CN114275699B - Unmanned cable diameter-variable underwater electric winch - Google Patents
Unmanned cable diameter-variable underwater electric winch Download PDFInfo
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Abstract
The invention relates to the technical field of underwater detection, in particular to an unattended underwater electric winch with a variable cable diameter; comprises a frame, a cable storage mechanism, a left-right reciprocating mechanism and a variable-diameter cable arranging mechanism; the rack is provided with a left-right reciprocating mechanism and a cable storage mechanism from front to back, and the cable storage mechanism is driven to reciprocate left and right by driving the left-right reciprocating mechanism to work; the variable-diameter cable arranging mechanism comprises a connecting bracket, a mounting frame, a guide roller, a guide belt, a guide motor, a spring telescopic pin, a supporting telescopic rod and a cable diameter identification sensor; the inside left and right sides symmetric distribution of linking bridge has the mounting bracket, and both sides symmetry rotation is installed the guide roll around on every mounting bracket, and the wrap joint has the guiding strip between two guide rolls. The invention can ensure that the variable-diameter combined cable keeps constant tension when the cable is released by arranging the variable-diameter cable arranging mechanism, and simultaneously meets the capability of releasing and winding the variable-diameter cable.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to an unattended underwater electric winch with a variable cable diameter.
Background
At present, detection equipment such as underwater robots, towed bodies and the like is widely used for deep sea detection, and an underwater winch is equipment meeting the retraction and release requirements of the detection equipment. The equipment is used in a deepwater environment, the space of an installation platform is more narrow, the bearing capacity of the installation platform is lower, the actual cable winding and unwinding ropes are longer, and the underwater winch has the characteristics of miniaturization and light weight while meeting the requirements of storing, winding and unwinding long-length cables; in practical use, most of cables are combined cables with variable diameters, and the winch needs to have the capabilities of winding and unwinding the cables with variable diameters and controlling tension during cable unwinding. Therefore, there is a need to develop an unmanned variable cable diameter underwater electric winch to solve the above problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the unattended variable-cable-diameter type underwater electric winch, and the variable-diameter type underwater electric winch can enable a variable-diameter combined cable to maintain constant tension when the cable is laid by arranging the variable-diameter cable arranging mechanism, and simultaneously meets the capacity of winding and unwinding the variable-diameter cable.
The invention is realized by the following technical scheme:
an unmanned cable diameter-variable underwater electric winch comprises a frame, a cable storage mechanism, a left-right reciprocating mechanism and a cable diameter-variable cable arranging mechanism; the left-right reciprocating mechanism and the cable storage mechanism are arranged on the frame from front to back in a distributed manner, and the variable-diameter cable arrangement mechanism is driven to reciprocate left and right by driving the left-right reciprocating mechanism to work;
the variable-diameter cable arranging mechanism comprises a connecting bracket, a mounting frame, a guide roller, a guide belt, a guide motor, a spring telescopic pin, a supporting telescopic rod and a cable diameter identification sensor; the inside left and right sides symmetric distribution of linking bridge has the mounting bracket, every bilateral symmetry rotates around on the mounting bracket and installs the guide roll, two the round joint has between the guide roll the guiding strip, wherein the front side one the drive end of guide roll with install in on the mounting bracket the output of guiding motor links to each other, control two on the lateral wall of mounting bracket respectively through four the spring expansion pin with the left and right side inside wall of linking bridge links to each other, simultaneously through four the support telescopic link respectively with control two the mounting bracket links to each other, moreover still including setting up on the mounting bracket cable footpath identification sensor.
Preferably, the variable-diameter cable arrangement mechanism further comprises four guide plates, the four guide plates are respectively rotatably installed at the front end and the rear end of the connecting support, and the four guide plates are all in a downward inclined state.
Preferably, the guide belt is a V-shaped belt, and an anti-slip layer for increasing friction force is arranged on the outer surface of the V-shaped belt.
