CN1868691A - Tension control and counting device - Google Patents
Tension control and counting device Download PDFInfo
- Publication number
- CN1868691A CN1868691A CNA2005100465315A CN200510046531A CN1868691A CN 1868691 A CN1868691 A CN 1868691A CN A2005100465315 A CNA2005100465315 A CN A2005100465315A CN 200510046531 A CN200510046531 A CN 200510046531A CN 1868691 A CN1868691 A CN 1868691A
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- cable
- hydraulic cylinder
- driving wheel
- chassis
- rocking arm
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- 238000009434 installation Methods 0.000 claims description 12
- 229920003225 polyurethane elastomer Polymers 0.000 claims description 4
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Abstract
A tension control and counting device is provided with two shafting, namely a driving wheel shafting and a driven wheel shafting, wherein the driving wheel shafting is arranged on a supporting frame formed by a fixed support and a chassis, and the driven wheel shafting is arranged on a swinging supporting frame formed by a rocker arm and a rocker arm support fixed on the chassis in a hinged mode; the cable is always clamped between the driving wheel and the driven wheel and enters the cable winch through the guide cylinder; the extending end of a piston rod of the hydraulic cylinder is hinged with the rocker arm, and the tail end of the hydraulic cylinder is hinged with a hydraulic cylinder tailstock fixed on the chassis; the magnetic approach switch is arranged on the rocker arm, and the permanent magnet is adhered to the driven wheel. When the cable winch of the underwater robot receives and releases the cable, the invention can apply proper tension to the cable so as to ensure the smooth realization of the cable receiving and releasing operation, and simultaneously can give a counting signal for calculating the external length of the cable in real time according to the requirement.
Description
Technical field
The present invention relates to Robotics, particularly a kind of being applicable to cable provides suitable tension force ensures underwater robot umbilical cable (abbreviation cable) releasing winch reliably the tension force control and the counting device of operation.
Background technology
Facts have proved that cable reel only has the mission that could successfully finish the folding and unfolding cable under the condition of certain tension force.
Underwater robot is the specialized robot of operation in a kind of environment under water, under water during robot manipulating task, for guarantee that underwater robot reduces the restriction that is subjected to its cable as far as possible, the cable of emitting is longer, therefore, cable often is in relaxed state, even under water in the folding and unfolding process of robot, its cable also is in relaxed state often; In order to keep suitable cable to emit length, cable reel must be gone the folding and unfolding cable whenever and wherever possible, and provides the count signal of the length outside that is used to calculate cable as required in real time.
When cable reel reclaims cable, if cable is in relaxed state (often existing), the cable that is wrapped on the winch is fluffy state, in case there is tension force to occur, cable is reined in into internal layer by skin, promptly destroyed the level that twines, influence emitting of cable, very easily cause the damage of cable again, simultaneously the also influence realization of row's cable automatically; When cable reel is emitted cable, if cable also is in relaxed state, the cable of then emitting be deposited in the winch often or cable passage in.At present, for the underwater robot cable reel, it is compensation that its tension force control mostly is spring, and major defect is that structure is also bigger, and adjustable range is little, does not have the control advantage of electrohydraulic integration.
Summary of the invention
In order to solve the integrity problem of underwater robot twisted and released of the cable, according to the characteristics of underwater robot operation at sea, the invention provides a kind of tension force control and counting device that when cable reel folding and unfolding cable, can make cable be in a certain tension state all the time and the length outside of cable is provided in real time for control system.
