CN105967002B - Hawser extension and retraction system - Google Patents
Hawser extension and retraction system Download PDFInfo
- Publication number
- CN105967002B CN105967002B CN201610347716.8A CN201610347716A CN105967002B CN 105967002 B CN105967002 B CN 105967002B CN 201610347716 A CN201610347716 A CN 201610347716A CN 105967002 B CN105967002 B CN 105967002B
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- China
- Prior art keywords
- cable
- row
- motor
- storage
- hawser
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, 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
- B65H75/38—Cores, 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
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, 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
- B65H75/38—Cores, 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
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/20—Location in space
- B65H2511/21—Angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/30—Forces; Stresses
- B65H2515/32—Torque e.g. braking torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/35—Ropes, lines
Abstract
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 sends it to master controller；Master controller sends corresponding control instruction according to the change of the amount of spin of cable collection tube to row's cable motor driver；Row's cable motor driver receives the control instruction of master controller transmission, the change of row's cable power that control row's cable motor is provided to row's cable motor reducer；The change of row's cable power causes that row's cable motor reducer is supplied to the power of screw mandrel also therefore to change；Screw mandrel drives the distance that cable support is moved left and right also therefore to change.The present invention is under the driving of direct current generator, the change of the amount of spin of the displacement of cable support and cable collection tube is set to meet predetermined corresponding relation, i.e., when in working order, cable collection tube rotation is turned around, cable support reaches the accurate control to row's cable pitch along screw pair reciprocator one pitch of walking.
Description
Technical field
The present invention relates to the technical field of hawser folding and unfolding, more particularly to a kind of hawser extension and retraction system.
Background technology
Hawser extension and retraction system is used for controlling the release of hawser, reclaims and brake.Prior art uses traction electric machine to hand over
Stream motor, speed regulating control is carried out using frequency converter to alternating current generator；Storage cable process drives cable collection tube using alternating current generator, using than
The output of example-Integrated Derivative control algolithm control frequency converter is so as to adjust the tension force of hawser；Row's cable process is driven by stepper motor
It is dynamic, realize that row's cable system is synchronous with cable collection tube by the opened loop control of stepper motor.Row's cable process needs cable support exactly
The control of the row's of carrying out cable pitch, the pitch control accuracy of prior art can not fully meet the demand of system.
The content 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 for solving prior art cannot be accurate
The problem of the row's of carrying out cable pitch control.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of hawser extension and retraction system, including the draw-gear, storage cable device, spooling gear and the control that are fixed on base are filled
Put, wherein：
The draw-gear includes traction electric machine on the base, shaft coupling, traction electric machine decelerator, traction wheel, leads
Draw electromotor brake；The traction electric machine is connected by shaft coupling with traction electric machine decelerator, is carried to traction electric machine decelerator
For traction power, and traction power is assigned to traction wheel after deceleration；The traction wheel is used to complete the folding and unfolding to hawser；Institute
State traction wheel to be also connected with pulling motor braking device, the pulling motor braking device brakes traction electric machine；
The storage cable device includes storage cable motor, cable collection tube, storage cable motor reducer, storage cable motor system on base
Dynamic device；The storage cable motor is connected with storage cable motor reducer, and storage cable power, the storage cable are provided to storage cable motor reducer
The output shaft of motor reducer drives cable collection tube rotation to realize winding and storage line；The storage cable motor also with storage cable electromotor brake
It is connected, the storage cable electromotor brake is braked to storage cable motor；
The spooling gear includes row's cable motor, row's cable motor reducer, screw pair reciprocator, row on base
Cable frame, pole, travel switch；The cable support is arranged on two polished rods, and is removably connected with screw mandrel, the two ends of polished rod
It is arranged on pole, screw mandrel is arranged on the output shaft of row's cable motor reducer；Row's cable motor and row's cable motor reducer
It is connected, row is provided cable power to row's cable motor reducer, the output shaft for arranging cable motor reducer drives cable support by screw mandrel
Move left and right；Row's cable motor reducer is located at one end of base；The travel switch is arranged at the two ends of the base, uses
In the rotating of control row's cable motor；Row's cable motor provides power by arranging cable motor reducer to screw mandrel, the row's of drive cable
Frame；When in working order, cable collection tube rotation is turned around, and cable support reaches two along screw pair reciprocator one pitch of walking, row's cable
Automatic reverse behind end, starts another layer of arrangement；Row's cable motor is direct current generator；
The control device include master controller and electrically connected with master controller motor driver, relay, contactor,
Sensor, and the industrial computer being connected with master controller by serial ports；Industrial computer receives the control instruction of user, and control is referred to
Order is sent to master controller；The change of sensor detecting system parameter, and systematic parameter is sent to master controller, wherein, institute
One end that storage cable angular transducer is located at the output shaft of storage cable motor reducer is stated, is surveyed for the amount of spin to cable collection tube
Amount, row's cable angular transducer is located at one end of the output shaft of row's cable motor reducer, for row's cable motor reducer
The amount of spin of output shaft is measured；Master controller receives the system ginseng that the control instruction and sensor of industrial computer transmission send
Number, and send control instruction to motor driver, relay, contactor；Motor driver, relay, contactor receive master control
The control instruction that device processed sends, controls take-up, cable laying, stopping, jerk, row's cable process of hawser.