Preferably, the cable diameter identification sensor comprises a rotating plate, a compression spring, an induction plate and a proximity sensor; the rotating plate is rotatably arranged at the front end and the rear end of the connecting bracket, the left and the right outer side walls of the rotating plate are connected with the compression springs, the other ends of the compression springs are provided with the sensing plates, and the connecting bracket is provided with the proximity sensors which are correspondingly matched with the sensing plates in a detection mode;
and the number of the cable diameter identification sensors is four, and the cable diameter identification sensors are distributed on the front end and the rear end of the connecting bracket.
Preferably, the supporting telescopic rod comprises a supporting sleeve and a supporting sliding rod, wherein two supporting sliding rods are respectively inserted into the left side and the right side of the inside of the supporting sleeve in a sliding manner, and the left side and the right side of the supporting sliding rod are connected with the mounting frame through the left side and the right side of the supporting sliding rod.
Preferably, the cable storage mechanism comprises a cable storage motor, a cable storage reduction gearbox, a bearing, a roller and an optoelectronic slip ring; install on the left side wall of frame store up the cable reducing gear box, store up the input of cable reducing gear box with store up the output of cable motor and link to each other, store up the output of cable reducing gear box with the left side axle end of cylinder links to each other, the left and right sides axle head of cylinder passes through the bearing rotate install in the frame, simultaneously adopt polytetrafluoroethylene ring and O type circle combination form to carry out dynamic seal on the bearing, moreover still including the right side axle end of cylinder that sets up be used for signal transmission the photoelectricity sliding ring.
Preferably, the left-right reciprocating mechanism comprises a reciprocating motor, a reciprocating reduction gearbox, a screw rod, a nut, a guide sleeve and a guide rod; install on the left side wall of frame reciprocal reducing gear box, reciprocal reducing gear box's input with reciprocating motor's output links to each other, reciprocal reducing gear box's output with rotate install in the frame the tip of lead screw links to each other, the screw thread department thread bush of lead screw is equipped with the nut, still including setting up in the frame the guide bar, the slip cap is equipped with on the guide bar the uide bushing, the upper and lower extreme of linking bridge respectively with the uide bushing with the nut links to each other.
Preferably, the remote control system further comprises a control unit and a monitoring unit, wherein the control unit is used for realizing remote control of equipment and is arranged on the right side wall of the rack; the monitoring unit is used for monitoring the running state of the equipment, and the two monitoring units are distributed on the left side and the right side of the front end of the frame.
The beneficial effects of the invention are as follows:
1. the invention can ensure that the variable-diameter combined cable keeps constant tension when the cable is released by arranging the variable-diameter cable arranging mechanism, and simultaneously meets the capability of releasing and winding the variable-diameter cable.
2. The winch is in a deep water environment, and the installation position of the bearing is dynamically sealed in a polytetrafluoroethylene ring and O-shaped ring combined mode, so that the winch has high pressure resistance and high reliable sealing capability.
3. The noise of the winch has more influence on the detection equipment or the installation platform, and the noise is reduced by sealing the motor and the reduction gearbox by using the lining sound-absorbing material cover.
4. The winch is limited by the environment, is unattended, and has the capabilities of remote operation, monitoring and signal transmission by arranging the photoelectric slip ring, the remote control unit and the monitoring unit.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a left side view of the structure of the present invention;
FIG. 2 is a right side view of the structure of the present invention;
FIG. 3 is a front view of the variable diameter cable routing mechanism of the present invention;
FIG. 4 is a rear elevational view of the variable diameter cable routing mechanism of the present invention;
fig. 5 is a top view of the variable diameter cable arrangement mechanism according to the present invention.
