CN114408783A - Constant tension traction and cable storage winch control system - Google Patents
Constant tension traction and cable storage winch control system Download PDFInfo
- Publication number
- CN114408783A CN114408783A CN202111607017.XA CN202111607017A CN114408783A CN 114408783 A CN114408783 A CN 114408783A CN 202111607017 A CN202111607017 A CN 202111607017A CN 114408783 A CN114408783 A CN 114408783A
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- cable
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- cable storage
- storage
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- 230000003111 delayed effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- 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
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- 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
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- 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
Abstract
The invention relates to the technical field of underwater winches and discloses a constant-tension traction and cable storage winch control system which comprises a rack, a traction winch, a cable storage winch, a cable and control device, a traction servo motor, a traction encoder, a traction brake, a cable storage servo motor and a cable storage encoder, wherein the traction winch, the cable and the control device are arranged in the rack; during the cable laying operation, the traction winch is controlled to actively lay the cable in a speed mode, the cable storage winch is controlled to passively lay the cable in a torque mode, and the speed of the traction winch is followed; when cable retracting operation is carried out, the cable storing winch is controlled to actively retract cables in a torque mode, and the traction winch is controlled to retract cables in a speed mode; and during cable releasing and cable collecting operation, the tension of the cable is kept not to change suddenly. The invention can control the cable between the traction winch and the cable storage winch to keep constant tension, and control the traction winch and the cable storage winch to work cooperatively, so that the cable tension does not change suddenly when the winch is started or stopped, and the cable tension does not loosen after the winch is stopped.
Description
Technical Field
The invention relates to the technical field of underwater winch control, in particular to a constant-tension traction and cable storage winch control system.
Background
The underwater winch is a special device which works in water and is used for laying and recovering underwater equipment, and has high requirements on the volume, the weight, the water tightness and the reliability of the winch. At present, a single winding drum is adopted by a single winch for pulling and storing cables, the cables are disordered due to the fact that the single winding drum is easy to manufacture, and more sensors are not favorable for requirements such as watertightness.
The integrated winch combining traction and cable storage is characterized in that the traction winch is used for recovering a towing cable and equipment from the water to an operation ship deck, and the cable storage winch is used for winding the towing cable recovered by the traction winch on the winch. The key technology of the system lies in the speed synchronization and tension control between the traction and the cable storage winch, and the defects of the prior art are shown as follows: if the two speeds are not synchronous, the cable arrangement of the towrope can be irregular, damaged or even broken, and the purpose of protecting the towrope cannot be achieved if the tension control is not proper.
Disclosure of Invention
The invention aims to provide a constant tension traction and cable storage winch control system aiming at the technical problems in the prior art, which can control the tension of a cable between a traction winch and a cable storage winch to be constant, can ensure that the cable storage winch and the traction winch work cooperatively, can control the tension of the cable not to change suddenly when the cable is wound and unwound, and can control the tension not to be loosened after the cable is stopped.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a constant-tension traction and cable storage winch control system which comprises a rack, a traction winch, a cable storage winch, a cable and control device, a traction servo motor and a traction encoder, a cable storage servo motor and a cable storage encoder, wherein the traction winch, the cable storage winch and the cable storage winch are arranged in the rack;
the control device respectively receives the working conditions of the traction winch collected by the traction encoder and the working conditions of the cable storage winch collected by the cable storage encoder, and respectively outputs the received upper computer control instruction to the traction servo motor and the cable storage servo motor according to the working conditions;
during cable releasing operation, the traction servo motor controls the traction winch to actively release cables in a speed mode, and the cable storage servo motor controls the cable storage winch to passively release cables in a torque mode and follows the speed of the traction winch; during cable retracting operation, the cable storage servo motor controls the cable storage winch to actively retract cables in a torque mode, and the traction servo motor controls the traction winch to retract cables in a speed mode; and when the cable is laid and collected, the tension of the cable is not changed suddenly.
Furthermore, the control device comprises a CPU module, a traction driving module and a cable storage driving module, wherein the CPU module receives a control instruction of an upper computer, respectively outputs the control instruction to the traction driving module and the cable storage driving module, and receives a traction winch working condition acquired by the traction driving module and a cable storage winch working condition acquired by the cable storage driving module;
the traction drive module receives a speed detection signal of the traction servo motor obtained by the traction encoder according to the control instruction and controls the speed of the traction servo motor;
and the cable storage driving module receives a speed detection signal of the cable storage servo motor acquired by the cable storage encoder according to the control instruction, and performs torque control on the cable storage servo motor.
