CN113968524A - Umbilical cable winding and unwinding devices for ROV - Google Patents
Umbilical cable winding and unwinding devices for ROV Download PDFInfo
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- CN113968524A CN113968524A CN202010728590.5A CN202010728590A CN113968524A CN 113968524 A CN113968524 A CN 113968524A CN 202010728590 A CN202010728590 A CN 202010728590A CN 113968524 A CN113968524 A CN 113968524A
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- 238000004804 winding Methods 0.000 title claims abstract description 89
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000009191 jumping Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 description 14
- 238000010168 coupling process Methods 0.000 description 14
- 238000005859 coupling reaction Methods 0.000 description 14
- 210000003954 umbilical cord Anatomy 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B65H75/40—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 mobile or transportable
- B65H75/42—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 mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—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 mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
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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
- B65H61/00—Applications of devices for metering predetermined lengths of running material
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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
- B65H75/4402—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
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Landscapes
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
Abstract
The invention provides an umbilical cable winding and unwinding device for an ROV (remote operated vehicle), which comprises a hydraulic motor, a main shaft, a winding drum, an electric slip ring, an absolute encoder, a cable arrangement mechanism, a fixed pulley, a pin shaft sensor and the like, wherein the hydraulic motor rotates to drive the winding drum to rotate through the main shaft, so that the winding drum is wound and unwound, the winding drum is synchronously linked with the cable arrangement mechanism through the gear transmission ratio design, the umbilical cable is regularly arranged, the pin shaft sensor always monitors the tension in the umbilical cable in the process of winding and unwinding the cable, the tension value is fed back to a shore-based control console in real time to be used as the rotation speed and steering control input of the hydraulic motor, and the absolute encoder records the length of the wound cable. The invention realizes the hydraulic control retraction and automatic arrangement of the umbilical cable for the ROV, solves the problems of easy winding, easy rope skipping, incapability of accurately controlling and recording retraction and the like of the ROV umbilical cable in the using process, lays a certain foundation for the convenient underwater use of the ROV, and has very good engineering significance and social benefit.
Description
Technical Field
The invention belongs to the technical field of ship devices, and particularly relates to an umbilical cable retracting device for an ROV.
Background
In the technical field of ship devices, the Remote Operated Vehicle (ROV) needs to transmit energy and data by an umbilical cable, and because the operating distance is generally long and varies from tens of meters to thousands of meters, the underwater cable collecting, releasing and arranging device needs to be used for collecting, releasing and arranging the umbilical cable.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided is an umbilical cable retraction device for an ROV, which can realize hydraulic control retraction of an ROV umbilical cable and can arrange the umbilical cable on a winding drum neatly.
The invention provides a winding and unwinding device of an umbilical cable for an ROV (remote operated vehicle), which specifically comprises a hydraulic motor 1, a base 2, a first coupler 3, a first sliding bearing 4, a winding drum end plate 5, a winding drum 6, a main shaft 7, a large-size cylindrical spur gear 8, an electric slip ring 9, a second sliding bearing 12, a small-size cylindrical spur gear 13, a cable arrangement mechanism 14, an umbilical cable 16, a fixed pulley mounting box 18, a fixed pulley 20, a limiting wheel 21 and an ROV 22.
The cable arranging mechanism 14 comprises a trapezoidal nut 14a, a cable arranging mechanism base 14b, a trapezoidal screw rod 14c, a first limiting wheel 14d, a second limiting wheel 14e, a third sliding bearing 14f, a guide rod 14g and a guide rod base 14 h.
The motor 1 is fixed on one side end face of the base 2, and one end of the main shaft 7 is connected with the motor 1 through the first coupler 3; the main shaft 7 and the base 2 are fixed through a first sliding bearing 4; the winding drum end plate 5 and the large-size cylindrical straight gear 8 are respectively fixed on the main shaft 7, and a flat key is arranged at the shaft hole and used for transmitting torque; one end of the winding drum 6 is fixed on the winding drum end plate 5, and the other end is fixed on the large-size straight cylindrical gear 8.
The other end of the main shaft 7 is provided with an electric slip ring 9, and the electric slip ring 9 comprises a rotor end and a stator end and is used for realizing power supply and signal transmission of the umbilical cable 16 in the rotation process of the winding drum 6.