Technical scheme of the present invention is made up of tension force control and counting two parts, wherein said tension force control section is by hydraulic-driven, have two axle systems, one is live axle system, another is a follower shaft system, live axle system is installed in by hold-down support and chassis and connects on the support frame that constitutes, and follower shaft system is installed in by rocking arm and to be fixed on rocker arm support on the chassis hinged and on the swing support frame that constitutes; Cable is clamped between driving wheel and the driven pulley all the time, and enters cable reel by guide cylinder; The piston rod external part and the rocking arm of hydraulic cylinder are hinged, and the hydraulic cylinder tail end is hinged with the hydraulic cylinder tailstock that is fixed on the chassis; Described segment count is a core with magnet proximity switch, permanent magnet, and described magnet proximity switch end is a helicitic texture, is installed on the rocking arm; Two permanent magnets are adhesively fixed on follower shaft system near on the same diameter on the side that magnet proximity switch is installed, and 180 degree of being separated by; Permanent magnet is bonded on the driven pulley, utilizes the characteristics that driven pulley and cable seldom skid and guarantees counting precision; Installation site and the axial line distance of the driven shaft installation radius that equal permanent magnet of described magnet proximity switch on rocking arm, the axial installation site of magnet proximity switch is adjustable, can keep suitable distance with permanent magnet;
Described tension force control is made up of driving wheel, hold-down support, chassis, guide cylinder, driving shaft, flat key, low speed hydraulic motor, sliding bearing, thrust spacing ring, driven shaft, hydraulic cylinder, hydraulic cylinder tailstock, hydraulic cylinder bearing pin, rocker arm support, rocking arm bearing pin, rocking arm, driven pulley and cable, is specially:
Described live axle system is a core with driving wheel, driving shaft and low speed hydraulic motor, and described driving wheel and driving shaft be by flat key stationary fit connection, and two thrust spacing rings lay respectively at the driving wheel both sides and are sleeved on the driving shaft; Driving shaft connects by flat key and low speed hydraulic motor; Driving shaft and two sliding bearings connect movingly, and the sliding bearing stationary fit is installed in the dead eye of hold-down support; Low speed hydraulic motor is installed in the lateral surface of hold-down support by bolt, and hold-down support is by being bolted on the chassis;
Described follower shaft system is a core with driven pulley, driven shaft, and described driven pulley and driven shaft be by flat key stationary fit connection, and two thrust spacing rings lay respectively at the driven pulley both sides and are sleeved on the driven shaft; Driven shaft and two sliding bearings connect movingly, and the sliding bearing stationary fit is installed in the dead eye of rocking arm; Rocking arm is hinged by rocking arm bearing pin and rocker arm support;
The piston rod external part of described hydraulic cylinder is hinged by hydraulic cylinder bearing pin and rocking arm, and the tail end of hydraulic cylinder is hinged by another hydraulic cylinder bearing pin and hydraulic cylinder tailstock;
Described rocker arm support and hydraulic cylinder tailstock all are fixed by bolts on the chassis; Described guide cylinder is installed on the chassis with bolt; Described cable is clamped between driving wheel and the driving wheel, and enters winch (the non-this patent scope of winch) by guide cylinder; Described driving wheel and driven pulley outer rim stud with polyurethane rubber, can protect cable and increase coefficient of friction;
Described device tension adjustment is to realize by the pressure of control low speed hydraulic motor and hydraulic cylinder.
The present invention has following advantage:
1. the present invention is established one's own system, with other textural association arrangement convenience; During the cable reel folding and unfolding cable of robot, adopt apparatus of the present invention can apply suitable tension force to cable all the time under water, be used to calculate the cable count signal of length outside to guarantee the smooth realization of folding and unfolding wireline operation, can provide in real time as required simultaneously.
2. good manufacturability of the present invention, integrated support structure adopt discrete part (as: hold-down support, chassis, hydraulic cylinder tailstock and rocker arm support) to assemble, and are convenient to adjust and guarantee precision.
3. the present invention adopts hydraulic-driven, has realized cable stretch control automation; Tension adjustment is to realize by the pressure of control low speed hydraulic motor and hydraulic cylinder, and adjustable extent is bigger.
4. the present invention adopts magnet proximity switch and permanent magnet combination to provide count signal, installation site and the axial line distance of the driven shaft installation radius that equal permanent magnet of magnet proximity switch on rocking arm, and the axial installation site of magnet proximity switch is adjustable, can keep suitable distance with permanent magnet.
5. permanent magnet of the present invention is bonded on the driven pulley, utilizes the characteristics that driven pulley and cable seldom skid and guarantees counting precision.
6. driving wheel of the present invention and driven pulley outer rim stud with polyurethane rubber, promptly protect cable to avoid damaging, and have increased coefficient of friction again, guarantee the enforcement of tension force control and the precision of cable length counting.
7. reliability height of the present invention, long service life and safeguard very convenient.
Description of drawings
Fig. 1 is the structural front view of tension force control of the present invention and counting device.
Fig. 2 is the structure vertical view of tension force control of the present invention and counting device.
The specific embodiment
Below in conjunction with drawings and Examples in detail the present invention is described in detail.
