CN105967002A - Cable take-up and pay-off system - Google Patents

Cable take-up and pay-off system Download PDF

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Publication number
CN105967002A
CN105967002A CN201610347716.8A CN201610347716A CN105967002A CN 105967002 A CN105967002 A CN 105967002A CN 201610347716 A CN201610347716 A CN 201610347716A CN 105967002 A CN105967002 A CN 105967002A
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CN
China
Prior art keywords
cable
row
motor
storage
traction
Prior art date
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Granted
Application number
CN201610347716.8A
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Chinese (zh)
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CN105967002B (en
Inventor
张兰勇
刘泽威
刘胜
李冰
刘洪丹
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Harbin Engineering University
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Harbin Engineering University
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Priority to CN201610347716.8A priority Critical patent/CN105967002B/en
Publication of CN105967002A publication Critical patent/CN105967002A/en
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Publication of CN105967002B publication Critical patent/CN105967002B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44Constructional details
    • B65H75/4402Guiding arrangements to control paying-out and re-storing of the material
    • B65H75/4405Traversing devices; means for orderly arranging the material on the drum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44Constructional details
    • B65H75/4481Arrangements or adaptations for driving the reel or the material
    • B65H75/4486Electric motors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00Dimension; Position; Number; Identification; Occurence
    • B65H2511/20Location in space
    • B65H2511/21Angle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30Force; Stress
    • B65H2515/32Torque; Moment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00Handled material; Storage means
    • B65H2701/30Handled filamentary material
    • B65H2701/35Ropes, lines

Abstract

The invention provides a cable take-up and pay-off system. A cable storage angle sensor traces the change of the rotating amount of a cable storage barrel and sends the change to a main controller; the main controller sends a corresponding control instruction to a cable discharge motor driver according to the change of the rotating amount of the cable storage barrel; the cable discharge motor driver receives the control instruction sent by the main controller and controls a cable discharge motor to provide the change of cable discharge power for a cable discharge motor reducer; therefore, the power provided for a screw rod by the cable discharge motor reducer is also changed due to the change of the cable discharge power; and accordingly the left-right moving distance of a cable discharge frame driven by the screw rod is also changed. According to the cable take-up and pay-off system, under driving of a direct current motor, the moving distance of the cable discharge frame and the change of the rotating amount of the cable storage barrel meet the predetermined corresponding relationship, that is, in the working state, the cable storage barrel rotates by one circle, the cable discharge frame walks by one pitch along a screw pair reciprocating mechanism, and the cable discharge pitch is precisely controlled.

Description

Hawser extension and retraction system
Technical field
The present invention relates to the technical field of hawser folding and unfolding, particularly relate to a kind of hawser extension and retraction system.
Background technology
Hawser extension and retraction system is used for controlling the release of hawser, reclaiming and brake.The used traction electric machine of prior art is alternating current generator, Utilize converter that alternating current generator is carried out speed regulating control;Storage cable process employing alternating current generator driving cable collection tube, proportion of utilization-integration- Differential control method controls the output of converter thus regulates the tension force of hawser;Row's cable process, by step motor drive, passes through stepping It is synchronization with cable collection tube that the opened loop control of motor realizes row's cable system.Row's cable process needs cable support to carry out exactly arranging cable pitch Controlling, the pitch control accuracy of prior art can not fully meet the demand of system.