The fixed pulley mounting box 18 is fixed on the base 2, the fixed pulley 20 is arranged in the middle of the fixed pulley mounting box 18, and the limiting wheel 21 is arranged at the tail end of the fixed pulley mounting box 18.
The winding drum 6 is provided with a through hole for the umbilical cable 16 to pass through, and the cylindrical surface and the axial direction of the main shaft 7 are both provided with holes; after the umbilical cable 16 is wound on the winding drum 6, one end of the umbilical cable penetrates into the winding drum 6 through a through hole of the winding drum and is connected with the rotor end of the electric slip ring 9 through the cylindrical surface of the main shaft 7 and an opening in the axial direction, and the stator end of the electric slip ring 9 conveys the umbilical cable 16 to the shore; the other end of the umbilical 16 is connected to an ROV22 via a cable arrangement mechanism 14, a fixed pulley 20 and a limiting wheel 21.
Two ends of the trapezoidal screw rod 14c are respectively fixed on the guide rod base 14h through a second sliding bearing 12; a small-size cylindrical straight gear 13 is arranged on the trapezoidal screw rod 14c, and a flat key is arranged at the shaft hole of the small-size cylindrical straight gear 13 and is meshed with the large-size cylindrical straight gear 8 at the end part of the winding drum 6 to rotate; a first limiting wheel 14d and a second limiting wheel 14e are arranged on the cable arranging mechanism base 14b, and the umbilical cable 16 is wound on the surface of the winding drum 6 and then penetrates through a gap between the first limiting wheel 14d and the second limiting wheel 14 e; the guide rod 14g is fixed on the guide rod base 14h and is parallel to the trapezoidal screw rod 14 c; a third sliding bearing 14f is arranged on the guide rod 14g, and the cable arranging mechanism base 14b and the guide rod 14g form a sliding pair through the third sliding bearing 14 f; the trapezoidal nut 14a is fixed on the cable arranging mechanism base 14b, and the trapezoidal nut 14a and the trapezoidal screw rod 14c form a spiral transmission pair; the trapezoidal screw rod 14c is driven by the small-size straight cylindrical gear 13 to rotate, and drives the trapezoidal nut 14a to move left and right along the axis direction, so that the umbilical cables 16 are regularly arranged on the winding drum 6.
When the cable is laid, the ROV22 is moved out by a motor, the hydraulic motor 1 rotates forwards and drives the main shaft 7 to rotate through the first coupler 3, the main shaft 7 drives the winding drum 6 to rotate through the two flat keys, so that the large-size cylindrical spur gear 8 and the small-size cylindrical spur gear 13 meshed with the large-size cylindrical spur gear are driven to rotate, the small-size cylindrical spur gear 13 drives the trapezoidal screw rod 14c to rotate through the flat keys, the trapezoidal nut 14a is driven to move left and right along the axis direction, and the umbilical cable 16 is discharged.
When the cable is taken up, the hydraulic motor 1 rotates reversely, and the umbilical cable 16 is driven to be taken back and wound on the surface of the winding drum 6 through the transmission link.
Further, still include umbilical cord fixer 15 and press cable ware 17, umbilical cord fixer 15 sets up on reel 6 surface, press cable ware 17 to set up on base 2, and umbilical cord 16 compresses tightly fixedly through umbilical cord fixer 15 and press cable ware 17 respectively, can prevent that umbilical cord 16 from appearing jumping the cable phenomenon at the in-process of receive and releasing.
Further, the device also comprises a pin sensor 19, wherein the pin sensor 19 is arranged on the fixed pulley mounting box 18 and used for measuring the tension in the umbilical cable 16, and the tension value can be used as an input signal for controlling the rotating speed and the steering of the hydraulic motor 1.
Further, still include absolute type encoder 10 and No. two shaft couplings 11, absolute type encoder 10 is connected with trapezoidal lead screw 14c end through No. two shaft couplings 11 for record cable laying length.
Preferably, the transmission ratio of the large-size spur gear 8 to the small-size spur gear 13 is adjusted so that the trapezoidal nut 14a is driven to move just one cable groove pitch along the trapezoidal screw 14c when the reel 6 rotates one round, and the umbilical 16 is orderly released.
Preferably, the first coupling 3 is an elastic coupling.
Preferably, the second coupler 11 is an elastic coupler.
