CN1256262C - Automatic deflection type umbilical cable winding and releasing device without slide ring - Google Patents
Automatic deflection type umbilical cable winding and releasing device without slide ring Download PDFInfo
- Publication number
- CN1256262C CN1256262C CN 03111220 CN03111220A CN1256262C CN 1256262 C CN1256262 C CN 1256262C CN 03111220 CN03111220 CN 03111220 CN 03111220 A CN03111220 A CN 03111220A CN 1256262 C CN1256262 C CN 1256262C
- Authority
- CN
- China
- Prior art keywords
- cable
- umbilical cable
- fixation framework
- wheel
- internal fixation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The present invention relates to a self-deflection type navel belt cable folding and unfolding device without slip-rings, which is suitable for medium-sized an underwater robot. The present invention is mainly composed of an inner fixed frame, an outer fixed frame, a driving motor, a speed reducer, a cable driving wheel, an inner guide cover, a supporting seat, a central deflection cover, an outer guide cover, a driven wheel, a guide rod, a sliding supporting seat, a spring, a guide track, a supporting plate and a telescopic supporting frame, wherein the driving motor is connected with the cable driving wheel through the speed reducer. The cable driving wheel contracts a navel belt cable in the friction mode, and the navel belt cable contacts the driven wheel in the friction mode. The outer fixed frame is fixed on a bottom plate of the inner fixed frame to form integration. The inner fixed frame, the outer fixed frame, the inner guide cover and the supporting plate form an annular space used for containing the navel belt cable. The top of the telescopic supporting frame is connected with the supporting plate, and the bottom of the telescopic supporting frame is connected with a bottom plate of the inner fixed frame 1. The present invention has the advantages of simple structure, high reliability, long service life and convenient maintenance.
Description
Technical field
The present invention relates to cable remote underwater robot umbilical cable folding and unfolding technology, the specifically a kind of automatic gauche form umbilical cable of no slip ring draw off gear that is specially adapted to medium-sized under-water robot.
Background technology
It is to speedily carry out rescue work and the high-tech art equipment of oil development in submarine rescue, the perils of the sea that cable remote underwater robot is arranged, because it is very convenient to adopt the mode that cable is arranged to make the energy present with information transfer, for guarantee under-water robot under water can be efficiently, accurately, operation safely, eliminate and support the disturbance of lash ship motion under-water robot, under water between operational period, require whenever and wherever possible, folding and unfolding umbilical cable extremely continually, yet for the present generally employing of the folding and unfolding of umbilical cable is that the electricity of conducting slip ring or photoelectricity slip ring or the folding and unfolding technology of the cable winch that surges must be housed.Because conducting slip ring, especially the photoelectricity slip ring all belongs to the multiple faults parts, is again the pass heavy mail as throat, its whether reliable reliability that directly influences under-water robot.So people are seeking not have the method and apparatus of conducting slip ring or photoelectricity slip ring folding and unfolding umbilical cable has cable remote underwater robot with raising reliability always.
Summary of the invention
For no slip ring (not having conducting slip ring or photoelectricity slip ring) structure and the technical matters that solves medium-sized under-water robot umbilical cable draw off gear, characteristics at folding and unfolding float-ball type umbilical cable, the purpose of this invention is to provide the automatic gauche form draw off gear of a kind of no slip ring, make that medium-sized under-water robot umbilical cable draw off gear efficient work is accurate, safe and reliable.