In the figure: 1-rack, 2-cable storage mechanism, 21-cable storage motor, 22-cable storage reduction gearbox, 23-roller, 24-photoelectric slip ring, 3-left and right reciprocating mechanism, 31-reciprocating motor, 32-reciprocating reduction gearbox, 33-lead screw, 34-nut, 35-guide sleeve, 36-guide bar, 4-variable diameter cable arrangement mechanism, 41-connecting bracket, 42-mounting bracket, 43-guide roller, 44-guide belt, 45-guide motor, 46-spring telescopic pin, 47-support telescopic bar, 471-support sleeve, 472-support sliding bar, 48-cable diameter identification sensor, 481-rotating plate, 482-compression spring, 483-sensing plate, 484-proximity sensor, 49-guide plate, 5-control unit, 6-monitoring unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1 to 5, the embodiment of the invention specifically discloses a technical scheme of an unattended variable cable diameter type underwater electric winch, which comprises a frame 1, a cable storage mechanism 2, a left-right reciprocating mechanism 3 and a variable diameter cable arranging mechanism 4; the frame 1 is provided with a left-right reciprocating mechanism 3 and a cable storage mechanism 2 from front to back, and the cable storage mechanism 2 is driven to reciprocate left and right by driving the left-right reciprocating mechanism 3 to work; when the technical scheme is specifically used, the function of winding and unwinding the variable-diameter combined cable can be realized through the cable storage mechanism 2; by arranging the left-right reciprocating mechanism 3, the cable storage mechanism 2 can reciprocate left and right when the cable is wound, so that the cable winding arrangement is ensured to be tidy. By adjusting the rotation speed ratio of the cable storage motor 21 to the reciprocating motor 31, the tight arrangement of the cable diameter-variable combined cable on the winding drum can be realized; by the arrangement of the variable-diameter cable arranging mechanism 4, constant tension cable arranging of the variable-diameter combined cable can be achieved.
The variable-diameter cable arranging mechanism 4 comprises a connecting bracket 41, a mounting frame 42, a guide roller 43, a guide belt 44, a guide motor 45, a spring telescopic pin 46, a supporting telescopic rod 47 and a cable diameter identification sensor 48; the inside left and right sides symmetric distribution of linking bridge 41 has mounting bracket 42, mounting bracket 42 is C type frame structure setting, both sides symmetry rotation is installed guide roll 43 around on every mounting bracket 42, the round joint has guide belt 44 between two guide rolls 43, wherein the drive end of a guide roll 43 in front side links to each other with the output of the guide motor 45 of installing on mounting bracket 42, link to each other with the inside wall about linking bridge 41 through four spring expansion pin 46 respectively on the left and right sides lateral wall of two mounting brackets 42 about, link to each other with two mounting brackets 42 about through four support telescopic links 47 respectively simultaneously, still including the cable footpath identification sensor 48 who sets up on the mounting bracket 42. When the variable-diameter cable arranging mechanism 4 is specifically used, namely, the underwater cable is in an approximately zero-buoyancy state, a certain tension is required to be applied during cable laying, the device is provided with four guide rollers 43 on the left side and the right side, the guide rollers 43 on the left side and the right side are respectively provided with V-shaped belts, friction force is increased, and two guide motors 45 are arranged at the lower ends, namely, small-sized direct current motors. When the cable is retracted, the four guide rollers 43 are driven columns and move under the friction force of the cable; when the cable is released, the two guide rollers 43 at the upper end are driven columns, and the two guide motors 45 at the lower end start to work to apply friction force to the cable, so that constant tension cable release is realized. The left and right guide rollers 43 are provided with mounting frames 42, are connected with the outermost connecting support 41 of the device by spring telescopic pins 46, and can reciprocate leftwards and rightwards under the extrusion of cables, so that the diameter-variable function of the combined cable is realized. The purpose of adjusting and supporting the distance between the left and right guide rollers 43 can be achieved by the support left and right expansion and contraction engagement of the support expansion rod 47 while the spring expansion pin 46 is moved left and right, and the stability at the time of moving left and right between the mounting frame 42 and the four guide rollers 43 can be further improved.
