CN114506735A - Multi-degree-of-freedom follow-up cable arranging device - Google Patents
Multi-degree-of-freedom follow-up cable arranging device Download PDFInfo
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- CN114506735A CN114506735A CN202210167676.4A CN202210167676A CN114506735A CN 114506735 A CN114506735 A CN 114506735A CN 202210167676 A CN202210167676 A CN 202210167676A CN 114506735 A CN114506735 A CN 114506735A
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- cable
- cross rod
- translation mechanism
- follow
- cable clamp
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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
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2848—Arrangements for aligned winding
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Abstract
The invention discloses a multi-degree-of-freedom follow-up cable arranging device, which comprises a translation mechanism, a first cable clamp, a second cable clamp and a cable follow-up sleeve, the translation mechanism is provided with a first longitudinal linear driving mechanism, a second longitudinal linear driving mechanism, a first cross rod and a second cross rod, the first longitudinal linear driving mechanism drives the first cross rod to translate along the longitudinal direction, the second longitudinal linear driving mechanism drives the second cross rod to translate along the longitudinal direction, the first cable clamp is freely slidably connected to the first cross bar, the second cable clamp is freely slidably connected to the second cross bar, the longitudinal front end of the translation mechanism is rotationally connected with a bearing frame, the cable follower sleeve is arranged at the head end of the bearing frame, the first cable clamp and the second cable clamp are used for clamping a cable and conveying the cable to the cable follow-up sleeve. The invention can reduce the stress of the cables during cable arrangement and ensure the orderly arrangement and attachment of the cables.
Description
Technical Field
The invention relates to a cable arrangement device, in particular to a multi-degree-of-freedom follow-up cable arrangement device.
Background
At present, sea cables or cables are transported or wired by winding on a cable collecting disc, at present, cable arrangement operation is mainly carried out by manually holding cables in a cable pond, and 20 days are needed for completing winding of one cable disc. In the mechanical cable arrangement device, the cable arrangement guide head needs to move radially in the cable pool to complete the arrangement of cables circle by circle, and a cable feeding mechanism for conveying the cables to the cable arrangement guide head is generally difficult to change the direction along with the movement of the cable arrangement guide head. Along with the cable arranging, torsional stress is easily generated besides the tension of the cable, so that the cable passing through the cable arranging guide head is difficult to be attached to the arranged cable, and the cable arranging effect is poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-degree-of-freedom follow-up cable arranging device, which solves the problem that the cables are difficult to attach due to stress easily generated between a cable conveying mechanism and a cable arranging guide head.
The technical scheme of the invention is as follows: the multi-degree-of-freedom follow-up cable arranging device comprises a translation mechanism, a first cable clamp, a second cable clamp and a cable follow-up sleeve, wherein a first longitudinal linear driving mechanism, a second longitudinal linear driving mechanism, a first cross rod and a second cross rod are arranged on the translation mechanism, the first longitudinal linear driving mechanism drives the first cross rod to translate longitudinally, the second longitudinal linear driving mechanism drives the second cross rod to translate longitudinally, the first cable clamp is freely and slidably connected to the first cross rod, the second cable clamp is freely and slidably connected to the second cross rod, a bearing frame is rotatably connected to the longitudinal front end of the translation mechanism, the cable follow-up sleeve is installed at the head end of the cable clamp, and the first cable clamp and the second cable clamp are used for clamping cables and conveying the cable follow-up sleeve.
Further, in order to increase the swingable angle of hawser follow-up cover for multi freedom follow-up cable arranging device can adapt to the cable pond cable arranging demand of wideer scope size, translation mechanism's trailing end connection has rotary drive mechanism, rotary drive mechanism is including connecting base member, first driving motor, first drive gear and gyration ring gear, translation mechanism with gyration ring gear is connected, gyration ring gear with it rotates to connect the base member to connect, first driving motor install in connect the base member and drive first driving gear rotates, first driving gear with gyration ring gear meshing.
Furthermore, in order to adjust the upper and lower conveying angles of the cable servo sleeve to the cable and reduce the stress of the cable at the position of the cable servo sleeve when the upper and lower angles are changed, the translation mechanism is hinged to the rotary gear ring, a turnover mechanism is arranged between the translation mechanism and the rotary driving mechanism and comprises a turnover oil cylinder, two ends of the turnover oil cylinder are hinged to the translation mechanism and the rotary gear ring respectively, and the turnover oil cylinder enables the translation mechanism to swing up and down when stretching.