Further, during cable laying operation, the cable storage servo motor generates constant torque to control the cable storage winch to work in a torque mode; the cable releasing force of the cable storage servo motor is set to be T1, the braking force of the cable storage winch is set to be T2, the cable storage winch is driven to release the cable when the cable is released by the traction winch, and the tension of the cable is as follows: T2-T1.
Further, during cable winding operation, the traction servo motor controls the traction winch to wind cables at a set speed, and the cable storage servo motor controls the cable storage winch to wind cables in a torque mode; the cable retracting force of the cable storage servo motor is T3, the braking force of the cable storage winch is T4, the cable storage winch actively retracts the cable, and the tension of the cable is as follows: T3-T4.
Further, when the traction winch is accelerated in cable retracting operation, the cable retracting force of the cable storage winch is reduced, the cable storage servo motor is accelerated, and the cable retracting force is maintained at T3; when the traction winch decelerates, the cable retracting force of the cable storage winch increases, the cable storage servo motor decelerates, and the cable retracting force is maintained at T3.
Furthermore, the control system further comprises a traction brake, and the traction brake is used for receiving the working condition of the traction winch obtained by the traction driving module when the cable laying and cable collection operation is started and stopped, and performing brake protection on the traction brake.
Further, when the traction winch is accelerated in cable winding operation, the cable winding force of the cable storage winch is reduced, and the cable storage servo motor is accelerated to the cable winding force T3; when the traction winch decelerates, the cable-retracting force of the cable-storing winch increases, and the cable-storing servo motor decelerates to the cable-retracting force T3.
Furthermore, when the cable is laid and started, a traction brake is firstly opened to start a traction winch, and then a cable storage winch is started in a delayed mode; when the cable laying stops, the cable storage winch is stopped first, then the traction servo motor is stopped, and the traction brake is closed.
Further, when the cable is collected and started, the cable storage winch is started firstly, and then the traction brake is opened in a delayed mode to start the traction winch; when the cable is stopped, the traction winch is stopped, the traction brake is closed, and then the cable storage winch is stopped in a delayed mode.
Compared with the prior art, the invention has the beneficial effects that:
the constant tension control of the cable between the traction winch and the cable storage winch is realized by adopting a current loop torque mode, so that the cable storage winch and the traction winch can work cooperatively to ensure the normal winding and unwinding and cable arrangement of the cable, the cable tension between the cable storage winch and the traction winch does not change suddenly when the cable is wound and unwound and the cable is ensured to be started and stopped, and the cable tension is not loosened after the cable is stopped.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
FIG. 1 is a schematic illustration of the installation of the constant tension haulage and storage winch control system of the present invention.
FIG. 2 is a schematic diagram of the constant tension haulage and storage winch control system of the present invention.
The reference numerals are explained below: the system comprises a traction winch 1, a cable storage winch 2, a cable 3, a traction servo motor 4, a traction encoder 5, a traction brake 6, a cable storage servo motor 7, a cable storage encoder 8, a control device 9, a rack 10, a traction driving module 11, a cable storage driving module 12 and a CPU module 20.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1 and 2, the present invention provides a constant tension winch control system for pulling and storing a cable, the control system comprising: the cable storage system comprises a rack 10, a traction winch 1, a cable storage winch 2, a cable 3, a traction servo motor 4, a traction encoder 5, a traction brake 6, a cable storage servo motor 7, a cable storage encoder 8 and a control device 9, wherein the traction winch 1, the cable storage winch 2, the cable 3, the traction servo motor, the traction encoder 5, the traction brake 6, the cable storage servo motor 7, the cable storage encoder 8 and the control device 9 are arranged in the rack 10.
The traction winch 1 is connected with the cable storage winch 2 through a cable 3, a traction servo motor 4, a traction encoder 5 and a traction brake 6 are installed on the traction winch 1, and a cable storage servo motor 7 and a cable storage encoder 8 are installed on the cable storage winch 2. And the control device 9 is electrically connected with the traction servo motor 4, the traction encoder 5, the traction brake 6, the cable storage servo motor 7 and the cable storage encoder 8 respectively.