On this basis, further, the master controller uses STM32 series monolithics.
On the basis of above-mentioned any embodiment, further, row's cable motor is DC servo motor.
On the basis of above-mentioned any embodiment, further, the traction electric machine is direct current generator.
On the basis of above-mentioned any embodiment, further, the storage cable motor is direct current generator.
On the basis of above-mentioned any embodiment, further, the traction wheel is double active friction wheels.
On the basis of above-mentioned any embodiment, further, the cable support includes the cycloid frame that can be pivoted.
It is further, described to change also including the reversing arrangement being fixed on base on the basis of above-mentioned any embodiment
It is connected with cable support and cable collection tube to device, the commutation for realizing hawser.
On the basis of above-mentioned any embodiment, further, also including the guide wheel being arranged on the operating path of hawser,
For making hawser not scraped with ground.
On the basis of above-mentioned any embodiment, further, the control device also includes and industry control mechatronics
Display screen.
The beneficial effects of the invention are 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
Change, and send it to master controller；Master controller sends according to the change of the amount of spin of cable collection tube to row's cable motor driver
Corresponding control instruction；Row's cable motor driver receives the control instruction of master controller transmission, and control row's cable motor is to row's cable
The change of row's cable power that motor reducer is provided；The change of row's cable power causes that row's cable motor reducer is supplied to the dynamic of screw mandrel
Therefore power also change；Screw mandrel drives the distance that cable support is moved left and right also therefore to change.Cable motor is arranged in the present invention to use
Direct current generator, DC motor speed-regulating performance is good, and uniform, smooth stepless time adjustment, and speed governing can be realized in the case of heavy duty
Wide ranges, starting torque is big, and starting-impact is small, it is possible to achieve smooth start；Under the driving of direct current generator, make the shifting of cable support
The change of the amount of spin of dynamic distance and cable collection tube meets predetermined corresponding relation, i.e., when in working order, cable collection tube rotation is turned around,
Cable support along screw pair reciprocator one pitch of walking, and under the control of travel switch, move certainly after reaching two ends by row's cable
To the arrangement for starting another layer, the accurate control to row's cable pitch can be just reached.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 shows a kind of structural representation of hawser extension and retraction system provided in an embodiment of the present invention；
Fig. 2 shows a kind of theory diagram of hawser extension and retraction system provided in an embodiment of the present invention；
Fig. 3 shows a kind of structural representation of draw-gear provided in an embodiment of the present invention；
Fig. 4 shows a kind of structural representation for storing up cable device provided in an embodiment of the present invention；
Fig. 5 shows a kind of structural representation of spooling gear provided in an embodiment of the present invention；
Fig. 6 shows a kind of theory diagram of control device provided in an embodiment of the present invention；
Fig. 7 shows a kind of row's cable control principle schematic diagram provided in an embodiment of the present invention；
Fig. 8 shows a kind of STM32F105RC core circuits figure provided in an embodiment of the present invention；
Fig. 9 shows a kind of three roads PWM captures circuit diagram provided in an embodiment of the present invention；
Figure 10 shows a kind of DI/DO circuit diagrams provided in an embodiment of the present invention；
Figure 11 shows a kind of three roads serial ports channel circuit figure provided in an embodiment of the present invention；
Figure 12 shows a kind of isolation AD input channel circuit diagrams provided in an embodiment of the present invention.
In figure, 1. draw-gear, 2. stores up cable device, 3. spooling gear, 4. control device, 5. reversing arrangement, 6. guide wheel, 7.