Further, translation mechanism is including the support body about setting up side by side, the gyration ring gear is equipped with the support arm about setting up side by side, about the support arm through first articulated shaft with it is articulated to control the support body, it is equipped with the second articulated shaft to control between the support arm, it is equipped with the third articulated shaft to control between the support body, the both ends of upset hydro-cylinder respectively with the second articulated shaft with the third articulated shaft is articulated.
Further, bear the end of frame with translation mechanism's vertical front end is for rotating the connection, the end of bearing the frame is equipped with driven gear, translation mechanism's vertical front end is equipped with second driving motor and second drive gear, the second driving motor drive second drive gear rotates, second drive gear with driven gear meshes.
Further, translation mechanism is including controlling the support body that sets up side by side, the both ends of first horizontal pole with the second horizontal pole respectively with control support body sliding fit.
Furthermore, the first transverse rod and the second transverse rod are respectively provided with a sliding table along which the first transverse rod and the second transverse rod slide, the first cable clamp is fixedly arranged on the sliding table of the first transverse rod, and the second cable clamp is fixedly arranged on the sliding table of the second transverse rod.
Compared with the prior art, the invention has the advantages that:
the device only needs to reciprocate through fixed radius's circular motion and the height of laying the cable layer of cooperation in the cable pond and can realize that the cable is arranged and lay, can simplify relevant mechanism.
The device is characterized in that the first cable clamp and the second cable clamp freely slide on the first cross rod and the second cross rod, so that when the cables are conveyed to the cable follow-up sleeve, the transverse relative positions of the first cable clamp and the second cable clamp can be freely changed along with the trend of the cables, the situation that the direction of the cables is forcibly changed to generate stress to enable the cables sent out from the cable follow-up sleeve to be difficult to be attached to the arranged cables can be reduced, the cables can be reduced from twisting during clamping and conveying of the cable clamps, and the cables are further guaranteed to be orderly arranged.
Drawings
Fig. 1 is a front view angle structure schematic diagram of a multiple degree of freedom follow-up cable arranging device according to an embodiment of the invention.
Fig. 2 is a schematic rear view structural diagram of the multi-degree-of-freedom follow-up cable arranging device according to the embodiment of the invention.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto.
Referring to fig. 1 and 2, the multi-degree-of-freedom follow-up cable arranging device according to the embodiment of the present invention includes a rotation driving mechanism 1, a translation mechanism 2, a first cable clamp 3, a second cable clamp 4, and a cable follow-up sleeve 5, wherein the rotation driving mechanism 1 is disposed at the tail end of the translation mechanism 2 and is used for connecting with a cable arranging lifting and rotating mechanism in a cable pool, so as to realize the swing of the translation mechanism 2 between the center and the outer wall of the cable pool. The first cable clamp 3 and the second cable clamp 4 are arranged on the translation mechanism 2 through electric clamps, move along the front and back longitudinal directions of the translation mechanism 2 through the driving of a longitudinal linear driving mechanism, and slide along the left and right transverse directions of the translation mechanism 2 under the action of the acting force of the cables. The cable follow-up sleeve 5 is arranged at the head end of the translation mechanism 2, and the cables conveyed by the first cable clamp 3 and the second cable clamp 4 pass through the cable follow-up sleeve 5 and then are output for cable arrangement.
Specifically, the rotary driving mechanism 1 comprises a connecting base body 101, a first driving motor 102, a first driving gear 103 and a rotary gear ring 104, and the connecting base body 101 is used for being fixed with a cable arrangement lifting and rotating mechanism in a cable pool, so that the whole multi-degree-of-freedom follow-up cable arrangement device is installed. An output rotating shaft of the first driving motor 102 is connected with the first driving gear 103 and is mounted on the connecting base 101 with the vertical direction as an axis. The teeth of the rotary gear ring 104 are arranged on the inner wall of the ring and meshed with the first driving gear 103 in the opposite direction, meanwhile, the rotary gear ring 104 and the connecting base body 101 form a rotary connection, when the first driving gear 103 is driven by the first driving motor 102 to rotate, the rotary gear ring 104 is driven to rotate, and the translation mechanism 2 is connected to the rotary gear ring 104 and swings along with the rotation of the rotary gear ring 104.