Summary of the invention
It is an object of the invention to provide a kind of hawser extension and retraction system, the hawser extension and retraction system solving prior art cannot accurately be arranged The problem that cable pitch controls.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of hawser extension and retraction system, including the traction apparatus being fixed on base, storage cable device, spooling gear and control device, Wherein:
Traction electric machine that described traction apparatus includes being positioned on base, shaft coupling, traction electric machine decelerator, traction wheel, traction electricity Brake;Described traction electric machine is connected with traction electric machine decelerator by shaft coupling, provides traction to traction electric machine decelerator Power, and after deceleration traction power is assigned to traction wheel;Described traction wheel has been used for the folding and unfolding to hawser;Described traction Wheel is also connected with pulling motor braking device, and traction electric machine is braked by described pulling motor braking device;
Described storage cable device includes the storage cable motor being positioned on base, cable collection tube, storage cable motor reducer, stores up cable electromotor brake; Described storage cable motor is connected with storage cable motor reducer, provides storage cable power to storage cable motor reducer, and described storage cable motor subtracts The output shaft of speed device drives cable collection tube to rotate and realizes rolling and storage line;Described storage cable motor is also connected with storage cable electromotor brake, Storage cable motor is braked by described storage cable electromotor brake;
Row's cable motor that described spooling gear includes being positioned on base, row's cable motor reducer, screw pair reciprocator, cable support, Pole, travel switch;Described cable support is arranged on two polished rods, and dismountable with screw mandrel is connected, and the two ends of polished rod are arranged On pole, screw mandrel is arranged on the output shaft of row's cable motor reducer;Described row's cable motor is connected with row's cable motor reducer, Thering is provided row cable power to row's cable motor reducer, the output shaft of row's cable motor reducer drives cable support to move left and right by screw mandrel; Described row's cable motor reducer is positioned at one end of base;Described travel switch is arranged at the two ends of described base, is used for controlling to arrange cable The rotating of motor;Described row's cable motor provides power by row's cable motor reducer to screw mandrel, drives cable support;At work shape During state, cable collection tube rotation is turned around, and cable support arrives automatic reverse behind two ends along screw pair reciprocator one pitch of walking, row's cable, Start the arrangement of another layer;Described row's cable motor is direct current generator;
Described control device includes master controller and the motor driver electrically connected with master controller, relay, catalyst, sensing Device, and the industrial computer being connected with master controller by serial ports;Industrial computer receives the control instruction of user, and control instruction is sent out Deliver to master controller;The change of sensor detecting system parameter, and systematic parameter is sent to master controller, wherein, described storage Cable angular transducer is positioned at one end of the output shaft of storage cable motor reducer, for measuring the amount of spin of cable collection tube, described Row's cable angular transducer is positioned at one end of the output shaft of row's cable motor reducer, for turning the output shaft of row's cable motor reducer Momentum measures;Master controller receives control instruction and the systematic parameter of sensor transmission that industrial computer sends, and drives to motor Dynamic device, relay, catalyst send control instruction;Motor driver, relay, catalyst receive the control that master controller sends System instruction, controls the take-up of hawser, cable laying, stopping, jerk, row's cable process.
On this basis, further, described master controller uses STM32 series monolithic.
On the basis of above-mentioned any embodiment, further, described row's cable motor is DC servo motor.
On the basis of above-mentioned any embodiment, further, described traction electric machine is direct current generator.
On the basis of above-mentioned any embodiment, further, described storage cable motor is direct current generator.
On the basis of above-mentioned any embodiment, further, described traction wheel is double active friction wheels.
On the basis of above-mentioned any embodiment, further, described cable support includes the cycloid frame that can pivot.
On the basis of above-mentioned any embodiment, further, also including the reversing arrangement being fixed on base, described commutation fills Put and be connected with cable support and cable collection tube, for realizing the commutation of hawser.
On the basis of above-mentioned any embodiment, further, also include the guide wheel being arranged on the operating path of hawser, be used for Hawser is made not swipe with ground.
On the basis of above-mentioned any embodiment, further, described control device also includes the display screen electrically connected with industrial computer.