Hawser, 9. base, 101. traction wheels, 102. traction electric machine decelerators, 103. pulling motor braking devices, 104. traction electric machines,
201. storage cable motors, 202. storage cable electromotor brakes, 203. storage cable motor reducers, 204. cable collection tubes, 301. row's cable motors,
302. cable supports, 303. polished rods, 304. screw mandrels, 305. travel switches, 306. poles, 401. storage cable angular transducers, 402. rows
Cable angular transducer.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
Limit the present invention.
Specific embodiment one
As shown in figure 1, the invention provides a kind of hawser extension and retraction system, including be fixed on draw-gear 1 on base 9,
Storage cable device 2, spooling gear 3 and control device 4, wherein：
As shown in figure 3, the draw-gear 1 includes that the traction electric machine 104, shaft coupling being located on base 9, traction electric machine subtract
Fast device 102, traction wheel 101, pulling motor braking device 103；The traction electric machine is by shaft coupling and traction electric machine decelerator 102
It is connected, traction power is provided to traction electric machine decelerator 102, and traction power is assigned to traction wheel 101 after deceleration；Institute
State traction wheel 101 for complete folding and unfolding to hawser 7；The traction wheel 101 is also connected with pulling motor braking device 103, institute
Pulling motor braking device 103 is stated to brake traction electric machine；
As shown in figure 4, the storage cable device 2 includes storage cable motor 201, cable collection tube 204, storage cable electricity on base 9
Machine decelerator 203, storage cable electromotor brake 202；The 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 the storage cable motor reducer 203 drives the rotation of cable collection tube 204 to realize
Winding and storage line；The storage cable motor 201 is also connected with storage cable electromotor brake 202, the storage cable electromotor brake 202 pairs
Storage cable motor 201 is braked；
As shown in figure 5, the spooling gear 3 includes row's cable motor 301, row's cable motor reducer, spiral shell on base 9
Xuan Fu reciprocators, cable support 302, pole 306, travel switch；The cable support 302 is arranged on two polished rods 303, and with
Screw mandrel 304 is removably connected, and the two ends of polished rod 303 are arranged on pole 306, the row's of the being arranged at cable motor reducer of screw mandrel 304
Output shaft on；Row's cable motor 301 is connected with row's cable motor reducer, and providing row's cable to row's cable motor reducer moves
Power, the output shaft for arranging cable motor reducer drives cable support 302 to move left and right by screw mandrel 304；Row's cable motor reducer
Positioned at one end of base 9；The travel switch 305 is arranged at the two ends of the base 9, for the positive and negative of the row's of control cable motor
Turn；Row's cable motor provides power by arranging cable motor reducer to screw mandrel, drives cable support 302；When in working order, storage
The rotation of cable cylinder 204 is turned around, and cable support 302 reaches automatic reverse behind two ends along screw pair reciprocator one pitch of walking, row's cable,
Start another layer of arrangement；Row's cable motor 301 is direct current generator；
As shown in fig. 6, the control device 4 include master controller and electrically connected with master controller motor driver, after
Electrical equipment, contactor, sensor, and the industrial computer being connected with master controller by serial ports；The control that industrial computer receives user refers to
Order, and control instruction is sent to master controller；The change of sensor detecting system parameter, and systematic parameter is sent to master control
Device processed, wherein, the storage cable angular transducer 401 is located at one end of the output shaft of storage cable motor reducer 203, for storage cable
The amount of spin of cylinder is measured, and row's cable angular transducer 402 is located at one end of the output shaft of row's cable motor reducer, is used for
Amount of spin to arranging the output shaft of cable motor reducer is measured；Master controller receives the control instruction and biography that industrial computer sends
The systematic parameter that sensor sends, and send control instruction to motor driver, relay, contactor；Motor driver, relay
Device, contactor receive the control instruction that master controller sends, and control take-up, cable laying, stopping, jerk, row's cable process of hawser 7.