The present invention is made up of tension force control and counting two parts, wherein said tension force control section is by hydraulic-driven, have two axle systems, one is live axle system, another is a follower shaft system, live axle system is installed in by hold-down support and chassis and connects on the support frame that constitutes, and follower shaft system is installed in by rocking arm and to be fixed on rocker arm support on the chassis hinged and on the swing support frame that constitutes; Cable is clamped between driving wheel and the driven pulley all the time, and enters cable reel by guide cylinder; The piston rod external part and the rocking arm of hydraulic cylinder are hinged, and the hydraulic cylinder tail end is hinged with the hydraulic cylinder tailstock that is fixed on the chassis;
As shown in Figure 1, 2, outside the cable that control of described tension force and counting device are arranged in cable reel (the non-content of the present invention of cable reel) as assembly of elements was imported and exported, distance can far can be near as the case may be;
Described tension force control and counting device mainly are made up of driving wheel 1, hold-down support 2, chassis 3, guide cylinder 4, driving shaft 5, flat key 6, low speed hydraulic motor 7, sliding bearing 8, thrust spacing ring 9, driven shaft 10, hydraulic cylinder 13, hydraulic cylinder tailstock 14, hydraulic cylinder bearing pin 15, rocker arm support 16, rocking arm bearing pin 17, rocking arm 18, driven pulley 19 and cable 20; Wherein:
Described live axle system is a core with driving wheel 1, driving shaft 5 and low speed hydraulic motor 7, is installed on the support frame that is formed by hold-down support 2 and chassis 3.Described driving wheel 1 connects by flat key 6 stationary fits with driving shaft 5, and two thrust spacing rings 9 lay respectively at driving wheel 1 both sides and are sleeved on the driving shaft 5, and restriction driving wheel 1 moves vertically; Driving shaft 5 connects by flat key 6 and low speed hydraulic motor 7; Driving shaft 5 and two sliding bearings 8 connect movingly, and sliding bearing 8 stationary fits are installed in the dead eye of hold-down support 2; Low speed hydraulic motor is installed in the lateral surface of hold-down support 2, and concentric with driving shaft 5; Described hold-down support 2 has two, is installed in parallel to each other, the stable support frame of formation on the chassis 3 by bolting.
Described follower shaft system is a core with driven pulley 19, driven shaft 10, is installed in by rocking arm 18 with to be fixed on rocker arm support 16 on the chassis 3 hinged and on the swing support frame that forms.Described driven pulley 19 connects by flat key 6 and driven shaft 10 stationary fits, and two thrust spacing rings 9 lay respectively at driven pulley 19 both sides and are sleeved on the driven shaft 10; Driven shaft 10 and two sliding bearings 8 connect movingly, and sliding bearing 8 stationary fits are installed in the dead eye of rocking arm 18; Described rocking arm 18 has two, and is hinged by rocking arm bearing pin 17 and rocker arm support 16, forms along the support frame of rocking arm bearing pin 17 axis swing.
The piston rod external part of described hydraulic cylinder i3 is hinged by hydraulic cylinder bearing pin 15 and rocking arm 18, and the tail end of hydraulic cylinder 13 is hinged with the hydraulic cylinder tailstock 14 that is installed on the chassis 3 by another hydraulic cylinder bearing pin 15.
Described hydraulic cylinder 13 drives rocking arm 18 and does oscillating motion together with driven pulley 19, and under the effect of hydraulic cylinder 13, driven pulley 19 imposes suitable normal pressure, and cable 20 is clamped between driving wheel 1 and the driven pulley 19; Described low speed hydraulic motor 7 is given driving wheel 1 by flat key 6, driving shaft 5 with transmission of power, and driving wheel 1 is by 20 motions of frictional force drives cable, and cable 20 drives driven pulley 19 revolutions by frictional force equally.
Described rocker arm support 16 and hydraulic cylinder tailstock 14 all are fixed by bolts on the chassis 3.
Described segment count is a core with magnet proximity switch, permanent magnet, and the end of described magnet proximity switch 11 is a helicitic texture, is fixed on the rocking arm 18; Two permanent magnets 12 are adhesively fixed on driven pulley 19 near on the same diameter on the side that magnet proximity switch is installed, and 180 degree of being separated by; Installation site and the axial line distance of the driven shaft 10 installation radius that equal permanent magnet 12 of magnet proximity switch 11 on rocking arm 18, magnet proximity switch 11 axial installation sites are adjustable, can keep suitable distance with permanent magnet 12.
Described guide cylinder 4 usefulness bolting are installed on the chassis 3; Described cable 20 is clamped between driving wheel 1 and the driving wheel 19 all the time, and enters cable reel by guide cylinder 4.
A function of the present invention is that the cable of control institute folding and unfolding keeps a certain suitable tension force, by hydraulic-driven, has two axle systems (that is: live axle system and follower shaft system), can regulate the tension force of cable by the pressure of control low speed hydraulic motor and hydraulic cylinder.Another function of the present invention is that the cable to folding and unfolding provides count signal, when the driving turning down of driven pulley at cable, the permanent magnet that is bonded on the driven pulley turns round with driven pulley, every block of magnet of a specified duration and magnet proximity switch are near once just sending a signal, with signal input control computer, according to the diameter at magnet proximity switch and permanent magnet place, signal what, just can provide the turnover length of cable.