Furthermore, the hydraulic motor and the end face of the base, the end plate of the winding drum and the winding drum, the large-size straight cylindrical gear and the winding drum, and the trapezoidal nut and the base of the cable arranging mechanism are fixed by bolts.
The invention has the beneficial effects that: according to the cable winding and unwinding device for the umbilical cord for the ROV, provided by the invention, the hydraulic control winding and unwinding and automatic arrangement of the umbilical cord for the ROV are realized by arranging the hydraulic motor, the main shaft, the winding drum, the electric slip ring, the absolute encoder, the cable arrangement mechanism, the fixed pulley, the pin shaft sensor and the like, the problems that the umbilical cord for the ROV is easy to wind and jump and cannot be accurately controlled and recorded in the use process are solved, and a certain foundation is laid for the convenient underwater use of the ROV.
Drawings
FIG. 1 is a front view of an umbilical retraction device for an ROV according to the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a view of the present invention in the direction B;
FIG. 4 is a cross-sectional view of a cable management apparatus A-A of the present invention;
in the figure: 1-hydraulic motor, 2-base, 3-elastic coupling, 4-sliding bearing, 5-reel end plate, 6-reel, 7-main shaft, 8-large cylinder spur gear, 9-electric slip ring, 10-absolute encoder, 11-elastic coupling, 12-sliding bearing, 13-small cylinder spur gear, 14-cable arranging mechanism, 14 a-trapezoidal nut, 14 b-cable arranging mechanism base, 14 c-trapezoidal screw rod, 14 d-first limit wheel, 14 e-second limit wheel, 14 f-third sliding bearing, 14 g-guide rod, 14 h-guide rod base, 15-umbilical cable fixer, 16-umbilical cable, 17-cable press, 18-fixed pulley mounting box, 19-pin shaft sensor, 20-fixed pulley, 21-third limiting wheel and 22-ROV.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The first embodiment is as follows:
referring to fig. 1 to 3, an umbilical cable retraction device for an ROV according to an embodiment of the present invention includes a hydraulic motor 1, a base 2, a first elastic coupling 3, a first sliding bearing 4, a winding drum end plate 5, a winding drum 6, a main shaft 7, a large-size spur gear 8, an electrical slip ring 9, a second sliding bearing 12, a small-size spur gear 13, a cable arrangement mechanism 14, a fixer 15, an umbilical cable 16, a cable presser 17, a fixed pulley mounting box 18, a fixed pulley 20, a limiting wheel 21, and an ROV 22.
Referring to fig. 4, the cable arranging mechanism 14 includes a trapezoidal nut 14a, a cable arranging mechanism base 14b, a trapezoidal screw 14c, a first limiting wheel 14d, a second limiting wheel 14e, a third sliding bearing 14f, a guide rod 14g and a guide rod base 14 h.
Referring to fig. 1 to 3, the base 2 is a foundation for mounting various components, and the hydraulic motor 1 is fixed on the end face of the base 2 through bolts and connected with the main shaft 7 through a first elastic coupling 3; the first sliding bearing 4 is totally 2 sleeves and is supported at two ends of the main shaft 7; the winding drum end plate 5 is connected with the winding drum 6 through a bolt, and a flat key is arranged at the shaft hole of the winding drum end plate 5 and used for transmitting torque; the other end of the winding drum 6 is connected with a large-size straight cylindrical gear 8 through a bolt, and a flat key is arranged at the axle hole of the large-size straight cylindrical gear 8 and used for transmitting torque; the electric slip ring 9 is fixed on the end face of the main shaft 7 and used for realizing power supply and signal transmission of the umbilical cable 16 in the rotation process of the winding drum 6; the umbilical cable 16 is used for transmitting power and data for the ROV22, one end of the umbilical cable 16 is wound on the winding drum 6 and penetrates into the winding drum 6 through a through hole in the winding drum 6, the umbilical cable is connected with the rotor end of the electric slip ring 9 through an inclined hole and an axial direction hole in the cylindrical surface of the main shaft 7, and the umbilical cable is discharged to the shore through the stator end of the electric slip ring 9 and is connected with a shore power and a control cabinet.