Technical solution of the present invention is: mainly be made up of internal fixation framework, external fixation framework, drive motor, reductor, cable drive wheel, interior guide cover, bearing, center deflection lid, outer guide cover, flower wheel, pilot bar, sliding feet, spring, guide rail, supporting plate, telescope support, be specially:
Described drive motor and reductor are installed on the internal fixation framework jointly, connect by coupler between the output shaft of drive motor and the input shaft of reductor;
The axle drive shaft two ends of described cable drive wheel are by two seat supports, and axle adopts running-fit with cooperating of bearing hole, and two bearings are fastened on the horizontal guide rail of internal fixation framework upper; The axle drive shaft and the speed reducer output shaft of cable drive wheel connect;
The pivot shaft two ends of described flower wheel are supported by two sliding feets, and axle adopts running-fit with cooperating of sliding feet hole, and two sliding feets are installed on the horizontal guide rail of internal fixation framework upper;
Wipe contact between described cable drive wheel and umbilical cable, umbilical cable by and flower wheel between also be wipe contact;
Described two springs are enclosed within respectively on two pilot bars, and an end of spring leans against the left side of sliding feet, and the other end of spring is by the free-ended nut locking of pilot bar, and the other end of pilot bar is fixed on the internal fixation framework after passing the hole of sliding feet;
Described guide cover, center deflection lid, outer guide cover all are to be the gyro-rotor of common axis with the device line of centers, and wherein: interior guide cover is an anchor ring shape, is installed in the internal fixation framework upper; Outer guide cover is an ellipsoid surface shape, is positioned at the top of external fixation framework, is the part of external fixation framework; Deflection lid in center is tubaeform for being inverted, and is bound up on outer guide cover bottom; Three's coaxial line, and with the device central lines;
Described internal fixation framework and external fixation framework are respectively unitary construction, and the external fixation frame fixation forms the annular space of ccontaining umbilical cable on the base plate of internal fixation framework and form one between internal fixation framework, external fixation framework, interior guide cover and the supporting plate; The top of telescope support and supporting plate connect, and the base plate of the bottom of telescope support and internal fixation framework connects;
Two sliding feets of the pivot shaft of described flower wheel are installed on the horizontal guide rail of internal fixation framework upper and are meant sliding feet and horizontal guide rail retention gap, to guarantee that sliding feet slides on guide rail; The wheel rim of described cable drive wheel is provided with soft tooth, and the tooth pitch of the soft tooth of its wheel rim equates with the distance of two adjacent buoyant spheres of umbilical cable overcoat; The wheel rim of flower wheel is a smooth surface; The wheel rim of described cable drive wheel and flower wheel is the polyurethane rubber material; Described umbilical cable is made up of cable and overcoat buoyant spheres, is neutral under water; Integral body is overhung construction.
The present invention has following advantage:
Because the present invention adopts the version of automatic gauche form principle of work and no slip ring, its structure is simplified greatly than the electricity or the cable winch formula draw off gear that surges in the prior art.Experiment showed, the medium-sized under-water robot umbilical cable of the automatic gauche form of no slip ring draw off gear reliability height, long service life, make the reliability index of under-water robot increase substantially, its continuous failure free time surpasses 480 hours (MTBF).With regard to draw off gear itself, can surpass the military service phase in 15 years of under-water robot its service life, and safeguard very conveniently, and this technology is important breakthrough in the under-water robot technology.
Description of drawings
Fig. 1 does not have the medium-sized under-water robot umbilical cable of the automatic gauche form of slip ring draw off gear sketch for the present invention.
The specific embodiment
Below in conjunction with drawings and Examples in detail the present invention is described in detail.
As shown in Figure 1, the structure of this device adopts sus-pension, mainly form by internal fixation framework 1, external fixation framework 2, drive motor 3, reductor 4, cable drive wheel 5, interior guide cover 6, bearing 7, center deflection lid 8, outer guide cover 9, flower wheel 10, pilot bar 11, sliding feet 12, spring 13, guide rail 14, supporting plate 15 and telescope support 16 etc., wherein:
Drive motor 3 and reductor 4 are installed on the internal fixation framework 1 jointly, connect by coupler between the input shaft of the output shaft of drive motor 3 and reductor 4.
The axle drive shaft two ends of cable drive wheel 5 are supported by two bearings 7, freely turn round for realizing cable drive wheel 5, and axle adopts running-fit with cooperating of bearing 7 holes, and two bearings 7 are fastened on the horizontal guide rail on internal fixation framework 1 top; Connect by coupler between the axle drive shaft of cable drive wheel 5 and reductor 4 output shafts.The pivot shaft two ends of flower wheel 10 are supported for by two sliding feets 12 and realize that flower wheel 10 freely turns round; axle adopts running-fit with cooperating of sliding feet 12 holes; two sliding feets, 12 usefulness screws are installed on the horizontal guide rail on internal fixation framework 1 top; the so-called installation is sliding feet 12 and 14 retention gaps of guide rail, with guarantee adjust the gripping power of flower wheel 10 with 5 on cable drive wheel, since factors such as umbilical cable 18 vary in diameter when need spring 13 compensating gripping powers and overload protection sliding feet 12 on guide rail 14, slide.
Described cable drive wheel 5 and 18 wipe contacts of umbilical cable, umbilical cable 18 leans on and 10 of flower wheels also are wipe contact.
For realizing the force compensating and the overload protection function of spring 13; two springs 13 are enclosed within respectively on two pilot bars 11; one end of spring 13 leans against the left side (with regard to accompanying drawing) of sliding feet 12; the other end of spring 13 is by the nut locking constraint of pilot bar 11 free ends (left end); the right-hand member of pilot bar 11 is fixed on the riser of internal fixation framework 1 after passing the hole of bearing 12; the locked position of adjusting pilot bar 11 left end nuts can be adjusted the gripping power of flower wheel 10 and 5 on cable drive wheel, when umbilical cable 18 diameters become big and during overload (cable drive wheel 5 and 18 of umbilical cables skid during overload) sliding feet 12 and flower wheel 10 be moved to the left while spring 13 and be compressed.
The wheel rim of cable drive wheel 5 and flower wheel 10 is the polyurethane rubber material; wherein the wheel rim of cable drive wheel 5 is provided with soft tooth; the tooth pitch of the soft tooth of its wheel rim equates with the distance of two adjacent buoyant spheres of umbilical cable 18 overcoats; why adopt soft tooth; the soft tooth and umbilical cable 18 ball floats of cable drive wheel 5 were made gear motion when its purpose was the folding and unfolding cable; and then improve the ability that drives umbilical cable 18, when skidding, overload plays the effect of protection umbilical cable 18 again.The wheel rim of flower wheel 10 is a smooth surface.
Guide cover 6, center deflection lid 8, outer guide cover 9 all are to be the gyro-rotor of common axis with the device line of centers, and wherein: interior guide cover 6 is an anchor ring shape, is installed in internal fixation framework 1 top with screw; Outer guide cover 9 is an ellipsoid surface shape, is positioned at the top of external fixation framework 2, is the part of external fixation framework 2; Center deflection lid 8 is tubaeform for being inverted, with screw attachment guide cover 9 bottoms outside.Require to guarantee three's coaxial line during assembling, and with the device central lines; Described guide cover 6 and center deflection lid 8 are by the high strength glass fiber reinforced plastic compression molding.
Described internal fixation framework 1 and external fixation framework 2 are welded structure respectively, external fixation framework 2 is screwed on the base plate of internal fixation framework 1 and forms one, forms the annular space of ccontaining umbilical cable 18 between internal fixation framework 1, external fixation framework 2, interior guide cover 6 and the supporting plate 15; The top of telescope support 16 and supporting plate 15 usefulness screws connect, and the base plate of the bottom of telescope support 16 and internal fixation framework 1 connects with screw equally.
For satisfying the requirement of folding and unfolding different length umbilical cable 18, umbilical cable 18 accommodation spaces of device must be adjusted.Adjust the height of four telescope supports, promptly liftable or reduce the height of supporting plate 15, thus change the size of umbilical cable 18 accommodation spaces.Increase the length of umbilical cable 18, supporting plate 15 is reduced, shorten the length of umbilical cable 18, supporting plate 15 is raised.
The transmission of device is terse, drive motor 3 is through plunging joint drive speed reducer 4, reductor 4 drives cable drive wheel 5 through another plunging joint, cable drive wheel 5 by and frictional force drives umbilical cable 18 motions of 18 of umbilical cables, umbilical cable 18 by and the frictional force drives flower wheel 10 of 10 of flower wheels.Because the resistance of flower wheel 10 is little, and non-slip substantially between the umbilical cable 18, so the length gauge counting apparatus of cable often is installed on the flower wheel 10, is not described in detail at this.
The principle of work explanation of device:
When umbilical cable 18 reclaims operation, requiring has two motions and organic cooperation simultaneously, the one, the umbilical cable 18 that is driven by cable drive wheel 5 and flower wheel 10 takes in motion, and the 2nd, by make the automatic yaw motion that umbilical cable 18 takes place by interior guide cover 6, center deflection lid 8 and outer guide cover 9.The principle of takeing in umbilical cable 18 for cable drive wheel 5 and flower wheel 10 is understood that, and why focus on interior guide cover 6, center deflection lid 8 and outside guide cover 9 be that umbilical cable 18 deflects automatically under the situation of retaining element.When umbilical cable 18 takes in; drive motor 3 drives 5 revolutions of cable drive wheel by reductor 4; because flower wheel 10 makes cable drive wheel 5 that enough frictional force drives umbilical cable 18 upward movements be arranged with suitable positive pressure under the effect of spring 13; the tooth pitch of the soft tooth of wheel rim of cable drive wheel 5 equates with the distance of two adjacent buoyant spheres of umbilical cable 18 overcoats just; because the existence of the soft tooth of wheel rim; under the condition of same driving effect; make positive pressure obviously descend; reduced greatly umbilical cable 18 wearing and tearing; again because the full depth tooth of the soft tooth of wheel rim has only 3 millimeters; can skid compressible with spring 13 as overload; sliding feet 12 can play the effect of protecting umbilical cable 18 by sliding function together on guide rail 14.Umbilical cable 18 automatic deflections should possess following condition in removal process, and umbilical cable 18 is by carrying out suitable tensioning and make it strong being enclosed within buoyant spheres on the cable, and umbilical cable 18 twines a few by a certain direction in advance on supporting plate 15.When umbilical cable 18 is driven along device line of centers upward movement, after crossing interior guide cover 6 centre holes, the umbilical cable 18 of income sheaf space on device covers 8 the nearly A point on summit down simultaneously with center deflection, the B point of interior guide cover 6 tops contacts (A with outer guide cover 9 interior C points, B, 3 of C are a certain instantaneous contact point), the continuous upward movement of umbilical cable 18, force it along the continuous deflection of direction of twining in advance, the automatic deflection of umbilical cable 18 takes place at motion process, along with continuing upward movement and deflection, umbilical cable 18 1 circles are another encloses the land in the annular space of the internal fixation framework 1 that is wrapped in supporting plate 15 tops and external fixation framework 2.
When umbilical cable 18 is emitted operation, only need 3 counter-rotatings of controlling and driving motor, drive cables by cable drive wheel 5 and flower wheel 10 and move downward, umbilical cable 18 is pulled out in the annular space of the internal fixation framework 1 on supporting plate 15 tops and external fixation framework 2.
In the whole folding and unfolding process of umbilical cable 18, can change the linear velocity of umbilical cable 18 by the rotating speed of controlling and driving motor 3; Can change the line pulling force of umbilical cable 18 by the application force of adjusting spring 13.
Interlock mechanism 17 is used to the under-water robot of interlocking, and does not do too much introduction at this.
The present invention makes the folding and unfolding of medium-sized under-water robot umbilical cable 18 realize no slip ringization, is important breakthrough in the under-water robot technology.
Claims (7)
1. the automatic gauche form umbilical cable of no slip ring draw off gear, it is characterized in that: mainly form, be specially by internal fixation framework (1), external fixation framework (2), drive motor (3), reductor (4), cable drive wheel (5), interior guide cover (6), bearing (7), center deflection lid (8), outer guide cover (9), flower wheel (10), pilot bar (11), sliding feet (12), spring (13), guide rail (14), supporting plate (15), telescope support (16):
Described drive motor (3) and reductor (4) are installed on the internal fixation framework (1) jointly, connect by coupler between the input shaft of the output shaft of drive motor (3) and reductor (4);
The axle drive shaft two ends of described cable drive wheel (5) are supported by two bearings (7), and axle adopts running-fit with cooperating of bearing (7) hole, and two bearings (7) are fastened on the horizontal guide rail (14) on internal fixation framework (1) top; The axle drive shaft and reductor (4) output shaft coupling of cable drive wheel (5);
The pivot shaft two ends of described flower wheel (10) are supported by two sliding feets (12), and axle adopts running-fit with cooperating of sliding feet (12) hole, and two sliding feets (12) are installed on the horizontal guide rail (14) on internal fixation framework (1) top;
Wipe contact between described cable drive wheel (5) and umbilical cable (18), umbilical cable (18) lean on and flower wheel (10) between also be wipe contact;
Described two springs (13) are enclosed within respectively on two pilot bars (11), one end of spring (13) leans against the left side of sliding feet (12), the other end of spring (13) is by the free-ended nut locking of pilot bar (11), and the other end of pilot bar (11) is fixed on the internal fixation framework (1) after passing the hole of sliding feet (12);
Described guide cover (6), center deflection lid (8), outer guide cover (9) all are to be the gyro-rotor of common axis with the device line of centers, and wherein: interior guide cover (6) is an anchor ring shape, is installed in internal fixation framework (1) top; Outer guide cover (9) is an ellipsoid surface shape, is positioned at the top of external fixation framework (2), is the part of external fixation framework (2); Center deflection lid (8) is tubaeform for being inverted, and is bound up on outer guide cover (9) bottom; Three's coaxial line, and with the device central lines;
Described internal fixation framework (1) and external fixation framework (2) are respectively unitary construction, external fixation framework (2) is fixed on the base plate of internal fixation framework (1) and forms one, the annular space of the ccontaining umbilical cable of formation (18) between internal fixation framework (1), external fixation framework (2), interior guide cover (6) and the supporting plate (15); The top of telescope support (16) and supporting plate (15) connect, and the base plate of the bottom of telescope support (16) and internal fixation framework (1) connects.
2. according to the automatic gauche form umbilical cable of the described no slip ring of claim 1 draw off gear, it is characterized in that: two sliding feets (12) of the pivot shaft of described flower wheel (10) are installed in and are meant sliding feet (12) and horizontal guide rail (14) retention gap on the horizontal guide rail on internal fixation framework (1) top, slide to guarantee that sliding feet (12) is gone up at guide rail (14).
3. according to the automatic gauche form umbilical cable of the described no slip ring of claim 1 draw off gear, it is characterized in that: the wheel rim of described cable drive wheel (5) is provided with soft tooth, and the tooth pitch of the soft tooth of its wheel rim equates with the distance of two adjacent buoyant spheres of umbilical cable (18) overcoat.
4. according to the automatic gauche form umbilical cable of the described no slip ring of claim 1 draw off gear, it is characterized in that: the wheel rim of flower wheel (10) is a smooth surface.
5. according to the automatic gauche form umbilical cable of the described no slip ring of claim 1 draw off gear, it is characterized in that: the wheel rim of described cable drive wheel (5) and flower wheel (10) is the polyurethane rubber material.
6. according to the automatic gauche form umbilical cable of the described no slip ring of claim 1 draw off gear, it is characterized in that: described umbilical cable (18) is made up of cable and overcoat buoyant spheres, is neutral under water.
7. according to the automatic gauche form umbilical cable of the described no slip ring of claim 1 draw off gear, it is characterized in that: whole is overhung construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03111220 CN1256262C (en) | 2003-03-21 | 2003-03-21 | Automatic deflection type umbilical cable winding and releasing device without slide ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03111220 CN1256262C (en) | 2003-03-21 | 2003-03-21 | Automatic deflection type umbilical cable winding and releasing device without slide ring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1532132A CN1532132A (en) | 2004-09-29 |
| CN1256262C true CN1256262C (en) | 2006-05-17 |
Family
ID=34283420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03111220 Expired - Fee Related CN1256262C (en) | 2003-03-21 | 2003-03-21 | Automatic deflection type umbilical cable winding and releasing device without slide ring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1256262C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100515913C (en) * | 2006-01-27 | 2009-07-22 | 中国科学院沈阳自动化研究所 | Underwater cable retracting mechanism |
| CN101455570B (en) * | 2007-12-14 | 2012-04-25 | Ge医疗系统环球技术有限公司 | X ray radiation device and X ray imaging system |
| CN102963776B (en) * | 2012-11-12 | 2015-04-15 | 中国船舶重工集团公司第七○二研究所 | Underwater orthogonal swinging type neutral cable synchronous conveying mechanism |
| CN113371158B (en) * | 2021-07-15 | 2024-05-24 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
-
2003
- 2003-03-21 CN CN 03111220 patent/CN1256262C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1532132A (en) | 2004-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101613065B (en) | Automatic rope distributing and discharging device of winch | |
| CN2793032Y (en) | Adjustable counterweight tower shaped crane | |
| WO2010084355A9 (en) | Method and apparatus for energy generation | |
| CN110207948B (en) | Large-scale ocean structure rigid body motion and elastic deformation water tank test device | |
| CN1256262C (en) | Automatic deflection type umbilical cable winding and releasing device without slide ring | |
| CA3032653A1 (en) | Compact winch | |
| CN102642599B (en) | Separable cable arranging device for screw transmission of towing machine | |
| CN202575561U (en) | Wire take-up and storage device | |
| CN2603796Y (en) | No slip-ring self-deflexion device for drawing umbilical cord type cable | |
| CN220430435U (en) | Wave compensation gangway ladder | |
| CN110816755B (en) | Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system | |
| CN101734349A (en) | Assistant spooling gear of mooring winch | |
| CN105041007A (en) | Closed loop controlled dual-drive float-type water lifting stage | |
| CN201553573U (en) | Auxiliary cable arranging device of mooring winch | |
| CN213899168U (en) | Mechanical wave power generation device | |
| CN106005256B (en) | Ship deck hawser folding and unfolding guide device | |
| CN1196624C (en) | A rotating tower system for transferring hydrocarbons to a ship | |
| CN205256593U (en) | Marine automation gangway ladder that stretches out and draws back | |
| CN217437636U (en) | Quick lifting device for heavy object | |
| CN112141261A (en) | Automatic lifting mast device | |
| CN218162718U (en) | Repeater and underwater workstation | |
| CN103204439A (en) | Electric wormgear screw luffing jib crane | |
| CN201777763U (en) | Uniform-speed lifting device for compressed natural gas (CNG) storage well imaging and detection | |
| CN203903936U (en) | Lifting mechanism | |
| CN1256263C (en) | Self winding type umbilical cable winding and releasing device without slide ring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |