CN103626066A - Pitching-in-free collapse-free flexible cable arranging device - Google Patents
Pitching-in-free collapse-free flexible cable arranging device Download PDFInfo
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- CN103626066A CN103626066A CN201310606204.5A CN201310606204A CN103626066A CN 103626066 A CN103626066 A CN 103626066A CN 201310606204 A CN201310606204 A CN 201310606204A CN 103626066 A CN103626066 A CN 103626066A
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Abstract
The invention discloses a pitching-in-free collapse-free flexible cable arranging device which comprises a cable storage drum, a second speed reducer and a second direct current servo motor, wherein the cable storage drum, the second speed reducer and the second direct current servo motor are sequentially connected. The pitching-in-free collapse-free flexible cable arranging device is characterized by further comprising a PLC, a first optical-electricity encoder, a first direct current servo motor, a first speed reducer, a cable arranging mechanism and a second optical-electricity encoder, wherein the cable arranging mechanism comprises a traveling mechanism, a one-way one-head cable arranging lead screw and a linear speed diameter measurer. The pitching-in-free collapse-free flexible cable arranging device has the advantages of being large in arranged-cable diameter variation range, high in automatic adjustment capacity, reliable in reversing, free of extrusion, pitching and collapse, safe and the like.
Description
Technical field
The present invention relates to a kind of spooling gear, be particularly useful for large load cable winch and drag linear array hauling machine without incision without the flexible spooling gear that subsides.
Background technology
Row's cable winch in use often can occur that " stinging rope ", " disorder cable " " subside " that hawser pushes and the phenomenon such as malalignment.Special in the gap of the lower one deck hawser of last layer hawser embedding; can make extruding mutually between hawser; cause hawser impaired or distortion; affect the service life of hawser; especially in payout process; the hawser that embeds lower one deck can discharge suddenly to impact and make hawser fracture under the effect of pulling force, and the generation of this phenomenon even can cause the damage crisis of equipment to operate the safety into member.Along with the development of current technology, cable sector has also been proposed to higher more flexible requirement.A kind of automatic cable arrangement device comparatively common in modern production process is for adopting the scheme of double-end lead-screw.Row's cable leading screw and cable collection tube pass through chain---and chain sprocket drive, its transmitting ratio is determined by pitch, the cable diameter of double-end lead-screw.Winch, when folding and unfolding hawser, is realized the traveling gear of spooling gear and the rotary synchronous of cable collection tube by sprocket wheel chain gear.When the complete one deck hawser of cable collection tube folding and unfolding, traveling gear is just covered a single direction stroke on double-end lead-screw, and when storage winch is prepared under folding and unfolding one deck hawser, traveling gear is tuning on leading screw, proceed to next single direction stroke, realized traveling gear and cable collection tube synchronizeing in receiving payout process.Steady and reliable for what commutate, the screw thread that said mechanism need to process and join end to end on same axis, rotation direction is contrary.Due to the difficulty of processing technology, the head and the tail that are difficult to realize bidirectional helical are smoothly connected, " the Bidirectional-screw formula cable-remover " for example recording in 201020119935.9 patent document.This kind automatically row's cable mode in reality, apply comparatively extensively, have simple in structurely, performance is failure-free advantage comparatively, but the while also has following shortcoming:
The difficulty of processing of 1 two-way leading screw is large, and manufacturing cost is higher, and service life is short.
2 this kind of cable sectors, once completing, can only be suitable for a kind of hawser of diameter, the applicable ability to pitch variation, more impossible online pitches.
3 can not realize the self-control to deviation, if deviation ，Gai mechanism appears in leading screw or chain-sprocket wheel in the course of processing, cannot work.
The coupling of 4 cable tube length degree and cable sector stroke requires high, and it is poorer to mate, and cuts, subsides and be more serious;
5 difficulties due to processing technology, forward and reverse screw thread is difficult to realize the level and smooth of head and the tail and is connected, so easily impact in commutation process, produces noise.
Gap between 6 hawsers and winch cable collection tube two side shields, due to screw type winding, progressively reduces before commutation, after commutation, progressively increases again, produces space and form incision, subside near cable cylinder two side shields;
Therefore develop a kind of nothing incision and there is important theory significance and promotional value without the flexible spooling gear that subsides, especially to thering is outstanding practical significance for large load cable winch, folding and unfolding reducing cable winch.
Summary of the invention
The object of the present invention is to provide a kind of nothing incision without subsiding, the flexible spooling gear that degree of automation is high.
