CN114506735B - A multi-degree-of-freedom follow-up cable arrangement - Google Patents
A multi-degree-of-freedom follow-up cable arrangement Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- 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
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Abstract
本发明公开了一种多自由度随动排缆装置，包括平移机构、第一线缆夹钳、第二线缆夹钳和缆绳随动套，所述平移机构上设有第一纵向直线驱动机构、第二纵向直线驱动机构、第一横杆和第二横杆，所述第一纵向直线驱动机构驱动所述第一横杆沿纵向平移，所述第二纵向直线驱动机构驱动所述第二横杆沿纵向平移，所述第一线缆夹钳自由滑动连接于所述第一横杆，所述第二线缆夹钳自由滑动连接于所述第二横杆，所述平移机构的纵向前端转动连接有承载架，所述缆绳随动套安装于所述承载架的头端，所述第一线缆夹钳和所述第二线缆夹钳用于夹持线缆并向所述缆绳随动套输送。本发明可减少排缆时线缆的应力，保证线缆排列的整齐贴合。
The invention discloses a multi-degree-of-freedom follow-up cable removal device, which includes a translation mechanism, a first cable clamp, a second cable clamp and a cable follower sleeve. The translation mechanism is provided with a first longitudinal linear drive mechanism, a second longitudinal linear drive mechanism, a first crossbar and a second crossbar, the first longitudinal linear drive mechanism drives the first crossbar to translate longitudinally, the second longitudinal linear drive mechanism drives the second crossbar to translate longitudinally, the first cable clamp is freely slidably connected to the first crossbar, and the second cable clamp is freely slidably connected to the second crossbar. The longitudinal front end of the translation mechanism is rotatably connected to a carrier, the cable follower is mounted on the head end of the carrier, and the first cable clamp and the second cable clamp are used to clamp the cable and transport it to the cable follower. The invention can reduce the stress of the cables when the cables are laid out, and ensure the orderly fit of the cables.
Description
技术领域technical field
本发明涉及一种排缆装置，特别是一种多自由度随动排缆装置。The invention relates to a cable-discharging device, in particular to a multi-degree-of-freedom follow-up cable-discharging device.
背景技术Background technique
现在海缆或线缆均通过缠绕在集线盘上进行运输或布线作业，目前排缆作业主要采用人工在缆池中手持缆绳进行作业，完成一个缆盘缠绕需要20天。在机械排缆装置中，排缆引导头需要在缆池内径向移动以完成线缆的逐圈排布，而向排缆引导头输送线缆的送缆机构通常难以随排缆引导头的移动改变化方向。随着排缆的进行，除了线缆自身的张力外还容易产生扭转应力，使得经过排缆引导头的线缆难以和已经排布的线缆贴实，排缆效果较差。At present, submarine cables or cables are transported or routed by winding them on the hub. At present, the cable arrangement is mainly carried out manually in the cable pool with the cables in hand. It takes 20 days to complete the winding of one cable reel. In the mechanical cable arrangement, the cable guide head needs to move radially in the cable pool to complete the arrangement of the cables one by one, and the cable feeding mechanism that feeds the cables to the cable guide head is usually difficult to change the direction with the movement of the cable guide head. Along with the cable arrangement, in addition to the tension of the cable itself, torsional stress is likely to be generated, making it difficult for the cables passing through the cable arrangement leader to stick firmly to the cables that have been arranged, and the effect of cable arrangement is poor.
发明内容Contents of the invention
针对上述现有技术缺陷，本发明的任务在于提供一种多自由度随动排缆装置，解决线缆输送机构与排缆引导头间线缆易产生应力而使线缆间难以贴合的问题。In view of the above-mentioned defects in the prior art, the task of the present invention is to provide a multi-degree-of-freedom follow-up cable discharge device, which solves the problem that the cables between the cable conveying mechanism and the cable guide head are prone to stress and the cables are difficult to fit.