The invention has the beneficial effects as follows:
The invention provides a kind of hawser extension and retraction system, storage cable angular transducer traces into the change of the amount of spin of cable collection tube, and will It is sent to master controller;Master controller, according to the change of the amount of spin of cable collection tube, sends corresponding control to row's cable motor driver System instruction;Row's cable motor driver receives the control instruction that master controller sends, and controls row's cable motor to row's cable motor reducer The change of the row's cable power provided;The most therefore the power that the change of row's cable power makes row's cable motor reducer be supplied to screw mandrel change; The most therefore the distance that screw mandrel drives cable support to move left and right changes.The present invention arranges cable motor and uses direct current generator, unidirectional current Machine good speed adjustment features, the stepless time adjustment can realize in the case of heavy duty uniformly, smoothed, and speed-regulating range width, starting torque Greatly, starting-impact is little, it is possible to achieve smooth start;Under the driving of direct current generator, make displacement and the cable collection tube of cable support The change of amount of spin meet predetermined corresponding relation, time the most in working order, cable collection tube rotation is turned around, and cable support is along screw pair Reciprocator's one pitch of walking, and under the control of travel switch, behind row's cable arrival two ends, automatic reverse starts the row of another layer Cloth, just can reach the accurate control to row's cable pitch.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 shows the structural representation of a kind of hawser extension and retraction system that the embodiment of the present invention provides;
Fig. 2 shows the theory diagram of a kind of hawser extension and retraction system that the embodiment of the present invention provides;
Fig. 3 shows the structural representation of a kind of traction apparatus that the embodiment of the present invention provides;
Fig. 4 shows a kind of structural representation storing up cable device that the embodiment of the present invention provides;
Fig. 5 shows the structural representation of a kind of spooling gear that the embodiment of the present invention provides;
Fig. 6 shows a kind of theory diagram controlling device that the embodiment of the present invention provides;
Fig. 7 shows a kind of row's cable control principle schematic diagram that the embodiment of the present invention provides;
Fig. 8 shows a kind of STM32F105RC core circuit figure that the embodiment of the present invention provides;
Fig. 9 shows that the one three road PWM that the embodiment of the present invention provides captures circuit diagram;
Figure 10 shows a kind of DI/DO circuit diagram that the embodiment of the present invention provides;
Figure 11 shows the one three road serial ports channel circuit figure that the embodiment of the present invention provides;
Figure 12 shows a kind of isolation AD input channel circuit diagram that the embodiment of the present invention provides.
In figure, 1. traction apparatus, 2. storage cable device, 3. spooling gear, 4. control device, 5. reversing arrangement, 6. guide wheel, 7. cable Rope, 9. base, 101. traction wheels, 102. traction electric machine decelerators, 103. pulling motor braking devices, 104. traction electric machines, 201. Storage cable motor, 202. storage cable electromotor brakes, 203. storage cable motor reducers, 204. cable collection tubes, 301. row's cable motors, 302. Cable support, 303. polished rods, 304. screw mandrels, 305. travel switches, 306. poles, 401. storage cable angular transducers, 402. row's cable angles Degree sensor.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, to this Bright it is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, does not limit The present invention.
Specific embodiment one
As it is shown in figure 1, the invention provides a kind of hawser extension and retraction system, including the traction apparatus 1 being fixed on base 9, storage Cable device 2, spooling gear 3 and control device 4, wherein:
As it is shown on figure 3, described traction apparatus 1 includes that the traction electric machine 104 being positioned on base 9, shaft coupling, traction electric machine subtract Speed device 102, traction wheel 101, pulling motor braking device 103;Described traction electric machine is by shaft coupling and traction electric machine decelerator 102 are connected, and provide traction power to traction electric machine decelerator 102, and after deceleration traction power are assigned to traction wheel 101;Described traction wheel 101 has been used for the folding and unfolding to hawser 7;Described traction wheel 101 also with pulling motor braking device 103 Being connected, traction electric machine is braked by described pulling motor braking device 103;
As shown in Figure 4, described storage cable device 2 includes the storage cable motor 201 being positioned on base 9, cable collection tube 204, stores up cable electricity Machine decelerator 203, storage cable electromotor brake 202;Described storage cable motor 201 is connected with storage cable motor reducer 203, to Storage cable motor reducer 203 provides storage cable power, and the output shaft of described storage cable motor reducer 203 drives cable collection tube 204 to revolve Turn and realize rolling and storage line;Described storage cable motor 201 is also connected with storage cable electromotor brake 202, described storage cable motor system Storage cable motor 201 is braked by dynamic device 202;