In the embodiment of the invention, the variable-diameter cable arrangement mechanism 4 further comprises four guide plates 49, and the four guide plates 49 are respectively rotatably arranged at the front end and the rear end of the connecting bracket 41 and are all arranged in a downward inclined state; the collision between cables with different cable diameters and the device can be prevented when the cables enter the device.
In the embodiment of the present invention, the guide belt 44 is a V-belt, and the outer surface of the V-belt is provided with an anti-slip layer for increasing friction; further enhancing the effect of the guide belt 44 pulling the variable diameter cable for payout.
In the embodiment of the present invention, the cable diameter recognition sensor 48 includes a rotation plate 481, a compression spring 482, a sensing plate 483, and a proximity sensor 484; the rotating plate 481 is rotatably mounted at the front and rear ends of the connecting bracket 41, the left and right outer side walls of the rotating plate 481 are connected with compression springs 482, the other ends of the compression springs 482 are provided with sensing plates 483, and the connecting bracket 41 is provided with a proximity sensor 484 which is correspondingly matched with each sensing plate 483 in a detection mode; the number of the cable diameter recognition sensors 48 is four, and the four cable diameter recognition sensors are distributed on the front and rear ends of the connecting bracket 41. The remote proximity sensor 484 is used for identifying the cable diameters of the combined cables, the sensor end is provided with the sensing plate 483, and the combined cables can reciprocate in a certain angle under the extrusion of different cable diameters, so that the identification of different cable diameters is realized, and the cables with 3 cable diameters can be identified at maximum. Namely, the cable diameter is divided into A-class cable diameter, B-class cable diameter and C-class cable diameter, wherein the A-class cable diameter is smaller, the B-class cable diameter is thicker, and the C-class cable diameter is thickest; when the A-type cable enters the variable-diameter cable discharging mechanism 4, the A-type cable passes through the space between the rotating plates 481 at the left side and the right side, and does not contact the rotating plates 481, and the rotating plates 481 do not deflect; when the B-class cable enters the variable-diameter cable arranging mechanism 4, a certain acting force is applied to the left rotating plate 481, so that the rotating plate 481 deflects, the left sensing plate 483 is driven to deflect and touch the proximity sensor 484, the compression spring 482 generates elastic buffering, and the purpose of buffering and protecting the proximity sensor 484 is achieved; at this time, the cable diameter of the class B cable can be identified by detecting the touch signal from the left side proximity sensor 484; similarly, when the cable with the C-shaped cable diameter enters, the cable with the C-shaped cable diameter can be identified through the right-side proximity sensor 484; the angle values of deflection of the left sensing plate 483 and the right sensing plate 483 are different, that is, the angle of deflection of the left sensing plate 483 is small and the angle of deflection of the right sensing plate 483 is large.
In the embodiment of the present invention, the support expansion link 47 includes a support sleeve 471 and a support slide link 472, and two support slide links 472 are slidably inserted into the left and right sides of the interior of the support sleeve 471, respectively, and are connected to the left and right side mounting frames 42 via the left and right outer ends of the two support slide links 472. When the support telescopic rod 47 is used, when the left and right mounting frames 42 are moved away from or toward each other, the left and right support slide rods 472 slide away from or toward each other in the support sleeve 471.
In the embodiment of the invention, the cable storage mechanism 2 comprises a cable storage motor 21, a cable storage reduction gearbox 22, a bearing, a roller 23 and an optoelectronic slip ring 24; the left side wall of the frame 1 is provided with a cable storage reduction gearbox 22, the input end of the cable storage reduction gearbox 22 is connected with the output end of the cable storage motor 21, the output end of the cable storage reduction gearbox 22 is connected with the left shaft end of the roller 23, the left shaft end and the right shaft end of the roller 23 are rotatably arranged on the frame 1 through bearings, meanwhile, dynamic sealing is carried out on the bearings in a polytetrafluoroethylene ring and O-shaped ring combined mode, and the right shaft end of the roller 23 further comprises a photoelectric slip ring 24 which is used for signal transmission. The cable storage motor 21 is a low noise dc motor.