本发明技术方案如下：一种多自由度随动排缆装置，包括平移机构、第一线缆夹钳、第二线缆夹钳和缆绳随动套，所述平移机构上设有第一纵向直线驱动机构、第二纵向直线驱动机构、第一横杆和第二横杆，所述第一纵向直线驱动机构驱动所述第一横杆沿纵向平移，所述第二纵向直线驱动机构驱动所述第二横杆沿纵向平移，所述第一线缆夹钳自由滑动连接于所述第一横杆，所述第二线缆夹钳自由滑动连接于所述第二横杆，所述平移机构的纵向前端转动连接有承载架，所述缆绳随动套安装于所述承载架的头端，所述第一线缆夹钳和所述第二线缆夹钳用于夹持线缆并向所述缆绳随动套输送。The technical solution of the present invention is as follows: a multi-degree-of-freedom follow-up cable removal device, including a translation mechanism, a first cable clamp, a second cable clamp and a cable follower sleeve. The translation mechanism is provided with a first longitudinal linear drive mechanism, a second longitudinal linear drive mechanism, a first crossbar and a second crossbar. The first longitudinal linear drive mechanism drives the first crossbar to translate longitudinally. The longitudinal front end of the translation mechanism is rotatably connected to a carrier, the cable follower is mounted on the head end of the carrier, and the first cable clamp and the second cable clamp are used to clamp the cable and transport it to the cable follower.
进一步地，为了增大缆绳随动套可摆动的角度，使得多自由度随动排缆装置可以适应更宽范围尺寸的缆池排缆需求，所述平移机构的尾端连接有回转驱动机构，所述回转驱动机构包括连接基体、第一驱动电机、第一驱动齿轮和回转齿圈，所述平移机构与所述回转齿圈连接，所述回转齿圈与所述连接基体转动连接，所述第一驱动电机安装于所述连接基体并驱动所述第一驱动齿轮转动，所述第一驱动齿轮与所述回转齿圈啮合。Further, in order to increase the swingable angle of the cable follower sleeve, so that the multi-degree-of-freedom follow-up cable arrangement can adapt to the cable discharge requirements of a wider range of sizes, the tail end of the translation mechanism is connected to a rotary drive mechanism. The rotary drive mechanism includes a connection base, a first drive motor, a first drive gear, and a rotary ring gear. The gear meshes with the slewing ring gear.
进一步地，为了能够调整缆绳随动套对线缆的上下输送角度并减少上下角度改变时线缆在缆绳随动套位置的应力，所述平移机构与所述回转齿圈铰接，所述平移机构与所述回转驱动机构之间设有翻转机构，所述翻转机构包括翻转油缸，所述翻转油缸的两端分别与所述平移机构及所述回转齿圈铰接，所述翻转油缸伸缩时使所述平移机构上下摆动。Further, in order to be able to adjust the up and down conveying angle of the cables by the cable follower sleeve and reduce the stress of the cables at the position of the cable follower sleeve when the up and down angle changes, the translation mechanism is hinged to the rotary ring gear, and an overturn mechanism is provided between the translation mechanism and the rotary drive mechanism.
进一步地，所述平移机构包括并列设置的左右架体，所述回转齿圈设有并列设置的左右支撑臂，所述左右支撑臂通过第一铰接轴与所述左右架体铰接，所述左右支撑臂之间设有第二铰接轴，所述左右架体之间设有第三铰接轴，所述翻转油缸的两端分别与所述第二铰接轴和所述第三铰接轴铰接。Further, the translation mechanism includes left and right frames arranged side by side, the rotary ring gear is provided with left and right support arms arranged side by side, the left and right support arms are hinged to the left and right frame bodies through a first hinge shaft, a second hinge shaft is provided between the left and right support arms, a third hinge shaft is provided between the left and right frames, and both ends of the turning cylinder are respectively hinged to the second hinge shaft and the third hinge shaft.
进一步地，所述承载架的末端与所述平移机构的纵向前端为转动连接，所述承载架的末端设有从动齿轮，所述平移机构的纵向前端设有第二驱动电机和第二驱动齿轮，所述第二驱动电机驱动所述第二驱动齿轮转动，所述第二驱动齿轮与所述从动齿轮啮合。Further, the end of the carrier frame is rotationally connected to the longitudinal front end of the translation mechanism, the end of the carrier frame is provided with a driven gear, the longitudinal front end of the translation mechanism is provided with a second drive motor and a second drive gear, the second drive motor drives the second drive gear to rotate, and the second drive gear meshes with the driven gear.
进一步地，所述平移机构包括并列设置的左右架体，所述第一横杆和所述第二横杆的两端分别与所述左右架体滑动配合。Further, the translation mechanism includes left and right frame bodies arranged side by side, and the two ends of the first cross bar and the second cross bar are slidably engaged with the left and right frame bodies respectively.
进一步地，所述第一横杆和所述第二横杆上分别设有沿所述第一横杆和所述第二横杆滑动的滑台，所述第一线缆夹钳固定设置于所述第一横杆的滑台上，所述第二线缆夹钳固定设置于所述第二横杆的滑台上。Further, the first crossbar and the second crossbar are respectively provided with slide tables that slide along the first crossbar and the second crossbar, the first cable clamp is fixedly arranged on the slide table of the first crossbar, and the second cable clamp is fixedly arranged on the slide table of the second crossbar.
