CN106865437B - Marine winch cable arrangement moving speed and displacement composite testing device and testing method - Google Patents
Marine winch cable arrangement moving speed and displacement composite testing device and testing method Download PDFInfo
- Publication number
- CN106865437B CN106865437B CN201710243496.9A CN201710243496A CN106865437B CN 106865437 B CN106865437 B CN 106865437B CN 201710243496 A CN201710243496 A CN 201710243496A CN 106865437 B CN106865437 B CN 106865437B
- Authority
- CN
- China
- Prior art keywords
- displacement
- storage barrel
- rope
- testing
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
- B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a device and a method for testing the moving speed and displacement of an ocean winch cable arrangement in a combined mode, wherein the testing device comprises a support, a coil spring, a rope storage barrel, a supporting shaft, a testing gear and a bidirectional Hall switch; the support shaft is arranged on the support, the rope storage barrel is arranged on the support shaft through a bearing, one end of the coil spring is fixedly connected with the support, and the other end of the coil spring is fixed on the rope storage barrel; the rope storage barrel is fixedly provided with a test gear, and the test gear is coaxial with the rope storage barrel; the bidirectional Hall switch is arranged on the bracket corresponding to the test gear, and the axis of the bidirectional Hall switch passes through the center of the gear; the support is provided with a steel wire rope end locking device corresponding to the rope storage barrel. The invention adopts the reel to pull the contact mode of the test steel wire rope to measure the moving speed and the displacement, and the measurement displacement range is large; the invention is provided with the volute coil spring to provide certain tension and restoring force to ensure that the test steel wire rope is tightened, avoid rope disorder and have higher tracking and measuring precision.
Description
Technical Field
The invention relates to the technical field of marine shipborne winches, in particular to a device and a method for compositely testing displacement of the cable arrangement moving speed of a marine winch.
Background
The marine winch is mainly applied to retraction of deep sea resource development equipment, an ROV system, an underwater towing system and the like, and a dielectric armored cable is retracted on the marine winch to transmit not only force, but also a power source and a signal source, so that the diameter is larger. The operation of several kilometers in deep sea makes the armor cable on the marine winch receive and release and involve long distance multilayer winding problem. The quality of the cable arrangement system directly influences the stress state and the service life of the armored cable, and the cable arrangement synchronous control is extremely important. The speed and position of the cable arrangement mechanism must be measured to achieve cable arrangement control.
Patent ZL201620167044.8 discloses a constant tension adaptive control device for a servo cable arrangement of a deep sea umbilical cable winch, which detects the speed of an umbilical cable by installing a rope arranger encoder on a guide wheel of the rope arranger; patent ZL201420851641.3 discloses an electric automatic cable arrangement device for multiple diameter cable arrays on a winch, which obtains the speed of a cable by measuring the rotation speed of a screw rod through a servo motor provided with a screw rod encoder, and synchronously controls the cable arrangement by combining limit travel switches arranged at two ends of the screw rod.
The existing cable arrangement synchronous control mainly obtains the rotating speed of a screw rod through an encoder, and the synchronous control is carried out by combining a stroke limit switch, so that the control is complex and the cost is high. The defects of the large-stroke speed and displacement composite measuring device and method restrict the improvement of the performance and the cost of the cable arrangement synchronous control system.
Disclosure of Invention
In order to solve the technical problems, the invention provides a composite testing device for the moving speed and the displacement of the cable arrangement of the marine winch, which can carry out composite detection on the reciprocating moving speed and the displacement of the cable arrangement of the marine winch, has the advantages of simple testing device, low cost and convenience in testing, and a method for testing the moving speed and the displacement of the cable arrangement of the marine winch by using the device.
The technical scheme for solving the technical problems is as follows: a composite testing device for the moving speed and displacement of an ocean winch cable arrangement comprises a support, a coil spring, a cable storage barrel, a support shaft, a testing gear and a bidirectional Hall switch; the support shaft is arranged on the support, the rope storage barrel is arranged on the support shaft through a bearing, one end of the coil spring is fixedly connected with the support, and the other end of the coil spring is fixed on the rope storage barrel; the rope storage barrel is fixedly provided with a test gear, and the test gear is coaxial with the rope storage barrel; the bidirectional Hall switch is arranged on the bracket corresponding to the test gear, and the axis of the bidirectional Hall switch passes through the center of the gear; the support is provided with a steel wire rope end locking device corresponding to the rope storage barrel.