Further, the control device 9 includes a CPU module 20, a traction drive module 11 and a cable storage drive module 12, the CPU module 20 receives a control instruction from the host computer, respectively outputs the control instruction to the traction drive module 11 and the cable storage drive module 12, receives the working conditions of the traction winch 1 collected by the traction drive module 11 and the working conditions of the cable storage winch 2 collected by the cable storage drive module 12, and uploads the working conditions to the host computer.
Specifically, the working condition of the traction winch 1 and the working condition of the cable storage winch 2 comprise current, voltage, cable winding and unwinding length and motor rotating speed of corresponding motors, wherein the current and the voltage are acquired by peripheral equipment, and the cable winding and unwinding length and the motor rotating speed are acquired and calculated by corresponding encoders.
The traction driving module 11 is provided with a speed control mode, receives a speed detection signal of the traction servo motor 4 obtained by the traction encoder 5 according to the control instruction, controls the speed of the traction servo motor 4, and outputs the working condition of the traction winch 1 to the traction brake 6;
the cable storage driving module 12 has a torque control mode, receives a speed detection signal of the cable storage servo motor 7 obtained by the cable storage encoder 8 according to the control instruction, and performs torque control on the cable storage servo motor 7.
Specifically, during cable releasing operation, the traction driving module 11 of the control device 9 controls the traction servo motor 4 to realize that the traction winch 1 actively releases cable in a speed mode (namely, speed closed-loop control), and the cable storage driving module 12 controls the cable storage servo motor 7 to realize that the cable storage winch 2 passively releases cable in a torque mode (namely, torque stable output is realized through current closed-loop control) to follow the speed of the traction winch 1; during cable-retracting operation, a cable-storing driving module 12 of the control device 9 controls the cable-storing winch 2 to actively retract cables in a torque mode, and the traction servo motor 4 controls the traction winch 1 to retract cables in a speed mode. And the traction brake 6 is used for receiving the working condition of the traction winch obtained by the traction driving module 11 when the cable releasing and cable retracting operation is started and stopped, and braking and protecting the traction brake 1.
In this embodiment, the control device 9 controls the specific start-stop process of the traction winch 1 and the cable storage winch 2 during cable reeling and unreeling to ensure that the tension of the cable 3 does not change suddenly during starting and shutting, and the tension does not loosen after shutting, i.e., the torque of the cable storage winch 2 is controlled to follow the speed of the traction winch 1, so that the cable 3 between the traction winch 1 and the cable storage winch 2 is kept with proper tension all the time, thereby ensuring smooth reeling out and reeling back of the cable 3, and simultaneously, the control of the motor torque and the start-stop sequence effectively eliminates the sudden change of the cable stress caused by the speed difference during winch starting and shutting.
Further, the constant tension function of connecting cable 3 between 1 of winch that pulls and the cable storage winch 2 is kept during the operation of unreeling, controlling means 9 adopts the current loop technique, control cable storage servo motor 7 produces a invariable moment all the time, control cable storage winch 2 works with the torque mode, cable storage servo motor 7 unreels the power and establishes to T1, the 2 braking force of cable storage winch is T2, the cable storage winch 2 that is being actively being pulled when 1 of winch that pulls unreels the cable, the tension of connecting cable 3 is between 1 of winch that pulls and the cable storage winch 2: T2-T1.
Specifically, the cable unwinding force T1 can be set by the control device 9, the parameter should not be too large because the cable storage winch 2 is passively unwound during the cable unwinding operation, the braking force T2 is a fixed value, which is an inherent parameter of the cable storage winch 2, and the tension of the cable 3 can be adjusted by setting the cable unwinding force T1.
Further, the constant tension function of the cable 3 between the traction winch 1 and the cable storage winch 2 is also kept during cable collection operation, the control device 9 controls the traction winch 1 to collect the cable at a set speed by adopting a speed ring, the control device 9 adopts a current ring technology to enable the cable storage servo motor 7 to always generate a constant torque, the cable storage winch 2 is controlled to work in a torque mode, the cable collection force of the cable storage servo motor 7 is set to be T3, the braking force of the cable storage winch 2 is set to be T4(T4< T3), the cable storage winch 1 actively collects the cable, and the tension of the cable 3 between the traction winch 1 and the cable storage winch 2 is as follows: T3-T4.
Specifically, the cable retracting force T3 can be set by the control device 9, the parameter setting value should be larger because the cable storage winch 2 actively retracts the cable during the cable retracting operation, and the tension of the cable 3 can be adjusted by setting the cable retracting force T3.