本发明与现有技术相比的优点在于：The advantage of the present invention compared with prior art is:
该装置在缆池内仅需通过固定半径的圆周运动以及配合铺设线缆层的高度进行上下移动即可实现线缆排列铺设，可简化相关机构。In the cable pool, the device only needs to move up and down in a fixed-radius circular motion in accordance with the height of the laying cable layer to realize the arrangement and laying of cables, which can simplify related mechanisms.
该装置通过第一线缆夹钳和第二线缆夹钳在第一横杆和第二横杆的自由滑动，使得在向缆绳随动套输送线缆时，第一线缆夹钳和第二线缆夹钳的横向相对位置可以随线缆的走向而自由改变，可以减少强制改变线缆方向而产生应力使从缆绳随动套送出的线缆难以与已排列线缆贴合，线缆夹钳夹持输送也可以减少线缆的扭转，进一步保证线缆的整齐排列。Through the free sliding of the first cable clamp and the second cable clamp on the first crossbar and the second crossbar, the lateral relative position of the first cable clamp and the second cable clamp can be freely changed along with the direction of the cable when the cable is delivered to the cable follower sleeve, which can reduce the force generated by changing the direction of the cable and make it difficult for the cable sent out from the cable follower sleeve to fit the arranged cables.
附图说明Description of drawings
图1为本发明实施例的多自由度随动排缆装置的前视角结构示意图。Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom follow-up cable arrangement device according to an embodiment of the present invention from a front view.
图2为本发明实施例的多自由度随动排缆装置的后视角结构示意图。Fig. 2 is a structural schematic diagram of a rear viewing angle of a multi-degree-of-freedom follow-up cable arrangement device according to an embodiment of the present invention.
具体实施方式Detailed ways
下面结合实施例对本发明作进一步说明，但不作为对本发明的限定。The present invention will be further described below in conjunction with the examples, but not as a limitation of the present invention.
请结合图1及图2所示，本发明实施例涉及的多自由度随动排缆装置，包括回转驱动机构1、平移机构2、第一线缆夹钳3、第二线缆夹钳4和缆绳随动套5，其中回转驱动机构1设置在平移机构2的尾端用于与缆池内的排缆升降旋转机构连接，实现平移机构2在缆池中央与外壁间的摆动。第一线缆夹钳3和第二线缆夹钳4采用电动夹钳设置在平移机构2上，通过纵向直线驱动机构驱动进行沿平移机构2前后纵向方向的移动，同时收到线缆的作用力在沿平移机构2的左右横向方向滑动。缆绳随动套5则设置在平移机构2的头端，由第一线缆夹钳3和第二线缆夹钳4输送来的线缆穿过缆绳随动套5后输出进行排缆。Please refer to Fig. 1 and Fig. 2, the multi-degree-of-freedom follow-up cable arrangement according to the embodiment of the present invention includes a rotary drive mechanism 1, a translation mechanism 2, a first cable clamp 3, a second cable clamp 4 and a cable follower sleeve 5, wherein the rotary drive mechanism 1 is arranged at the tail end of the translation mechanism 2 to connect with the cable lifting and rotating mechanism in the cable pool, so as to realize the swing of the translation mechanism 2 between the center of the cable pool and the outer wall. The first cable clamp 3 and the second cable clamp 4 are arranged on the translation mechanism 2 by means of electric clamps, and are driven by a longitudinal linear drive mechanism to move along the front and rear longitudinal directions of the translation mechanism 2, and at the same time receive the force of the cable to slide along the left and right lateral directions of the translation mechanism 2. The cable follower 5 is arranged at the head end of the translation mechanism 2, and the cables delivered by the first cable clamp 3 and the second cable clamp 4 pass through the cable follower 5 and then output for cable discharge.
具体的，回转驱动机构1包括连接基体101、第一驱动电机102、第一驱动齿轮103和回转齿圈104，连接基体101用于与缆池内的排缆升降旋转机构固定，从而安装整个多自由度随动排缆装置。第一驱动电机102的输出转轴连接第一驱动齿轮103以竖直方向为轴一并安装在连接基体101上。回转齿圈104的齿设置在环内壁，与第一驱动齿轮103向啮合，同时回转齿圈104与连接基体101构成转动连接，当第一驱动电机102带动第一驱动齿轮103转动时，则驱动回转齿圈104自转，平移机构2连接在回转齿圈104上随着回转齿圈104的转动而摆动。Specifically, the rotary drive mechanism 1 includes a connection base 101, a first drive motor 102, a first drive gear 103, and a rotary ring gear 104. The connection base 101 is used to fix the cable lifting and rotating mechanism in the cable pool, thereby installing the entire multi-degree-of-freedom follow-up cable discharge device. The output shaft of the first driving motor 102 is connected to the first driving gear 103 and installed on the connecting base 101 with the vertical direction as the axis. The teeth of the rotary ring gear 104 are arranged on the inner wall of the ring and mesh with the first driving gear 103. At the same time, the rotary ring gear 104 forms a rotational connection with the connecting base 101. When the first driving motor 102 drives the first driving gear 103 to rotate, the rotary ring gear 104 is driven to rotate. The translation mechanism 2 is connected to the rotary ring gear 104 to swing with the rotation of the rotary ring gear 104.
平移机构2的主体包括并列设置的左右架体201，回转齿圈104设有并列设置的上弯的左右支撑臂105，左右支撑臂105的顶端分别通过第一铰接轴6与左右架体201的尾端铰接。左右架体201内分别设置有第一纵向直线驱动机构、第二纵向直线驱动机构，第一纵向直线驱动机构和第二纵向直线驱动机构的驱动电机7位于左右架体201的头端。平移机构2还包括有第一横杆202和第二横杆203，其中第一横杆202靠近平移机构2的头端，第二横杆203靠近平移机构2的尾端。第一横杆202以及第二横杆203的两端都设置了与左右架体201配合的滑板8。左右架体201上分别开有上下两条滑槽9，第一纵向直线驱动机构与第一横杆202左端的滑板8连接，驱动第一横杆202沿这靠上的滑槽9移动，相应的第二纵向直线驱动机构与第二横杆203右端的滑板8连接，驱动第二横杆203沿这靠下的滑槽9移动。在第一横杆202和第二横杆203上分别设有沿第一横杆202和第二横杆203滑动的滑台10，第一线缆夹钳3固定设置在第一横杆202的滑台10上，第二线缆夹钳4固定设置在第二横杆203的滑台10上。第一线缆夹钳3和第二线缆夹钳4的钳头均向上设置并以左右方向打开或闭合，在第一线缆夹钳3和第二线缆夹钳4的两侧钳头顶部间连接一个搭扣，使线缆不会从夹钳内脱出。在回转齿圈104的上弯的左右支撑臂105的根部之间设置一第二铰接轴11，在平移机构2的尾端连接左右架体201设有一第三铰接轴12，第二铰接轴11和第三铰接轴12都与第一铰接轴6平行，两个翻转油缸13的两端分别与第二铰接轴11和第三铰接轴12铰接，构成翻转机构驱动平移机构2进行上下的摆动。本实施例中第三铰接轴12的位置低于第一铰接轴6，因此当翻转油缸13伸长时，平移机构2将向上翻动抬起，当翻转油缸13缩短时，平移机构2将向下翻动低头。The main body of the translation mechanism 2 includes left and right frame bodies 201 arranged side by side. The rotary ring gear 104 is provided with upturned left and right support arms 105 arranged side by side. The left and right frame bodies 201 are respectively provided with a first longitudinal linear drive mechanism and a second vertical linear drive mechanism. The driving motors 7 of the first longitudinal linear drive mechanism and the second longitudinal linear drive mechanism are located at the head ends of the left and right frame bodies 201 . The translation mechanism 2 also includes a first crossbar 202 and a second crossbar 203 , wherein the first crossbar 202 is close to the head end of the translation mechanism 2 , and the second crossbar 203 is close to the tail end of the translation mechanism 2 . Both ends of the first crossbar 202 and the second crossbar 203 are provided with slide plates 8 matched with the left and right frame bodies 201 . The left and right frame bodies 201 are respectively provided with upper and lower two chute 9, the first longitudinal linear drive mechanism is connected with the slide plate 8 at the left end of the first cross bar 202, drives the first cross bar 202 to move along the upper chute 9, and the corresponding second longitudinal linear drive mechanism is connected with the slide plate 8 at the right end of the second cross bar 203, and drives the second cross bar 203 to move along the lower chute 9. The first crossbar 202 and the second crossbar 203 are respectively provided with a slide table 10 sliding along the first crossbar 202 and the second crossbar 203, the first cable clamp 3 is fixedly arranged on the slide table 10 of the first crossbar 202, and the second cable clamp 4 is fixedly arranged on the slide table 10 of the second crossbar 203. The jaws of the first cable clamp 3 and the second cable clamp 4 are all arranged upwards and opened or closed in the left and right direction, and a hasp is connected between the tops of the two sides of the first cable clamp 3 and the second cable clamp 4, so that the cable will not come out of the clamp. A second hinged shaft 11 is set between the roots of the upturned left and right support arms 105 of the rotary ring gear 104, and a third hinged shaft 12 is connected to the left and right frame body 201 at the tail end of the translation mechanism 2. The second hinged shaft 11 and the third hinged shaft 12 are all parallel to the first hinged shaft 6. In this embodiment, the position of the third hinge shaft 12 is lower than that of the first hinge shaft 6, so when the overturning cylinder 13 is extended, the translation mechanism 2 will be flipped up and lifted, and when the overturn cylinder 13 is shortened, the translation mechanism 2 will be turned down and lowered.
平移机构2的纵向前端转动连接有承载架14，承载架14的末端设有从动齿轮15，第二驱动电机16的输出转轴连接第二驱动齿轮17以竖直方向为轴安装在平移机构2的纵向前端，承载架14的从动齿轮15与第二驱动齿轮17啮合，缆绳随动套5安装于承载架14的头端，当第二驱动电机16带动第二驱动齿轮17转动时，承载架14进行转动实现摇头。The longitudinal front end of the translation mechanism 2 is rotatably connected with a carrier frame 14. The end of the carrier frame 14 is provided with a driven gear 15. The output shaft of the second drive motor 16 is connected to the second drive gear 17 and is installed on the longitudinal front end of the translation mechanism 2 with the vertical direction as the axis. The driven gear 15 of the carrier frame 14 is meshed with the second drive gear 17.
该装置实现线缆的输送排列过程为：The device realizes the transmission and arrangement process of cables as follows:
1)第一线缆夹钳3和第二线缆夹钳4处于初始的尾端限位置，状态为夹紧线缆；1) The first cable clamp 3 and the second cable clamp 4 are in the initial end position, and the state is to clamp the cable;
2)第一线缆夹钳3和第二线缆夹钳4在第一纵向直线驱动机构和第二纵向直线驱动机构驱动下，拉动线缆向头端移动至头端极限位置；2) The first cable clamp 3 and the second cable clamp 4 are driven by the first longitudinal linear drive mechanism and the second longitudinal linear drive mechanism, pulling the cable to move to the head end limit position;
3)第一线缆夹钳3与缆绳随动套5之间距离缩小，线缆在张力的作用下，向缆绳随动套5屈伸；3) The distance between the first cable clamp 3 and the cable follower 5 is reduced, and the cable bends and stretches toward the cable follower 5 under the action of tension;
4)承载架14在第二驱动电机16驱动下进行摆头旋转，将未排好的线缆向已排好的线缆进行贴靠；当承载架14角度不够时可以由第一驱动电机102使平移机构2摆动从而加大承载架14的摆头角度，另外当向上距离不理想时，可以通过控制翻转油缸13使未排好的线缆向下紧贴已排好的线缆；4) The bearing frame 14 is driven by the second driving motor 16 to swing the head and rotate, and the unarranged cables are attached to the arranged cables; when the angle of the bearing frame 14 is not enough, the translation mechanism 2 can be swung by the first driving motor 102 to increase the swinging angle of the bearing frame 14. In addition, when the upward distance is not ideal, the unarranged cables can be pressed downward against the arranged cables by controlling the turning cylinder 13;
5)第一线缆夹钳3继续保持位置和夹紧状态不变，第二线缆夹钳4变为松开状态并在第二纵向直线驱动机构移动到尾端极限位置，第二线缆夹钳4变为夹紧状态；5) The first cable clamp 3 continues to keep its position and clamped state unchanged, the second cable clamp 4 becomes a loosened state and moves to the tail end limit position in the second longitudinal linear drive mechanism, and the second cable clamp 4 becomes a clamped state;
6)第一线缆夹钳3变为松开状态，并在第一纵向直线驱动机构移动到尾端极限位置然后变为夹紧状态；6) The first cable clamp 3 becomes the loosened state, and moves to the end limit position of the first longitudinal linear drive mechanism and then becomes the clamped state;
7)回到步骤1进行循环往复，实现排缆作业。7) Go back to step 1 and go back and forth to realize the cable discharge operation.
Claims (5)
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| GB1244421A (en) * | 1968-05-20 | 1971-09-02 | Toray Ind Inc Formerly Toyo Ra | A yarn traversing apparatus of the rotary blade type |
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