The technical solution used in the present invention is as follows:
A kind of without cutting without subsiding flexible spooling gear, comprise the cable collection tube, the second retarder and the second DC servo motor that connect successively, it is characterized in that also comprising PLC controller, the first photoelectric encoder, the first DC servo motor, the first retarder, cable sector and the second photoelectric encoder, cable sector comprises traveling gear, unidirectional single head row's cable leading screw and linear velocity diameter measuring appliance; Wherein the first DC servo motor is connected with unidirectional single head row cable leading screw by the first retarder, traveling gear is arranged on unidirectional single head row cable leading screw with hawser on cable collection tube and is connected and arranges cable, linear velocity diameter measuring appliance for detection of cable diameter and linear velocity and by cable diameter and linear velocity signal feedback to PLC controller; The second photoelectric encoder and the second DC servo motor are coaxially installed, for measuring the rotation angular signal of cable collection tube and cable collection tube angular signal being fed back to PLC controller; The first photoelectric encoder and the first DC servo motor are coaxially installed, for measuring the rotation angular signal of the first DC servo motor and the first DC servo motor angular signal being fed back to PLC controller; PLC controller goes out the corner of the required rotation of unidirectional single head row's cable leading screw when cable collection tube turns over a circle traveling gear transverse shifting respective pitches according to cable diameter and linear velocity calculated signals, and then by the first DC servo motor, the first retarder, controls single head row cable leading screw rotary rowed cable successively.
Described cable sector also comprises the first approach switch and the second approach switch, and described the first approach switch and the second approach switch are arranged at unidirectional single head row cable leading screw two ends, for controlling the stroke of traveling gear.
The present invention is a kind of to be had without the flexible spooling gear that subsides without incision: the variation range of cable diameter is large, self-regulation ability strong, commutation reliable, without extruding, without incision, without subsiding, the advantage such as safety.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is specific embodiment of the invention figure (front view);
Fig. 3 is specific embodiment of the invention figure (birds-eye view).
In figure: 1, PLC controller, the 2, first photoelectric encoder, the 3, first DC servo motor, 4, the first retarder, the 5, first approach switch, 6, linear velocity diameter measuring appliance, 7, traveling gear, 8, cable sector, 9, unidirectional single head row cable leading screw, 10, the second approach switch, 11, cable collection tube, 12, hawser, the 13, second retarder, 14, the second DC servo motor, the 15, second photoelectric encoder.
Specific embodiment:
As shown in Figure 1, the present invention is a kind of comprises PLC controller 1, the first photoelectric encoder 2 and the second photoelectric encoder 15, the first DC servo motor 3 and the second DC servo motor 14, the first retarder 4 and the second retarder 13, the first approach switch 5 and the second approach switch 10, linear velocity diameter measuring appliance 6, traveling gear 7, unidirectional single head row cable leading screw 9, cable collection tube 11 without incision without the flexible spooling gear that subsides.Wherein between photoelectric encoder and DC servo motor, by elastic coupling, join, between DC servo motor and retarder, by fast coupling, join, unidirectional screw mandrel and the first retarder 5 adopt coaxial rigid connection, approach and to open the light by thread connection on cable sector, traveling gear 7 joins by bearing and One-way nut and in free state.The second photoelectric encoder 15 is used for measuring the rotation corner of cable collection tube 11, and signal is passed to PLC controller 1, the corner of unidirectional single head row cable leading screw 9 required rotations when the data that PLC controller 1 is measured according to linear velocity diameter measuring appliance 6 calculate cable cylinder and turn over a circle traveling gear 7 transverse shifting respective pitches, the first grating encoder 2 and the first DC servo motor 3 are coaxially installed, measuring cell as the first DC servo motor 3 corners, it is actuating unit that the first DC servo motor 3 is take in formation, photoelectric encoder is detecting element, pseudo-derivative feedback is controlled as the closed loop servo-control system of algorithm, realize cable cylinder 11 and often turn around, traveling gear 7 moves the distance (arranging cable pitch) of a cable diameter, and this pitch also can set by software in good time, and the stroke of traveling gear 7 can be adjusted by the first approach switch 5 and the second approach switch 10, and dead time (cable cylinder rotate to an angle required time) of each leading screw commutation can be set, reduce the space of two ends and side plate, thereby realized without incision without the flexible function of arranging cable of subsiding.