Referring to fig. 3, a fixed pulley mounting box 18 is fixed on a base 2, the distance between the fixed pulley mounting box 18 and the base 2 can be adjusted according to the use requirement, a fixed pulley 20 is arranged in the middle of the fixed pulley mounting box 18, and a limiting wheel 21 is arranged at the tail end of the fixed pulley mounting box 18; the other end of the umbilical cable 16 is led out through the cable arrangement mechanism 14 and then passes through the fixed pulley 20 in the fixed pulley mounting box 18, and is limited by the limiting wheel 21, and finally the tail end of the umbilical cable 16 is connected to the ROV 22.
Referring to fig. 4, the number two sliding bearings 12 are 2, and both ends of the trapezoidal screw rod 14c are respectively fixed on the guide rod base 14h through the number two sliding bearings 12; a small-size cylindrical straight gear 13 is arranged on the trapezoidal screw rod 14c, a flat key is arranged at the shaft hole of the small-size cylindrical straight gear 13 and is meshed with the large-size cylindrical straight gear 8 at the end part of the winding drum 6 to rotate, and the rotating motion of the winding drum 6 is transmitted to the trapezoidal screw rod 14c in the cable arranging mechanism 14 according to a set speed ratio; a first limiting wheel 14d and a second limiting wheel 14e are arranged on the cable arranging mechanism base 14b, and the umbilical cable 16 is wound on the surface of the winding drum 6 and then penetrates through a gap between the first limiting wheel 14d and the second limiting wheel 14 e; the guide rod bases 14h are 2 in number, and the guide rod 14g is fixed on the guide rod bases 14h and is parallel to the trapezoidal screw rod 14 c; a third sliding bearing 14f is arranged on the guide rod 14g, and the cable arranging mechanism base 14b and the guide rod 14g form a sliding pair through the third sliding bearing 14 f; the trapezoidal nut 14a is fixed on the cable arranging mechanism base 14b through a screw, and the trapezoidal nut 14a and the trapezoidal screw rod 14c form a spiral transmission pair; the trapezoidal screw rod 14c is driven by the small-size straight cylindrical gear 13 to rotate, and drives the trapezoidal nut 14a to move left and right along the axis direction, so that the umbilical cables 16 are regularly arranged on the winding drum 6.
The working principle of the umbilical cable winding and unwinding device for the ROV in the embodiment of the invention is as follows:
when the cable is released, the ROV22 is moved out, the hydraulic motor 1 rotates forwards, the main shaft 7 is driven to rotate through the elastic coupling 2, the main shaft 7 drives the winding drum 6 to rotate through the flat keys at two ends, the large-size cylindrical spur gear 8 fixedly connected with the winding drum 6 drives the small-size cylindrical spur gear 13 meshed with the large-size cylindrical spur gear to rotate, the small-size cylindrical spur gear 13 drives the trapezoidal screw rod 14c to rotate through the flat keys, the trapezoidal nut 14a is driven to move along the trapezoidal screw rod 14c, the transmission ratio of the large-size cylindrical spur gear 8 to the small-size cylindrical spur gear 13 is specially designed to ensure that the winding drum 6 rotates for one circle, the trapezoidal nut 14a just moves for one cable groove interval along the trapezoidal screw rod 14c, and the umbilical cable 16 is released neatly.
When the cable is taken up, the hydraulic motor 1 rotates reversely, and the umbilical cable 16 is driven to be taken back through the transmission link and wound on the surface of the winding drum 6 in order.
Example two
Referring to fig. 1 to 3, the cable retraction device for an umbilical cord for an ROV according to an embodiment of the present invention includes a hydraulic motor 1, a base 2, a first elastic coupling 3, a first sliding bearing 4, a winding drum end plate 5, a winding drum 6, a main shaft 7, a large-size spur gear 8, an electrical slip ring 9, an absolute encoder 10, a second coupling 11, a second sliding bearing 12, a small-size spur gear 13, a cable arrangement mechanism 14, a fixing device 15, an umbilical cord 16, a cable pressing device 17, a fixed pulley mounting box 18, a pin sensor 19, a fixed pulley 20, a limiting wheel 21, and an ROV 22.
Referring to fig. 4, the cable arranging mechanism 14 includes a trapezoidal nut 14a, a cable arranging mechanism base 14b, a trapezoidal screw 14c, a first limiting wheel 14d, a second limiting wheel 14e, a third sliding bearing 14f, a guide rod 14g and a guide rod base 14 h.