In the marine winch cable arrangement moving speed and displacement composite testing device, the support comprises a bottom plate and two side plates vertically arranged on the bottom plate; the two side plates are arranged in parallel; the center department is equipped with the back shaft fixed part on the medial surface of one curb plate, is equipped with the through-hole corresponding to the back shaft fixed part on the other curb plate, and through-hole department installs and seals the end cover, seals the end cover inboard and is equipped with the back shaft fixed part.
In the ocean winch cable arrangement moving speed and displacement composite testing device, the supporting shaft is a hollow shaft.
In the ocean winch cable arrangement moving speed and displacement combined test device, the support is provided with the opening cover, and the rope storage cylinder and the support shaft are positioned in a closed space defined by the support and the opening cover.
In the ocean winch cable arrangement moving speed and displacement composite testing device, the opening cover is provided with the U-shaped plate corresponding to the cable storage barrel, and the steel wire rope end locking device is arranged on the U-shaped plate and located in the opening cover.
A marine winch cable arrangement moving speed and displacement composite test method using the marine winch cable arrangement moving speed and displacement composite test device comprises the following steps:
(1) adjusting the distance between the bidirectional Hall switch and the outer edge of the test gear until the signal is normal;
(2) connecting a signal wire of the bidirectional Hall switch with an A/B phase counter of the PLC;
(3) calculating the moving speed of the cable arrangement by collecting pulse signals output by the bidirectional Hall switch and combining the number of the teeth of the test gear;
(4) pulse signals output by the bidirectional Hall switch are collected and stored in a PLC power-down data register through mathematical processing, and cable arrangement displacement is calculated, recorded and stored.
In the above method for testing the moving speed and the displacement of the cable arrangement of the marine winch compositely, the formula for calculating the moving speed of the cable arrangement in the step (3) is as follows:
in the formula: v-the cable laying speed; f-the number of pulses collected by the Hall sensor; z-number of teeth of the test gear; r-testing the effective radius of the steel wire rope wound around the rope storage barrel; and + -represents the moving speed direction.
In the above method for testing the moving speed and displacement of the cable arrangement of the marine winch compositely, the formula for calculating the cable arrangement displacement in the step (4) is as follows:
in the formula, s-is the displacement of the cable arrangement; f. ofi-the number of pulses acquired by the hall sensor i; t-high speed counter count period; z-number of teeth of the test gear; r-testing the effective radius of the steel wire rope wound around the rope storage barrel.
Compared with the prior art, the invention has the beneficial effects that:
1. the testing device of the invention combines an A/B phase high-speed counter and a power-down data register of the PLC, and can realize the composite test of the reciprocating movement speed and displacement of the cable arrangement; the testing device of the invention adopts a mode of testing the contact of the steel wire rope by pulling the winding drum to measure the moving speed and the displacement, and the displacement measuring range is large;
2. the test device is provided with the volute coil spring to provide certain tension and restoring force to ensure that the test steel wire rope is tightened, rope disorder is avoided, and the tracking measurement precision is high;
3. the testing device adopts the large-diameter hollow supporting shaft, so that the supporting strength is ensured, and the rotary inertia of the testing device is reduced;
4. one end of the support of the testing device is provided with a large mounting hole, and the rope storage drum and the support shaft are convenient to mount.
Drawings
Fig. 1 is a front view of the reciprocating speed and displacement composite testing device for the marine winch cable arrangement.
Fig. 2 is a top view of the complex testing device for the reciprocating speed and displacement of the marine winch cable arrangement.
3 fig. 3 3 3 is 3 a 3 sectional 3 view 3 a 3- 3 a 3 in 3 fig. 3 1 3. 3
In the figure: 1. the device comprises a support, 2, a rope storage barrel, 3, a coil spring, 4, a test steel wire rope, 5, a support shaft, 6, a positioning spacer sleeve, 7, a coil spring internal connection screw, 8, a coil spring external connection screw, 9, an opening cover, 10, a test gear, 11, a winding drum end cover, 12, a sealing end cover, 13, a self-aligning bearing, 14, a bidirectional Hall switch, 15, a single-head ferrule locking device, 16, a U-shaped plate, 101, a bottom plate, 102, a left support plate, 103, a right support plate, 902 and a Hall switch inclined support seat.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-3, the device for testing the movement speed and displacement of the marine winch cable arrangement comprises a support 1, a coil spring 3, a cable storage drum 2, a support shaft 5, a test gear 10 and a bidirectional hall switch 14. The support 1 comprises a bottom plate 101, and two side plates 102 and 103 which are vertically arranged on the bottom plate; the side plate 102 and the side plate 103 are arranged in parallel. The center of the inner side surface of the side plate 102 is provided with a support shaft fixing part, the side plate 103 is provided with a through hole corresponding to the support shaft fixing part, the diameter of the through hole is larger than that of the support shaft 5, the through hole is provided with a sealing end cover 12, and the inner side of the sealing end cover 12 is provided with the support shaft fixing part. The two ends of the support shaft 5 are respectively arranged in the support shaft fixing part on the side plate 102 and the support shaft fixing part on the sealing end cover 12, and the support shaft 5 is of a hollow structure, so that the weight of the support shaft is reduced, and the strength of the support shaft is ensured. The rope storage barrel is characterized in that the support 1 is provided with an opening cover 9, and the rope storage barrel 2 and the support shaft 5 are positioned in a closed space enclosed by the support 1 and the opening cover 9.