As it is shown in figure 5, described spooling gear 3 includes row's cable motor 301, row cable motor reducer, the spiral shell being positioned on base 9 Xuan Fu reciprocator, cable support 302, pole 306, travel switch;Described cable support 302 is arranged on two polished rods 303, And dismountable with screw mandrel 304 be connected, the two ends of polished rod 303 are arranged on pole 306, screw mandrel 304 row of being arranged at cable electricity On the output shaft of machine decelerator;Described row's cable motor 301 is connected with row's cable motor reducer, provides to row's cable motor reducer Row's cable power, the output shaft of row's cable motor reducer drives cable support 302 to move left and right by screw mandrel 304;Described row's cable electricity Machine decelerator is positioned at one end of base 9;Described travel switch 305 is arranged at the two ends of described base 9, is used for controlling to arrange cable The rotating of motor;Described row's cable motor provides power by row's cable motor reducer to screw mandrel, drives cable support 302;In work When making state, cable collection tube 204 rotation is turned around, and cable support 302 arrives along screw pair reciprocator one pitch of walking, row's cable Automatic reverse behind two ends, starts the arrangement of another layer;Described row's cable motor 301 is direct current generator;
As shown in Figure 6, described control device 4 include master controller and the motor driver electrically connected with master controller, relay, Catalyst, sensor, and the industrial computer being connected with master controller by serial ports;Industrial computer receives the control instruction of user, and Control instruction is sent to master controller;The change of sensor detecting system parameter, and systematic parameter is sent to master controller, Wherein, described storage cable angular transducer 401 is positioned at one end of the output shaft of storage cable motor reducer 203, for cable collection tube Amount of spin measure, described row's cable angular transducer 402 is positioned at one end of output shaft of row's cable motor reducer, for right The amount of spin of the output shaft of row's cable motor reducer measures;Master controller receives control instruction and the sensor that industrial computer sends The systematic parameter sent, and send control instruction to motor driver, relay, catalyst;Motor driver, relay, Catalyst receives the control instruction that master controller sends, and controls the take-up of hawser 7, cable laying, stopping, jerk, row's cable process.
As shown in Figure 2 and Figure 7, embodiments provide a kind of hawser extension and retraction system, storage cable angular transducer 401 with Track is to the change of the amount of spin of cable collection tube, and sends it to master controller;Master controller is according to the amount of spin of cable collection tube 204 Change, sends corresponding control instruction to row's cable motor driver;Row's cable motor driver receives the control that master controller sends Instruction, controls the change of row's cable power that row's cable motor 301 provides to row's cable motor reducer;The change of row's cable power makes row Cable motor reducer is supplied to the power of screw mandrel and the most therefore changes;Screw mandrel 304 drives distance that cable support 302 moves left and right also Therefore change.Arranging cable motor in the embodiment of the present invention and use direct current generator, DC motor speed-regulating performance is good, can be in heavy duty In the case of realize uniformly, smooth stepless time adjustment, and speed-regulating range width, starting torque is big, and starting-impact is little, it is possible to achieve Smooth start;Under the driving of direct current generator, make the displacement of cable support 302 and the change of the amount of spin of cable collection tube 204 Meeting predetermined corresponding relation, time the most in working order, cable collection tube 204 rotation is turned around, and cable support 302 is reciprocal along screw pair Mechanism's one pitch of walking, and under the control of travel switch, behind row's cable arrival two ends, automatic reverse starts the arrangement of another layer, Just can reach the accurate control to row's cable pitch.Although motor cost is relatively low, but the step-out of being likely to result in, cause following the tracks of not Accurately;Alternating current generator regulates rotating speed by changing supply frequency, owing to motor equivalent inductive reactance changes along with the change of frequency, Its stability is poor, is difficulty with fine speed governing;Direct current generator selected by row's cable motor 301, by cable collection tube during row's cable The detection of the amount of spin of 204 controls the distance that cable support 302 moves left and right, and solves the possible step-out of motor, follows the tracks of not Problem and the complex problem of AC Motor Control mode accurately.
Master controller is chosen and is not limited by the embodiment of the present invention, it is preferred that described master controller can use STM32 system Row single-chip microcomputer.It is excellent that STM32 series monolithic has real-time performance, low in energy consumption, and integrating degree is high, it is easy to exploitation, deposits Storage space is little, low cost, compatible high advantage;Although programmable logic controller (PLC) is compared in the programming of STM32 series monolithic For complex, but flexible in programming, control accuracy is compared and used programmable logic controller (PLC) is that the mode of master controller has Significantly improve, it is possible to make the folding and unfolding that hawser 7 is uniform sequential.