As shown in Figure 2 and Figure 7, the embodiment of the invention provides a kind of hawser extension and retraction system, storage cable angular transducer 401 with
Track and sends it to master controller to the change of the amount of spin of cable collection tube；Master controller is according to the amount of spin of cable collection tube 204
Change, corresponding control instruction is sent to row's cable motor driver；Row's cable motor driver receives the control of master controller transmission
System instruction, the change of row's cable power that control row's cable motor 301 is provided to row's cable motor reducer；The change for arranging cable power is caused
Row's cable motor reducer is supplied to the power of screw mandrel also therefore to change；Screw mandrel 304 drives the distance that cable support 302 is moved left and right
Therefore change.Cable motor is arranged in the embodiment of the present invention and uses direct current generator, DC motor speed-regulating performance is good, can be in heavy duty
In the case of realize uniform, smooth stepless time adjustment, and speed-regulating range width, starting torque is big, and starting-impact is small, it is possible to achieve flat
It is steady to start；Under the driving of direct current generator, meet the change of the amount of spin of the displacement of cable support 302 and cable collection tube 204
Predetermined corresponding relation, i.e., when in working order, the rotation of cable collection tube 204 is turned around, and cable support 302 is walked along screw pair reciprocator
One pitch, and under the control of travel switch, automatic reverse starts another layer of arrangement behind row's cable arrival two ends, can just reach
Accurate control to row's cable pitch.Although stepper motor cost is relatively low, step-out is likely to result in, causes tracking inaccurate；Hand over
Stream motor adjusts rotating speed by changing supply frequency, and because motor equivalent inductive reactance changes with the change of frequency, motor is steady
Qualitative difference, is difficult to realize fine speed governing；Row's cable motor 301 selects direct current generator, turns by cable collection tube 204 during row's cable
The detection of momentum solves the possible step-out of stepper motor, tracks inaccurate asking come the distance for controlling cable support 302 to move left and right
Topic and the complex problem of AC Motor Control mode.
Selection of the embodiment of the present invention to master controller is not limited, it is preferred that the master controller can use STM32
Series monolithic.STM32 series monolithics have real-time performance excellent, low in energy consumption, and integrating degree is high, it is easy to develop, storage
Space is small, low cost, compatibility advantage high；Although the programming of STM32 series monolithics is compared to for programmable logic controller (PLC)
It is complex, but flexible in programming, and control accuracy is compared to using the programmable logic controller (PLC) to have bright for the mode of master controller
Aobvious raising, the folding and unfolding that hawser 7 can be made uniform sequential.
The present invention is not limited the type of the direct current generator selected by row's cable motor 301, it is preferred that row's cable motor
301 can be DC servo motor.Row's cable motor 301 selects DC servo motor, can take into account position tracking reliability and
Design cost.Compared with non-servo direct current generator, the electromechanical time constant of DC servo motor is small, and the linearity is high, pickup voltage
It is small, start and stop soon, and the electric signal for being received can be converted into angular displacement or angular speed output on motor reel.
The present invention is not limited the type of traction electric machine 104, it is preferred that the traction electric machine 104 can be direct current
Machine.DC motor speed-regulating performance is good, and uniform, smooth stepless time adjustment, and speed-regulating range width can be realized in the case of heavy duty,
Starting torque is big, and starting-impact is small, it is possible to achieve smooth start.Making that the folding and unfolding speed of hawser 7 is electrodeless in the range of 0~1.5m/s can
Timing, traction electric machine is uniform, smooth, accurate speed governing, and a dynamic stability is small to power surges, realizes accurate speed governing.
The present invention is not limited the type of storage cable motor 201, it is preferred that the storage cable motor 201 can be direct current
Machine.DC motor speed-regulating performance is good, and uniform, smooth stepless time adjustment, and speed-regulating range width can be realized in the case of heavy duty,
Starting torque is big, and starting-impact is small, it is possible to achieve smooth start.
The embodiment of the present invention is not limited the type of traction wheel, it is preferred that the traction wheel can be double active frictions
Wheel.So that hawser extension and retraction system is in the application being tethered on ship lifting structure as an example, draw-gear according to traction wheel wire casing be tethered at
The frictional force of hawser is tethered at the tractive force of ship to balance, and by multi-turn race to the attenuation of tractive force, makes the receipts of storage cable disk
Volume tension force meets the design requirement no more than 300N.When traction wheel is using double active friction wheels, it is known that tether cable and traction
The coefficient of friction f=0.12 of wheel, tractive force F when being tethered at ship maximal ratei=10t, stores up the winding tension F of cable disko≤ 300N, be
Hawser is stayed to be wound up as a full circle on traction wheel, angle [alpha]=2 π, n are traction wheel slot number.FiWith FoWith following relation：
Fi=Fo×enαf, then:
Round, then the slot number n=8 of traction wheel.And when friction pulley of the traction wheel using principal and subordinate's combination, tether cable is in master
Semicircle is wound up as on traction wheel, angle [alpha]=π, the slot number of the traction wheel for being calculated is at least 16.As can be seen here, when leading
When running wheel is using double active friction wheels, it is possible to reduce the slot number of required traction wheel.
On the basis of above-mentioned any embodiment, further, the cable support 302 can include the pendulum that can be pivoted
Coil holder.The cycloid frame that can be pivoted of setting on cable support 302, can cause cable collection tube 204 in take-up by bottom to
When top layer radial dimension is continued to increase, the cable and cable collection tube 204 discharged by cycloid frame keep tangent substantially, are so easy to storage
The hawser 7 of the winding of cable cylinder 204 is arranged uniformly.
On the basis of above-mentioned any embodiment, further, the embodiment of the present invention can also include being fixed on base 9
Reversing arrangement 5, the reversing arrangement is connected with cable support 302 and cable collection tube 204, the commutation for realizing hawser 7.As schemed
Shown in 1, whole system can be installed on a shelter of length × width × height=12m × 4.5m × 2.5m by the embodiment of the present invention
It is interior：Draw-gear 1 is preceding, and spooling gear 3 and storage cable device 2 are placed side by side rear.Increase a reversing arrangement 4, realize hawser
Commutation, to save floor space, switch board is placed can be on the side of draw-gear 1.Integral layout consider gravity allocation and
Operation ease, can make system gravity in shelter immediate vicinity, it is ensured that shelter is steady when rotated, and with Operation and Maintenance
Space.
On the basis of above-mentioned any embodiment, further, the embodiment of the present invention can also include being arranged at hawser 7
Guide wheel 6 on operating path, for making hawser 7 not scraped with ground.Advantage of this is that, reduce the abrasion of hawser 7, extension
Its service life.
On the basis of above-mentioned any embodiment, further, the control device 4 can also include being electrically connected with industrial computer
The display screen for connecing.The introducing of display screen so that user easily can be looked into the systematic parameter measured by sensor in real time
See.
On the basis of above-mentioned any embodiment, further, the industrial computer can be also used for on-line monitoring.Do so
Benefit be the monitoring of continuous or timing can be carried out to systematic parameter under conditions of system is in operation.
On the basis of above-mentioned any embodiment, further, the industrial computer can be also used for data preservation.Data are protected
The benefit deposited is can to provide the user the function of archives data and data query, is easy to user according to the operation of a period of time
State, life prediction or failure predication are carried out to system.
On the basis of above-mentioned any embodiment, can also further, in the sensor include being arranged at traction electricity
Grease temperature sensor in machine decelerator 102 and storage cable motor reducer 203.Grease temperature sensor can be in external environment
Grease in traction electric machine decelerator 102 and storage cable motor reducer 203 is heated when temperature is relatively low, makes up to setting
Temperature is operated again.
Specific embodiment two
It is generally fixed in the shelter of ground for the large-scale hawser draw off gear for being tethered at ship, for being tethered at the lift-off of ship, staying
Empty and recovery operation, realizes being tethered at the lift-off of ship by discharging tether cable, is drawn by tether cable and realizes being tethered at staying for ship
, in an orderly manner be wound on cable collection tube tether cable when reclaiming by sky.Because the large-scale ground net buoyancy for being tethered at ship is commonly reached
2-3t, the maximum pull of tether cable is tethered at ship work safety and is completely dependent on ground up to 14t under aerial 35m/s wind friction velocities
Tether cable draw off gear, even if in extreme conditions, it is also necessary to safe and reliable, including in the state such as empty, lift-off and recovery.
As shown in fig. 6, the embodiment of the invention provides a kind of hawser extension and retraction system, industrial computer is entered by human-computer interaction interface
The work such as the transmission of the control instruction such as row take-up cable laying, in-service monitoring, data preservation.Industrial computer passes through serial ports and master controller phase
Even, it is in communication with each other.Main control receives the control instruction and travel switch, angular transducer, temperature biography that industrial computer sends
The input of sensor and other on-off models, and send control instruction and remove the electricity such as control contactor, relay, motor driver
Gas element, and then control the operation of each motor.
As shown in fig. 7, the embodiment of the present invention is during automatic running is drawn, commutation mainly passes through spooling gear two ends
Travel switch realize.One end of the output shaft of storage cable motor reducer and row's cable motor reducer is respectively arranged with photoelectric coding
Device, the amount of spin of amount of spin and row's cable motor reducer output shaft to cable collection tube is measured.Main controller controls row's cable electricity
The change of the amount of spin of machine angleonly tracking cable collection tube, the change of the amount of spin according to cable collection tube, control row's cable motor provides discharge
The row for pulling motor reducer pulls power, so that the row's of control cable motor reducer is supplied to the power of screw mandrel, row is pulled frame or so and moves
Meet between dynamic distance and cable collection tube：Row's cable motor reducer often rotates one week screw mandrel stroke and just changes a pitch.
As shown in figure 8, master controller uses STM32F105RC single-chip microcomputers in the embodiment of the present invention.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 heating relay, storage cable
Motor reducer oil temperature heating relay, ratchet relay, pulling motor braking relay, storage cable braking relay；The row of reception
The input of cable mechanism two-way travel switch and 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 data signal；Serial ports respectively with industrial computer, lead
Draw electric machine controller, the electric machine controller communication of storage cable；The analog voltage signal discharge cable motor driver of single-chip microcomputer output, control
Row's cable motor speed.Compared to JTAG modes, SWD interfaces at least only need 4 extractions, can be with save space.
As shown in figure 9, three road pwm signals are by light-coupled isolation, then by positive Schmidt trigger shaping, feeding
STM32F105RC carries out pulse capture.
As shown in Figure 10, DO signals are exported by light-coupled isolation, then after MOSFET power tubes carry out power amplification, control
Relay processed, DI signals are by being sent directly into STM32F105RC treatment after light-coupled isolation.
As shown in figure 11, serial port is driven with MAX3485 and MAX3490 respectively.1 mouthful of MAX3485 and 4 mouthfuls respectively at
SCIRX is connected with SCITX, 2 mouthfuls of ground connection, and 3 mouthfuls connect power supply.Side a and b is respectively the differential signal end for receiving and sending, when A draws
When the level of pin is higher than B, it is 1 to represent the data for sending；When the level of A is less than B ends, it is 0 to represent the data for sending.
1 mouthful of MAX3490 and 4 mouthfuls connects power supply and ground respectively, and 2 mouthfuls and 3 mouthfuls are connected with SCIRX and SCITX.5 mouthfuls is that driven in phase device is defeated
Go out, 6 mouthfuls export for rp-drive, 7 mouthfuls are input into for anti-phase receiver, 8 mouthfuls is same Phase Receiver device input.
As shown in figure 12, the temperature signal of thermocouple collection is streamed by the standard electric that data transmitter is changed into 4-20mA
Enter master controller.4-20mA electric currents are changed into voltage signal by 150 Ohmic resistances, are put by the amplification of prime amplifier, secondary isolation
Feeding STM32F105RC is AD converted after big.
Although present invention has been a certain degree of description, it will be apparent that, do not departing from the spirit and scope of the present invention
Under the conditions of, the appropriate change of each condition can be carried out.It is appreciated that the invention is not restricted to the embodiment, and it is attributed to right
It is required that scope, its equivalent for including each factor.
Claims (10)
1. a kind of hawser extension and retraction system, it is characterised in that including the draw-gear, storage cable device, the row's cable dress that are fixed on base
Put and control device, wherein：
The draw-gear includes traction electric machine, shaft coupling, traction electric machine decelerator, traction wheel, traction electricity on base
Brake；The traction electric machine is connected by shaft coupling with traction electric machine decelerator, is provided to traction electric machine decelerator and led
Priming power, and traction power is assigned to traction wheel after deceleration；The traction wheel is used to complete the folding and unfolding to hawser；It is described to lead
Running wheel is also connected with pulling motor braking device, and the pulling motor braking device is braked to traction electric machine；
The storage cable device includes storage cable motor, cable collection tube, storage cable motor reducer, storage cable motor braking on base
Device；The storage cable motor is connected with storage cable motor reducer, and storage cable power, the storage cable electricity are provided to storage cable motor reducer
The output shaft of machine decelerator drives cable collection tube rotation to realize winding and storage line；The storage cable motor also with storage cable electromotor brake phase
Connection, the storage cable electromotor brake is braked to storage cable motor；
The spooling gear includes row's cable motor, row's cable motor reducer, screw pair reciprocator, row's cable on base
Frame, pole, travel switch；The cable support is arranged on two polished rods, and is removably connected with screw mandrel, and the two ends of polished rod set
It is placed on pole, screw mandrel is arranged on the output shaft of row's cable motor reducer；Row's cable motor and row's cable motor reducer phase
Connection, row is provided cable power to row's cable motor reducer, and the output shaft for arranging cable motor reducer drives cable support left by screw mandrel
Move right；Row's cable motor reducer is located at one end of base；The travel switch is arranged at the two ends of the base, is used for
The rotating of control row's cable motor；Row's cable motor provides power by arranging cable motor reducer to screw mandrel, drives cable support；
When in working order, cable collection tube rotation turn around, cable support along screw pair reciprocator walk a pitch, row cable reach two ends after
Automatic reverse, starts another layer of arrangement；Row's cable motor is direct current generator；
The control device includes master controller and the motor driver, relay, contactor, the sensing that are electrically connected with master controller
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
It is sent to master controller；The change of sensor detecting system parameter, and systematic parameter is sent to master controller, wherein, storage cable angle
Degree sensor is located at one end of the output shaft of storage cable motor reducer, is measured for the amount of spin to cable collection tube, row's cable angle
Degree sensor is located at one end of the output shaft of row's cable motor reducer, for the amount of spin of the output shaft to arranging cable motor reducer
Measure；Master controller receives the systematic parameter that the control instruction and sensor of industrial computer transmission send, and is driven to motor
Device, relay, contactor send control instruction；The control that motor driver, relay, contactor receive master controller transmission refers to
Order, controls take-up, cable laying, stopping, jerk, row's cable process of hawser.
2. hawser extension and retraction system according to claim 1, it is characterised in that the master controller is single using STM32 series
Piece machine.
3. hawser extension and retraction system according to claim 1 and 2, it is characterised in that row's cable motor is DC servo electricity
Machine.
4. hawser extension and retraction system according to claim 1 and 2, it is characterised in that the traction electric machine is direct current generator.
5. hawser extension and retraction system according to claim 1 and 2, it is characterised in that the storage cable motor is direct current generator.
6. hawser extension and retraction system according to claim 1 and 2, it is characterised in that the traction wheel is double active friction wheels.
7. hawser extension and retraction system according to claim 1 and 2, it is characterised in that the cable support includes being pivoted
Cycloid frame.
8. hawser extension and retraction system according to claim 1 and 2, it is characterised in that the also commutation including being fixed on base
Device, the reversing arrangement is connected with cable support and cable collection tube, the commutation for realizing hawser.
9. hawser extension and retraction system according to claim 1 and 2, it is characterised in that also including being arranged at the operation road of hawser
Guide wheel on footpath, for making hawser not scraped with ground.
10. hawser extension and retraction system according to claim 1 and 2, it is characterised in that the control device also includes and industry control
The display screen of mechatronics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610347716.8A CN105967002B (en) | 2016-05-24 | 2016-05-24 | Hawser extension and retraction system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610347716.8A CN105967002B (en) | 2016-05-24 | 2016-05-24 | Hawser extension and retraction system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105967002A CN105967002A (en) | 2016-09-28 |
| CN105967002B true CN105967002B (en) | 2017-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610347716.8A Expired - Fee Related CN105967002B (en) | 2016-05-24 | 2016-05-24 | Hawser extension and retraction system |
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| CN (1) | CN105967002B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109693976A (en) * | 2017-10-24 | 2019-04-30 | 东莞前沿技术研究院 | A kind of device for correcting hawser arrangement |
| CN108217346B (en) * | 2018-02-08 | 2024-03-29 | 中船船舶重工（泰兴）有限公司 | Cable winding and unwinding device |
| 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 |
| CN109019151B (en) * | 2018-09-20 | 2023-09-19 | 马鞍山市方正机械制造有限责任公司 | Cable collecting device with high transmission efficiency and cable collecting method |
| CN110203778A (en) * | 2019-05-24 | 2019-09-06 | 深圳市百川融创科技有限公司 | A kind of automatic traction draw off gear |
| 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 |
| 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 |
| CN114394493B (en) * | 2021-12-13 | 2024-02-13 | 武汉中仪物联技术股份有限公司 | Control method, system, equipment and device for synchronous winding and unwinding of cable drum of crawler |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102951569B (en) * | 2012-09-03 | 2015-09-23 | 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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2016
- 2016-05-24 CN CN201610347716.8A patent/CN105967002B/en not_active Expired - Fee Related
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| CN105967002A (en) | 2016-09-28 |
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