Further, when the cable-retracting operation traction winch 1 is accelerated, the cable-retracting force of the cable-storing winch 2 is reduced, the cable-storing servo motor 7 is accelerated, and the cable-retracting force is maintained at T3; when the traction winch 1 is decelerated, the cable retracting force of the cable storage winch 2 is increased, the cable storage servomotor 7 is decelerated, and the cable retracting force is maintained at T3.
In the embodiment, in the whole cable winding operation, when the traction winch 1 accelerates or decelerates, the control device 9 controls the cable storage servo motor 7 to accelerate or decelerate, and the cable winding force of the cable storage winch 2 is maintained at T3, namely, the cable storage servo motor 7 follows the speed of the traction winch 1 and keeps the moment of the cable storage winch 2 unchanged, so that the constant tension of the cable 3 between the traction winch 1 and the cable storage winch 2 can be kept, and the cable 3 can be orderly arranged on a winding drum by the cable storage winch 2.
Further, when the cable is released and started, the traction brake 6 is firstly opened to start the traction winch 1, and then the cable storage winch 2 is started in a delayed mode; when the cable laying stops, the cable storage winch 2 is stopped, then the traction servo motor 4 is stopped after multi-stage speed reduction, and the traction brake 6 is closed.
In this embodiment, the cable releasing is delayed in starting, and it is ensured that the cable storage servo motor 7 is started after the traction servo motor 4 is started, and it is ensured that the cable tension between the two winches does not change suddenly when the cable releasing is started and stopped, and the cable tension is not loosened after the machine is stopped.
Further, when the cable is collected and started, the cable storage winch 2 is started first, and then the traction brake 6 is opened in a delayed mode to start the traction winch 1; when the cable is stopped, the traction winch 1 is stopped, the traction brake 6 is closed, and then the cable storage winch 2 is stopped in a delayed mode. Book (I)
In the embodiment, the cable take-up starting time delay ensures that the cable storage servo motor 7 is started completely, and the cable 3 is tensioned; the cable take-up stopping time delay ensures that the traction servo motor 4 is stopped and finished, the cable storage servo motor 7 operates for a period of time to tighten the cable 3, namely, the cable tension between the two winches is ensured not to change suddenly when the cable take-up is started and stopped, and the cable tension is not loosened after the machine is stopped.
The invention controls the torque of the cable storage winch to follow the speed of the traction winch when the cable is reeled and reeled, always keeps the proper tension of the cable between the traction winch and the cable storage winch, ensures the smooth reeling out and reeling back of the cable, and effectively eliminates the sudden change of the stress of the cable caused by the speed difference when the winch is started and stopped by controlling the motor torque and the starting and stopping sequence.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. The utility model provides a constant tension pulls and stores up cable winch control system which characterized in that: the cable storage system comprises a rack, a traction winch, a cable storage winch, a cable and control device, a traction servo motor and a traction encoder which are arranged on the traction winch, and a cable storage servo motor and a cable storage encoder which are arranged on the cable storage winch, wherein the cable penetrates through the traction winch and the cable storage winch;
the control device respectively receives the working conditions of the traction winch collected by the traction encoder and the working conditions of the cable storage winch collected by the cable storage encoder, and respectively outputs the received upper computer control instruction to the traction servo motor and the cable storage servo motor according to the working conditions;
during cable releasing operation, the traction servo motor controls the traction winch to actively release cables in a speed mode, and the cable storage servo motor controls the cable storage winch to passively release cables in a torque mode and follows the speed of the traction winch; during cable retracting operation, the cable storage servo motor controls the cable storage winch to actively retract cables in a torque mode, and the traction servo motor controls the traction winch to retract cables in a speed mode; and when the cable is laid and collected, the tension of the cable is not changed suddenly.
2. The constant tension haulage and storage winch control system of claim 1, wherein: the control device comprises a CPU module, a traction driving module and a cable storage driving module, wherein the CPU module receives a control instruction of an upper computer, respectively outputs the control instruction to the traction driving module and the cable storage driving module, and receives a traction winch working condition acquired by the traction driving module and a cable storage winch working condition acquired by the cable storage driving module;
the traction drive module receives a speed detection signal of the traction servo motor obtained by the traction encoder according to the control instruction and controls the speed of the traction servo motor;
and the cable storage driving module receives a speed detection signal of the cable storage servo motor acquired by the cable storage encoder according to the control instruction, and performs torque control on the cable storage servo motor.