The type of the direct current generator selected by row's cable motor 301 is not limited by the present invention, it is preferred that described row's cable motor 301 It can be DC servo motor.DC servo motor selected by row's cable motor 301, can take into account reliability and design that position is followed the tracks of Cost.Compared with non-servo direct current generator, the electromechanical time constant of DC servo motor is little, and the linearity is high, and pickup voltage is little, Start and stop fast, and angular displacement or the angular velocity that the signal of telecommunication received can be converted on motor reel export.
The type of traction electric machine 104 is not limited by the present invention, it is preferred that described traction electric machine 104 can be direct current generator. DC motor speed-regulating performance is good, the stepless time adjustment can realize in the case of heavy duty uniformly, smoothed, and speed-regulating range width, rises Kinetic moment is big, and starting-impact is little, it is possible to achieve smooth start.Making that hawser 7 folding and unfolding speed is electrodeless in the range of 0~1.5m/s can Timing, traction electric machine is uniform, smooth, accurate speed governing, and it is little to power surges to play Dynamic stability, it is achieved precisely speed governing.
The type of storage cable motor 201 is not limited by the present invention, it is preferred that described storage cable motor 201 can be direct current generator. DC motor speed-regulating performance is good, the stepless time adjustment can realize in the case of heavy duty uniformly, smoothed, and speed-regulating range width, rises Kinetic moment is big, and starting-impact is little, it is possible to achieve smooth start.
The type of traction wheel is not limited by the embodiment of the present invention, it is preferred that described traction wheel can be double active friction wheels.With As a example by the application on mooring ship lifting structure of the hawser extension and retraction system, traction apparatus is according to the wire casing of traction wheel and rubbing of tether cable Wiping power balances the pull strength of mooring ship, by the multi-turn race attenuation to pull strength, makes the winding tension of storage cable dish meet Design requirement less than 300N.When traction wheel uses double active friction wheel, it is known that tether cable and the friction system of traction wheel Number f=0.12, pull strength F during mooring ship maximal ratei=10t, the winding tension F of storage cable disho≤ 300N, tether cable is leading Being wound up as a full circle on running wheel, angle [alpha]=2 π, n are traction race number.FiWith FoThere is following relation:
Fi=Fo×enαf, then:
n = l n F i F o α f = l n 100000 300 2 × 3.14 × 0.12 = 7.71.
Round, then the groove number n=8 of traction wheel.And when traction wheel uses the friction pulley of principal and subordinate's combination, tether cable leads main Being wound up as semicircle, angle [alpha]=π on running wheel, the groove number of the traction wheel calculated is at least 16.As can be seen here, when leading When running wheel uses double active friction wheel, it is possible to reduce the groove number of required traction wheel.
On the basis of above-mentioned any embodiment, further, described cable support 302 can include the cycloid frame that can pivot. Cable support 302 arranges the cycloid frame that can pivot so that cable collection tube 204 when take-up by bottom to top layer When radial dimension continues to increase, the cable discharged by cycloid frame and cable collection tube 204 keep tangent substantially, are so easy to cable collection tube The hawser 7 of 204 rollings is arranged uniformly.
On the basis of above-mentioned any embodiment, further, the embodiment of the present invention can also include being fixed on changing on base 9 To device 5, described reversing arrangement is connected with cable support 302 and cable collection tube 204, for realizing the commutation of hawser 7.Such as figure Shown in 1, whole system can be installed in the shelter of a length × width × height=12m × 4.5m × 2.5m by the embodiment of the present invention: Traction apparatus 1 is front, and spooling gear 3 and storage cable device 2 are rear, placed side by side.Increase a reversing arrangement 4, it is achieved cable Rope commutation, takes up an area space to save, and switch board is placed can be on traction apparatus 1 side.Integral layout considers gravity allocation And operation ease, system gravity can be made at shelter immediate vicinity, it is ensured that shelter is steady when rotated, and there is operation dimension Protect space.