The main body of the translation mechanism 2 comprises a left frame body 201 and a right frame body 201 which are arranged in parallel, the rotary gear ring 104 is provided with a left support arm 105 and a right support arm 105 which are arranged in parallel and bent upwards, and the top ends of the left support arm 105 and the right support arm 105 are respectively hinged with the tail ends of the left frame body 201 and the right frame body 201 through a first hinge shaft 6. A first longitudinal linear driving mechanism and a second longitudinal linear driving mechanism are respectively arranged in the left frame body 201 and the right frame body 201, and driving motors 7 of the first longitudinal linear driving mechanism and the second longitudinal linear driving mechanism are positioned at the head ends of the left frame body 201 and the right frame body 201. The translation mechanism 2 further comprises a first cross bar 202 and a second cross bar 203, wherein the first cross bar 202 is close to the head end of the translation mechanism 2, and the second cross bar 203 is close to the tail end of the translation mechanism 2. The sliding plates 8 matched with the left and right frame bodies 201 are arranged at both ends of the first cross bar 202 and the second cross bar 203. An upper sliding groove 9 and a lower sliding groove 9 are respectively formed in the left frame body 201 and the right frame body 201, a first longitudinal linear driving mechanism is connected with the sliding plate 8 at the left end of the first cross rod 202 and drives the first cross rod 202 to move along the upper sliding groove 9, and a corresponding second longitudinal linear driving mechanism is connected with the sliding plate 8 at the right end of the second cross rod 203 and drives the second cross rod 203 to move along the lower sliding groove 9. Sliding tables 10 sliding along the first cross rod 202 and the second cross rod 203 are respectively arranged on the first cross rod 202 and the second cross rod 203, the first cable clamp 3 is fixedly arranged on the sliding table 10 of the first cross rod 202, and the second cable clamp 4 is fixedly arranged on the sliding table 10 of the second cross rod 203. The binding clip of the first cable clamp 3 and the second cable clamp 4 is arranged upwards and is opened or closed in the left-right direction, and a hasp is connected between the tops of the binding clips at two sides of the first cable clamp 3 and the second cable clamp 4, so that a cable cannot be separated from the clamps. A second hinge shaft 11 is arranged between the roots of the left and right support arms 105 bent upwards of the rotary gear ring 104, a third hinge shaft 12 is arranged on the left and right frame body 201 connected with the tail end of the translation mechanism 2, the second hinge shaft 11 and the third hinge shaft 12 are parallel to the first hinge shaft 6, and the two ends of the two turnover oil cylinders 13 are respectively hinged to the second hinge shaft 11 and the third hinge shaft 12, so that the turnover mechanism is formed to drive the translation mechanism 2 to swing up and down. In this embodiment, the position of the third hinge shaft 12 is lower than that of the first hinge shaft 6, so that when the tilting cylinder 13 extends, the translation mechanism 2 will flip upwards and lift up, and when the tilting cylinder 13 shortens, the translation mechanism 2 will flip downwards and lower the head.
The vertical front end of translation mechanism 2 rotates and is connected with carrier 14, the end of carrier 14 is equipped with driven gear 15, second drive gear 17 is connected in the output pivot of second drive motor 16 and uses vertical direction to install at translation mechanism 2's vertical front end as the axle, carrier 14's driven gear 15 and second drive gear 17 mesh, hawser follow-up cover 5 is installed in carrier 14's head end, when second drive motor 16 drives second drive gear 17 and rotates, carrier 14 rotates and realizes shaking the head.