If accompanying drawing 1 is for a kind of nothing incision is without subsiding flexible cable sector schematic diagram.Adopt the type of drive of feed screw nut, unidirectional single head row cable leading screw 9 is driven through the first retarder 4 by the first DC servo motor 3, at cable collection tube 11, by the second DC servo motor 14, through the second retarder 13, driven, using PLC controller 1, as master controller, is realized the closed loop control of pitches row cable.
Cable sector require can be when winch starts at every turn automatic decision sense of motion.When winch is during at folding and unfolding same layer cable, traveling gear 7 rotates towards a direction all the time, just motion in the opposite direction while having commutation signal.Before winch single folding and unfolding action stops, traveling gear 7 is just by this rule action.But while starting again, traveling gear 7 becomes state of kinematic motion from halted state, and above-mentioned rule cannot work, just must in control program, judge the initial motion direction of traveling gear 7 after winch stops operating.
With the guard relay unit A with power down maintenance function in PLC controller 1, carry out the number of plies of holder upper cable.When winch take-up, the number of plies of cable collection tube 11 upper cables of the every commutation of traveling gear 7 just increases by 1, and control program just adds 1 the value of A.During winch cable laying, the number of plies of cable collection tube 11 upper cables of the every commutation of traveling gear 7 just reduces 1, and control program just subtracts 1 the value of A.What like this, the value in A just recorded is the number of plies of cable collection tube 11 current hawsers.Suppose that ground floor hawser is to start to be involved in from the left side of cable collection tube 11, has corresponding relation as shown in table 1 below so:
Table 1
Below by specific embodiment, and by reference to the accompanying drawings 2 and 3, technical scheme of the present invention is described in further detail.
Drag linear array towing trial system: towed body, except dragging 75 meters of linear arrays (diameter 50mm), is led 25 meters of 1000 meters, cable (diameter 31mm) and tail ropes (diameter 25mm) in addition.System by the first DC servo motor 3, the first retarder 4, cable sector 8, traveling gear 47, unidirectional single head row cable leading screw 9, the first approach switch 5 and the second approach switch 10, the first photoelectric encoder 2 and the and in photoelectric encoder 15, cable collection tube 11, hawser 12, linear velocity diameter measuring appliance 6, the second DC servo motor 14 and PLC controller 1(figure, do not mark) form; System comprises two closed loop systems, i.e. linear velocity closed loop and angle position closed loop.It is power that linear velocity closed loop be take the second DC servo motor 14, and the linear velocity signal that the linear velocity diameter measuring appliance 6 of take records is feedback, and it be the linear velocity closed loop control system of algorithm that pseudo-derivative feedback is controlled, linear velocity constant control during for folding and unfolding cable, angle position closed loop is for realizing the control needs without the flexible spooling gear that subsides without incision, the photoelectric encoder 15 measuring cable cylinder rotation corners that are connected through the second retarder 13 with cable collection tube 11, pass to PLC controller 1, the corner of unidirectional single head row cable leading screw 9 required rotations when the cable diameter that PLC controller 1 is measured according to linear velocity diameter measuring appliance 6 calculates cable collection tube 11 and often turns over a circle traveling gear 7 transverse shifting respective pitches, also be the corner of the first DC servo motor 3, the first photoelectric encoder 2 and the first DC servo motor 3 are coaxially installed, measuring cell as the first DC servo motor 3 corners, it is actuating unit that the first DC servo motor 3 is take in formation, the second photoelectric encoder 15 is given, the first photoelectric encoder 2 is detecting element, pseudo-derivative feedback is controlled as the servo control unit of algorithm, realize cable collection tube 11 and often turn around, traveling gear 7 moves the distance (arranging cable pitch) of a cable diameter, and this pitch also can be set by software in good time.The stroke of traveling gear 7 can be adjusted by the first approach switch 5 and the second approach switch 10, and the dead time (be generally cable cylinder and rotate 3 pi/2 required times) when 9 commutation of each unidirectional single head row cable leading screw can be set, reduce the space of two ends and side plate, thereby realized the function without the flexible row's cable that subsides without incision.