On the basis of above-mentioned any embodiment, further, the embodiment of the present invention can also include the operation being arranged at hawser 7 Guide wheel 6 on path, is used for making hawser 7 not swipe with ground.Advantage of this is that, reduce the abrasion of hawser 7, extend Its service life.
On the basis of above-mentioned any embodiment, further, described control device 4 can also include electrically connecting with industrial computer Display screen.The introducing of display screen so that user can carry out real time inspection to the systematic parameter measured by sensor easily.
On the basis of above-mentioned any embodiment, further, described industrial computer can be also used for on-line monitoring.Do so good Place it is possible under conditions of system is in operation, carries out systematic parameter continuously or the monitoring of timing.
On the basis of above-mentioned any embodiment, further, described industrial computer can be also used for data preservation.Data preserve Benefit is, can provide the user the function of archives data and data query, it is simple to user according to the running status of a period of time, System is carried out biometry or failure predication.
On the basis of above-mentioned any embodiment, further, described sensor can also including, being arranged at traction electric machine slows down Oils and fats temperature sensor in device 102 and storage cable motor reducer 203.Oils and fats temperature sensor can be in ambient temperature Time relatively low, oils and fats in traction electric machine decelerator 102 and storage cable motor reducer 203 is heated, make up to setting temperature Degree is operated again.
Specific embodiment two
Hawser draw off gear for large-scale mooring ship is generally fixed in the shelter of ground, for mooring ship lift-off, stay empty and return It is incorporated as industry, is realized the lift-off of mooring ship by release tether cable, realize staying of mooring ship by tether cable traction empty, returning Tether cable is wound on cable collection tube by the time receiving in an orderly manner.Owing to the ground net buoyancy of large-scale mooring ship commonly reaches 2-3t, in the air Under 35m/s wind friction velocity, the maximum pull of tether cable is up to 14t, and mooring ship work safety is completely dependent on Ground Mooring hawser and receives Put device, even if in extreme conditions, it is also necessary to safe and reliable, including stay empty, go up to the air and the state such as recovery.
As shown in Figure 6, embodiments providing a kind of hawser extension and retraction system, industrial computer is received by human-computer interaction interface The work such as control instruction transmission, in-service monitoring, data preservation such as cable cable laying.Industrial computer is connected with master controller by serial ports, enters Row is in communication with each other.Main control receive industrial computer send control instruction and travel switch, angular transducer, temperature sensor and The input of other on-off model, and send control instruction and remove the electrical equipments such as control contactor, relay, motor driver, And then control the operation of each motor.
As it is shown in fig. 7, the embodiment of the present invention is during traction runs automatically, the main row by spooling gear two ends of commutation Cheng Kaiguan realizes.One end of the output shaft of storage cable motor reducer and row's cable motor reducer is respectively arranged with photoelectric encoder, to storage The amount of spin of the amount of spin of cable cylinder and row's cable motor reducer output shaft measures.Main controller controls row's cable motor angle is followed the tracks of The change of the amount of spin of cable collection tube, according to the change of the amount of spin of cable collection tube, controlling row's cable motor provides discharge to pull motor reducer Row pull power, thus control to arrange cable motor reducer and be supplied to the power of screw mandrel, distance and the storage cable that frame moves left and right is pulled by the row of making Meet between Tong: row's cable motor reducer often rotates one week screw mandrel stroke and just changes a pitch.
As shown in Figure 8, in the embodiment of the present invention, master controller uses STM32F105RC single-chip microcomputer.Master controller is used for: catch Obtain cable sector, main traction wheel, the positional information of storage cable device;Control traction electric machine decelerator oil temperature and add thermorelay, storage cable Motor reducer oil temperature adds thermorelay, ratchet relay, pulling motor braking relay, storage cable braking relay;The row of reception Cable mechanism two-way travel switch and the input of ratchet proximity switch, the input of alarm signal;Receive traction electric machine decelerator, storage cable The input of motor reducer oil temperature sensor signal, and convert analog signals into digital signal;Serial ports respectively with industrial computer, lead Draw electric machine controller, storage cable electric machine controller communication;The analog voltage signal discharge cable motor driver of single-chip microcomputer output, controls Row's cable motor speed.Compare JTAG mode, 4 extractions of minimum need of SWD interface, space can be saved.