Operation principle explanation of the present invention:
Tension force control and counting device make cable have the tension force of a setting in the process of cable reel folding and unfolding cable all the time, guaranteeing the normal operation of cable reel, and provide the signal of the length outside that is used to calculate cable as required in real time.
When cable reel folding and unfolding cable, hydraulic cylinder 13 drives rocking arm 18 and does oscillating motion together with driven pulley 19, under the effect of hydraulic cylinder 13, driven pulley 19 imposes suitable normal pressure, cable 20 is clamped between driving wheel 1 and the driven pulley 19, low speed hydraulic motor 7 is given driving wheel 1 by flat key 6, driving shaft 5 with transmission of power, driving wheel 1 passes to cable 20 by its polyurethane rubber outer rim with driving force and motion, and cable 20 drives driven pulley 19 by frictional force equally and does the rotation of engagement direction with driving wheel 1.
In folding and unfolding cable process, owing to driven pulley 19, magnet proximity switch 11 and two permanent magnet 12 one swings of being installed on the rocking arm 18, on the same diameter when magnet proximity switch 11 and permanent magnet 12 are in installation all the time.When driven pulley 19 under the driving of cable 20 during around driven shaft 10 revolution, the permanent magnet 12 that is bonded on the driven pulley 19 also turns round with driven pulley 19, every block of magnet of a specified duration 12 and magnet proximity switch 11 are near once just sending a signal, with signal input control computer, according to the diameter at magnet proximity switch 11 and permanent magnet 12 places, signal what, just can provide the turnover length of cable.Because the resistance of 19 systems of driven pulley is little, and 20 on cable is non-slip substantially, so the counting precision height.
Now its operation process is divided into two processes of take-up and cable laying.
The take-up process is as follows: when cable reel reclaims cable, the CD-ROM drive motor of cable reel is the motor operating mode, driving cable reel trailing cable 20 also twines, at this moment, the low speed hydraulic motor 7 of described tension force control and counting device is the pump operating mode, according to require control tension value, set the hydraulic-driven pressure of a certain suitable low speed hydraulic motor 7; For guaranteeing that driving wheel 1, driven pulley 19 and cable 20 have enough frictional force, set the hydraulic-driven pressure of hydraulic cylinder 13 according to desired normal pressure.
Payout process is as follows: when cable reel is emitted cable, impose tractive force by described tension force control and counting device, cable 20 is pulled out in cable reel, and this moment, the CD-ROM drive motor of cable reel was the pump operating mode, and the low speed hydraulic motor 7 of control of described tension force and counting device is the motor operating mode.According to require control tension value, except the hydraulic-driven pressure of the low speed hydraulic motor 7 of the CD-ROM drive motor of setting cable reel and control of described tension force and counting device, for guaranteeing that driving wheel 1 and 19 pairs of cables 20 of driven pulley have enough normal pressures, set the hydraulic-driven pressure of hydraulic cylinder 13 as requested.
Claims (5)
1. a tension force is controlled and counting device, it is characterized in that: form by tension force control and counting two parts, wherein said tension force control section is by hydraulic-driven, have two axle systems, one is live axle system, another is a follower shaft system, and live axle system is installed in by hold-down support and chassis and connects on the support frame that constitutes, and follower shaft system is installed in by rocking arm and to be fixed on rocker arm support on the chassis hinged and on the swing support frame that constitutes; Cable is clamped between driving wheel and the driven pulley all the time, and enters cable reel by guide cylinder; The piston rod external part and the rocking arm of hydraulic cylinder are hinged, and the hydraulic cylinder tail end is hinged with the hydraulic cylinder tailstock that is fixed on the chassis; Described segment count is a core with magnet proximity switch, permanent magnet, and described magnet proximity switch end is a helicitic texture, is installed on the rocking arm; Two permanent magnets are adhesively fixed on follower shaft system near on the same diameter on the side that magnet proximity switch is installed, and 180 degree of being separated by.