3. The constant tension haulage and storage winch control system of claim 1, wherein: during cable laying operation, the cable storage servo motor generates constant torque to control the cable storage winch to work in a torque mode; the cable releasing force of the cable storage servo motor is set to be T1, the braking force of the cable storage winch is set to be T2, the cable storage winch is driven to release the cable when the cable is released by the traction winch, and the tension of the cable is as follows: T2-T1.
4. The constant tension haulage and storage winch control system of claim 1, wherein: during cable collection operation, the traction servo motor controls the traction winch to collect cables at a set speed, and the cable storage servo motor controls the cable storage winch to collect cables in a torque mode; the cable retracting force of the cable storage servo motor is T3, the braking force of the cable storage winch is T4, the cable storage winch actively retracts the cable, and the tension of the cable is as follows: T3-T4.
5. The constant tension haulage and storage winch control system of claim 5, wherein: when the traction winch is accelerated in cable retracting operation, the cable retracting force of the cable storage winch is reduced, the cable storage servo motor is accelerated, and the cable retracting force is maintained at T3; when the traction winch decelerates, the cable retracting force of the cable storage winch increases, the cable storage servo motor decelerates, and the cable retracting force is maintained at T3.
6. The constant tension haulage and storage winch control system of claim 2, wherein: the control system further comprises a traction brake, and the traction brake is used for receiving the working condition of the traction winch obtained by the traction driving module when the cable releasing and cable retracting operation is started and stopped, and performing brake protection on the traction brake.
7. The constant tension haulage and storage winch control system of claim 6, wherein: when the cable is laid, a traction brake is firstly opened to start a traction winch, and then a cable storage winch is started in a delayed manner; when the cable laying stops, the cable storage winch is stopped first, then the traction servo motor is stopped, and the traction brake is closed.
8. The constant tension haulage and storage winch control system of claim 6, wherein: when the cable is collected and started, the cable storage winch is started first, and then the traction brake is opened in a delayed mode to start the traction winch; when the cable is stopped, the traction winch is stopped, the traction brake is closed, and then the cable storage winch is stopped in a delayed mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111607017.XA CN114408783A (en) | 2021-12-24 | 2021-12-24 | Constant tension traction and cable storage winch control system |
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| CN202111607017.XA CN114408783A (en) | 2021-12-24 | 2021-12-24 | Constant tension traction and cable storage winch control system |
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| CN202111607017.XA Pending CN114408783A (en) | 2021-12-24 | 2021-12-24 | Constant tension traction and cable storage winch control system |
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| US20050116079A1 (en) * | 2003-12-02 | 2005-06-02 | Stevens Daniel W. | Level wind winch cable tensioner |
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| CN111413122A (en) * | 2020-03-30 | 2020-07-14 | 江苏科技大学 | Aerostat cable winding and unwinding experimental system based on Profinet communication and control method thereof |
| CN211056582U (en) * | 2019-12-06 | 2020-07-21 | 大连海事大学 | Passive compensation winch system of scientific investigation ship |
-
2021
- 2021-12-24 CN CN202111607017.XA patent/CN114408783A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4318533A (en) * | 1978-07-25 | 1982-03-09 | Walter Port | Apparatus for maintaining tension on a tension cable |
| US20050116079A1 (en) * | 2003-12-02 | 2005-06-02 | Stevens Daniel W. | Level wind winch cable tensioner |
| CN204400501U (en) * | 2015-01-20 | 2015-06-17 | 湖南科技大学 | A kind of electric drive active compensation ocean winch |
| CN105584947A (en) * | 2015-12-16 | 2016-05-18 | 泰兴市依科攀船舶设备有限公司 | Marine constant-tension winch |
| US20170203940A1 (en) * | 2016-01-15 | 2017-07-20 | Abb Technology Oy | Method for operating winch, and winch |
| CN109160433A (en) * | 2018-10-19 | 2019-01-08 | 重庆前卫科技集团有限公司 | A kind of constant tension winch and cable winding apparatus |
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| CN211056582U (en) * | 2019-12-06 | 2020-07-21 | 大连海事大学 | Passive compensation winch system of scientific investigation ship |
| CN111413122A (en) * | 2020-03-30 | 2020-07-14 | 江苏科技大学 | Aerostat cable winding and unwinding experimental system based on Profinet communication and control method thereof |
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Application publication date: 20220429 |
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