Store up rope section of thick bamboo 2 install on back shaft 5 through bearing 13, bearing 13 through location spacer 6 and reel end cover 11 axial positioning on back shaft 5, location spacer 6 suit is on back shaft 5, is located the left side of bearing 13, reel end cover 11 fixed mounting is in the one end of storing up 2 holes of rope section of thick bamboo, is located the right side of bearing 13. One end of the coil spring 3 is fixedly connected with the support 1, the other end of the coil spring is fixed on the rope storage barrel 2, the coil spring 3 can provide certain tension and restoring force to ensure that the test steel wire rope is tightened, rope disorder is avoided, and the tracking measurement precision is high. The rope storage barrel 2 is fixedly provided with a testing gear 10, and the testing gear 10 is coaxial with the rope storage barrel 2. The opening cover 9 is provided with a Hall switch inclined support seat 902 corresponding to the testing gear 10, the bidirectional Hall switch 14 is arranged on the Hall switch inclined support seat 902, and the axis of the bidirectional Hall switch passes through the center of the gear. The opening cover 9 is provided with a U-shaped plate 16 corresponding to the rope storage barrel 2, the U-shaped plate 16 is provided with a steel wire rope end locking device 15, and the steel wire rope end locking device 15 is positioned in the opening cover 9.
When the rope storage device is used, the coil spring 3 and the support 1 are connected through the coil spring inner connecting screw 7, the test steel wire rope 4 and the test gear 10 are connected with the rope storage barrel and are inserted into the hollow supporting shaft 5 and the positioning spacer bush 6, and the coil spring 3 and the rope storage barrel 2 are connected through the coil spring outer connecting screw 8. And (3) mounting a bearing 13, and connecting the winding drum end cover 11 and the rope storage drum 2. The end cover of the seal is connected with the side plate 103 of the support 1 by bolts. And a steel wire rope end locking device 15 is arranged at the rope outlet end of the steel wire rope 4 and is connected with a U-shaped plate 16. The length of the wire rope 4 is adjusted, and the opening cover 9 and the support 1 are connected by bolts. And a bidirectional Hall switch 14 is arranged on a Hall diagonal support seat of the opening cover 9, the distance between the bidirectional Hall switch 14 and the edge of the test gear 10 is adjusted, and the distance is controlled within the range of 2-3 mm.
The invention discloses a compound test method for reciprocating movement speed and displacement of an ocean winch cable arrangement, which comprises the following steps:
(1) the U-shaped plate 16 is connected with the test steel wire rope 4 through bolts, and the test device is installed on the cable arranging frame through a support base plate hole through bolts. And adjusting the bidirectional Hall switch 14, and adjusting the distance between the bidirectional Hall switch 14 and the outer edge of the test gear 10 until the signal is normal.
(2) In the test process, the test gear 10 and the rope storage barrel 2 rotate synchronously, the movement speed of the cable arrangement is obtained by calculating by collecting pulse signals output by the bidirectional Hall switch 14 and combining the tooth number of the test gear 10, and the calculation formula of the movement speed of the cable arrangement is as follows:
where v-lay speed, unit: m/s; f-number of pulses collected by Hall sensor, unit: HZ; z-number of teeth of the test gear; r-effective radius of the steel wire rope wound around the rope storage barrel, unit: m; +/-represents the moving speed direction;
(3) in the test process, the acquired pulse signals output by the bidirectional Hall switch 14 are stored in a PLC power-down data register through mathematical processing, the displacement of the cable arrangement is calculated, recorded and stored, and the calculation formula of the displacement of the cable arrangement is as follows:
in the formula, s-is the displacement of cable arrangement: m; f. ofiThe number of pulses acquired by the hall sensor at the i-th time, in units: HZ; t-high speed counter count period, unit: s; z-number of teeth of the test gear; r-effective radius of the steel wire rope wound around the rope storage barrel, unit: and m is selected.