Referring to fig. 1 to 3, the base 2 is a foundation for mounting various components, and the hydraulic motor 1 is fixed on the end face of the base 2 through bolts and connected with the main shaft 7 through a first elastic coupling 3; the first sliding bearing 4 is totally 2 sleeves and is supported at two ends of the main shaft 7; the winding drum end plate 5 is connected with the winding drum 6 through a bolt, and a flat key is arranged at the shaft hole of the winding drum end plate 5 and used for transmitting torque; the other end of the winding drum 6 is connected with a large-size straight cylindrical gear 8 through a bolt, and a flat key is arranged at the axle hole of the large-size straight cylindrical gear 8 and used for transmitting torque; the electric slip ring 9 is fixed on the end face of the main shaft 7 and used for realizing power supply and signal transmission of the umbilical cable 16 in the rotation process of the winding drum 6; the umbilical cable 16 is used for transmitting power and data for the ROV22, one end of the umbilical cable 16 is wound on the winding drum 6 and penetrates into the winding drum 6 through a through hole in the winding drum 6, the umbilical cable is connected with the rotor end of the electric slip ring 9 through an inclined hole and an axial direction hole in the cylindrical surface of the main shaft 7, and the umbilical cable is discharged to the shore through the stator end of the electric slip ring 9 and is connected with a shore power and a control cabinet.
Referring to fig. 3, a fixed pulley mounting box 18 is fixed on a base 2, the distance between the fixed pulley mounting box 18 and the base 2 can be adjusted according to the use requirement, a fixed pulley 20 is arranged in the middle of the fixed pulley mounting box 18, and a limiting wheel 21 is arranged at the tail end of the fixed pulley mounting box 18; the other end of the umbilical cable 16 is led out through the cable arrangement mechanism 14 and then passes through a fixed pulley 20 in the fixed pulley mounting box 18, and is limited by a limiting wheel 21, and finally the tail end of the umbilical cable 16 is connected to an ROV 22. A pin sensor 19 is provided on the fixed sheave mounting box 18 for measuring the tension in the umbilical 16, which tension value can be used as an input signal for the rotation speed and steering control of the hydraulic motor 1.
Referring to fig. 4, the number two sliding bearings 12 are 2, and two ends of the trapezoidal screw rod 14c are respectively fixed on the guide rod base 14h through the number two sliding bearings 12; a small-size cylindrical straight gear 13 is arranged on the trapezoidal screw rod 14c, a flat key is arranged at the shaft hole of the small-size cylindrical straight gear 13 and is meshed with the large-size cylindrical straight gear 8 at the end part of the winding drum 6 to rotate, and the rotating motion of the winding drum 6 is transmitted to the trapezoidal screw rod 14c in the cable arranging mechanism 14 according to a set speed ratio; a first limiting wheel 14d and a second limiting wheel 14e are arranged on the cable arranging mechanism base 14b, and the umbilical cable 16 is wound on the surface of the winding drum 6 and then penetrates through a gap between the first limiting wheel 14d and the second limiting wheel 14 e; the guide rod bases 14h are 2 in number, and the guide rod 14g is fixed on the guide rod bases 14h and is parallel to the trapezoidal screw rod 14 c; a third sliding bearing 14f is arranged on the guide rod 14g, and the cable arranging mechanism base 14b and the guide rod 14g form a sliding pair through the third sliding bearing 14 f; the trapezoidal nut 14a is fixed on the cable arranging mechanism base 14b through a screw, and the trapezoidal nut 14a and the trapezoidal screw rod 14c form a spiral transmission pair; the trapezoidal screw rod 14c is driven by the small-size straight cylindrical gear 13 to rotate, and drives the trapezoidal nut 14a to move left and right along the axis direction, so that the umbilical cables 16 are regularly arranged on the winding drum 6. The absolute encoder 10 is connected with the end part of the trapezoidal screw rod 14c through a second elastic coupling 11 and is used for recording the cable laying length.