Drag linear array first by cable diameter velocity meter 6, and give PLC controller 1 by measured cable diameter and linear velocity, then, through the traveling gear 7 on row's cable screw mandrel, finally drag the head end of linear array to be fixed on cable collection tube 11.When dragging linear array folding and unfolding, the second DC servo motor 14 drags cable collection tube 11 rotations, and its rotative speed will be measured by the second photoelectric encoder 15, and send the rotating speed of measurement to PLC controller.PLC controller calculates the rotating speed of unidirectional single head row cable screw mandrel 9 according to the rotative speed of cable collection tube 11 and the measured cable diameter of cable diameter velocity meter 6, and by needed rotating speed, gives screw mandrel and drive the first DC servo motor 3.The first DC servo motor 3 is according to the given rotating speed rotation of PLC controller 1, through the first retarder 4, by transmission of torque, give unidirectional single head row cable screw mandrel 9, rotation along with unidirectional single head row cable screw mandrel 9, has realized traveling gear side-to-side movement, makes the hawser can be evenly distributed at cable collection tube 11.The left and right domain of walk of traveling gear 7 can be adjusted by the first approach switch 5 and the second approach switch 10 that are arranged on cable sector.When traveling gear moves to right(left)end and touches the first approach switch 5 or the second approach switch 10, the first approach switch 5 or the second approach switch 10 trigger, when PLC controller 1 receives energizing signal, change immediately the hand of rotation of the first DC servo motor 3, physical construction that need not be complicated just can have been realized automatic reverse.
Claims (2)
1. a nothing incision is without subsiding flexible spooling gear, comprise the cable collection tube (11), the second retarder (13) and the second DC servo motor (14) that connect successively, it is characterized in that: also comprise PLC controller (1), the first photoelectric encoder (2), the first DC servo motor (3), the first retarder (4), cable sector (8) and the second photoelectric encoder (15), cable sector (8) comprises traveling gear (7), unidirectional single head row's cable leading screw (9) and linear velocity diameter measuring appliance (6); Wherein the first DC servo motor (3) is connected with unidirectional single head row's cable leading screw (9) by the first retarder (4), traveling gear (7) is arranged at unidirectional single head row's cable leading screw (9) hawser upper and on cable collection tube (11) and is connected and arranges cable, linear velocity diameter measuring appliance (6) for detection of cable diameter and linear velocity and by cable diameter and linear velocity signal feedback to PLC controller (1); The second photoelectric encoder (15) is coaxially installed with the second DC servo motor (14), for measuring the rotation angular signal of cable collection tube (11) and cable collection tube (11) angular signal being fed back to PLC controller (1); The first photoelectric encoder (2) is coaxially installed with the first DC servo motor (3), for measuring the rotation angular signal of the first DC servo motor (3) and the first DC servo motor (3) angular signal being fed back to PLC controller (1); PLC controller (1) goes out the corner of the required rotation of unidirectional single head row's cable leading screw (9) when cable collection tube (11) turns over circle traveling gear (7) transverse shifting respective pitches according to cable diameter and linear velocity calculated signals, and then by the first DC servo motor (3), the first retarder (4), controls single head row cable leading screw (9) rotary rowed cable successively.
2. according to claim 1 a kind of without cutting without subsiding flexible spooling gear, it is characterized in that: described cable sector (8) also comprises the first approach switch (5) and the second approach switch (10), described the first approach switch (5) and the second approach switch (10) are arranged at unidirectional single head row cable leading screw (9) two ends, for controlling the stroke of traveling gear (7).