Claims (6)
1. The utility model provides a compound testing arrangement of marine winch row cable moving speed and displacement which characterized by: the device comprises a support, a coil spring, a rope storage barrel, a support shaft, a test gear and a bidirectional Hall switch; the support shaft is arranged on the support, the rope storage barrel is arranged on the support shaft through a bearing, one end of the coil spring is fixedly connected with the support, and the other end of the coil spring is fixed on the rope storage barrel; the rope storage barrel is fixedly provided with a test gear, and the test gear is coaxial with the rope storage barrel; the bidirectional Hall switch is arranged on the bracket corresponding to the test gear, and the axis of the bidirectional Hall switch passes through the center of the gear; a steel wire rope end locking device is arranged on the bracket corresponding to the rope storage barrel;
the support comprises a bottom plate and two side plates vertically arranged on the bottom plate; the two side plates are arranged in parallel; a support shaft fixing part is arranged at the center of the inner side surface of one side plate, a through hole is formed in the other side plate corresponding to the support shaft fixing part, a sealing end cover is installed at the through hole, and the support shaft fixing part is arranged on the inner side of the sealing end cover; the supporting shaft is a hollow shaft.
2. The marine winch cable displacement speed and displacement composite testing device as claimed in claim 1, wherein: the support is provided with an opening cover, and the rope storage barrel and the support shaft are positioned in a closed space enclosed by the support and the opening cover.
3. The marine winch cable displacement speed and displacement composite testing device as claimed in claim 2, wherein: the opening cover is provided with a U-shaped plate corresponding to the rope storage barrel, and the steel wire rope end locking device is installed on the U-shaped plate and located in the opening cover.
4. The method for testing the moving speed and displacement of the marine winch cable arrangement by using the device for testing the moving speed and displacement of the marine winch cable arrangement in combination as claimed in any one of claims 1 to 3 comprises the following steps:
(1) adjusting the distance between the bidirectional Hall switch and the outer edge of the test gear until the signal is normal;
(2) connecting a signal wire of the bidirectional Hall switch with an A/B phase counter of the PLC;
(3) calculating the moving speed of the cable arrangement by collecting pulse signals output by the bidirectional Hall switch and combining the number of the teeth of the test gear;
(4) pulse signals output by the bidirectional Hall switch are collected and stored in a PLC power-down data register through mathematical processing, and cable arrangement displacement is calculated, recorded and stored.
5. The marine winch cable displacement speed and displacement composite test method as claimed in claim 4, wherein the formula for calculating the cable displacement speed in the step (3) is as follows:
in the formula:
cable arrangement speed;
the number of pulses collected by the Hall sensor;
testing the tooth number of the gear;
testing the effective radius of the steel wire rope wound around the rope storage barrel;
representing the direction of the speed of movement.
6. The method for testing the moving speed and displacement of the mooring rope of the marine winch in a combined mode according to claim 4 or 5, wherein the calculation formula of the mooring rope displacement in the step (4) is as follows:
in the formula (I), the compound is shown in the specification,
moving and displacing the cable arrangement;
the pulse number collected by the Hall sensor for the ith time;
counting period of the high-speed counter;
testing the tooth number of the gear;
and testing the effective radius of the steel wire rope wound around the rope storage barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710243496.9A CN106865437B (en) | 2017-04-14 | 2017-04-14 | Marine winch cable arrangement moving speed and displacement composite testing device and testing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710243496.9A CN106865437B (en) | 2017-04-14 | 2017-04-14 | Marine winch cable arrangement moving speed and displacement composite testing device and testing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106865437A CN106865437A (en) | 2017-06-20 |
| CN106865437B true CN106865437B (en) | 2022-05-03 |
Family
ID=59163280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710243496.9A Active CN106865437B (en) | 2017-04-14 | 2017-04-14 | Marine winch cable arrangement moving speed and displacement composite testing device and testing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106865437B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109454629B (en) * | 2018-11-02 | 2020-10-30 | 北京机械设备研究所 | Two-way decoupling driving device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3612555A1 (en) * | 1985-02-13 | 1987-02-19 | Karl Philipp Schneckenberger | Lifting-gear drive for floating grab plant |