The working principle of the umbilical cable retracting device for the ROV in the embodiment of the invention is as follows:
when the cable is released, the ROV22 is moved out, the hydraulic motor 1 rotates forwards, the main shaft 7 is driven to rotate through the elastic coupling 2, the main shaft 7 drives the winding drum 6 to rotate through the flat keys at two ends, the large-size cylindrical spur gear 8 fixedly connected with the winding drum 6 drives the small-size cylindrical spur gear 13 meshed with the large-size cylindrical spur gear to rotate, the small-size cylindrical spur gear 13 drives the trapezoidal screw rod 14c to rotate through the flat keys, the trapezoidal nut 14a is driven to move along the trapezoidal screw rod 14c, the transmission ratio of the large-size cylindrical spur gear 8 to the small-size cylindrical spur gear 13 is specially designed to ensure that the winding drum 6 rotates for one circle, the trapezoidal nut 14a just moves for one cable groove interval along the trapezoidal screw rod 14c, and the umbilical cable 16 is released neatly. In the process of cable laying, the pin sensor 19 monitors the tension in the umbilical cable 16 all the time, feeds back the tension value to the shore-based control console in real time for controlling the rotating speed and the steering of the hydraulic motor 2, and the absolute encoder 10 records the cable laying length.
When the cable is collected, the hydraulic motor 1 rotates reversely, the umbilical cable 16 is driven to be collected through the transmission link and wound on the surface of the winding drum 6 in order, and the pin shaft sensor 19 and the absolute type encoder 10 work continuously in the cable collecting process.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides an umbilical cable winding and unwinding devices for ROV which characterized in that: the hydraulic control system comprises a hydraulic motor (1), a base (2), a first coupler (3), a first sliding bearing (4), a winding drum end plate (5), a winding drum (6), a main shaft (7), a large-size cylindrical spur gear (8), an electric slip ring (9), a second sliding bearing (12), a small-size cylindrical spur gear (13), a cable arrangement mechanism (14), an umbilical cable (16), a fixed pulley mounting box (18), a fixed pulley (20), a limiting wheel (21) and an ROV (22);
the cable arrangement mechanism (14) comprises a trapezoidal nut (14a), a cable arrangement mechanism base (14b), a trapezoidal screw rod (14c), a first limiting wheel (14d), a second limiting wheel (14e), a third sliding bearing (14f), a guide rod (14g) and a guide rod base (14 h);
the motor (1) is fixed on the end face of one side of the base (2), and one end of the main shaft (7) is connected with the motor (1) through a first coupler (3); the main shaft (7) and the base (2) are fixed through a first sliding bearing (4); the winding drum end plate (5) and the large-size cylindrical straight gear (8) are respectively fixed on the main shaft (7), and a flat key is arranged at the shaft hole and used for transmitting torque; one end of the winding drum (6) is fixed on the winding drum end plate (5), and the other end is fixed on the large-size cylindrical straight gear (8);
the other end of the main shaft (7) is provided with an electric slip ring (9), the electric slip ring (9) comprises a rotor end and a stator end and is used for realizing power supply and signal transmission of an umbilical cable (16) in the rotation process of the winding drum (6);
the fixed pulley mounting box (18) is fixed on the base (2), a fixed pulley (20) is arranged in the middle of the fixed pulley mounting box (18), and a limiting wheel (21) is arranged at the tail end of the fixed pulley mounting box (18);
the winding drum (6) is provided with a through hole for the umbilical cable (16) to pass through, and the cylindrical surface and the axial direction of the main shaft (7) are both provided with holes; after the umbilical cable (16) is wound on the winding drum (6), one end of the umbilical cable penetrates into the winding drum (6) through a through hole of the winding drum, the umbilical cable is connected with the rotor end of the electric slip ring (9) through the cylindrical surface of the main shaft (7) and an opening in the axial direction, and the stator end of the electric slip ring (9) conveys the umbilical cable (16) to the shore; the other end of the umbilical cable (16) is sequentially connected to an ROV (22) through a cable arrangement mechanism (14), a fixed pulley (20) and a limiting wheel (21);