2. by described tension force control of claim 1 and counting device, it is characterized in that: described tension force control section concrete structure is made up of driving wheel (1), hold-down support (2), chassis (3), guide cylinder (4), driving shaft (5), flat key (6), low speed hydraulic motor (7), sliding bearing (8), thrust spacing ring (9), driven shaft (10), hydraulic cylinder (13), hydraulic cylinder tailstock (14), rocker arm support (16), rocking arm (18), driven pulley (19) and cable (20), is specially:
Described live axle system is a core with driving wheel (1), driving shaft (5) and low speed hydraulic motor (7), wherein said driving wheel (1) connects by flat key (6) stationary fit with driving shaft (5), and two thrust spacing rings (9) lay respectively at driving wheel (1) both sides and are sleeved on the driving shaft (5); Driving shaft (5) connects by flat key (6) and low speed hydraulic motor (7); Driving shaft (5) connects movingly with two sliding bearings (8), and sliding bearing (8) stationary fit is installed in the dead eye of hold-down support (2); Low speed hydraulic motor is installed in the lateral surface of hold-down support (2), and hold-down support (2) is installed on the chassis (3);
Described follower shaft system is a core with driven pulley (19), driven shaft (10), described driven pulley (19) connects by flat key (6) stationary fit with driven shaft (10), and two thrust spacing rings (9) lay respectively at driven pulley (19) both sides and are sleeved on the driven shaft (10); Driven shaft (10) connects movingly with two sliding bearings (8), and sliding bearing (8) stationary fit is installed in the dead eye of rocking arm (18); Rocking arm (18) is hinged with rocker arm support (16);
The piston rod external part of described hydraulic cylinder (13) and rocking arm (18) are hinged, and the tail end of hydraulic cylinder (13) and hydraulic cylinder tailstock (14) are hinged; Described rocker arm support (16) and hydraulic cylinder tailstock (14) all are fixed on the chassis (3); Described guide cylinder (4) is fixedly mounted on the chassis (3); Described cable (20) is clamped between driving wheel (1) and the driving wheel (19), and enters winch by guide cylinder (4).
3. according to described a kind of tension force control of claim 2 and counting device, it is characterized in that: described driving wheel (1) and driven pulley (19) outer rim stud with polyurethane rubber.
4. according to described a kind of tension force control of claim 1 and counting device, it is characterized in that: the end of described magnet proximity switch (11) is a helicitic texture, is fixed on the rocking arm (18); Two permanent magnets (12) are fixed on driven pulley (19) near on the same diameter on the side of fixing magnet proximity switch, and are separated by and 180 spend.
5. according to described a kind of tension force control of claim 4 and counting device, it is characterized in that: installation site and the axial line distance of driven shaft (10) the installation radius that equal permanent magnet (12) of described magnet proximity switch (11) on rocking arm (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100465315A CN100348384C (en) | 2005-05-27 | 2005-05-27 | Tension control and counting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100465315A CN100348384C (en) | 2005-05-27 | 2005-05-27 | Tension control and counting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1868691A true CN1868691A (en) | 2006-11-29 |
| CN100348384C CN100348384C (en) | 2007-11-14 |
Family
ID=37442533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100465315A Expired - Fee Related CN100348384C (en) | 2005-05-27 | 2005-05-27 | Tension control and counting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100348384C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106315304A (en) * | 2016-09-20 | 2017-01-11 | 洛阳理工学院 | Manual rewinding machine for superconducting strip base band |
| CN114314205A (en) * | 2021-12-22 | 2022-04-12 | 武汉理工大学 | Ship shore power cable lifting device and method based on PID |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4343443A (en) * | 1980-08-15 | 1982-08-10 | C & T Line Construction, Inc. | Wiring apparatus |
| US4779784A (en) * | 1985-09-30 | 1988-10-25 | Giroux D William | Mechanical means for preventing the twisting of a fiber optic cable while temporarily storing the same |
| DE3765558D1 (en) * | 1986-02-28 | 1990-11-22 | Siemens Ag | DENTAL X-RAY DIAGNOSTIC DEVICE FOR CREATING PANORAMIC LAYING FROM A PATIENT'S JAW. |
| NO303558B1 (en) * | 1996-11-12 | 1998-07-27 | Odim Holding As | Device for recording cable for subsea seismic |
| CN1256263C (en) * | 2003-03-21 | 2006-05-17 | 中国科学院沈阳自动化研究所 | Self winding type umbilical cable winding and releasing device without slide ring |
| CN2801423Y (en) * | 2005-05-27 | 2006-08-02 | 中国科学院沈阳自动化研究所 | Tension control and counting assembly |
-
2005
- 2005-05-27 CN CNB2005100465315A patent/CN100348384C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106315304A (en) * | 2016-09-20 | 2017-01-11 | 洛阳理工学院 | Manual rewinding machine for superconducting strip base band |
| CN114314205A (en) * | 2021-12-22 | 2022-04-12 | 武汉理工大学 | Ship shore power cable lifting device and method based on PID |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100348384C (en) | 2007-11-14 |
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Granted publication date: 20071114 Termination date: 20160527 |