The device realizes the conveying and arranging process of cables as follows:
1) the first cable clamp 3 and the second cable clamp 4 are in initial tail end limit positions and are in a state of clamping cables;
2) the first cable clamp 3 and the second cable clamp 4 are driven by the first longitudinal linear driving mechanism and the second longitudinal linear driving mechanism to pull the cable to move to the head end limit position;
3) the distance between the first cable clamp 3 and the cable follow-up sleeve 5 is reduced, and the cable bends and stretches towards the cable follow-up sleeve 5 under the action of tension;
4) the carriage 14 is driven by a second driving motor 16 to swing and rotate, and the unarranged cables are attached to the arranged cables; when the angle of the carrier 14 is not enough, the first driving motor 102 can enable the translation mechanism 2 to swing so as to increase the swing angle of the carrier 14, and in addition, when the upward distance is not ideal, the overturning oil cylinder 13 can be controlled to enable the cables which are not arranged to be tightly attached to the arranged cables downwards;
5) the first cable clamp 3 keeps the position and the clamping state unchanged, the second cable clamp 4 becomes the loosening state and moves to the tail end limit position in the second longitudinal linear driving mechanism, and the second cable clamp 4 becomes the clamping state;
6) the first cable clamp 3 becomes a release state, moves to a tail end limit position in the first longitudinal linear driving mechanism and then becomes a clamping state;
7) returning to the step 1 for cyclic reciprocation to realize cable arrangement operation.
Claims (7)
1. A multi-degree-of-freedom follow-up cable arranging device is characterized by comprising a translation mechanism, a first cable clamp, a second cable clamp and a cable follow-up sleeve, the translation mechanism is provided with a first longitudinal linear driving mechanism, a second longitudinal linear driving mechanism, a first cross rod and a second cross rod, the first longitudinal linear driving mechanism drives the first cross rod to translate along the longitudinal direction, the second longitudinal linear driving mechanism drives the second cross rod to translate along the longitudinal direction, the first cable clamp is freely slidably connected to the first cross bar, the second cable clamp is freely slidably connected to the second cross bar, the longitudinal front end of the translation mechanism is rotationally connected with a bearing frame, the cable follower sleeve is arranged at the head end of the bearing frame, the first cable clamp and the second cable clamp are used for clamping a cable and conveying the cable to the cable follow-up sleeve.
2. The multi-degree-of-freedom follow-up cable arranging device according to claim 1, wherein a rotation driving mechanism is connected to the tail end of the translation mechanism, the rotation driving mechanism comprises a connecting base body, a first driving motor, a first driving gear and a rotation gear ring, the translation mechanism is connected with the rotation gear ring, the rotation gear ring is rotatably connected with the connecting base body, the first driving motor is mounted on the connecting base body and drives the first driving gear to rotate, and the first driving gear is meshed with the rotation gear ring.
3. The multi-degree-of-freedom follow-up cable arranging device according to claim 2, wherein the translation mechanism is hinged to the rotary gear ring, a turnover mechanism is arranged between the translation mechanism and the rotary driving mechanism, the turnover mechanism comprises a turnover oil cylinder, two ends of the turnover oil cylinder are respectively hinged to the translation mechanism and the rotary gear ring, and the translation mechanism swings up and down when the turnover oil cylinder stretches and retracts.
4. The multi-degree-of-freedom follow-up cable arranging device according to claim 3, wherein the translation mechanism comprises left and right frame bodies arranged in parallel, the rotary gear ring is provided with left and right support arms arranged in parallel, the left and right support arms are hinged to the left and right frame bodies through first hinge shafts, second hinge shafts are arranged between the left and right support arms, third hinge shafts are arranged between the left and right frame bodies, and two ends of the turnover oil cylinder are hinged to the second hinge shafts and the third hinge shafts respectively.
5. The multi-degree-of-freedom follow-up cable arranging device according to claim 1, wherein a tail end of the bearing frame is rotatably connected with a longitudinal front end of the translation mechanism, a driven gear is arranged at the tail end of the bearing frame, a second driving motor and a second driving gear are arranged at the longitudinal front end of the translation mechanism, the second driving motor drives the second driving gear to rotate, and the second driving gear is meshed with the driven gear.
6. The multi-degree-of-freedom follow-up cable arranging device according to claim 1, wherein the translation mechanism comprises a left frame body and a right frame body which are arranged in parallel, and two ends of the first cross rod and the second cross rod are respectively in sliding fit with the left frame body and the right frame body.
7. The multi-degree-of-freedom follow-up cable arranging device according to claim 1, wherein sliding tables which slide along the first cross rod and the second cross rod are respectively arranged on the first cross rod and the second cross rod, the first cable clamp is fixedly arranged on the sliding table of the first cross rod, and the second cable clamp is fixedly arranged on the sliding table of the second cross rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210167676.4A CN114506735B (en) | 2022-02-23 | 2022-02-23 | Multi-degree-of-freedom follow-up cable arranging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210167676.4A CN114506735B (en) | 2022-02-23 | 2022-02-23 | Multi-degree-of-freedom follow-up cable arranging device |
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| Publication Number | Publication Date |
|---|---|
| CN114506735A true CN114506735A (en) | 2022-05-17 |
| CN114506735B CN114506735B (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210167676.4A Active CN114506735B (en) | 2022-02-23 | 2022-02-23 | Multi-degree-of-freedom follow-up cable arranging device |
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| CN (1) | CN114506735B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940417A (en) * | 2022-06-30 | 2022-08-26 | 合肥神马科技集团有限公司 | Linear driving type swinging cable arrangement device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1244421A (en) * | 1968-05-20 | 1971-09-02 | Toray Ind Inc Formerly Toyo Ra | A yarn traversing apparatus of the rotary blade type |
| JP2004269194A (en) * | 2003-03-11 | 2004-09-30 | Murata Mach Ltd | Traverse device for wire rod |
| CN208150664U (en) * | 2018-04-10 | 2018-11-27 | 山东昶润电缆有限公司 | Cable twines device again |
| CN112340533A (en) * | 2020-11-23 | 2021-02-09 | 西安奇维科技有限公司 | Wire arranging device for winding and unwinding mooring cable of unmanned aerial vehicle |
| CN113336015A (en) * | 2021-06-09 | 2021-09-03 | 常熟理工学院 | Cable arrangement device with cable buffer mechanism |
| CN214569749U (en) * | 2021-04-28 | 2021-11-02 | 湖北民娃船业有限公司 | Wire guiding device of winding machine |
| CN214733412U (en) * | 2021-04-28 | 2021-11-16 | 重庆森远电缆有限公司 | Coil forming machine for wire and cable production |
| CN215626409U (en) * | 2021-08-26 | 2022-01-25 | 于航 | Automatic cable arranging winch for ship |
| CN215885916U (en) * | 2021-08-26 | 2022-02-22 | 湖南科美达电气股份有限公司 | Cable drum with cable guiding mechanism |
-
2022
- 2022-02-23 CN CN202210167676.4A patent/CN114506735B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1244421A (en) * | 1968-05-20 | 1971-09-02 | Toray Ind Inc Formerly Toyo Ra | A yarn traversing apparatus of the rotary blade type |
| JP2004269194A (en) * | 2003-03-11 | 2004-09-30 | Murata Mach Ltd | Traverse device for wire rod |
| CN208150664U (en) * | 2018-04-10 | 2018-11-27 | 山东昶润电缆有限公司 | Cable twines device again |
| CN112340533A (en) * | 2020-11-23 | 2021-02-09 | 西安奇维科技有限公司 | Wire arranging device for winding and unwinding mooring cable of unmanned aerial vehicle |
| CN214569749U (en) * | 2021-04-28 | 2021-11-02 | 湖北民娃船业有限公司 | Wire guiding device of winding machine |
| CN214733412U (en) * | 2021-04-28 | 2021-11-16 | 重庆森远电缆有限公司 | Coil forming machine for wire and cable production |
| CN113336015A (en) * | 2021-06-09 | 2021-09-03 | 常熟理工学院 | Cable arrangement device with cable buffer mechanism |
| CN215626409U (en) * | 2021-08-26 | 2022-01-25 | 于航 | Automatic cable arranging winch for ship |
| CN215885916U (en) * | 2021-08-26 | 2022-02-22 | 湖南科美达电气股份有限公司 | Cable drum with cable guiding mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940417A (en) * | 2022-06-30 | 2022-08-26 | 合肥神马科技集团有限公司 | Linear driving type swinging cable arrangement device |
| CN114940417B (en) * | 2022-06-30 | 2023-09-26 | 合肥神马科技集团有限公司 | Linear driving type swing cable arrangement device |
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| Publication number | Publication date |
|---|---|
| CN114506735B (en) | 2023-07-21 |
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