two ends of the trapezoidal screw rod (14c) are respectively fixed on the guide rod base (14h) through a second sliding bearing (12); a small-size cylindrical straight gear (13) is arranged on the trapezoidal screw rod (14c), a flat key is arranged at the shaft hole of the small-size cylindrical straight gear (13) and is meshed with a large-size cylindrical straight gear (8) at the end part of the winding drum (6) to rotate; a first limiting wheel (14d) and a second limiting wheel (14e) are arranged on the cable arranging mechanism base (14b), and the umbilical cable (16) is wound on the surface of the winding drum (6) and then penetrates through a gap between the first limiting wheel (14d) and the second limiting wheel (14 e); the guide rod (14g) is fixed on the guide rod base (14h) and is parallel to the trapezoidal screw rod (14 c); a third sliding bearing (14f) is arranged on the guide rod (14g), and the cable arranging mechanism base (14b) and the guide rod (14g) form a moving pair through the third sliding bearing (14 f); the trapezoidal nut (14a) is fixed on a base (14b) of the cable arranging mechanism, and the trapezoidal nut (14a) and the trapezoidal screw rod (14c) form a spiral transmission pair; the trapezoidal screw rod (14c) is driven by the small-size straight cylindrical gear (13) to rotate to drive the trapezoidal nut (14a) to move left and right along the axis direction, so that the umbilical cables (16) are regularly arranged on the winding drum (6);
when the cable is laid, the ROV (22) is moved out, the hydraulic motor (1) rotates forwards, the main shaft (7) is driven to rotate through the first coupler (3), the main shaft (7) drives the winding drum (6) to rotate through the two flat keys at the two ends, so that the large-size cylindrical spur gear (8) and the small-size cylindrical spur gear (13) meshed with the large-size cylindrical spur gear are driven to rotate, the small-size cylindrical spur gear (13) drives the trapezoidal screw rod (14c) to rotate through the flat keys, the trapezoidal nut (14a) is driven to move left and right along the axis direction, and the umbilical cable (16) is discharged;
when the cable is retracted, the hydraulic motor (1) rotates reversely, and the umbilical cable (16) is driven to retract through the transmission link and is wound on the surface of the winding drum (6).
2. An ROV umbilical retraction device as claimed in claim 1 wherein: still include umbilical cable fixer (15) and press cable ware (17), umbilical cable fixer (15) set up on reel (6) surface, press cable ware (17) to set up on base (2), umbilical cable (16) compresses tightly fixedly through umbilical cable fixer (15) and press cable ware (17) respectively, can prevent that umbilical cable (16) from appearing jumping the cable phenomenon at the in-process of receiving and releasing.
3. An ROV umbilical retraction device as claimed in claim 1 wherein: the hydraulic control system is characterized by further comprising a pin shaft sensor (19), wherein the pin shaft sensor (19) is arranged on the fixed pulley mounting box (18) and used for measuring tension in the umbilical cable (16), and the tension value can be used as an input signal for controlling the rotating speed and the rotating direction of the hydraulic motor (1).
4. An ROV umbilical retraction device as claimed in claim 1 wherein: the cable laying device is characterized by further comprising an absolute encoder (10) and a second coupler (11), wherein the absolute encoder (10) is connected with the end portion of the trapezoidal screw rod (14c) through the second coupler (11) and used for recording the cable laying length.
5. An ROV umbilical retraction device as claimed in claim 1 wherein: the transmission ratio of the large-size cylindrical spur gear (8) and the small-size cylindrical spur gear (13) is adjusted, so that when the winding drum (6) rotates for one circle, the trapezoidal nut (14a) is driven to move for a cable groove interval just along the trapezoidal screw rod (14c), and the umbilical cable (16) is orderly released.
6. An ROV umbilical retraction device as claimed in claim 1 wherein: the first coupler (3) is an elastic coupler.
7. An ROV umbilical retraction device as claimed in claim 4 wherein: the second coupler (11) is an elastic coupler.
8. An ROV umbilical retraction device as claimed in claim 1 wherein: the hydraulic motor and the end face of the base, the end plate of the winding drum and the winding drum, the large-size straight cylindrical gear and the winding drum, and the trapezoidal nut and the base of the cable arrangement mechanism are fixed by bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010728590.5A CN113968524A (en) | 2020-07-24 | 2020-07-24 | Umbilical cable winding and unwinding devices for ROV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010728590.5A CN113968524A (en) | 2020-07-24 | 2020-07-24 | Umbilical cable winding and unwinding devices for ROV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113968524A true CN113968524A (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010728590.5A Pending CN113968524A (en) | 2020-07-24 | 2020-07-24 | Umbilical cable winding and unwinding devices for ROV |
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| Country | Link |
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| CN (1) | CN113968524A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117471056A (en) * | 2023-12-27 | 2024-01-30 | 北京市农林科学院智能装备技术研究中心 | Water quality monitoring system |
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Application publication date: 20220125 |