| CN201201881Y (en) * | 2008-04-25 | 2009-03-04 | 河南省黄河防爆起重机有限公司 | Electric hoist |
| CN101723273A (en) * | 2009-11-06 | 2010-06-09 | 宝鸡石油机械有限责任公司 | Method and device for measuring wire rope of laying winch |
| CN102062660A (en) * | 2010-12-13 | 2011-05-18 | 天津工程机械研究院 | Device for measuring tension of winch cable and measuring method thereof |
| CN202110017U (en) * | 2010-12-13 | 2012-01-11 | 天津工程机械研究院 | Winch cable tension measuring device |
| CN202346676U (en) * | 2011-11-26 | 2012-07-25 | 武汉船用机械有限责任公司 | Separable rope-arranging device for multi-point mooring winch |
| CN102628719A (en) * | 2012-04-28 | 2012-08-08 | 武汉华中天经光电系统有限公司 | System and method for detecting tension and length of cable of winch of marine towing machine |
| CN102649531A (en) * | 2011-02-25 | 2012-08-29 | 天津俊昊海洋工程有限公司 | Integrated type rear-mounted guide wheel rope discharge and rope storage friction winch |
| CN206654677U (en) * | 2017-04-14 | 2017-11-21 | 湖南科技大学 | Ocean winch row's cable translational speed and displacement compound test device |
-
2017
- 2017-04-14 CN CN201710243496.9A patent/CN106865437B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3612555A1 (en) * | 1985-02-13 | 1987-02-19 | Karl Philipp Schneckenberger | Lifting-gear drive for floating grab plant |
| CN201201881Y (en) * | 2008-04-25 | 2009-03-04 | 河南省黄河防爆起重机有限公司 | Electric hoist |
| CN101723273A (en) * | 2009-11-06 | 2010-06-09 | 宝鸡石油机械有限责任公司 | Method and device for measuring wire rope of laying winch |
| CN102062660A (en) * | 2010-12-13 | 2011-05-18 | 天津工程机械研究院 | Device for measuring tension of winch cable and measuring method thereof |
| CN202110017U (en) * | 2010-12-13 | 2012-01-11 | 天津工程机械研究院 | Winch cable tension measuring device |
| CN102649531A (en) * | 2011-02-25 | 2012-08-29 | 天津俊昊海洋工程有限公司 | Integrated type rear-mounted guide wheel rope discharge and rope storage friction winch |
| CN202346676U (en) * | 2011-11-26 | 2012-07-25 | 武汉船用机械有限责任公司 | Separable rope-arranging device for multi-point mooring winch |
| CN102628719A (en) * | 2012-04-28 | 2012-08-08 | 武汉华中天经光电系统有限公司 | System and method for detecting tension and length of cable of winch of marine towing machine |
| CN206654677U (en) * | 2017-04-14 | 2017-11-21 | 湖南科技大学 | Ocean winch row's cable translational speed and displacement compound test device |
Non-Patent Citations (1)
| Title |
|---|
| 钢丝绳式电动葫芦的微机控制测试系统;张忠夫等;《起重运输机械》;19880520(第05期);第4-11页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106865437A (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6988854B2 (en) | Cable dispenser and method | |
| CN106865437B (en) | Marine winch cable arrangement moving speed and displacement composite testing device and testing method | |
| CN109160433B (en) | Constant tension winch and cable winding and unwinding device | |
| CN109132706B (en) | Cable arranging method | |
| CN105712229B (en) | A kind of reducing dynamometry cable sector | |
| CN102062660A (en) | Device for measuring tension of winch cable and measuring method thereof | |
| CN202575796U (en) | Deep-sea winch | |
| CN102935966A (en) | Winch for online test of automatic cable arranging tension | |
| CN112209273B (en) | Automatic cable arrangement device of electrically-driven marine winch based on visual detection and cooperative control method thereof | |
| CN107337134A (en) | A kind of rotatable omnibearing stereo profile observation system of boat-carrying trailer system and boat-carrying | |
| CN202967978U (en) | Tension on-line detecting winch capable of automatically arranging cables | |
| CN214059708U (en) | Automatic cable arranging device of electrically-driven marine winch based on visual detection | |
| CN210824858U (en) | Fixed-length winding device for hemp rope production | |
| CN206654677U (en) | Ocean winch row's cable translational speed and displacement compound test device | |
| CN109238195B (en) | Method for detecting length of winch cable | |
| CN115520359A (en) | Underwater robot positioning system | |
| CN114955708B (en) | Power cable winding and unwinding device | |
| CN112299273B (en) | Visual inspection device for automatic cable arrangement of electrically-driven marine winch | |
| CN214213865U (en) | Square modular force position double closed loop control super-redundant rope driving robot | |
| CN210117118U (en) | Photoelectric signal on-line transmission device | |
| CN114408682A (en) | Cable laying winch device for underwater electric field detection | |
| CN114275699A (en) | Unattended variable cable diameter type underwater electric winch | |
| CN211871031U (en) | Take-up tension control device of cage strander | |
| CN217132017U (en) | High-precision traction positioning device | |
| CN207129881U (en) | A kind of rotatable omnibearing stereo profile observation system of boat-carrying trailer system and boat-carrying |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |