down the first fixation anchor 14, second using canoe Determine anchor the 15, the 3rd and fix the fixation anchor 17 of anchor the 16, the 4th.

2. reference picture 6, Fig. 7 and Fig. 9, transmitting cushion cap 41 is first checked, it is ensured that backing plate 57 is firm, preceding fixed steelring 58, rear solid Determine the non-corroding of steel ring 59, front lower liquid level sensor 53, lower liquid level sensor 55 is not detected by hydraulic pressure afterwards, and then confirms nothing in pipe Water, protecgulum 43 are closed intact.Open bonnet 44, towing system 5 of moving under water be pushed into transmitting tube 40, pay attention to by its conductor 89, after Guide 90 is stuck in upper rail 48.

3. reference picture 1-4, Fig. 8 and Fig. 9, opening chute inlet 22, extra large cable joint is subjected to water-proofing treatment, and put traction Accessory, with 5m per minute speed slowly by extra large cable by high speed untwisting machine 19, cable laying machine 20, into chute inlet 22, start Servomotor 24.Servomotor 24 drives synchromesh gear 26, driven pulley 27 by driving chain 25, using in engagement chain 28 Engaging detent 33 holds extra large cable, and making extra large cable, paying attention to can not be excessive into transmitting tube 40 through synchronized push system 2 to transmitting tube 40 In order to avoid extra large cable is caused to be damaged by torsion.Traction mouth 126 is connected firmly with extra large cable joint, closes bonnet 44.Obturator 32 is powered, The adhesive of electromagnet 36, closed-loop 38 hold extra large cable and block gap, transmitting tube 40 is formed confined space.

4. reference picture 5-6, before transmitting, impulse flask 62 is first inflated to 25MPa, middle air bottle 67 is inflated to 8MPa and treated Life.Then preceding ventilation valve 60, rear venting valve 61, preceding water injection valve 73, rear water injection valve 74 are opened, closes water tank ventilation valve 72. Compressed air in opening again in air bottle safety valve 69, the release of middle air bottle switch valve 68 in air bottle 67, is forced in water tank Water entered by preceding water injection valve 73, rear water injection valve 74 in the gap of transmitting tube 40, the upper level sensing before water level arrival Device 52, afterwards on upper liquid level sensor 54 when, air bottle safety valve 69 in closing, middle air bottle switch valve 68, preceding water injection valve 73, Water injection valve 74, preceding ventilation valve 60, rear venting valve 61 afterwards.Now transmitting tube 40 has been filled with seawater, opens transmitting tube equalizing valve 70, The internal pressure of transmitting tube 40 is set to be equal to surrounding seawater pressure, to open protecgulum 43.After pressing, start hydraulic press 75, lead to Shackle rod 76 is crossed to leave behind protecgulum 43.During transmitting, impulse flask safety valve 64, impulse flask switch valve 63, pressure-air are opened Check valve 66 is mapped to by the emitted valve 65 of impulse flask 62, when pressure of the air effect in check valve 66 exists more than seawater eroding During power on check valve 66, check valve 66 is opened, and air enters transmitting tube 40, so as to promote towing system 5 of moving under water to go out transmitting Pipe 40, while the dead electricity of obturator 32, it is allowed to which extra large cable is descending.

5. reference picture 9 and Figure 11, pulling system 5 of moving under water and going out the moment of transmitting tube 40, pull system 5 of moving under water and start.Instrument is used Power supply 98 starts as navigation information device 85, sweeps extra large detection device 82, radio transmitting device 83 and presetting apparatus 84 and power. Lithium storage battery 114 starts, and drives brshless DC motor 115, drives propeller 117 by power transmission shaft 116, is derived from main thrust, Powered simultaneously for air compressor machine 111, obtain the ability of Buoyance adjustment.Fore-and-aft balance device 86 works, and carries out trim regulating.Buoyancy is adjusted Engagement positions 87 work, and carry out buoyancy adjustment.

6. reference picture 1-3, Fig. 9 and Figure 11, navigation information device 85 works, and compass 101 coordinates Doppler sonar log 99 information, passed back by radio transmitting device 83 and calculate central control system 4, obtained towing by calculating and move under water 5 accurate position of system Put.The towing velocity information of system 5 of moving under water can be transmitted to receiver 23 in real time, receiver 23 controls the run-in synchronism of servomotor 24. Sweep extra large detection device 82 to work, Forward-Looking Sonar 91, side scan sonar 92, sea magetometer 94, sonic-sounding gear 93 start to detect, and look into Bright submarine obstacle and own location information, and be directly transmitted to after detectable signal is handled by radio transmitting device 83 in calculating Control system 4, landforms are responsible for by calculating central control system 4 and synthesized and flight course planning, the processing information of presetting apparatus 84 is avoided and makes Into burden.Calculate after central control system 4 completes landforms synthesis and route planning, then pass towing back and move under water system 5, filled by programme-control Put 84 reception orders and control the steering wheel 119 of advancing steering device 88, it is ensured that by route running.

7. reference picture 8 and Figure 10, the course of work of fore-and-aft balance device 86:The trim meter 102 of navigation information device 85 passes through Measured signal is passed back and calculates central control system 4 by radio transmitting device 83, calculating central control system 4 is grasped trim feelings at any time Condition, and adjust order and be transmitted to presetting apparatus 84.If towing is moved under water, system 5, which produces, leans forward, and presetting apparatus 84 is by bow The water of cabin water tank 103 is transferred to after-peak tank water tank 104 with balanced water pump 107.If towing is moved under water, system 5 produces hypsokinesis, programme-control The water of after-peak tank water tank 104 is transferred to bow compartment water tank 103 by device 84 with balanced water pump 107.With flowmeter 106, accurately monitoring controls water The calling of amount, until completing trim adjustment.

8. reference picture 9, the course of work of buoyancy adjustment device 87:Kingston valve 110 is opened, and seawater enters main ballast tank 108. The sonic-sounding gear 93 of navigation information device 85 measures real-time deep and passes calculating central control system 4 back by radio transmitting device 83, Calculating central control system 4 is obtained vertical acceleration, and adjust order and be transmitted to presetting apparatus 84., presetting apparatus 84 is straight The air compressor machine 111 and breather valve 112 of control buoyancy adjustment device 87 are connect, when buoyancy is more than gravity, air compressor machine 111 works, by sky Air pressure is reduced among gas bomb 113, and seawater enters main ballast tank 108 to strengthen gravity.When buoyancy is less than gravity, breather valve 112 open, and release air discharges seawater to strengthen buoyancy, until completing buoyancy adjustment.

9. reference picture 10, presetting apparatus circuit of the invention includes：First relay KM₁, the second relay KM₂, Three relay KM₃, the 4th relay KM₄, the 5th relay KM₅, the first dynamic tactile chalaza SQ₁, transfer contact SA, the second dynamic touch close Point SQ₂, the 3rd dynamic tactile chalaza SQ₃, the 4th dynamic tactile chalaza SQ₄, the first triode VT₁, the second triode VT₂, the 3rd triode VT₃, the 4th triode VT₄, the 5th triode VT₅, the first pull-up resistor R₁, the second pull-up resistor R₂, the 3rd pull-up resistor R₃, Four pull-up resistor R₄, the 5th pull-up resistor R₅, the first diode VD₁, the second diode VD₂, the 3rd diode VD₃, the four or two pole Pipe VD₄, the 5th diode VD₅, the first Absorption Capacitance C₁, the second Absorption Capacitance C₂, the 3rd Absorption Capacitance C₃, first resistor R₆, One electric capacity C₄, second resistance R₇, the second electric capacity C₅, the first output end P₁, the second output end P₂, the 3rd output end P₃, the 4th output Hold P₄, the 5th output end P₅, single-chip microcomputer 95.First relay KM₁The first dynamic tactile chalaza SQ₁Balanced water pump 107 is controlled to rotate forward； Second relay KM₂Transfer contact SA control balanced water pump 107 to invert；3rd relay KM₃The second dynamic tactile chalaza SQ₂Control Kingston valve 110 processed；4th relay KM₄The 3rd dynamic tactile chalaza SQ₃Control breather valve 112；5th relay KM₅It is the 4th dynamic Touch chalaza SQ₄Control air compressor machine 111.Control signal is respectively by the first output end P of single-chip microcomputer 95₁, the second output end P₂, the 3rd Output end P₃, the 4th output end P₄, the 5th output end P₅Output.As the 5th output end P₅For high level when, the first triode VT₁It is full With the 5th relay KM₅Adhesive, moving together contact SA closures, balanced water pump 107 rotate forward.As the 4th output end P₄, the 5th output end P₅When being low level, the first triode VT₁, the second triode VT₂It is turned off, the first dynamic tactile chalaza SQ₁, at dynamic tactile chalaza SA In release conditions, balanced water pump 107 must not electricity and stop.4th output end P₄When exporting high level, the second triode VT₂Conducting, Dynamic tactile chalaza SA adhesives, make the balanced antiport of water pump 107.In circuit, with the dynamic tactile chalaza SQ of transfer contact SA and first₁Realize Interlocking, power supply will not be also turned on by ensureing two terminals of rotating of balanced water pump 107.Moving together contact SQ₂Control kingston valve 110 switches, moving together contact SQ₃Control breather valve 112, moving together contact SQ₄Control the principle of air compressor machine 111 identical with this.With in circuit One relay KM₁First diode VD in parallel₁And the second relay KM₂Second diode VD in parallel₂And the 3rd relay KM₃3rd diode VD in parallel₃And the 4th relay KM₄4th diode VD in parallel₄And the 5th relay KM₅In parallel 5th diode VD₅, respectively protect the 5th triode VT₅, the 4th triode VT₄, the 3rd triode VT₃, the second triode VT₂、 First triode VT₁, prevent the self induction electromotive force in relay coil from puncturing transistor.With contact SQ₁, the in parallel RC electricity of SA Road can eliminate the spark during conversion of contact.First Absorption Capacitance C₁, the second Absorption Capacitance C₂, the 3rd Absorption Capacitance C₃, respectively protect Protect kingston valve 110, breather valve 112, air compressor machine 111, absorb due to contact conversion, current break and in magnet coil caused by Instantaneous pressure.

10. reference picture 9, when the task of completion, breather valve 112 largely discharges gas bomb 113 and stores up air, and seawater is blown out Main ballast tank 108, the floating upward quickly of system 5 that moves under water is pulled, until reaching sea, close kingston valve 110, use differential GPS 100 Positioned, nearby ship scoops out for guiding, completes handing-over or device recovery.

Device therefor and instrument and component of the present invention etc. are commercially available prod, are easily implemented.The barge of specific embodiment Gross tonnage (ton)：20282, overall length (rice)：16, molded breadth (rice)：23, moldeed depth (rice)：12.2, full-load draft (rice)：8.9, cargo hold Number：4, hatchcover：Hydraulic pressure, main frame model：8PC 320；Torque motor：YLJ112-6/4；Anchorage：Model XYM15 (13) -1, number Amount 4；Liquid level sensor：HM21 throw-in type liquid transmitters；Upper rail：A positive groove, steel 7700mm × 24mm × 24mm；Servo Motor：Model SGM7J-01AFC6E, Japan's production；High speed untwisting machine：The vertical untwisting machine of 500 disks, appearance and size：2120mm× VT₅0mm×2200mm；Launch cushion cap：Wooden 6500mm × 500mm × 500mm, there is corrosion-inhibiting coating；Electromagnet：Model XDA- 100/40；Cable laying machine：Liner cable laying machine appearance and size：3250mm×500mm×1200mm；Transmitting tube：Stainless steel makes, in Back segment thickness 5mm, leading portion thickness 7mm, length 8000mm, internal diameter 570mm, gas-tight ring internal diameter 536mm；Impulse flask：CNG, volume 72L；Gas bomb：DPL, volume 30L；Pull system of moving under water：Length 5112mm, external diameter 536mm；Side rails：It is discontinuous rectangular Shape copper billet forms, and is in line between every totally 30 pieces, adjacent two pieces of side according to 10mm gap arrangement；Lower guideway：One 7700mm × 24mm × 24mm rectangles copper bar forms；Ventilation valve：CARX composite exhaust valves；Hydraulic press：YL41--40 ton openside hydraulics Machine；Forward-Looking Sonar：BlueView P450-45；Side scan sonar：YELLOWFIN side-scan sonars；Weather monitoring instrument：CA-1102 gas As warning receiver；Echo depth sounder：Bathy-500DF；Differential GPS：VeCtoR V103；Trim meter：TCM3；Doppler's sound Log：DS90；Wireless communication apparatus：AD9361；Single-chip microcomputer：80C51；Balanced water pump：FJZ types；Air cleaner：C/T/ A-001；Air compressor machine：SA-300A；Lithium storage battery：8542123；Voltage-stabilized power supply：WYJ-2A30V；Flowmeter：LZB-4WB.

The particular embodiment of the present invention has made detailed explanation to present disclosure, but does not limit to the present embodiment, Any obvious change that those skilled in the art are done according to the enlightenment of the present invention, belongs to rights protection of the present invention Scope.