As it is shown in figure 9, three road pwm signals are through light-coupled isolation, then through forward Schmidt trigger shaping, send into STM32F105RC carries out pulse capture.
As shown in Figure 10, DO signal is through light-coupled isolation, then carries out exporting after power amplification by MOSFET power tube, Controlling relay, DI signal is sent directly into STM32F105RC process by after light-coupled isolation.
As shown in figure 11, serial port drives with MAX3485 and MAX3490 respectively.1 mouthful of MAX3485 and 4 mouthfuls points Not being connected in SCIRX with SCITX, 2 mouthfuls of ground connection, 3 mouthfuls connect power supply.Side a and b is respectively the difference letter received and send Number end, when A pin level higher than B time, represent send data be 1;When the level of A is less than B end, represents and send Data be 0.1 mouthful of MAX3490 and 4 mouthfuls connects power supply and ground respectively, and 2 mouthfuls are connected with SCIRX and SCITX with 3 mouthfuls. 5 mouthfuls export for driven in phase device, and 6 mouthfuls export for rp-drive, and 7 mouthfuls is the input of anti-phase receptor, and 8 mouthfuls is homophase receptor Input.
As shown in figure 12, the normalized current that the temperature signal of thermocouple collection is changed into 4-20mA by data transmitter is sent into Master controller.4-20mA electric current becomes voltage signal by 150 ohmages, puts through the amplification of prime amplifier, secondary isolation Send into STM32F105RC after big to be AD converted.
Although present invention has been a certain degree of description, it will be apparent that, without departing from the spirit and scope of the present invention, The suitable change of each condition can be carried out.It is appreciated that and the invention is not restricted to described embodiment, and be attributed to the model of claim Enclosing, it includes the equivalent of described each factor.

Claims (10)

1. a hawser extension and retraction system, it is characterised in that include the traction apparatus being fixed on base, storage cable device, arrange cable Device and control device, wherein:
Traction electric machine that described traction apparatus includes being positioned on base, shaft coupling, traction electric machine decelerator, traction wheel, traction electricity Brake;Described traction electric machine is connected with traction electric machine decelerator by shaft coupling, provides traction to traction electric machine decelerator Power, and after deceleration traction power is assigned to traction wheel;Described traction wheel has been used for the folding and unfolding to hawser;Described traction Wheel is also connected with pulling motor braking device, and traction electric machine is braked by described pulling motor braking device;
Described storage cable device includes the storage cable motor being positioned on base, cable collection tube, storage cable motor reducer, stores up cable electromotor brake; Described storage cable motor is connected with storage cable motor reducer, provides storage cable power to storage cable motor reducer, and described storage cable motor subtracts The output shaft of speed device drives cable collection tube to rotate and realizes rolling and storage line;Described storage cable motor is also connected with storage cable electromotor brake, Storage cable motor is braked by described storage cable electromotor brake;
Row's cable motor that described spooling gear includes being positioned on base, row's cable motor reducer, screw pair reciprocator, cable support, Pole, travel switch;Described cable support is arranged on two polished rods, and dismountable with screw mandrel is connected, and the two ends of polished rod are arranged On pole, screw mandrel is arranged on the output shaft of row's cable motor reducer;Described row's cable motor is connected with row's cable motor reducer, Thering is provided row cable power to row's cable motor reducer, the output shaft of row's cable motor reducer drives cable support to move left and right by screw mandrel; Described row's cable motor reducer is positioned at one end of base;Described travel switch is arranged at the two ends of described base, is used for controlling to arrange cable The rotating of motor;Described row's cable motor provides power by row's cable motor reducer to screw mandrel, drives cable support;At work shape During state, cable collection tube rotation is turned around, and cable support arrives automatic reverse behind two ends along screw pair reciprocator one pitch of walking, row's cable, Start the arrangement of another layer;Described row's cable motor is direct current generator;
Described control device includes master controller and the motor driver electrically connected with master controller, relay, catalyst, sensing Device, and the industrial computer being connected with master controller by serial ports;Industrial computer receives the control instruction of user, and control instruction is sent out Deliver to master controller;The change of sensor detecting system parameter, and systematic parameter is sent to master controller, wherein, described storage Cable angular transducer is positioned at one end of the output shaft of storage cable motor reducer, for measuring the amount of spin of cable collection tube, described Row's cable angular transducer is positioned at one end of the output shaft of row's cable motor reducer, for turning the output shaft of row's cable motor reducer Momentum measures;Master controller receives control instruction and the systematic parameter of sensor transmission that industrial computer sends, and drives to motor Dynamic device, relay, catalyst send control instruction;Motor driver, relay, catalyst receive the control that master controller sends System instruction, controls the take-up of hawser, cable laying, stopping, jerk, row's cable process.
Hawser extension and retraction system the most according to claim 1, it is characterised in that described master controller uses STM32 series Single-chip microcomputer.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that described row's cable motor is DC servo Motor.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that described traction electric machine is direct current generator.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that described storage cable motor is direct current generator.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that described traction wheel is double active friction Wheel.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that described cable support includes to revolve around axle The cycloid frame turned.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that also include that be fixed on base changes To device, described reversing arrangement is connected with cable support and cable collection tube, for realizing the commutation of hawser.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that also include the operation being arranged at hawser Guide wheel on path, is used for making hawser not swipe with ground.
Hawser extension and retraction system the most according to claim 1 and 2, it is characterised in that described control device also includes and work The display screen of control mechatronics.
CN201610347716.8A 2016-05-24 2016-05-24 Hawser extension and retraction system Active CN105967002B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106946097A (en) * 2017-03-21 2017-07-14 南京航空航天大学 Cable pull self-regulation capstan winch and its control method
CN109230868A (en) * 2018-07-23 2019-01-18 江苏镇安电力设备有限公司 Cable promotes constant tension control device and control method
WO2019080461A1 (en) * 2017-10-24 2019-05-02 东莞前沿技术研究院 Apparatus capable of correcting cable arrangement
CN110467064A (en) * 2019-09-17 2019-11-19 安徽华印机电股份有限公司 A kind of hawser extension and retraction system
CN111717737A (en) * 2020-07-17 2020-09-29 江苏科技大学 Deviation rectifying method for winding and unwinding of winch cable of aerostat

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CN102951569A (en) * 2012-09-03 2013-03-06 南阳二机石油装备(集团)有限公司 Automatic rope arrangement control device for roller
CN104555779A (en) * 2015-01-20 2015-04-29 湖南科技大学 Intelligent electrically-driven cable arranging device of marine winch

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US7510169B2 (en) * 2007-06-06 2009-03-31 Jeff Ganiere Aircraft 400 HZ cable hoist
CN201254438Y (en) * 2008-07-25 2009-06-10 宝鸡石油机械有限责任公司 Digital intelligent control rope guide
CN201932864U (en) * 2011-03-16 2011-08-17 徐州苏煤矿山设备制造有限公司 Controller of automatic cable arranging device
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106946097A (en) * 2017-03-21 2017-07-14 南京航空航天大学 Cable pull self-regulation capstan winch and its control method
CN106946097B (en) * 2017-03-21 2019-07-09 南京航空航天大学 Cable pull self-regulation capstan winch and its control method
WO2019080461A1 (en) * 2017-10-24 2019-05-02 东莞前沿技术研究院 Apparatus capable of correcting cable arrangement
CN109230868A (en) * 2018-07-23 2019-01-18 江苏镇安电力设备有限公司 Cable promotes constant tension control device and control method
CN109230868B (en) * 2018-07-23 2020-09-25 江苏镇安电力设备有限公司 Cable lifting constant tension control device and control method
CN110467064A (en) * 2019-09-17 2019-11-19 安徽华印机电股份有限公司 A kind of hawser extension and retraction system
CN111717737A (en) * 2020-07-17 2020-09-29 江苏科技大学 Deviation rectifying method for winding and unwinding of winch cable of aerostat
CN111717737B (en) * 2020-07-17 2021-10-19 江苏科技大学 Deviation rectifying method for winding and unwinding of winch cable of aerostat

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