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| CN201310606204.5A CN103626066A (en) | 2013-11-25 | 2013-11-25 | Pitching-in-free collapse-free flexible cable arranging device |
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| CN201310606204.5A CN103626066A (en) | 2013-11-25 | 2013-11-25 | Pitching-in-free collapse-free flexible cable arranging device |
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| CN104261211A (en) * | 2014-09-23 | 2015-01-07 | 天津市禾厘油气技术有限公司 | Cable laying device of deep water ditching umbilical cable winch |
| CN104555779A (en) * | 2015-01-20 | 2015-04-29 | 湖南科技大学 | Intelligent electrically-driven cable arranging device of marine winch |
| CN104925686A (en) * | 2014-03-18 | 2015-09-23 | Abb公司 | Method for operating winch, and winch |
| CN106672286A (en) * | 2017-03-02 | 2017-05-17 | 天鼎丰聚丙烯材料技术有限公司 | Geotechnical cloth winding film automatic packing device and packing method thereof |
| CN107381392A (en) * | 2017-05-31 | 2017-11-24 | 江苏马力德机械有限公司 | Towing winch peculiar to vessel |
| CN107720457A (en) * | 2017-11-13 | 2018-02-23 | 山东交通学院 | A kind of practical cable for ship winch |
| CN108445473A (en) * | 2018-05-18 | 2018-08-24 | 杭州电子科技大学 | Manual-automatic integral sonar cable draw off gear |
| CN109231047A (en) * | 2018-08-30 | 2019-01-18 | 中联重科股份有限公司 | The device and method for controlling hoisting mechanism row's rope |
| CN111186783A (en) * | 2020-01-16 | 2020-05-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Winch control system facing variable diameter cable and control method thereof |
| CN111747207A (en) * | 2020-06-22 | 2020-10-09 | 芜湖富田电子科技有限公司 | Coiling mechanism is used in plastic tubing extrusion molding |
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| CN112374404A (en) * | 2021-01-18 | 2021-02-19 | 河南巨人起重机集团有限公司 | Unattended intelligent crane |
| CN113753781A (en) * | 2021-08-20 | 2021-12-07 | 南通力威机械有限公司 | Self-adaptive multi-redundancy cable arrangement system and control method |
| CN116119558A (en) * | 2023-04-14 | 2023-05-16 | 深之蓝海洋科技股份有限公司 | Cable arrangement control method and device for winch, storage medium and electronic equipment |
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| CN104925686A (en) * | 2014-03-18 | 2015-09-23 | Abb公司 | Method for operating winch, and winch |
| CN104925686B (en) * | 2014-03-18 | 2017-04-19 | Abb公司 | Method for operating winch, and winch |
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| CN104261211B (en) * | 2014-09-23 | 2016-08-24 | 天津市禾厘油气技术有限公司 | A kind of spooling gear for deepwater trencher umbilical cable winch |
| CN104261211A (en) * | 2014-09-23 | 2015-01-07 | 天津市禾厘油气技术有限公司 | Cable laying device of deep water ditching umbilical cable winch |
| CN104555779A (en) * | 2015-01-20 | 2015-04-29 | 湖南科技大学 | Intelligent electrically-driven cable arranging device of marine winch |
| CN106672286A (en) * | 2017-03-02 | 2017-05-17 | 天鼎丰聚丙烯材料技术有限公司 | Geotechnical cloth winding film automatic packing device and packing method thereof |
| CN107381392A (en) * | 2017-05-31 | 2017-11-24 | 江苏马力德机械有限公司 | Towing winch peculiar to vessel |
| CN107720457A (en) * | 2017-11-13 | 2018-02-23 | 山东交通学院 | A kind of practical cable for ship winch |
| CN108445473B (en) * | 2018-05-18 | 2023-06-16 | 杭州电子科技大学 | Manual-automatic integrated sonar rope winding and unwinding device |
| CN108445473A (en) * | 2018-05-18 | 2018-08-24 | 杭州电子科技大学 | Manual-automatic integral sonar cable draw off gear |
| CN109231047A (en) * | 2018-08-30 | 2019-01-18 | 中联重科股份有限公司 | The device and method for controlling hoisting mechanism row's rope |
| CN109231047B (en) * | 2018-08-30 | 2020-07-28 | 中联重科股份有限公司 | Device and method for controlling winding mechanism rope arrangement of hoisting machinery |
| CN111186783A (en) * | 2020-01-16 | 2020-05-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Winch control system facing variable diameter cable and control method thereof |
| CN111747207A (en) * | 2020-06-22 | 2020-10-09 | 芜湖富田电子科技有限公司 | Coiling mechanism is used in plastic tubing extrusion molding |
| CN111762705A (en) * | 2020-06-28 | 2020-10-13 | 江苏科技大学 | Control device and control method for electric cable storage winch |
| CN112374404A (en) * | 2021-01-18 | 2021-02-19 | 河南巨人起重机集团有限公司 | Unattended intelligent crane |
| CN112374404B (en) * | 2021-01-18 | 2021-04-02 | 河南巨人起重机集团有限公司 | Unattended intelligent crane |
| CN113753781A (en) * | 2021-08-20 | 2021-12-07 | 南通力威机械有限公司 | Self-adaptive multi-redundancy cable arrangement system and control method |
| CN113753781B (en) * | 2021-08-20 | 2023-05-12 | 南通力威机械有限公司 | Self-adaptive multi-redundancy cable arranging system and control method |
| CN116119558A (en) * | 2023-04-14 | 2023-05-16 | 深之蓝海洋科技股份有限公司 | Cable arrangement control method and device for winch, storage medium and electronic equipment |
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Application publication date: 20140312 |