In the embodiment of the present invention, the left-right reciprocation mechanism 3 includes a reciprocation motor 31, a reciprocation reduction box 32, a lead screw 33, a nut 34, a guide bush 35, and a guide rod 36; the left side wall of the frame 1 is provided with a reciprocating reduction gearbox 32, the input end of the reciprocating reduction gearbox 32 is connected with the output end of a reciprocating motor 31, the output end of the reciprocating reduction gearbox 32 is connected with the end part of a screw rod 33 rotatably arranged on the frame 1, a nut 34 is sleeved on the thread of the screw rod 33, the frame 1 further comprises a guide rod 36 which is arranged, a guide sleeve 35 is sleeved on the guide rod 36 in a sliding manner, and the upper end and the lower end of a connecting bracket 41 are respectively connected with the guide sleeve 35 and the nut 34. The reciprocating motor 31 is a servo motor. In the same way, when the screw 33 is rotatably installed, the screw is also installed through the bearing, and the bearing is dynamically sealed in a combination mode of a polytetrafluoroethylene ring and an O-shaped ring. And the cable storage motor 21, the cable storage reduction gearbox 22, the reciprocating motor 31 and the reciprocating reduction gearbox 32 are all sealed by a lining sound absorbing material cover, so that the purpose of noise reduction is achieved.
When the left-right reciprocating mechanism 3 is used, the left-right sides of the left-right reciprocating mechanism are provided with touch sensors, and when the nut 34 or the guide sleeve 35 slides leftwards or rightwards to touch the touch sensors, signals are sent to the control unit 5, and the control unit 5 controls the reciprocating motor 31 to rotate positively and negatively, so that the purpose that the connecting support 41 and the variable-diameter cable arranging mechanism 4 arranged on the connecting support move leftwards or rightwards is achieved.
In the embodiment of the invention, the device also comprises a control unit 5 and a monitoring unit 6, wherein the control unit 5 is used for realizing remote control of equipment and is arranged on the right side wall of the frame 1; the monitoring unit 6 is used for monitoring the running state of the equipment, and the number of the monitoring units is two, and the monitoring units are distributed on the left side and the right side of the front end of the frame 1.
The invention meets underwater use conditions, has stronger cable winding and unwinding capability, and has the characteristics of miniaturization, light weight, reducing cable winding and unwinding, low noise and no humanization.
The control mode of the above-mentioned electric components is controlled by the control unit 5 matched with the electric components, and the control circuit can be realized by simple programming by a person skilled in the art, which belongs to the common knowledge in the art, and only uses the electric components, and does not improve the electric components, and the invention is mainly used for protecting mechanical devices, so the invention does not describe the control mode and circuit connection in detail.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An unmanned on duty variable cable footpath formula electric winch under water, its characterized in that: comprises a frame (1), a cable storage mechanism (2), a left-right reciprocating mechanism (3) and a variable-diameter cable arranging mechanism (4); the left-right reciprocating mechanism (3) and the cable storage mechanism (2) are arranged on the frame (1) from front to back, and the variable-diameter cable arranging mechanism (4) is driven to reciprocate left and right by driving the left-right reciprocating mechanism (3) to work;
the variable-diameter cable arranging mechanism (4) comprises a connecting bracket (41), a mounting frame (42), a guide roller (43), a guide belt (44), a guide motor (45), a spring telescopic pin (46), a supporting telescopic rod (47) and a cable diameter identification sensor (48); inside left and right sides symmetric distribution of linking bridge (41) has mounting bracket (42), every bilateral symmetry rotates on mounting bracket (42) is installed guide roll (43), two the round joint has between guide roll (43) guide belt (44), wherein the front side one the drive end of guide roll (43) with install in the output of guiding motor (45) on mounting bracket (42) links to each other, control two on the lateral wall about mounting bracket (42) respectively through four spring expansion pin (46) with the inside wall links to each other about linking bridge (41), simultaneously through four support expansion link (47) respectively with control two link to each other with mounting bracket (42), moreover on mounting bracket (42) still including setting up cable footpath identification sensor (48).
2. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein: the variable-diameter cable arranging mechanism (4) further comprises four guide plates (49), and the four guide plates (49) are respectively rotatably installed at the front end and the rear end of the connecting support (41) and are in downward inclined states.
3. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein: the guide belt (44) adopts a V-shaped belt, and an anti-slip layer for increasing friction force is arranged on the outer surface of the V-shaped belt.
4. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein:
the cable path identification sensor (48) comprises a rotating plate (481), a compression spring (482), an induction plate (483) and a proximity sensor (484); the rotating plate (481) is rotatably mounted at the front end and the rear end of the connecting bracket (41), the left and right outer side walls of the rotating plate (481) are connected with the compression springs (482), the other ends of the compression springs (482) are provided with the sensing plates (483), and the connecting bracket (41) is provided with the proximity sensors (484) which are correspondingly matched with the sensing plates (483) in a detection mode;
and the number of the cable diameter identification sensors (48) is four, and the four cable diameter identification sensors are distributed on the front end and the rear end of the connecting bracket (41).
5. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein: the supporting telescopic rod (47) comprises a supporting sleeve (471) and supporting sliding rods (472), wherein two supporting sliding rods (472) are respectively connected to the left side and the right side of the inside of the supporting sleeve (471) in a sliding insertion mode, and the left side and the right side of the supporting sliding rods (472) are connected with the mounting frames (42) on the left side and the right side.
6. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein: the cable storage mechanism (2) comprises a cable storage motor (21), a cable storage reduction gearbox (22), a bearing, a roller (23) and an photoelectric slip ring (24); install on the left side wall of frame (1) cable reducing gear box (22) stores up, the input of cable reducing gear box (22) with the output of cable storage motor (21) links to each other, the output of cable reducing gear box (22) with the left side axle end of cylinder (23) links to each other, the axle head is installed about cylinder (23) through the bearing rotation in on frame (1), simultaneously adopt polytetrafluoroethylene ring and O type circle combination form to carry out dynamic seal on the bearing, moreover on the right side axle end of cylinder (23) still including the setting be used for signal transmission photoelectricity sliding ring (24).
7. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein: the left-right reciprocating mechanism (3) comprises a reciprocating motor (31), a reciprocating reduction gearbox (32), a screw rod (33), a nut (34), a guide sleeve (35) and a guide rod (36); install on the left side wall of frame (1) reciprocal reducing gear box (32), the input of reciprocal reducing gear box (32) with the output of reciprocal motor (31) links to each other, the output of reciprocal reducing gear box (32) with rotate install in the tip of lead screw (33) on frame (1), the screw thread department thread bush of lead screw (33) is equipped with nut (34), still including setting up on frame (1) guide bar (36), the slip cap is equipped with on guide bar (36) guide bush (35), the upper and lower extreme of linking bridge (41) respectively with guide bush (35) with nut (34) link to each other.
8. The unmanned variable cable diameter underwater electric winch according to claim 1, wherein: the remote control system further comprises a control unit (5) and a monitoring unit (6), wherein the control unit (5) is used for realizing remote control of equipment and is arranged on the right side wall of the frame (1); the monitoring units (6) are used for monitoring the running state of the equipment, the number of the monitoring units is two, and the monitoring units are distributed on the left side and the right side of the front end of the frame (1).
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| CN202210017069.XA CN114275699B (en) | 2022-01-07 | 2022-01-07 | Unmanned cable diameter-variable underwater electric winch |
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| CN202210017069.XA CN114275699B (en) | 2022-01-07 | 2022-01-07 | Unmanned cable diameter-variable underwater electric winch |
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| CN115165140A (en) * | 2022-08-19 | 2022-10-11 | 上海中车艾森迪海洋装备有限公司 | Temperature measurement system and method for underwater robot |
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