Claims

1. a kind of extra large cable synchronous unwrapping wire submariner device under water, it is characterized in that：It includes boat-carrying mechanical system, synchronized push system, gas Dynamic emission system, calculate central control system and towing is moved under water system, described synchronized push system, pneumatic emission system, in calculating Control system is each attached in boat-carrying mechanical system, and the towing system of moving under water can depart from the barge motion of boat-carrying mechanical system；It is described Boat-carrying mechanical system is used for synchronized push system, pneumatic emission system, the transport for pulling move under water system and extra large cable, and can be by extra large cable Drawn from extra large cable storage box to synchronized push system；The synchronized push system is used for the speed sync for coordinating towing to move under water system Push extra large cable；The pneumatic emission system is used to launching towing and moved under water system；The transceiver for calculating central control system is used In receiving position, the sonar information that the towing system of moving under water is passed back, it is transmitted to computer center's processing detection information, determines sea-floor relief Landforms, planning laying path and adjustment navigation direction, then order is beamed back into towing with transceiver and moved under water system, meteorology prison Survey instrument to monitor weather in real time, GPS reference station receives satellite-signal, GPS error is monitored, as calibration value, for comparing The towing system of moving under water surveys observation；The resistance to compression protection shell for pulling system of moving under water, which can be protected, sweeps extra large detection device, nothing Line transmitting device, presetting apparatus, navigation information device, fore-and-aft balance device, buoyancy adjustment device and advancing steering device, Radio transmitting device obtains interior instrument information by signal wire, then calculating central control system is passed to by way of radio, counts Radio transmitting device is passed in the order for calculating central control system back in the form of radio, and radio transmitting device is transmitted to program by signal wire Control device, presetting apparatus connects and controls navigation information device, fore-and-aft balance device, buoyancy adjustment device and propulsion turn To device.

2. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 1, it is characterized in that：The boat-carrying mechanical system Anchor, second are fixed including barge, load-bearing plate, support frame, bearing, circular hitch frame, torque motor, reductor, transmission belt, first Fixed anchor, the 3rd fix anchor, the 4th fixation anchor, extra large cable storage box, high speed untwisting machine, cable laying machine and boat-carrying power supply, the load-bearing Disk is put on the left of barge, is connected with support frame, and circular hitch frame is hinged by bearing and support frame, the torque being fixed on barge Motor is located at circular hitch frame lower left, and torque motor is connected by reductor and transmission belt with circular hitch frame, extra large cable storage Case is located at circular hitch frame lower right, and the first fixation anchor, the second fixation anchor, the 3rd fixation anchor, the 4th fixation anchor are suspended on barge Corner location, high speed untwisting machine is connected between extra large cable storage box and cable laying machine by bolt and barge deck, cable laying machine Between high speed untwisting machine and the receiver of synchronized push system, it is connected by bolt and barge deck, extra large cable storage box Outlet, high speed untwisting machine, cable laying machine, synchronized push system are located on same center line, and boat-carrying power supply is put left on barge deck In the power transformation box of side.

3. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 1, it is characterized in that：The synchronized push system Including chute inlet, receiver, servomotor, driving chain, synchromesh gear, driven pulley, engagement chain, watertight conduit, hydraulic pressure The receiver of sensor, obturator and engaging detent, chute inlet and reception signal is connected on barge deck, is fixed on and is refuted Servomotor on boat deck is connected by driving chain with synchromesh gear, and synchromesh gear is connected by engagement chain and driven pulley Connect, engaging detent is located in engagement chain, and the top of the watertight conduit set on the outside of slideway is connected on barge deck, its bottom It is connected on the transmitting tube of pneumatic emission system, hydraulic pressure sensor is put on the inside of watertight conduit, and obturator includes stainless steel steel Plate, hinge, electromagnet, bumping post, closed-loop and elastic rubber ring, stainless-steel sheet are connected on transmitting tube, and hinge is hinged on not Become rusty on steel steel plate, closed-loop it is embedding elastic rubber ring, end connection electromagnet, be connected with two bumping posts on rear side of electromagnet.

4. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 1, it is characterized in that：The pneumatic emission system Including transmitting tube, transmitting cushion cap and pneumatic means；Transmitting tube is overlapped on transmitting cushion cap, and pneumatic means is located at outside transmitting tube Side, transmitting tube form for three sections before, during and after, use flange and bolt connection, including protecgulum, bonnet between each other（ 44）, preceding gas Close ring, middle gas-tight ring, rear gas-tight ring, upper rail, lower guideway, left rail, right rail, preceding upper liquid level sensor, front lower liquid Level sensor, afterwards upper liquid level sensor, afterwards lower liquid level sensor and underwater junction box, preceding gas-tight ring be fixed on transmitting tube leading portion with Stage casing junction, middle gas-tight ring are fixed on the center in transmitting tube stage casing, and rear gas-tight ring is fixed on transmitting tube stage casing and is connected with back segment To locate, upper rail is T-slot, and for upper rail at the top of transmitting inside pipe wall, lower guideway, which is located at, launches inside pipe wall bottom, left rail, For right rail respectively positioned at transmitting inside pipe wall arranged on left and right sides, upper rail, lower guideway, left rail, right rail pass through positioning Screw is fixed on inside transmitting tube, and preceding upper liquid level sensor is put above transmitting tube leading portion, and front lower liquid level sensor, which is put, to be launched Below pipe leading portion, upper liquid level sensor is put above transmitting tube back segment afterwards, and lower liquid level sensor is put below transmitting tube back segment afterwards, Preceding upper liquid level sensor, afterwards front lower liquid level sensor, upper liquid level sensor and rear lower liquid level sensor are both connected to transmitting stage casing Underwater junction box on, transmitting cushion cap is located at cabin bottom, including backing plate, preceding fixed steelring, rear fixed steelring, backing plate are fixed in Barge cabin bottom, preceding fixed steelring, rear fixed steelring are socketed through backing plate and transmitting tube；Pneumatic means is located at outside transmitting tube Side, including it is preceding ventilation valve, rear venting valve, impulse flask, impulse flask switch valve, impulse flask safety valve, transmitting valve, unidirectional Valve, middle air bottle, middle air bottle switch valve, middle air bottle safety valve, transmitting tube equalizing valve, water storage cabin, water tank ventilation valve, preceding note Draining valve, rear water injection valve, hydraulic press and shackle rod；Impulse flask is safe with impulse flask switch valve, impulse flask successively Valve, transmitting valve, check valve connect with transmitting tube gas circuit；Middle air bottle successively with middle air bottle switch valve, middle air bottle safety valve Water storage cabin is connected to, water storage cabin is connected by preceding water injection valve, rear water injection valve with transmitting tube water route, and hydraulic press is fixed on hull Outer transmitting tube bottom, shackle rod are hinged on transmitting bottom of the tube, front end connection transmitting tube protecgulum, rear end connection hydraulic press.

5. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 1, it is characterized in that：The calculating central control system On the right side of barge, including transceiver, computer center, weather monitoring instrument and GPS reference station, transceiver, meteorology Monitor, GPS reference station are put into equipment placement case, and computer center is arranged in barge command post.

6. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 1, it is characterized in that：It is described to pull system of moving under water Three sections before, during and after being divided into, including resistance to compression protects shell, sweeps extra large detection device, radio transmitting device, presetting apparatus, navigation Massaging device, fore-and-aft balance device, buoyancy adjustment device and advancing steering device；Resistance to compression protection cover top portion arrangement conductor, Guide afterwards, for being caught in upper rail, sweeping extra large detection device includes Forward-Looking Sonar, side scan sonar, sonic-sounding gear, marine magnetism Instrument, the transducer array of Forward-Looking Sonar are located at towing and moved under water system head, the signal generator of Forward-Looking Sonar, amplifier, matching Wave filter, scan converter are located at towing and moved under water above system leading portion, the signal generator of side scan sonar, amplifier, matching filter Ripple device, scan converter are located at towing and moved under water immediately below on front side of system, the signal generator of sonic-sounding gear, amplifier, matching Wave filter, scan converter are located at side scan sonar rear, and Forward-Looking Sonar, side scan sonar, the transducer array of sonic-sounding gear are equal It is placed in towing to move under water system bottom, the signal transacting region of sea magetometer is located above echo depth sounder, and probe positions are the bottom of at Portion transducer array center.

7. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 6, it is characterized in that：The radio transmitting device For Hisense's breath will to be swept, navigation information and towing information obtained by system inside sensors of moving under water be transmitted to calculating central control system, and will Calculate the order assigned of central control system and be transmitted to presetting apparatus, radio transmitting device be located at towing and moved under water system leading portion rear side； Described program control device includes single-chip microcomputer, clock circuit（ 96）, underwater terminal plate is connected with instrument with power supply.

8. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 6, it is characterized in that：The navigation information device On front side of leading portion, including Doppler sonar log, differential GPS, compass and trim meter, Doppler sonar log（ 99） , differential GPS, compass and trim meter put and moved under water in towing on system instrument neck.

9. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 6, it is characterized in that：The fore-and-aft balance device Including bow compartment water tank, after-peak tank water tank, pipeline, flowmeter and balanced water pump, bow compartment water tank is connected with after-peak tank water tank by pipeline, pipe Pipeline joint transfers the water in bow compartment water tank and after-peak tank water tank by the outlet pass of balanced water pump, balanced water pump by rotating.

10. according to the extra large cable synchronous unwrapping wire submariner device under water described in claim requirement 6, it is characterized in that：The Buoyance adjustment dress Moved under water system stage casing setting in towing, buoyancy adjustment device includes main ballast tank, air cleaner, kingston valve, air compressor machine, logical Air valve and gas bomb.